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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 output pins ---
# All output pins are deactivated by default.
# So all output pins connected below, should be activated here by writing
# a '1' to the '.active' pin.
# Deactivated output pins will not be forwarded from LinuxCNC to the PROFIBUS.
setp profibus.slave.8.output.bit.0.0.active 1
setp profibus.slave.8.output.bit.0.1.active 1
setp profibus.slave.8.output.bit.1.0.active 1
setp profibus.slave.8.output.bit.1.1.active 1
setp profibus.slave.8.output.bit.1.2.active 1
setp profibus.slave.8.output.bit.1.3.active 1
setp profibus.slave.8.output.bit.1.4.active 1
setp profibus.slave.8.output.float.4.active 1
setp profibus.slave.8.output.float.8.active 1
setp profibus.slave.8.output.float.12.active 1
setp profibus.slave.8.output.u8.16.active 1
setp profibus.slave.8.output.u16.18.active 1
setp profibus.slave.8.output.s16.20.active 1
setp profibus.slave.8.output.u31.22.active 1
setp profibus.slave.8.output.s32.26.active 1
# --- Connect output pins ---
net heartbeat => profibus.slave.8.output.bit.0.0
net estop-out-not => profibus.slave.8.output.bit.0.1
net spindle-cw => profibus.slave.8.output.bit.1.0
net spindle-ccw => profibus.slave.8.output.bit.1.1
net xpos-cmd => profibus.slave.8.output.float.4
net ypos-cmd => profibus.slave.8.output.float.8
net zpos-cmd => profibus.slave.8.output.float.12
setp profibus.slave.8.output.bit.1.2 1 # limit-x inverted dummy loopback
setp profibus.slave.8.output.bit.1.3 1 # limit-y inverted dummy loopback
setp profibus.slave.8.output.bit.1.4 1 # limit-z inverted dummy loopback
setp profibus.slave.8.output.bit.1.5 0 # estop-in-not inverted dummy loopback
# --- Enable the used input pins ---
# All input pins are deactivated by default.
# So all input pins connected below, should be activated here by writing
# a '1' to the '.active' pin.
# Deactivated input pins will not be forwarded from the PROFIBUS to LinuxCNC.
setp profibus.slave.8.input.bit.0.0.active 1
setp profibus.slave.8.input.bit.0.1.active 1
setp profibus.slave.8.input.bit.1.0.active 1
setp profibus.slave.8.input.bit.1.1.active 1
setp profibus.slave.8.input.bit.1.2.active 1
setp profibus.slave.8.input.bit.1.3.active 1
setp profibus.slave.8.input.bit.1.4.active 1
setp profibus.slave.8.input.bit.1.5.active 1
setp profibus.slave.8.input.float.4.active 1
setp profibus.slave.8.input.float.8.active 1
setp profibus.slave.8.input.float.12.active 1
setp profibus.slave.8.input.u8.16.active 1
setp profibus.slave.8.input.u16.18.active 1
setp profibus.slave.8.input.s16.20.active 1
setp profibus.slave.8.input.u31.22.active 1
setp profibus.slave.8.input.s32.26.active 1
# --- Connect input pins ---
net limit-x <= profibus.slave.8.input.bit.1.2
net limit-y <= profibus.slave.8.input.bit.1.3
net limit-z <= profibus.slave.8.input.bit.1.4
net estop-in-not <= profibus.slave.8.input.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
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