#===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