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# ---------------------------------------
# --- 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.float.4.active 1
#setp profibus.slave.8.mosi.float.8.active 1
#setp profibus.slave.8.mosi.float.12.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
# --- 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.0.2.active 1
setp profibus.slave.8.miso.bit.0.3.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.0.0
net limit-y <= profibus.slave.8.miso.bit.0.1
net limit-z <= profibus.slave.8.miso.bit.0.2
net estop-in-not <= profibus.slave.8.miso.bit.0.3
# Always keep this at the end of this file.
# This will activate data transfer between pyprofibus and LinuxCNC.
setp profibus.config.ready 1
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