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pendant.hal
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pendant.hal
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#
### Hal File xhc_whb04b_6.hal Example
#
# ######################################################################
# load pendant components
# ######################################################################
loadusr -W xhc-whb04b-6 -HsB #p (add p for debug)
# unlink pins that were defined in mr1.hal, but which are redefined here
unlinkp halui.axis.x.select
unlinkp halui.axis.y.select
unlinkp halui.axis.z.select
unlinkp halui.joint.0.is-homed
unlinkp halui.joint.1.is-homed
unlinkp halui.joint.2.is-homed
unlinkp halui.joint.3.is-homed
#unlinkp halui.spindle.0.forward
#unlinkp halui.spindle.0.reverse
#unlinkp halui.spindle.0.stop
unlinkp halui.machine.is-on
unlinkp halui.mode.is-mdi
#unlinkp spindle.0.on
#unlinkp spindle.0.speed-out-abs
# ######################################################################
# pendant signal configuration
# ######################################################################
# On/Off signals
net machine.is-on halui.machine.is-on whb.halui.machine.is-on
net pdnt.machine.on whb.halui.machine.on halui.machine.on
net pdnt.machine.off whb.halui.machine.off halui.machine.off
# program related signals
net pdnt.program.is-idle whb.halui.program.is-idle halui.program.is-idle
net pdnt.program.is-paused whb.halui.program.is-paused halui.program.is-paused
net pdnt.program-is-running whb.halui.program.is-running halui.program.is-running
net pdnt.program.resume whb.halui.program.resume halui.program.resume
net pdnt.program.pause whb.halui.program.pause halui.program.pause
net pdnt.program.run whb.halui.program.run halui.program.run
net pdnt.program.stop whb.halui.program.stop halui.program.stop
# machine mode related signals
net pdnt.mode.auto whb.halui.mode.auto halui.mode.auto
net pdnt.mode.manual whb.halui.mode.manual halui.mode.manual
net pdnt.mode.mdi whb.halui.mode.mdi halui.mode.mdi
net pdnt.mode.joint whb.halui.mode.joint halui.mode.joint
net pdnt.mode.teleop whb.halui.mode.teleop halui.mode.teleop
net pdnt.mode.is-auto halui.mode.is-auto whb.halui.mode.is-auto
net pdnt.mode.is-manual halui.mode.is-manual whb.halui.mode.is-manual
net pdnt.mode.is-mdi halui.mode.is-mdi whb.halui.mode.is-mdi
net pdnt.mode.is-joint halui.mode.is-joint whb.halui.mode.is-joint
net pdnt.mode.is-teleop halui.mode.is-teleop whb.halui.mode.is-teleop
# "is-homed" axis signal for allowing pendant when machine is not homed
net pdnt.axis.X.is-homed halui.joint.0.is-homed whb.halui.joint.x.is-homed
net pdnt.axis.Y.is-homed halui.joint.1.is-homed whb.halui.joint.y.is-homed
net pdnt.axis.Y2.is-homed halui.joint.2.is-homed
net pdnt.axis.Z.is-homed halui.joint.3.is-homed whb.halui.joint.z.is-homed
# "selected axis" signals
net pdnt.axis.X.select whb.halui.axis.x.select halui.axis.x.select
net pdnt.axis.y.select whb.halui.axis.y.select halui.axis.y.select
net pdnt.axis.Z.select whb.halui.axis.z.select halui.axis.z.select
net pdnt.axis.x.jog-scale whb.axis.x.jog-scale axis.x.jog-scale
net pdnt.axis.y.jog-scale whb.axis.y.jog-scale axis.y.jog-scale
net pdnt.axis.z.jog-scale whb.axis.z.jog-scale axis.z.jog-scale
net pdnt.axis.x.jog-counts whb.axis.x.jog-counts axis.x.jog-counts
net pdnt.axis.y.jog-counts whb.axis.y.jog-counts axis.y.jog-counts
net pdnt.axis.z.jog-counts whb.axis.z.jog-counts axis.z.jog-counts
net pdnt.axis.x.jog-enable whb.axis.x.jog-enable axis.x.jog-enable
net pdnt.axis.y.jog-enable whb.axis.y.jog-enable axis.y.jog-enable
net pdnt.axis.z.jog-enable whb.axis.z.jog-enable axis.z.jog-enable
net pdnt.axis.x.jog-vel-mode whb.axis.x.jog-vel-mode axis.x.jog-vel-mode
net pdnt.axis.y.jog-vel-mode whb.axis.y.jog-vel-mode axis.y.jog-vel-mode
net pdnt.axis.z.jog-vel-mode whb.axis.z.jog-vel-mode axis.z.jog-vel-mode
# macro buttons to MDI commands
net pdnt.macro-1 whb.button.macro-1 halui.mdi-command-01 # use MDI command from main.ini
net pdnt.macro-2 whb.button.macro-2 halui.mdi-command-02 # use MDI command from main.ini or used for Hardcoded lube on/off
net pdnt.reserved.for.spindle+ whb.button.macro-3 # Hardcoded for spindle+ whb.halui.spindle.increase
net pdnt.reserved.for.spindle- whb.button.macro-4 # Hardcoded for spindle- whb.halui.spindle.decrease
net pdnt.macro-5 whb.button.macro-5 halui.mdi-command-05 # use MDI command from main.ini
net pdnt.macro-6 whb.button.macro-6 halui.mdi-command-06 # use MDI command from main.ini
net pdnt.macro-7 whb.button.macro-7 halui.mdi-command-07 # use MDI command from main.ini
net pdnt.reserved.for.spindle.dir whb.button.macro-8 # Hardcoded for spindle direction inside pendant
net pdnt.macro-9 whb.button.macro-9 halui.mdi-command-09 # use MDI command from main.ini
net pdnt.reserved.for.ABS-REL whb.button.macro-10 # Hardcoded for swap Dro Relative/Absolue
net pdnt.macro-14 whb.button.macro-14 halui.mdi-command-14 # use MDI command from main.ini
net pdnt.reserved.for.flood whb.button.macro-15 # Hardcoded for halui.flood on/off
net pdnt.reserved.for.mist whb.button.macro-16 # Hardcoded for halui.mist on/off
net pdnt.macro.11 whb.button.macro-11 halui.mdi-command-11 # use MDI command from main.ini
net pdnt.macro.12 whb.button.macro-12 halui.mdi-command-12 # use MDI command from main.ini
net pdnt.macro.13 whb.button.macro-13 halui.mdi-command-13 # use MDI command from main.ini
# flood and mist toggle signals
net pdnt.flood.is-on whb.halui.flood.is-on halui.flood.is-on #return signal is on or off
net pdnt.flood.off whb.halui.flood.off halui.flood.off #reserved whb.button.macro-15
net pdnt.flood.on whb.halui.flood.on halui.flood.on #reserved whb.button.macro-15
net pdnt.mist.is-on whb.halui.mist.is-on halui.mist.is-on #return signal is on or off
net pdnt.mist.off whb.halui.mist.off halui.mist.off #reserved whb.button.macro-16
net pdnt.mist.on whb.halui.mist.on halui.mist.on #reserved whb.button.macro-16
net pdnt.lube.is-on whb.halui.lube.is-on halui.lube.is-on #return signal is on or off
net pdnt.lube.off whb.halui.lube.off halui.lube.off #reserved whb.button.macro-2
net pdnt.lube.on whb.halui.lube.on halui.lube.on #reserved whb.button.macro-2
# default function button signals
net pdnt.button.m-home whb.button.m-home halui.home-all # Homeing use built-in halui home all
net pdnt.button.safe-z whb.button.safe-z halui.mdi-command-03 # Safe-z use MDI command from main.ini
net pdnt.button.w-home whb.button.w-home halui.mdi-command-04 # Unpark use MDI command from main.ini
net pdnt.button.probe-z whb.button.probe-z halui.mdi-command-08 # Probe-Z use MDI command from main.ini
# unused, just exposes pendant internal status or as basic button
net pdnt.mode-lead whb.halui.feed.selected-lead
net pdnt.mode-mpg-feed whb.halui.feed.selected-mpg-feed
net pdnt.mode-continuous whb.halui.feed.selected-continuous
net pdnt.mode-step whb.halui.feed.selected-step
net pdnt.button.mode-mpg whb.button.mode-continuous
net pdnt.button.mode-step whb.button.mode-step
net pdnt.button.fn whb.button.fn
net pdnt.button.reset whb.button.reset
net pdnt.button.stop whb.button.stop
net pdnt.button.start-pause whb.button.start-pause
net pdnt.button.s-on-off whb.button.s-on-off
net pdnt.button.spindle-plus whb.button.spindle-plus
net pdnt.button.spindle-minus whb.button.spindle-minus
net pdnt.button.feed-plus whb.button.feed-plus
net pdnt.button.feed-minus whb.button.feed-minus
# spindle related signals
#net pdnt.spindle.is-on whb.halui.spindle.is-on spindle.0.on
#net pdnt.spindle.start whb.halui.spindle.start halui.spindle.0.start
#net pdnt.spindle.stop whb.halui.spindle.stop halui.spindle.0.stop
#net pdnt.spindle.forward whb.halui.spindle.forward halui.spindle.0.forward
#net pdnt.spindle.reverse whb.halui.spindle.reverse halui.spindle.0.reverse
net pdnt.spindle.increase whb.halui.spindle.increase halui.spindle.0.increase # reserved whb.button.macro-3
net pdnt.spindle.decrease whb.halui.spindle.decrease halui.spindle.0.decrease # reserved whb.button.macro-4
#net pdnt.spindle-speed-abs whb.halui.spindle-speed-cmd spindle.0.speed-out-abs # speed cmd from motion in rpm absolue
# spindle speed override signals
net pdnt.spindle-override.scale whb.halui.spindle-override.scale halui.spindle.0.override.scale # needed for both spindle+/- and spindleoverride+/- button
net pdnt.spindle.override.value halui.spindle.0.override.value whb.halui.spindle-override.value # GUI feed rate related signals
net pdnt.spindle.override.increase whb.halui.spindle-override.increase halui.spindle.0.override.increase
net pdnt.spindle.override.decrease whb.halui.spindle-override.decrease halui.spindle.0.override.decrease
# GUI feed rate related signals can be used when program is running moving GUI slider
net pdnt.feed-override.scale whb.halui.feed-override.scale halui.feed-override.scale # needed for both FeedOverride+/- and rotary knob button
net pdnt.max-velocity.value whb.halui.max-velocity.value halui.max-velocity.value # needed for Mpg mode : button feed position% * max-velocity = Mpg feedrate
# take feed override min/max values from/to the GUI
net pdnt.feed-override.value halui.feed-override.value whb.halui.feed-override.value # GUI feed rate related signals
net pdnt.feed-override.increase whb.halui.feed-override.increase halui.feed-override.increase
net pdnt.feed-override.decrease whb.halui.feed-override.decrease halui.feed-override.decrease
# axis position related signals feedback
net pdnt.axis.x.pos-feedback halui.axis.x.pos-feedback whb.halui.axis.x.pos-feedback
net pdnt.axis.y.pos-feedback halui.axis.y.pos-feedback whb.halui.axis.y.pos-feedback
net pdnt.axis.z.pos-feedback halui.axis.z.pos-feedback whb.halui.axis.z.pos-feedback
# axis position related signals relative
net pdnt.axis.x.pos-relative halui.axis.x.pos-relative whb.halui.axis.x.pos-relative
net pdnt.axis.y.pos-relative halui.axis.y.pos-relative whb.halui.axis.y.pos-relative
net pdnt.axis.z.pos-relative halui.axis.z.pos-relative whb.halui.axis.z.pos-relative