# --------------------------------------- # --- PROFIBUS DP # --- LinuxCNC HAL configuration file # ------ # --- Load the pyprofibus HAL userspace module --- # # Parameters: # --loglevel LVL : Change the log level. # # --nice NICE : Renice the process. -20 <= NICE <= 19. # Default: Do not renice. # # The last parameter is the configuration file describing the PROFIBUS. # loadusr -Wn profibus pyprofibus-linuxcnc-hal pyprofibus.conf # --- Enable the used master-to-slave pins --- # MOSI = MasterOutputSlaveInput = Data flow from PB master to PB slave. # All master-to-slave pins are deactivated by default. # So all master-to-slave pins connected below, should be activated here by writing # a '1' to the '.active' pin. # Deactivated master-to-slave pins will not be forwarded from LinuxCNC to the PROFIBUS. setp profibus.slave.8.mosi.bit.0.0.active 1 setp profibus.slave.8.mosi.bit.0.1.active 1 setp profibus.slave.8.mosi.bit.1.0.active 1 setp profibus.slave.8.mosi.bit.1.1.active 1 setp profibus.slave.8.mosi.bit.1.2.active 1 setp profibus.slave.8.mosi.bit.1.3.active 1 setp profibus.slave.8.mosi.bit.1.4.active 1 setp profibus.slave.8.mosi.float.4.active 1 setp profibus.slave.8.mosi.float.8.active 1 setp profibus.slave.8.mosi.float.12.active 1 setp profibus.slave.8.mosi.u8.16.active 1 setp profibus.slave.8.mosi.u16.18.active 1 setp profibus.slave.8.mosi.s16.20.active 1 setp profibus.slave.8.mosi.u31.22.active 1 setp profibus.slave.8.mosi.s32.26.active 1 # --- Connect master-to-slave pins --- # MOSI = MasterOutputSlaveInput = Data flow from PB master to PB slave. net heartbeat => profibus.slave.8.mosi.bit.0.0 net estop-out-not => profibus.slave.8.mosi.bit.0.1 net spindle-cw => profibus.slave.8.mosi.bit.1.0 net spindle-ccw => profibus.slave.8.mosi.bit.1.1 net xpos-cmd => profibus.slave.8.mosi.float.4 net ypos-cmd => profibus.slave.8.mosi.float.8 net zpos-cmd => profibus.slave.8.mosi.float.12 setp profibus.slave.8.mosi.bit.1.2 1 # limit-x inverted dummy loopback setp profibus.slave.8.mosi.bit.1.3 1 # limit-y inverted dummy loopback setp profibus.slave.8.mosi.bit.1.4 1 # limit-z inverted dummy loopback setp profibus.slave.8.mosi.bit.1.5 0 # estop-in-not inverted dummy loopback # --- Enable the used slave-to-master pins --- # MISO = MasterInputSlaveOutput = Data flow from PB slave to PB master. # All slave-to-master pins are deactivated by default. # So all slave-to-master pins connected below, should be activated here by writing # a '1' to the '.active' pin. # Deactivated slave-to-master pins will not be forwarded from the PROFIBUS to LinuxCNC. setp profibus.slave.8.miso.bit.0.0.active 1 setp profibus.slave.8.miso.bit.0.1.active 1 setp profibus.slave.8.miso.bit.1.0.active 1 setp profibus.slave.8.miso.bit.1.1.active 1 setp profibus.slave.8.miso.bit.1.2.active 1 setp profibus.slave.8.miso.bit.1.3.active 1 setp profibus.slave.8.miso.bit.1.4.active 1 setp profibus.slave.8.miso.bit.1.5.active 1 setp profibus.slave.8.miso.float.4.active 1 setp profibus.slave.8.miso.float.8.active 1 setp profibus.slave.8.miso.float.12.active 1 setp profibus.slave.8.miso.u8.16.active 1 setp profibus.slave.8.miso.u16.18.active 1 setp profibus.slave.8.miso.s16.20.active 1 setp profibus.slave.8.miso.u31.22.active 1 setp profibus.slave.8.miso.s32.26.active 1 # If the slave disconnects, then reset all slave-to-master pins to zero. setp profibus.slave.8.config.disconnect-clear-pins 1 # --- Connect slave-to-master pins --- # MISO = MasterInputSlaveOutput = Data flow from PB slave to PB master. net limit-x <= profibus.slave.8.miso.bit.1.2 net limit-y <= profibus.slave.8.miso.bit.1.3 net limit-z <= profibus.slave.8.miso.bit.1.4 net estop-in-not <= profibus.slave.8.miso.bit.1.5 # Always keep this at the end of this file. # This will activate data transfer between pyprofibus and LinuxCNC. setp profibus.config.ready 1