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Thaddeus-Maximus
2026-04-03 15:58:58 -05:00
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48
configs/sim.gmoccapy/pendant.hal Executable file
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# connect encoder count, select the one you need
net jog-counts pendant.jog-wheel-counts
net jog-counts axis.x.jog-counts
net jog-counts axis.y.jog-counts
net jog-counts axis.z.jog-counts
net jog-x axis.x.jog-enable <= pendant.jog-x
net jog-y axis.y.jog-enable <= pendant.jog-y
net jog-z axis.z.jog-enable <= pendant.jog-z
# Set the scales per count / Faktor je count setzen
# we could set them to fix value like
# setp axis.z.jog-scale 0.05
# setp axis.y.jog-scale 0.05
# setp axis.x.jog-scale 0.05
# but also better do connect them to the jog- increments of gmoccapy.
net scale axis.z.jog-scale <= axis.y.jog-scale <= axis.x.jog-scale <= gmoccapy.jog.jog-increment
# Connect all counts to Jogwheel-counts / Alle count san Jogwheel-counts anbinden
net override-counts pendant.override-wheel-counts
net override-counts gmoccapy.rapid.rapid-override.counts
net override-counts gmoccapy.feed.feed-override.counts
net override-counts gmoccapy.spindle.spindle-override.counts
net override-counts gmoccapy.jog.jog-velocity.counts
# the scales of the counts are set on the settings page of the GUI, not here
# this is different from using halui pin!!
# jog velocity mode on (1) or off(0) / Geschwindigkeitsmodus an (1) oder aus (0)
# 0 is default / 0 ist Standardwert
# Mode 0 : after spinning the dial, axis may go on moving, because counts are still pending, Mode 1 will ignore pending steps
# Mode 0 : Nach dem drehen des Handrades kann die Achse noch weiterlaufen, da noch Schritte auszuführen sind. Mode 1 hält sofort an
setp axis.x.jog-vel-mode 1
setp axis.y.jog-vel-mode 1
setp axis.z.jog-vel-mode 1
net feed gmoccapy.feed.feed-override.count-enable <= pendant.feed
net spindle gmoccapy.spindle.spindle-override.count-enable <= pendant.spindle
net maxvel gmoccapy.rapid.rapid-override.count-enable <= pendant.rapid
net jogvel gmoccapy.jog.jog-velocity.count-enable <= pendant.jogvel
net incr-0 gmoccapy.jog.jog-inc-0 <= pendant.rbt_incr_0
net incr-1 gmoccapy.jog.jog-inc-1 <= pendant.rbt_incr_1
net incr-2 gmoccapy.jog.jog-inc-2 <= pendant.rbt_incr_2
net incr-3 gmoccapy.jog.jog-inc-3 <= pendant.rbt_incr_3
net incr-4 gmoccapy.jog.jog-inc-4 <= pendant.rbt_incr_4
net incr-5 gmoccapy.jog.jog-inc-5 <= pendant.rbt_incr_5