From fb377ed154a5f98fe1bd388bc49697c5b3c43c84 Mon Sep 17 00:00:00 2001 From: electrolab Date: Tue, 30 Mar 2021 22:39:47 +0200 Subject: [PATCH] Big backlog --- classicladder.hal | 98 ++++-- gmoccapy_postgui.hal | 81 +++-- maurice-common.ini | 41 ++- maurice.clp | 727 +++++++++++++++++++++++++++++-------------- maurice.hal | 44 +++ mb2hal.hal | 50 +-- mb2hal.ini | 39 +-- 7 files changed, 748 insertions(+), 332 deletions(-) diff --git a/classicladder.hal b/classicladder.hal index d5e35cc..fc31a24 100644 --- a/classicladder.hal +++ b/classicladder.hal @@ -1,4 +1,4 @@ -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 diff --git a/gmoccapy_postgui.hal b/gmoccapy_postgui.hal index 9757b48..3ae46c6 100755 --- a/gmoccapy_postgui.hal +++ b/gmoccapy_postgui.hal @@ -1,41 +1,57 @@ +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 diff --git a/maurice-common.ini b/maurice-common.ini index 2ce179d..25427a4 100755 --- 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 diff --git a/maurice.clp b/maurice.clp index 52b1e86..a4db0f8 100644 --- a/maurice.clp +++ b/maurice.clp @@ -1,4 +1,56 @@ _FILES_CLASSICLADDER +_FILE-rung_20.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=-1 +#NEXTRUNG=5 +1-0-0/1 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 53-0-0/2 +1-0-0/14 , 9-0-0/0 , 9-0-0/0 , 1-0-50/31 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 52-0-0/2 +1-0-0/19 , 0-0-0/0 , 0-0-0/0 , 0-0-50/32 , 0-0-0/0 , 0-0-0/2 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +1-0-0/18 , 0-1-0/0 , 0-0-0/0 , 0-0-50/33 , 0-0-0/0 , 0-0-0/2 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/1 +1-0-0/2 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/43 +1-0-0/14 , 9-1-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/2 +_/FILE-rung_20.csv +_FILE-rung_17.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=4 +#NEXTRUNG=18 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +1-0-50/35 , 9-0-0/0 , 2-0-50/36 , 9-0-0/0 , 1-0-50/37 , 9-0-0/0 , 2-0-50/38 , 9-0-0/0 , 9-0-0/0 , 50-0-0/11 +1-0-50/35 , 9-0-50/0 , 1-0-50/36 , 9-0-0/0 , 1-0-50/37 , 9-0-50/0 , 2-0-50/38 , 9-0-0/0 , 9-0-0/0 , 50-0-0/12 +2-0-50/35 , 9-0-0/0 , 1-0-50/36 , 9-0-0/0 , 1-0-50/37 , 9-0-0/0 , 2-0-50/38 , 9-0-0/0 , 9-0-0/0 , 50-0-0/13 +2-0-50/35 , 9-0-0/0 , 1-0-50/36 , 9-0-0/0 , 1-0-50/37 , 9-0-0/0 , 1-0-50/38 , 9-0-0/0 , 9-0-0/0 , 50-0-0/14 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_17.csv +_FILE-rung_13.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=14 +#NEXTRUNG=12 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +9-0-0/0 , 1-0-50/53 , 9-0-0/0 , 99-0-0/0 , 13-0-0/11 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/4 +0-0-0/0 , 0-0-0/0 , 0-0-0/11 , 99-0-0/0 , 99-0-0/11 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/11 , 0-0-0/11 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +1-0-50/17 , 9-0-0/0 , 1-0-0/4 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/5 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_13.csv +_FILE-rung_21.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=25 +#NEXTRUNG=2 +1-0-50/18 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 9-1-50/0 , 9-0-0/0 , 2-0-0/4 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/60 +0-0-0/0 , 9-1-50/0 , 9-0-0/0 , 2-0-50/17 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_21.csv _FILE-modbusioconf.csv #VER=1.0 1,5,3240,1,0,0 @@ -10,10 +62,10 @@ _FILE-rung_7.csv #PREVRUNG=8 #NEXTRUNG=-1 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 -1-0-50/20 , 9-0-0/0 , 1-0-50/21 , 9-0-0/0 , 1-0-50/25 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/0 -1-0-50/23 , 9-0-0/0 , 1-0-50/24 , 9-0-0/0 , 1-0-50/25 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/1 -1-0-50/22 , 9-0-0/0 , 1-0-50/24 , 9-0-0/0 , 1-0-50/25 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/2 -1-0-50/21 , 9-0-0/0 , 1-0-50/23 , 9-0-0/0 , 1-0-50/25 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/3 +1-0-50/20 , 9-0-0/0 , 1-0-50/21 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/0 +1-0-50/23 , 9-0-0/0 , 1-0-50/24 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/1 +1-0-50/22 , 9-0-0/0 , 1-0-50/24 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/2 +1-0-50/21 , 9-0-0/0 , 1-0-50/23 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/3 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 _/FILE-rung_7.csv _FILE-ioconf.csv @@ -23,7 +75,7 @@ _FILE-rung_5.csv #VER=2.0 #LABEL= #COMMENT= -#PREVRUNG=6 +#PREVRUNG=20 #NEXTRUNG=3 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 1-0-50/8 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 52-0-0/2 @@ -32,19 +84,71 @@ _FILE-rung_5.csv 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 _/FILE-rung_5.csv -_FILE-rung_4.csv +_FILE-rung_15.csv #VER=2.0 #LABEL= #COMMENT= #PREVRUNG=-1 -#NEXTRUNG=11 +#NEXTRUNG=16 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_15.csv +_FILE-rung_28.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=2 +#NEXTRUNG=-1 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +9-0-50/18 , 2-0-50/18 , 9-0-0/0 , 2-0-0/4 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/64 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-0/0 +9-0-0/0 , 1-0-50/18 , 9-0-0/0 , 1-0-60/69 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_28.csv +_FILE-rung_22.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=12 +#NEXTRUNG=-1 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 53-0-60/51 +1-0-50/50 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/17 , 9-0-0/0 , 1-0-50/52 , 9-0-0/0 , 9-0-0/0 , 52-1-60/50 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +1-0-50/51 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/18 , 9-0-0/0 , 1-0-50/52 , 9-0-0/0 , 9-0-0/0 , 52-0-60/51 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 53-1-60/50 +_/FILE-rung_22.csv +_FILE-rung_4.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=16 +#NEXTRUNG=17 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +1-0-50/35 , 9-0-0/0 , 1-0-50/36 , 9-0-0/0 , 2-0-50/37 , 9-0-0/0 , 2-0-50/38 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +1-0-50/35 , 9-0-0/0 , 2-0-50/36 , 9-0-0/0 , 2-0-50/37 , 9-0-0/0 , 2-0-50/38 , 9-0-0/0 , 9-0-0/0 , 50-0-60/41 +2-0-50/35 , 9-0-0/0 , 2-0-50/36 , 9-0-0/0 , 2-0-50/37 , 9-0-0/0 , 2-0-50/38 , 9-0-0/0 , 9-0-0/0 , 50-0-60/42 +2-0-50/35 , 9-0-0/0 , 2-0-50/36 , 9-0-0/0 , 1-0-50/37 , 9-0-0/0 , 2-0-50/38 , 9-0-0/0 , 9-0-0/0 , 50-0-0/10 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-50/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 _/FILE-rung_4.csv +_FILE-rung_14.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=6 +#NEXTRUNG=13 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +9-0-0/0 , 1-0-50/55 , 9-0-60/0 , 1-0-60/50 , 9-0-50/0 , 2-0-50/52 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/52 +9-0-0/0 , 1-0-50/54 , 9-0-0/0 , 1-0-60/51 , 9-0-50/0 , 1-0-50/52 , 9-0-0/0 , 0-1-0/0 , 0-0-0/0 , 50-1-60/53 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-50/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/5 , 0-0-0/0 , 0-0-50/56 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/63 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_14.csv _FILE-sequential.csv #VER=1.0 _/FILE-sequential.csv @@ -57,12 +161,12 @@ _FILE-timers_iec.csv 1,3,1 2,5,2 2,5,2 -1,5,0 -1,2,0 -1,60,0 -1,5,0 -1,0,0 -1,0,0 +2,5,0 +1,2,2 +1,40,0 +1,5,1 +1,3,0 +2,2,2 1,0,0 1,0,0 1,0,0 @@ -90,6 +194,19 @@ _FILE-timers_iec.csv 1,0,0 1,0,0 _/FILE-timers_iec.csv +_FILE-rung_18.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=17 +#NEXTRUNG=19 +1-0-0/10 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/15 +0-0-50/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +1-0-0/10 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/43 +1-0-0/11 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-1-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/44 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +1-0-0/11 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/16 +_/FILE-rung_18.csv _FILE-monostables.csv 1,0 1,0 @@ -115,164 +232,50 @@ _FILE-arithmetic_expressions.csv 0008,@200/0@=@270/0@ 0009,@270/0@-@200/0@>4 0010,@270/0@-@200/0@<0 -0011,@270/0@-@200/0@>=-4 +0011,@270/0@-@200/0@>-4 0012,@270/0@=0 +0013,@300/1@<1 +0014,@300/1@<1 +0015,@310/0@=0.001 +0016,@310/0@=0.1 +0017,@300/1@<1 +0018,@300/1@<1 _/FILE-arithmetic_expressions.csv _FILE-rung_11.csv #VER=2.0 #LABEL= #COMMENT= -#PREVRUNG=4 +#PREVRUNG=-1 #NEXTRUNG=10 -0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 9-0-0/0 , 9-0-0/0 , 53-0-60/25 -1-0-50/26 , 2-0-0/3 , 9-0-60/0 , 9-0-0/0 , 2-0-60/25 , 9-0-60/0 , 9-0-0/0 , 99-1-0/0 , 13-0-0/10 , 50-0-60/26 -9-0-0/0 , 1-0-60/24 , 2-0-60/26 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 99-0-0/0 , 0-0-0/0 -1-0-60/21 , 9-0-0/0 , 99-0-0/0 , 13-0-0/11 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 9-1-60/0 , 9-0-0/0 , 50-0-60/24 -0-0-0/0 , 0-0-0/0 , 99-0-60/21 , 99-0-0/0 , 9-1-50/25 , 9-0-0/0 , 9-0-0/0 , 9-0-0/12 , 9-0-0/12 , 52-0-60/25 -1-0-50/26 , 9-0-0/0 , 1-0-0/3 , 9-0-0/0 , 2-0-60/24 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/25 +3-0-50/26 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-50/26 , 9-0-0/0 , 53-0-60/26 +1-0-50/26 , 2-0-0/3 , 9-0-60/0 , 9-0-0/0 , 9-0-60/0 , 9-0-60/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/10 , 52-0-60/26 +2-0-60/25 , 1-0-60/24 , 2-0-60/26 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 99-0-0/0 , 0-0-0/0 +1-0-60/21 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 9-1-60/0 , 9-0-0/0 , 50-0-60/24 +0-0-0/0 , 0-0-0/0 , 0-0-60/21 , 0-0-0/0 , 9-1-50/25 , 9-0-0/0 , 1-0-50/25 , 9-0-0/12 , 9-0-0/12 , 50-0-60/25 +1-0-50/26 , 9-0-0/0 , 1-0-0/3 , 9-0-0/0 , 2-0-60/24 , 9-0-0/0 , 1-0-50/25 , 9-0-0/0 , 0-1-0/0 , 0-0-60/25 _/FILE-rung_11.csv _FILE-symbols.csv #VER=1.0 -%I0,XStatHome, -%I1,XStatPos, -%I2,XHomingOk, -%I3,XAtHome, -%I4,ZStatHome, -%I5,ZStatPos, -%I6,ZHomingOk, -%I7,ZAtHome, -%I8,HomeAll, -%I9,HomeX, -%I10,HomeZ, -%I11,%I11, -%I12,%I12, -%I13,%I13, -%I14,%I14, -%Q0,XHomed, -%Q1,ZHomed, -%Q2,XHoming, -%Q3,ZHoming, -%Q4,XCtrlHome, -%Q5,XCtrlPos, -%Q6,ZCtrlHome, -%Q7,ZCtrlPos, -%Q8,XHomStart, -%Q9,ZHomStart, -%Q10,%Q10, -%Q11,%Q11, -%Q12,%Q12, -%Q13,%Q13, -%Q14,%Q14, %B0,XToHome, %B1,ZToHome, %B2,HomeSeq, %B3,TInPos, -%B4,%B4, -%B5,%B5, -%B6,%B6, -%B7,%B7, -%B8,%B8, +%B4,HydroOk, +%B5,MachineOk, +%B6,MTcRun, +%B7,TcReq, +%B8,MTcRun, %B9,%B9, -%B10,%B10, -%B11,%B11, -%B12,%B12, -%B13,%B13, -%B14,%B14, +%B10,ModeX1, +%B11,ModeX10, +%B12,ModeJ, +%B13,ModeRpd, +%B14,ModeZRN, %B15,%B15, %B16,%B16, %B17,%B17, -%B18,%B18, -%B19,%B19, -%W0,TPosition, -%W1,TToGo, -%W2,%W2, -%W3,%W3, -%W4,%W4, -%W5,%W5, -%W6,%W6, -%W7,%W7, -%W8,%W8, -%W9,%W9, -%W10,%W10, -%W11,%W11, -%W12,%W12, -%W13,%W13, -%W14,%W14, -%W15,%W15, -%W16,%W16, -%W17,%W17, -%W18,%W18, -%W19,%W19, -%IW0,ToolNbr, -%IW1,%IW1, -%IW2,%IW2, -%IW3,%IW3, -%IW4,%IW4, -%IW5,%IW5, -%IW6,%IW6, -%IW7,%IW7, -%IW8,%IW8, -%IW9,%IW9, -%QW0,%QW0, -%QW1,%QW1, -%QW2,%QW2, -%QW3,%QW3, -%QW4,%QW4, -%QW5,%QW5, -%QW6,%QW6, -%QW7,%QW7, -%QW8,%QW8, -%QW9,%QW9, -%IF0,%IF0, -%IF1,%IF1, -%IF2,%IF2, -%IF3,%IF3, -%IF4,%IF4, -%IF5,%IF5, -%IF6,%IF6, -%IF7,%IF7, -%IF8,%IF8, -%IF9,%IF9, -%QF0,%QF0, -%QF1,%QF1, -%QF2,%QF2, -%QF3,%QF3, -%QF4,%QF4, -%QF5,%QF5, -%QF6,%QF6, -%QF7,%QF7, -%QF8,%QF8, -%QF9,%QF9, -%T0,%T0,Old Timer -%T1,%T1,Old Timer -%T2,%T2,Old Timer -%T3,%T3,Old Timer -%T4,%T4,Old Timer -%T5,%T5,Old Timer -%T6,%T6,Old Timer -%T7,%T7,Old Timer -%T8,%T8,Old Timer -%T9,%T9,Old Timer -%TM0,%TM0,New Timer -%TM1,%TM1,New Timer -%TM2,%TM2,New Timer -%TM3,%TM3,New Timer -%TM4,%TM4,New Timer -%TM5,%TM5,New Timer -%TM6,%TM6,New Timer -%TM7,%TM7,New Timer -%TM8,%TM8,New Timer -%TM9,%TM9,New Timer -%M0,%M0,One-shot -%M1,%M1,One-shot -%M2,%M2,One-shot -%M3,%M3,One-shot -%M4,%M4,One-shot -%M5,%M5,One-shot -%M6,%M6,One-shot -%M7,%M7,One-shot -%M8,%M8,One-shot -%M9,%M9,One-shot +%B18,XHoming, +%B19,ZHoming, %C0,%C0,Counter %C1,%C1,Counter %C2,%C2,Counter @@ -293,46 +296,126 @@ _FILE-symbols.csv %E7,%E7,Error Flag Bit %E8,%E8,Error Flag Bit %E9,%E9,Error Flag Bit +%I0,XStatHome, +%I1,XStatPos, +%I2,XHomingOk, +%I3,XAtHome, +%I4,ZStatHome, +%I5,ZStatPos, +%I6,ZHomingOk, +%I7,ZAtHome, +%I8,HomeAll, +%I9,HomeX, +%I10,HomeZ, +%I11,%I11, +%I12,%I12, +%I13,%I13, +%I14,%I14, %I15,%I15, %I16,%I16, -%I17,%I17, -%I18,%I18, -%I19,%I19, +%I17,MReadyF, +%I18,MEnabled, +%I19,ModIsMan, %I20,LS9, %I21,LS10, %I22,LS11, %I23,LS12, %I24,LS13, %I25,TIndex, -%I26,TcReq, +%I26,PTcReq, %I27,%I27, %I28,%I28, %I29,%I29, -%I30,%I30, -%I31,%I31, -%I32,%I32, -%I33,%I33, -%I34,%I34, -%I35,%I35, -%I36,%I36, -%I37,%I37, -%I38,%I38, -%I39,%I39, -%I40,%I40, -%I41,%I41, -%I42,%I42, -%I43,%I43, -%I44,%I44, -%I45,%I45, -%I46,%I46, -%I47,%I47, -%I48,%I48, -%I49,%I49, +%I30,TcBtn, +%I31,StartBtn, +%I32,JogX+, +%I33,JogZ+, +%I34,FeedHldBt, +%I35,Mode1, +%I36,Mode2, +%I37,Mode3, +%I38,Mode4, +%I39,FeedOv1, +%I40,FeedOv2, +%I41,FeedOv3, +%I42,FeedOv4, +%I43,RapidOv1, +%I44,RapidOv2, +%I45,BlkDelBtn, +%I46,OpStopBtn, +%I47,SglBlkBtn, +%I48,PwrOnSw,no signal connected +%I49,EstopSw, +%I50,ChkOpenB, +%I51,ChkCloseB, +%I52,ChkInside, +%I53,PSwitch, +%I54,ChkOpenL, +%I55,ChkCloseL, +%I56,DoorSw, +%I57,PgmRun, +%I58,%I58, +%I59,%I59, +%I60,MErrorIn, +%I61,PrgmRunIn, +%I62,%I62, +%I63,%I63, +%I64,%I64, +%I65,%I65, +%I66,%I66, +%I67,%I67, +%I68,%I68, +%I69,%I69, +%I70,PgmRunnin, +%I71,PgmIdle,no signal connected +%I72,PgmPaused, +%I73,%I73, +%I74,%I74, +%I75,%I75, +%I76,%I76, +%I77,%I77, +%I78,%I78, +%I79,%I79, +%IF0,%IF0, +%IF1,%IF1, +%IF2,%IF2, +%IF3,%IF3, +%IF4,%IF4, +%IF5,%IF5, +%IF6,%IF6, +%IF7,%IF7, +%IF8,%IF8, +%IF9,%IF9, +%IW0,PToolNbr, +%IW1,MToolNbr, +%IW2,%IW2, +%IW3,%IW3, +%IW4,%IW4, +%IW5,%IW5, +%IW6,%IW6, +%IW7,%IW7, +%IW8,%IW8, +%IW9,%IW9, +%Q0,XHomed, +%Q1,ZHomed, +%Q2,FInhibit, +%Q3,YHomed, +%Q4,XCtrlHome, +%Q5,XCtrlPos, +%Q6,ZCtrlHome, +%Q7,ZCtrlPos, +%Q8,XHomStart, +%Q9,ZHomStart, +%Q10,%Q10, +%Q11,%Q11, +%Q12,%Q12, +%Q13,%Q13, +%Q14,%Q14, %Q15,%Q15, -%Q16,%Q16, -%Q17,%Q17, -%Q18,%Q18, -%Q19,%Q19,no signal connected +%Q16,MachineOn, +%Q17,SrvRst, +%Q18,AuxPower, +%Q19,SrvPower,no signal connected %Q20,TUnclamp, %Q21,TClamp, %Q22,TReverse, @@ -340,7 +423,7 @@ _FILE-symbols.csv %Q24,TcRun, %Q25,TcOk, %Q26,TcFail, -%Q27,%Q27, +%Q27,ManualTc, %Q28,%Q28, %Q29,%Q29, %Q30,%Q30, @@ -354,15 +437,95 @@ _FILE-symbols.csv %Q38,%Q38, %Q39,%Q39, %Q40,%Q40, -%Q41,%Q41, -%Q42,%Q42, -%Q43,%Q43, -%Q44,%Q44, -%Q45,%Q45, +%Q41,ModeAuto, +%Q42,ModeMDI, +%Q43,ModeMan, +%Q44,MPGVelMod, +%Q45,RapidJog, %Q46,%Q46, %Q47,%Q47, %Q48,%Q48, %Q49,%Q49, +%Q50,ChkClose, +%Q51,ChkOpen, +%Q52,ChkOk, +%Q53,ChuckLed, +%Q54,%Q54, +%Q55,%Q55, +%Q56,%Q56, +%Q57,%Q57, +%Q58,%Q58, +%Q59,%Q59, +%Q60,HydroErr, +%Q61,AuxErr, +%Q62,DoorErr, +%Q63,ChkErr, +%Q64,MErrLamp, +%Q65,%Q65, +%Q66,PgmInhib, +%Q67,EStop, +%Q68,FeedHold, +%Q69,MOff, +%Q70,PgmEnd, +%Q71,CyclStart, +%Q72,PgmResume, +%Q73,PgmStep, +%Q74,PgmPause, +%Q75,%Q75, +%Q76,%Q76, +%Q77,%Q77, +%Q78,%Q78, +%Q79,%Q79, +%QF0,JogScale, +%QF1,%QF1, +%QF2,%QF2, +%QF3,%QF3, +%QF4,%QF4, +%QF5,%QF5, +%QF6,%QF6, +%QF7,%QF7, +%QF8,%QF8, +%QF9,%QF9, +%QW0,%QW0, +%QW1,%QW1, +%QW2,%QW2, +%QW3,%QW3, +%QW4,%QW4, +%QW5,%QW5, +%QW6,%QW6, +%QW7,%QW7, +%QW8,%QW8, +%QW9,%QW9, +%M0,%M0,One-shot +%M1,%M1,One-shot +%M2,%M2,One-shot +%M3,%M3,One-shot +%M4,%M4,One-shot +%M5,%M5,One-shot +%M6,%M6,One-shot +%M7,%M7,One-shot +%M8,%M8,One-shot +%M9,%M9,One-shot +%T0,%T0,Old Timer +%T1,%T1,Old Timer +%T2,%T2,Old Timer +%T3,%T3,Old Timer +%T4,%T4,Old Timer +%T5,%T5,Old Timer +%T6,%T6,Old Timer +%T7,%T7,Old Timer +%T8,%T8,Old Timer +%T9,%T9,Old Timer +%TM0,%TM0,New Timer +%TM1,%TM1,New Timer +%TM2,%TM2,New Timer +%TM3,%TM3,New Timer +%TM4,%TM4,New Timer +%TM5,%TM5,New Timer +%TM6,%TM6,New Timer +%TM7,%TM7,New Timer +%TM8,%TM8,New Timer +%TM9,%TM9,New Timer %TM10,%TM10,New Timer %TM11,%TM11,New Timer %TM12,%TM12,New Timer @@ -395,7 +558,7 @@ _FILE-symbols.csv %TM39,%TM39,New Timer _/FILE-symbols.csv _FILE-general.txt -PERIODIC_REFRESH=50 +PERIODIC_REFRESH=1 SIZE_NBR_RUNGS=100 SIZE_NBR_BITS=20 SIZE_NBR_WORDS=20 @@ -403,24 +566,37 @@ SIZE_NBR_TIMERS=10 SIZE_NBR_MONOSTABLES=10 SIZE_NBR_COUNTERS=10 SIZE_NBR_TIMERS_IEC=40 -SIZE_NBR_PHYS_INPUTS=50 -SIZE_NBR_PHYS_OUTPUTS=50 +SIZE_NBR_PHYS_INPUTS=80 +SIZE_NBR_PHYS_OUTPUTS=80 SIZE_NBR_ARITHM_EXPR=100 SIZE_NBR_SECTIONS=10 -SIZE_NBR_SYMBOLS=260 +SIZE_NBR_SYMBOLS=300 _/FILE-general.txt +_FILE-rung_16.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=15 +#NEXTRUNG=4 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 50-0-60/19 +1-0-50/48 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-1-60/18 +1-0-50/18 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 13-0-0/13 , 50-0-60/17 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 +9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 1-0-50/17 , 9-0-0/0 , 1-0-0/4 , 9-0-0/0 , 99-0-0/0 , 13-0-0/12 , 50-0-60/16 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-60/3 +_/FILE-rung_16.csv _FILE-rung_6.csv #VER=2.0 #LABEL= #COMMENT= -#PREVRUNG=2 -#NEXTRUNG=5 -1-0-0/3 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 -1-0-0/4 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 -1-0-0/5 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 -1-0-0/6 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 -1-0-0/7 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 -1-0-0/8 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +#PREVRUNG=-1 +#NEXTRUNG=14 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 _/FILE-rung_6.csv _FILE-counters.csv 0 @@ -440,39 +616,104 @@ _FILE-rung_9.csv #COMMENT= #PREVRUNG=10 #NEXTRUNG=8 -9-0-0/0 , 1-0-0/3 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 53-0-60/23 +1-0-50/30 , 9-0-0/3 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/27 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/12 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0 , 0-0-0/0 -9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 99-0-0/8 , 99-0-0/0 , 20-0-0/8 , 9-0-0/0 , 1-0-50/25 , 9-1-0/0 , 50-0-0/3 +9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 99-0-0/8 , 99-0-0/0 , 20-0-0/8 , 9-0-0/0 , 9-0-50/0 , 9-1-0/0 , 50-0-0/3 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/10 , 0-0-0/0 , 0-0-0/0 , 0-0-0/11 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 -9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/9 , 9-0-0/9 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/22 -9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/11 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/10 , 0-1-0/0 , 0-0-0/0 +9-0-60/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/9 , 9-0-0/9 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/22 +9-0-60/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/11 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 20-0-0/10 , 0-1-0/0 , 0-0-0/0 _/FILE-rung_9.csv _FILE-rung_2.csv #VER=2.0 #LABEL= #COMMENT= -#PREVRUNG=-1 -#NEXTRUNG=6 +#PREVRUNG=21 +#NEXTRUNG=28 +1-0-50/61 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +0-0-0/0 , 9-1-0/0 , 9-0-0/0 , 2-0-50/56 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/62 +0-0-0/0 , 9-1-0/0 , 9-0-0/0 , 2-0-60/52 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/63 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_2.csv +_FILE-rung_25.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=23 +#NEXTRUNG=21 +9-0-0/0 , 9-0-0/0 , 1-0-50/56 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 50-1-60/66 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 +_/FILE-rung_25.csv +_FILE-rung_23.csv +#VER=2.0 +#LABEL= +#COMMENT= +#PREVRUNG=24 +#NEXTRUNG=25 +9-0-0/0 , 9-0-0/0 , 1-0-60/60 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0 +9-0-0/0 , 9-0-0/0 , 1-0-50/17 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-1-60/69 +0-0-0/0 , 0-0-0/0 , 0-0-60/63 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-1-60/0 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 -_/FILE-rung_2.csv +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 50-1-60/68 +9-0-0/0 , 9-0-0/0 , 1-0-60/63 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-0/0 +_/FILE-rung_23.csv _FILE-rung_0.csv #VER=2.0 #LABEL= #COMMENT= #PREVRUNG=1 #NEXTRUNG=-1 -0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/2 +0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-0/19 9-0-0/0 , 1-0-0/0 , 9-0-0/0 , 2-0-60/0 , 9-0-0/0 , 9-0-0/0 , 9-1-0/0 , 99-0-0/0 , 13-0-0/4 , 50-0-60/4 -0-0-0/0 , 1-1-60/2 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 13-0-0/0 , 99-0-0/0 , 99-0-0/0 , 51-1-60/5 +0-0-0/0 , 1-1-0/18 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 13-0-0/0 , 99-0-0/0 , 99-0-0/0 , 51-1-60/5 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 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, 52-0-60/20 +1-0-50/30 , 0-0-60/26 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/21 , 0-0-0/0 , 0-0-60/23 +1-0-60/20 , 2-1-60/21 , 2-0-60/26 , 1-0-60/24 , 99-0-0/0 , 13-0-0/8 , 9-0-0/0 , 2-0-0/3 , 9-0-0/0 , 50-0-60/23 0-0-60/20 , 0-0-0/0 , 0-0-0/0 , 0-0-0/8 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/23 -4-0-60/23 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 13-0-0/9 , 9-0-0/0 , 2-0-60/25 , 9-0-0/0 , 50-0-60/21 -0-0-60/23 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/21 +4-0-60/23 , 9-0-0/0 , 99-0-0/0 , 13-0-0/9 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-60/0 , 9-0-0/0 , 50-0-60/21 +0-0-60/23 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 53-1-60/20 _/FILE-rung_10.csv _FILE-rung_8.csv #VER=2.0 @@ -557,10 +832,10 @@ _FILE-rung_8.csv #PREVRUNG=9 #NEXTRUNG=7 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 -1-0-50/20 , 9-0-0/0 , 1-0-50/22 , 9-0-0/0 , 1-0-50/25 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/4 -1-0-50/20 , 9-0-0/0 , 1-0-50/23 , 9-0-0/0 , 1-0-50/25 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/5 -1-0-50/22 , 9-0-0/0 , 1-0-50/23 , 9-0-0/0 , 1-0-50/25 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/6 -1-0-50/21 , 9-0-0/0 , 1-0-50/22 , 9-0-0/0 , 1-0-50/25 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/7 +1-0-50/20 , 9-0-0/0 , 1-0-50/22 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/4 +1-0-50/20 , 9-0-0/0 , 1-0-50/23 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/5 +1-0-50/22 , 9-0-0/0 , 1-0-50/23 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/6 +1-0-50/21 , 9-0-0/0 , 1-0-50/22 , 9-0-0/0 , 9-0-50/0 , 9-0-0/0 , 9-0-0/0 , 99-0-0/0 , 99-0-0/0 , 60-0-0/7 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 _/FILE-rung_8.csv _/FILES_CLASSICLADDER diff --git a/maurice.hal b/maurice.hal index 6e8002c..24c0ca7 100644 --- 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 diff --git a/mb2hal.hal b/mb2hal.hal index 2676b72..f82e7ec 100644 --- a/mb2hal.hal +++ b/mb2hal.hal @@ -1,7 +1,11 @@ #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 diff --git a/mb2hal.ini b/mb2hal.ini index a9bdbae..33d4d53 100644 --- 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 -- GitLab