Various updates in the conf files

adding CIA402

cia402.hal

+#===cia402 config for Altivar 71===
+
+loadrt cia402
+loadrt conv_s32_u32
+loadrt conv_u32_float
+
+addf cia402.0.read-all servo-thread
+addf cia402.0.write-all servo-thread
+addf conv-s32-u32.0 servo-thread
+addf conv-u32-float.0 servo-thread
+addf conv-s32-float.3 servo-thread
+
+#config
+setp cia402.0.csp-mode 0
+#setp cia402.0.pos-scale 3600
+setp cia402.0.auto-fault-reset 1
+setp cia402.0.spindle-mode 1
+
+net PowerOnSw				cia402.0.fault-reset
+
+
+#from atv to cia402
+net spindle-statusword-u32      	cia402.0.statusword		<= conv-s32-u32.0.out
+net spindle-statusword-s32		conv-s32-u32.0.in
+#net x-opmode-display  			lcec.0.0.opmode-display 	=> cia402.0.opmode-display
+#net x-drv-act-pos     			lcec.0.0.actual-position 	=> cia402.0.drv-actual-position
+net spindle-drv-act-velo    		cia402.0.drv-actual-velocity
+
+#from cia402 to atv 
+net spindle-controlword-u32         	cia402.0.controlword		=> conv-u32-float.0.in
+net spindle-controlword-float		conv-u32-float.0.out
+#net x-modes-of-operation  		cia402.0.opmode 		=> lcec.0.0.opmode
+#net x-drv-target-pos      		cia402.0.drv-target-position 	=> lcec.0.0.target-position
+net spindle-drv-target-velo-s32		cia402.0.drv-target-velocity	=> conv-s32-float.3.in
+net spindle-drv-target-velo-float	conv-s32-float.3.out
+
+#from motion to cia
+net MachineIsOn				cia402.0.enable
+net spindle-fault			cia402.0.drv-fault
+net spindle-vel-cmd-rpm			cia402.0.velocity-cmd
+net spindle-vel-act-rpm			cia402.0.pos-fb
+net Estop				cia402.0.quick-stop
+net spindle-enable			cia402.0.run
+
+#homing
+#net x-home-index <= joint.0.index-enable  => cia402.0.home
+
+net spindle-vel-cmd-rps			spindle.0.speed-out-rps
+net spindle-vel-cmd-rps-abs		spindle.0.speed-out-rps-abs
+net spindle-vel-cmd-rpm			spindle.0.speed-out
+net spindle-vel-cmd-rpm-abs		spindle.0.speed-out-abs
+net spindle-enable			spindle.0.on
+net spindle-cw				spindle.0.forward
+net spindle-ccw				spindle.0.reverse
+net spindle-brake			spindle.0.brake
+net spindle-revs			spindle.0.revs
+net spindle-at-speed			spindle.0.at-speed
+net spindle-vel-fb-rps			spindle.0.speed-in
+net spindle-index-enable		spindle.0.index-enable
+net spindle-fault			spindle.0.amp-fault-in
\ No newline at end of file

classicladder.hal

@@ -99,7 +99,7 @@ net ProgramIsPaused	classicladder.0.in-72
 net X-homed		classicladder.0.out-00
 net Z-homed		classicladder.0.out-01
 net X-inhibit		classicladder.0.out-02
-net Y-Homed		classicladder.0.out-03
+#net Y-Homed		classicladder.0.out-03
 net X-ctrl-home		classicladder.0.out-04
 net X-ctrl-pos		classicladder.0.out-05
 net Z-ctrl-home		classicladder.0.out-06

gmoccapy_postgui.hal

 net X-homed     => halui.joint.0.home
 net Z-homed     => halui.joint.2.home
-net Y-Homed	=> halui.joint.1.home
+#net Y-Homed	=> halui.joint.1.home
+setp halui.joint.1.home	1
 
 net Home-All    <= gmoccapy.joint.all.home
 net Home-X      <= gmoccapy.joint.0.home
@@ -50,6 +51,10 @@ net ManualTC		halui.mdi-command-00
 #net ManualTC7       => halui.mdi−command−07
 #net ManualTC8       => halui.mdi−command−08
 
+net ProgramIsRunning	halui.program.is-running
+net ProgramIsIdle	halui.program.is-idle
+net ProgramIsPaused	halui.program.is-paused
+
 setp 			gmoccapy.feed.feed-override.analog-enable true
 net FeedOverride	gmoccapy.feed.feed-override.direct-value
 setp			gmoccapy.jog.jog-velocity.analog-enable true

maurice-common.ini

@@ -10,6 +10,7 @@ DEBUG = 1
 
 [DISPLAY]
 DISPLAY = ./maurice_gmoccapy.py 
+#DISPLAY = gmoccapy
 #-logo logo.jpg
 
 #EMBED_TAB_NAME = right_side_panel
@@ -69,7 +70,7 @@ LINEAR_UNITS = mm
 ANGULAR_UNITS = deg
 DEFAULT_LINEAR_VELOCITY = 15
 MAX_LINEAR_VELOCITY = 150
-NO_FORCE_HOMING = 1
+# NO_FORCE_HOMING = 1
 
 [EMCIO]
 EMCIO = io
@@ -151,4 +152,4 @@ FF1 = 0.0
 FF2 = 0.0
 BIAS = 0.0
 DEADBAND = 0.0
-MAX_OUTPUT = 6000
+MAX_OUTPUT = 6000
\ No newline at end of file

maurice.hal

@@ -10,12 +10,12 @@
 #loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
 loadrt weighted_sum wsum_sizes=4,4,2
 #loadrt sum2 count=3
-loadrt conv_s32_float count=3
+loadrt conv_s32_float count=5
 loadrt scale names=FeedScale,RapidScale,SpindleScale
 loadrt and2 names=EstopAnd
 loadrt not names=EstopNot
 
-loadusr atv_vfd -r 38400 -p even
+#loadusr atv_vfd -r 38400 -p even
 
 addf motion-command-handler servo-thread
 addf motion-controller servo-thread

maurice.ini

@@ -7,7 +7,7 @@ HALFILE = maurice.hal
 HALFILE = mb2hal.hal
 HALFILE = classicladder.hal
 HALFILE = mesa.hal
-HALFILE = atv_vfd.hal
+HALFILE = cia402.hal
 POSTGUI_HALFILE = gmoccapy_postgui.hal
 POSTGUI_HALFILE = lathemacro_postgui.hal
 

maurice.xml

@@ -2,7 +2,7 @@
     <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
       <slave idx="0" type="generic" vid="0000060A" pid="00000001" configPdos="true">
         <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="02"/></sdoConfig>
-        <sdoConfig idx="6099" subIdx="1"><sdoDataRaw data="E8 03 00 00"/></sdoConfig>
+        <sdoConfig idx="6099" subIdx="1"><sdoDataRaw data="A0 0F 00 00"/></sdoConfig>
         <sdoConfig idx="6093" subIdx="1"><sdoDataRaw data="00 80 00 00"/></sdoConfig>
         <sdoConfig idx="6093" subIdx="2"><sdoDataRaw data="E2 04 00 00"/></sdoConfig>
         <syncManager idx="0" dir="out"></syncManager>
@@ -27,7 +27,7 @@
       </slave>
       <slave idx="1" type="generic" vid="0000060A" pid="00000001" configPdos="true">
         <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="02"/></sdoConfig>
-        <sdoConfig idx="6099" subIdx="1"><sdoDataRaw data="E8 03 00 00"/></sdoConfig>
+        <sdoConfig idx="6099" subIdx="1"><sdoDataRaw data="A0 0F 00 00"/></sdoConfig>
         <sdoConfig idx="6093" subIdx="1"><sdoDataRaw data="00 80 00 00"/></sdoConfig>
         <sdoConfig idx="6093" subIdx="2"><sdoDataRaw data="E2 04 00 00"/></sdoConfig>
         <syncManager idx="0" dir="out"></syncManager>

mb2hal.hal

@@ -97,3 +97,12 @@ net ServoPower		mb2hal.STBOut.ServoPower
 
 #mb2hal.STBOut.CoolantPump
 
+#net spindle-statusword-s32     	mb2hal.ATVIn.StatusWord
+#net spindle-drv-act-velo    		mb2hal.ATVIn.ActualSpeed
+net spindle-statusword-s32     		mb2hal.ATVIn.00.int
+net spindle-drv-act-velo    		mb2hal.ATVIn.01.int
+
+#net spindle-controlword-s32         	mb2hal.ATVOut.ControlWord
+#net spindle-drv-target-velo    		mb2hal.ATVOut.TargetSpeed
+net spindle-controlword-float         	mb2hal.ATVOut.00
+net spindle-drv-target-velo-float 	mb2hal.ATVOut.01

mb2hal.ini

@@ -31,7 +31,7 @@ SLOWDOWN=0.0
 
 #REQUIRED: The number of total Modbus transactions. There is no maximum.
 
-TOTAL_TRANSACTIONS=2
+TOTAL_TRANSACTIONS=4
 
 #One transaction section is required per transaction, starting at 00 and counting up sequentially.
 #If there is a new link (not transaction), you must provide the REQUIRED parameters 1st time.
@@ -207,7 +207,57 @@ HAL_MAP_PIN=MachineReady, 2, bit, 0
 HAL_MAP_PIN=ServoPower, 2, bit, 1
 
 HAL_MAP_PIN=HydraulicPump, 3, bit, 0
-HAL_MAP_PIN=LubricationPump, 3, bit, 0
+HAL_MAP_PIN=LubricationPump, 3, bit, 1
+
+MAX_UPDATE_RATE=0.0
+DEBUG=1
+
+[TRANSACTION_02]
+LINK_TYPE=serial
+SERIAL_PORT=/dev/ttyS0
+SERIAL_BAUD=38400
+SERIAL_BITS=8
+SERIAL_PARITY=even
+SERIAL_STOP=1
+SERIAL_DELAY_MS=0
+MB_SLAVE_ID=1
+
+MB_RESPONSE_TIMEOUT_MS=500
+MB_BYTE_TIMEOUT_MS=500
+
+FIRST_ELEMENT=8603
+NELEMENTS=2
+
+MB_TX_CODE=fnct_03_read_holding_registers
+
+HAL_TX_NAME=ATVIn
+
+#HAL_MAP_PIN=StatusWord, 8603, s32
+#HAL_MAP_PIN=ActualSpeed, 8604, s32
+
+MAX_UPDATE_RATE=0.0
+DEBUG=1
+
+[TRANSACTION_03]
+LINK_TYPE=serial
+SERIAL_PORT=/dev/ttyS0
+SERIAL_BAUD=38400
+SERIAL_BITS=8
+SERIAL_PARITY=even
+SERIAL_STOP=1
+SERIAL_DELAY_MS=0
+MB_SLAVE_ID=1
+
+FIRST_ELEMENT=8601
+NELEMENTS=2
+
+MB_TX_CODE=fnct_16_write_multiple_registers
+
+HAL_TX_NAME=ATVOut
+
+
+#HAL_MAP_PIN=ControlWord, 8601, s32
+#HAL_MAP_PIN=TargetSpeed, 8602, s32
 
 MAX_UPDATE_RATE=0.0
 DEBUG=1

mesa.hal

@@ -56,12 +56,12 @@ setp				atspeed.scale 1.05
 #Jog Handling
 ####################################################################
 
-net XSelect			joint.0.jog-enable
-net ZSelect			joint.2.jog-enable
+net XSelect			joint.0.jog-enable axis.x.jog-enable
+net ZSelect			joint.2.jog-enable axis.z.jog-enable
 
-net ModeX1			mpg.sel2
+net ModeJ			mpg.sel2
 net ModeX10			mpg.sel1
-net ModeJ			mpg.sel0
+net ModeX1			mpg.sel0
 
 setp				mpg.in1 0.00025
 setp				mpg.in2 0.0025
@@ -72,5 +72,5 @@ net JogScale			mpg.out
 
 setp				hm2_5i24.0.encoder.01.scale 4
 net JogCount			hm2_5i24.0.encoder.01.count
-net JogScale			joint.0.jog-scale joint.2.jog-scale
-net JogCount			joint.0.jog-counts joint.2.jog-counts
+net JogScale			joint.0.jog-scale joint.2.jog-scale axis.x.jog-scale axis.z.jog-scale
+net JogCount			joint.0.jog-counts joint.2.jog-counts axis.x.jog-counts axis.z.jog-counts