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fb377ed1 · electrolab · 40c39ef3 · fb377ed1 · fb377ed1 · fb377ed1
Commit fb377ed1 authored Mar 30, 2021 by electrolab
7 changed files
--- a/classicladder.hal
+++ b/classicladder.hal
-loadrt classicladder_rt numPhysInputs=70 numPhysOutputs=60 numSymbols=300 numTimersIec=40
+loadrt classicladder_rt numPhysInputs=80 numPhysOutputs=80 numSymbols=300 numTimersIec=40
 addf classicladder.0.refresh servo-thread
 loadusr classicladder maurice.clp

@@ -20,6 +20,10 @@ net Home-All		classicladder.0.in-08
 net Home-X		classicladder.0.in-09
 net Home-Z		classicladder.0.in-10

+#Power On Logic
+
+net MachineReadyFin	classicladder.0.in-17
+net MachineIsOn		classicladder.0.in-18
 net ModeManual		classicladder.0.in-19

 #Tool Change Logic -> 20-35
@@ -30,7 +34,6 @@ net TurretLS11		classicladder.0.in-22
 net TurretLS12          classicladder.0.in-23
 net TurretLS13		classicladder.0.in-24
 net TurretIndex		classicladder.0.in-25
-
 net ToolChangeRequest	classicladder.0.in-26
 net ToolPrepPocket	classicladder.0.s32in-00
 net ToolChange		classicladder.0.in-27
@@ -38,26 +41,28 @@ net ToolChange		classicladder.0.in-27

 #Panel Logic -> 30-49

-net ToolChangeBTn	classicladder.0.in-30
-net PanelTurret1	classicladder.0.in-31
-net PanelTurret2	classicladder.0.in-32
-net PanelTurret3	classicladder.0.in-33
-net PanelTurret4	classicladder.0.in-34
-net ModeSelect1		classicladder.0.in-35		
+net ToolChangeBtn	classicladder.0.in-30
+net CycleStartBtn	classicladder.0.in-31
+net XJogPlus		classicladder.0.in-32
+net ZJogPlus		classicladder.0.in-33
+net FeedHoldBtn		classicladder.0.in-34
+net ModeSelect1		classicladder.0.in-35
 net ModeSelect2		classicladder.0.in-36
 net ModeSelect3		classicladder.0.in-37
 net ModeSelect4		classicladder.0.in-38
-net FeedOv1		classicladder.0.in-39
-net FeedOv2		classicladder.0.in-40
-net FeedOv3		classicladder.0.in-41
-net FeedOv4		classicladder.0.in-42
+#net FeedOv1		classicladder.0.in-39
+#net FeedOv2		classicladder.0.in-40
+#net FeedOv3		classicladder.0.in-41
+#net FeedOv4		classicladder.0.in-42
 net RapidOv1		classicladder.0.in-43
 net RapidOv2		classicladder.0.in-44
 net BlockDeleteBtn	classicladder.0.in-45
 net OptStopBtn		classicladder.0.in-46
 net SingleBlockBtn	classicladder.0.in-47
+net PowerOnSw		classicladder.0.in-48
+net STBEstop		classicladder.0.in-49

-# Chuck Logic -> 50-59
+# Chuck & Interlock Logic -> 50-59

 net ChuckOpenBtn	classicladder.0.in-50
 net ChuckCloseBtn	classicladder.0.in-51
@@ -66,6 +71,18 @@ net PressureSwitch	classicladder.0.in-53
 net ChuckOpenLimit	classicladder.0.in-54
 net ChuckCloseLimit	classicladder.0.in-55
 net DoorSwitchs		classicladder.0.in-56
+net SpindleSpeedFB	classicladder.0.floatin-01
+
+#Error Handling -> 60-69
+
+net MachineErrorIn	classicladder.0.in-60
+
+#Program Handling -> 70-79
+
+net ProgramIsRunning	classicladder.0.in-70
+net ProgramIsIdle	classicladder.0.in-71
+net ProgramIsPaused	classicladder.0.in-72
+


 #==============================================================
@@ -82,7 +99,7 @@ net DoorSwitchs		classicladder.0.in-56
 net X-homed		classicladder.0.out-00
 net Z-homed		classicladder.0.out-01
 net X-inhibit		classicladder.0.out-02
-net Z-inhibit		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
@@ -90,7 +107,14 @@ net Z-ctrl-pos		classicladder.0.out-07
 net X-homestart		classicladder.0.out-08
 net Z-homestart		classicladder.0.out-09

-#Tool Change Logic -> 20-39
+#Power On Logic
+
+net MachineOn		classicladder.0.out-16
+net ServoFaultReset	classicladder.0.out-17
+net AuxiliariesPower	classicladder.0.out-18
+net ServoPower		classicladder.0.out-19
+
+#Tool Change Logic -> 20-29

 net TurretUnclamp	classicladder.0.out-20
 net TurretClamp		classicladder.0.out-21
@@ -101,14 +125,40 @@ net ToolChangeRuning	classicladder.0.out-24
 net ToolChangeOk	classicladder.0.out-25
 net ToolChangeFailed	classicladder.0.out-26

-net ManualTC1		classicladder.0.out-27
-net ManualTC2		classicladder.0.out-28
-net ManualTC3		classicladder.0.out-29
-net ManualTC4		classicladder.0.out-30
-net ManualTC5		classicladder.0.out-31
-net ManualTC6		classicladder.0.out-32
-net ManualTC7		classicladder.0.out-33
-net ManualTC8		classicladder.0.out-34
+net ManualTC		classicladder.0.out-27
+net ToolChangeLed	classicladder.0.out-28
+
+#Panel Logic -> 30 -
+
+net ModeAuto		classicladder.0.out-41
+net ModeMDI		classicladder.0.out-42
+net ModeMan		classicladder.0.out-43
+
+#Chuck Logic -> 50 -
+
+net ChuckCloseRelay	classicladder.0.out-50
+net ChuckOpenRelay	classicladder.0.out-51
+net SpindleInhibit	classicladder.0.out-52
+net ChuckClampLed	classicladder.0.out-53
+
+# Error Handling -> 60-69
+
+net HydraulicError	classicladder.0.out-60
+net AuxiliariesError	classicladder.0.out-61
+net ChuckError		classicladder.0.out-62
+
+net MachineErrorLamp	classicladder.0.out-64
+
+net ProgrammInhibit	classicladder.0.out-66
+net EstopCL		classicladder.0.out-67
+net FeedHoldCL		classicladder.0.out-68
+net MachineOff		classicladder.0.out-69
+
+#Program Handling -> 70-79

-#Panel Logic -> 40 -
+net ProgramEnd		classicladder.0.out-70
+net CycleStart		classicladder.0.out-71
+net ProgramResume	classicladder.0.out-72
+net ProgramStep		classicladder.0.out-73
+net ProgramPause	classicladder.0.out-74

--- a/gmoccapy_postgui.hal
+++ b/gmoccapy_postgui.hal
+loadrt not count=2
+
+addf not.0 servo-thread
+addf not.1 servo-thread
+
 net X-homed     => halui.joint.0.home
 net Z-homed     => halui.joint.2.home
+net Y-Homed	=> halui.joint.1.home

 net Home-All    <= gmoccapy.joint.all.home
 net Home-X      <= gmoccapy.joint.0.home
 net Home-Z      <= gmoccapy.joint.2.home

-net ToolChangeFailed	halui.program.stop
+net ToolChangeFailed		halui.program.stop
+
+net SpindleNormal		halui.spindle.0.forward
+net SpindleOff			halui.spindle.0.stop
+net SpindleReverse		halui.spindle.0.reverse

-net SpindleNormal	halui.spindle.0.forward
-net SpindleOff		halui.spindle.0.stop
-net SpindleReverse	halui.spindle.0.reverse
+net CoolantBtnOn		halui.flood.on
+net CoolantBtnOff		halui.flood.off
+net CoolantPumpOnLamp	halui.flood.is-on

-net CoolantBtnOn	halui.lube.on
-net CoolantBtnOff	halui.lube.off
-net CoolantLed		halui.lube.is-on
+net CycleStart			halui.program.run
+net ProgramPause		halui.program.pause
+net ProgramResume		halui.program.resume
+net ProgramStep			halui.program.step

-net CycleStartBtn	halui.program.run
-net FeedHoldBtn		halui.program.pause
+net FeedHoldLamp 		halui.program.is-paused
+net CycleStartLamp		halui.program.is-running

-net XSelect		halui.axis.x.select
-net ZSelect		halui.axis.z.select
-net XJogPlus		halui.axis.x.plus
-net XJogMinus		halui.axis.x.minus
-net ZJogPlus		halui.axis.z.plus
-net ZJogMinus		halui.axis.z.minus
+net XSelect			halui.axis.x.select
+net ZSelect			halui.axis.z.select
+net XJogPlus			gmoccapy.jog.axis.jog-x-plus
+net XJogMinus			gmoccapy.jog.axis.jog-x-minus
+net ZJogPlus			gmoccapy.jog.axis.jog-z-plus
+net ZJogMinus			gmoccapy.jog.axis.jog-z-minus

-net XZeroed		halui.joint.0.is-homed
-net ZZeroed		halui.joint.2.is-homed
-net MachineIsOn		halui.machine.is-on
-#net ModeManual     halui.mode.is−manual
+net XZeroed			halui.joint.0.is-homed
+net ZZeroed			halui.joint.2.is-homed
+net MachineIsOn			halui.machine.is-on
+net MachineOn			halui.machine.on
+#net ModeManual	     halui.mode.is−manual

 #net ToolChangeRequest	iocontrol.0.tool-change
 #net ToolPrepPrepPocket	iocontrol.0.tool-prep-pocket

 #net ToolChangeOk   iocontrol.0.tool-changed

-#net ManualTC1       => halui.mdi−command−01
+net ModeAuto			halui.mode.auto
+net ModeMDI			halui.mode.mdi
+net ModeMan			halui.mode.manual
+
+net ManualTC			halui.mdi-command-00
 #net ManualTC2       => halui.mdi−command−02
 #net ManualTC3       => halui.mdi−command−03
 #net ManualTC4       => halui.mdi−command−04
@@ -44,3 +60,28 @@ net MachineIsOn		halui.machine.is-on
 #net ManualTC7       => halui.mdi−command−07
 #net ManualTC8       => halui.mdi−command−08

+############################################################
+#Mode modifiers
+############################################################
+
+net BlockDeleteBtn 		halui.program.block-delete.on
+net BlockDeleteBtn		not.0.in
+net BlockDeleteBtn_not		not.0.out
+net BlockDeleteBtn_not		halui.program.block-delete.off
+
+net OptstopBtn			halui.program.optional-stop.on
+net OptstopBtn			not.1.in
+net OptstopBtn_not		not.1.out
+net OptstopBtn_not		halui.program.optional-stop.off
+
+############################################################
+#Overrides
+############################################################
+
+setp 				gmoccapy.feed.feed-override.analog-enable true
+net FeedOverride		gmoccapy.feed.feed-override.direct-value
+setp				gmoccapy.jog.jog-velocity.analog-enable true
+net FeedOverride		gmoccapy.jog.jog-velocity.direct-value
+
+setp				gmoccapy.rapid.rapid-override.analog-enable true
+net RapidOverride		gmoccapy.rapid.rapid-override.direct-value
--- a/maurice-common.ini
+++ b/maurice-common.ini
@@ -26,8 +26,8 @@ BACK_TOOL_LATHE = 1
 EDITOR = gedit
 POSITION_OFFSET = RELATIVE
 POSITION_FEEDBACK = ACTUAL
-MAX_FEED_OVERRIDE = 1.2
-DEFAULT_LINEAR_VELOCITY = 166.666
+MAX_FEED_OVERRIDE = 1.5
+DEFAULT_LINEAR_VELOCITY = 15
 PROGRAM_PREFIX = ../../nc_files/
 INTRO_GRAPHIC = linuxcnc.gif
 INTRO_TIME = 0
@@ -60,28 +60,21 @@ CYCLE_TIME = 0.005

 # MDI commands

-MDI_COMMAND = T1 M6 G43
-MDI_COMMAND = T2 M6 G43
-MDI_COMMAND = T3 M6 G43
-MDI_COMMAND = T4 M6 G43
-MDI_COMMAND = T5 M6 G43
-MDI_COMMAND = T6 M6 G43
-MDI_COMMAND = T7 M6 G43
-MDI_COMMAND = T8 M6 G43
+MDI_COMMAND = T#<_hal[manualtool]> M6 G43

 [TRAJ]
 COORDINATES = X Z
 LINEAR_UNITS = mm
 ANGULAR_UNITS = deg
-DEFAULT_LINEAR_VELOCITY = 100
-MAX_LINEAR_VELOCITY = 400
+DEFAULT_LINEAR_VELOCITY = 15
+MAX_LINEAR_VELOCITY = 150
 NO_FORCE_HOMING = 1

 [EMCIO]
 EMCIO = io
 CYCLE_TIME = 0.100
 TOOL_TABLE = tool.tbl
-TOOL_CHANGE_POSITION = 2 0 1
+TOOL_CHANGE_POSITION = 0 0 0
 TOOL_CHANGE_WITH_SPINDLE_ON = 1

 [KINS]
@@ -91,13 +84,13 @@ JOINTS = 3
 [AXIS_X]
 MIN_LIMIT = -2000
 MAX_LIMIT = 2000
-MAX_VELOCITY = 10
+MAX_VELOCITY = 100.0
 MAX_ACCELERATION = 2000.0

 [JOINT_0]
 TYPE = LINEAR
 HOME = 0.0
-MAX_VELOCITY = 10.0
+MAX_VELOCITY = 100.0
 MAX_ACCELERATION = 2000.0
 STEPGEN_MAXACCEL = 0
 SCALE = 1
@@ -112,13 +105,9 @@ HOME_SEARCH_VEL =                0
 HOME_LATCH_VEL =                 0
 HOME_USE_INDEX =                 NO
 HOME_IGNORE_LIMITS =             YES
-HOME_SEQUENCE = 0
+HOME_SEQUENCE = 1
+

-[AXIS_Z]
-MIN_LIMIT = -2000
-MAX_LIMIT = 2000
-MAX_VELOCITY = 10.0
-MAX_ACCELERATION = 2000.0

 [JOINT_1]
 # JOINT_1: not used, home immediately:
@@ -126,10 +115,16 @@ HOME_SEARCH_VEL = 0
 HOME_LATCH_VEL = 0
 HOME_SEQUENCE = 0

+[AXIS_Z]
+MIN_LIMIT = -2000
+MAX_LIMIT = 2000
+MAX_VELOCITY = 100.0
+MAX_ACCELERATION = 2000.0
+
 [JOINT_2]
 TYPE = LINEAR
 HOME = 0.0
-MAX_VELOCITY = 10.0
+MAX_VELOCITY = 100.0
 MAX_ACCELERATION = 2000.0
 STEPGEN_MAXACCEL = 0
 SCALE = 0.001
@@ -144,4 +139,4 @@ HOME_SEARCH_VEL =                0
 HOME_LATCH_VEL =                 0
 HOME_USE_INDEX =                 NO
 HOME_IGNORE_LIMITS =             YES
-HOME_SEQUENCE = 1
+HOME_SEQUENCE = 2
--- a/maurice.clp
+++ b/maurice.clp
--- a/maurice.hal
+++ b/maurice.hal
@@ -8,9 +8,19 @@

 #loadrt trivkins
 #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 scale count=3

 addf motion-command-handler servo-thread
 addf motion-controller servo-thread
+addf process_wsums servo-thread
+addf sum2.0 servo-thread
+addf conv-s32-float.0 servo-thread
+addf conv-s32-float.1 servo-thread
+addf scale.0 servo-thread
+addf scale.1 servo-thread
 #loadusr halui -ini maurice.ini
 #loadusr io

@@ -54,6 +64,8 @@ net Z-posfb     => joint.2.motor-pos-fb
 #net Z-PoT       => joint.2.pos-lim-sw-in
 #net Z-NoT       => joint.2.neg-lim-sw-in

+#net SpindleSpeedFB	motion.spindle-speed-in
+
 ############################################
 # Hardware section
 ############################################
@@ -120,6 +132,9 @@ net Z-ctrl-pos  => lcec.0.1.modecontrol-3
 net Z-PoT       <= lcec.0.1.inputs-1
 net Z-NoT       <= lcec.0.1.inputs-0

+#==========================================
+#Tool Changer
+#==========================================
 net ToolChangeRequest	iocontrol.0.tool-change
 net ToolPrepPocket	iocontrol.0.tool-prep-pocket

@@ -127,3 +142,32 @@ net ToolChangeOk	iocontrol.0.tool-changed

 net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared

+#Panel Tool Selector
+
+net PanelTurret1	wsum.0.bit.3.in
+net PanelTurret2	wsum.0.bit.2.in
+net PanelTurret3	wsum.0.bit.1.in
+net PanelTurret4	wsum.0.bit.0.in
+net manualtool		wsum.0.sum
+
+
+#Panel Feed Selector
+net FeedOv1		wsum.1.bit.3.in
+net FeedOv2		wsum.1.bit.2.in
+net FeedOv3		wsum.1.bit.1.in
+net FeedOv4		wsum.1.bit.0.in
+net FeedOv		wsum.1.sum conv-s32-float.0.in
+net FeedOvF		conv-s32-float.0.out
+net FeedOvF		scale.0.in
+setp 			scale.0.gain -0.06666666666666666666666666666666666666667
+setp			scale.0.offset 1
+net FeedOverride	scale.0.out
+
+net RapidOv1		wsum.2.bit.1.in
+net RapidOv2		wsum.2.bit.0.in
+net RapidOv		wsum.2.sum conv-s32-float.1.in
+net RapidOvF		conv-s32-float.1.out
+net RapidOvF		scale.1.in
+setp			scale.1.gain -0.333333333333333333333
+setp			scale.1.offset 1
+net RapidOverride	scale.1.out
--- a/mb2hal.hal
+++ b/mb2hal.hal
 #loadusr -W mb2hal config=mb2hal.ini
 loadusr -Wn mb2hal ./mb2halv2/mb2halv2 config=mb2hal.ini

-#mb2hal.STBIn.PowerOnSwitch
+###############################################################
+#STB Inputs
+###############################################################
+
+net PowerOnSw		mb2hal.STBIn.PowerOnSwitch
 net SpindleNormal	mb2hal.STBIn.SpindleNormal
 net SpindleOff		mb2hal.STBIn.SpindleOff
 net SpindleReverse	mb2hal.STBIn.SpindleReverse
@@ -10,7 +14,7 @@ net CoolantBtnOn	mb2hal.STBIn.CoolantReqOn
 net CoolantBtnOff	mb2hal.STBIn.CoolantReqOff
 net CycleStartBtn	mb2hal.STBIn.CycleStart
 net FeedHoldBtn		mb2hal.STBIn.FeedHoldbtn
-#mb2hal.STBIn.EStop 
+net STBEstop		mb2hal.STBIn.EStop 
 net XSelect		mb2hal.STBIn.XaxisMPG
 net ZSelect		mb2hal.STBIn.ZaxisMPG
 net XJogPlus		mb2hal.STBIn.XplusJOG
@@ -49,8 +53,8 @@ net TurretLS12		mb2hal.STBIn.TurretLS12
 net TurretLS13		mb2hal.STBIn.TurretLS13 
 net TurretIndex		mb2hal.STBIn.TurretIndex

-#mb2hal.STBIn.MachineError   
-#mb2hal.STBIn.MachineReadyFin
+net MachineErrorIn	mb2hal.STBIn.MachineError   
+net MachineReadyFin	mb2hal.STBIn.MachineReadyFin
 net PressureSwitch	mb2hal.STBIn.PressureSwitch
 net ChuckOpenLimit	mb2hal.STBIn.ChuckOpenLimit
 net ChuckCloseLimit	mb2hal.STBIn.ChuckCloseLimit
@@ -58,32 +62,38 @@ net DoorSwitchs		mb2hal.STBIn.DoorSwitchs

 #mb2hal.STBIn.SpindlePot

-#mb2hal.STBOut.PgmEnd            
-#mb2hal.STBOut.SpindleAlarm      
+###############################################################
+#STB Inputs
+###############################################################
+
 net XZeroed		mb2hal.STBOut.XZeroReturnLamp
 net ZZeroed		mb2hal.STBOut.ZZeroReturnLamp
 net MachineIsOn		mb2hal.STBOut.MachineReadyLamp
+#setp	mb2hal.STBOut.OptionnalStop 1
 net OptionnalStopLed	mb2hal.STBOut.OptionnalStop 
-#mb2hal.STBOut.FeedHoldLamp
-#mb2hal.STBOut.CycleStartLamp
-#mb2hal.STBOut.TurretIndexLamp
-#mb2hal.STBOut.CoolantPumpOnLamp
-#mb2hal.STBOut.CoolantPumpOffLamp
-#mb2hal.STBOut.ChuckClampLamp
-#mb2hal.STBOut.ProgramEndLamp
-#mb2hal.STBOut.ProgramErrorLamp
-#mb2hal.STBOut.MachineErrorLamp
-#mb2hal.STBOut.ResetSignal
+net FeedHoldLamp 	mb2hal.STBOut.FeedHoldLamp
+net CycleStartLamp	mb2hal.STBOut.CycleStartLamp
+net ToolChangeLed	mb2hal.STBOut.TurretIndexLamp
+net CoolantPumpLed 	mb2hal.STBOut.CoolantPumpOnLamp
+net CoolantOffLed	mb2hal.STBOut.CoolantPumpOffLamp
+net ChuckClampLed	mb2hal.STBOut.ChuckClampLamp
+net ProgramEnd		mb2hal.STBOut.ProgramEndLamp
+setp 			mb2hal.STBOut.ProgramErrorLamp 1
+net MachineErrorLamp	mb2hal.STBOut.MachineErrorLamp
+#mb2hal.STBOut.ServoReady
+#mb2hal.STBOut.CoolantPump
+#mb2hal.STBOut.DDO3705-16
+

 net TurretUnclamp	mb2hal.STBOut.TurretUnclamp	
 net TurretClamp		mb2hal.STBOut.TurretClamp       
 net TurretReverse	mb2hal.STBOut.TurretReverse     
 net TurretSpin		mb2hal.STBOut.TurretIndex
-#mb2hal.STBOut.ChuckClose        
-#mb2hal.STBOut.ChuckOpen         
+net ChuckCloseRelay	mb2hal.STBOut.ChuckClose
+net ChuckOpenRelay	mb2hal.STBOut.ChuckOpen

-#mb2hal.STBOut.MachineReady
-#mb2hal.STBOut.ServoReady
+net AuxiliariesPower	mb2hal.STBOut.MachineReady
+net ServoPower		mb2hal.STBOut.ServoPower

 #mb2hal.STBOut.CoolantPump

--- a/mb2hal.ini
+++ b/mb2hal.ini
@@ -15,7 +15,7 @@
 # 2 = OK confirmation messages.
 # 3 = debugging messages.

-INIT_DEBUG=3
+INIT_DEBUG=1

 #OPTIONAL: HAL module (component) name. Defaults to "mb2hal".

@@ -178,22 +178,23 @@ MB_TX_CODE=fnct_16_write_multiple_registers

 HAL_TX_NAME=STBOut

-HAL_MAP_PIN=PgmEnd, 0, bit, 0 
-HAL_MAP_PIN=SpindleAlarm, 0, bit, 1 
-HAL_MAP_PIN=XZeroReturnLamp, 0, bit, 2 
-HAL_MAP_PIN=ZZeroReturnLamp, 0, bit, 3 
-HAL_MAP_PIN=MachineReadyLamp, 0, bit, 4 
-HAL_MAP_PIN=OptionnalStop, 0, bit, 5 
-HAL_MAP_PIN=FeedHoldLamp, 0, bit, 6 
-HAL_MAP_PIN=CycleStartLamp, 0, bit, 7 
-HAL_MAP_PIN=TurretIndexLamp, 0, bit, 8 
-HAL_MAP_PIN=CoolantPumpOnLamp, 0, bit, 9 
-HAL_MAP_PIN=CoolantPumpOffLamp, 0, bit, 10
-HAL_MAP_PIN=ChuckClampLamp, 0, bit, 11
-HAL_MAP_PIN=ProgramEndLamp, 0, bit, 12
-HAL_MAP_PIN=ProgramErrorLamp, 0, bit, 13
-HAL_MAP_PIN=MachineErrorLamp, 0, bit, 14
-HAL_MAP_PIN=ResetSignal, 0, bit, 15
+
+HAL_MAP_PIN=XZeroReturnLamp, 0, bit, 0 
+HAL_MAP_PIN=ZZeroReturnLamp, 0, bit, 1 
+HAL_MAP_PIN=MachineReadyLamp, 0, bit, 2 
+HAL_MAP_PIN=OptionnalStop, 0, bit, 3 
+HAL_MAP_PIN=FeedHoldLamp, 0, bit, 4 
+HAL_MAP_PIN=CycleStartLamp, 0, bit, 5 
+HAL_MAP_PIN=TurretIndexLamp, 0, bit, 6 
+HAL_MAP_PIN=CoolantPumpOnLamp, 0, bit, 7 
+HAL_MAP_PIN=CoolantPumpOffLamp, 0, bit, 8 
+HAL_MAP_PIN=ChuckClampLamp, 0, bit, 9 
+HAL_MAP_PIN=ProgramEndLamp, 0, bit, 10
+HAL_MAP_PIN=ProgramErrorLamp, 0, bit, 11
+HAL_MAP_PIN=MachineErrorLamp, 0, bit, 12
+HAL_MAP_PIN=ServoReady, 0, bit, 13
+HAL_MAP_PIN=CoolantPump, 0, bit, 14
+HAL_MAP_PIN=DDO3705-16, 0, bit, 15

 HAL_MAP_PIN=TurretUnclamp, 1, bit, 0
 HAL_MAP_PIN=TurretClamp, 1, bit, 1
@@ -203,9 +204,9 @@ HAL_MAP_PIN=ChuckClose, 1, bit, 4
 HAL_MAP_PIN=ChuckOpen, 1, bit, 5

 HAL_MAP_PIN=MachineReady, 2, bit, 0
-HAL_MAP_PIN=ServoReady, 2, bit, 1
+HAL_MAP_PIN=ServoPower, 2, bit, 1

-HAL_MAP_PIN=CoolantPump, 3, bit, 0
+#HAL_MAP_PIN=test2, 3, bit, 0

 MAX_UPDATE_RATE=0.0
 DEBUG=1