pinconfig_bbb_Unimat_sw_robot.hal

# ##################################################
# Pin config
# ##################################################
# Invert for mechanical endstops
net XMin            <= bb_gpio.p9.in-14
setp                   bb_gpio.p9.in-14.invert TRUE
net XMax            <= bb_gpio.p9.in-15
setp                   bb_gpio.p9.in-15.invert TRUE
net WP_Ready        => bb_gpio.p9.out-18
net YMin            <= bb_gpio.p8.in-10
setp                   bb_gpio.p8.in-10.invert TRUE
net YMax            <= bb_gpio.p8.in-14
setp                   bb_gpio.p8.in-14.invert TRUE
net WP_Delivered    <= bb_gpio.p8.in-19
setp                   bb_gpio.p8.in-19.invert TRUE
net ZMin            <= bb_gpio.p8.in-17
setp                   bb_gpio.p8.in-17.invert TRUE
net ZMax            <= bb_gpio.p8.in-18
setp                   bb_gpio.p8.in-18.invert TRUE
net Vacuum_En       => bb_gpio.p9.out-17
net AMin            <= bb_gpio.p9.in-12
setp                   bb_gpio.p9.in-12.invert TRUE
net AMax            <= bb_gpio.p9.in-16
setp                   bb_gpio.p9.in-16.invert TRUE
net Home            <= bb_gpio.p8.in-07
setp                   bb_gpio.p8.in-07.invert TRUE
net BHome           <= bb_gpio.p9.in-24
setp                   bb_gpio.p9.in-24.invert TRUE
net Spindle_Dir     => bb_gpio.p9.out-23
net Relay           => bb_gpio.p9.out-26
net Axes_Enable     => bb_gpio.p9.out-30
setp                   bb_gpio.p9.out-30.invert TRUE
net Estop_Ext       <= bb_gpio.p9.in-41
setp                   bb_gpio.p9.in-41.invert TRUE
net Status_LED      => bb_gpio.p8.out-26
setp                   bb_gpio.p8.out-26.invert TRUE
net Buzzer          => bb_gpio.p8.out-27

# HAL pins
#sets XStep      P8.12
setp hpg.stepgen.00.steppin 812
#sets XDir       P8.11
setp hpg.stepgen.00.dirpin 811
#sets YStep      P8.16
setp hpg.stepgen.01.steppin 816
#sets YDir       P8.15
setp hpg.stepgen.01.dirpin 815
#sets ZStep      P9.13
setp hpg.stepgen.02.steppin 913
#sets ZDir       P9.25
setp hpg.stepgen.02.dirpin 925
#sets AStep      P9.22
setp hpg.stepgen.03.steppin 922
#sets ADir       P9.21
setp hpg.stepgen.03.dirpin 921
#sets BStep      P9.11
setp hpg.stepgen.04.steppin 911
#sets BDir       P9.42
setp hpg.stepgen.04.dirpin 942
#sets CStep      P8.09
setp hpg.stepgen.05.steppin 809
#sets CDir       P8.08
setp hpg.stepgen.05.dirpin 808
#sets Spindle    P8.13
setp hpg.pwmgen.00.out.00.pin 813

# ##################################################
# Standard I/O - EStop, Enables, Limit Switches, Etc
# ##################################################

# Create estop signal chain
# Uncomment to monitor estop input from hardware
#net Estop_Ext => iocontrol.0.emc-enable-in
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

# Axis enable signal
net Axes_Enable <= or2.axis-enable.out

# Tie machine power signal to the Parport Cape LED
# Feel free to tie any other signal you like to the LED
net Status_LED <= or2.status-led.out

# limit switch debounce delay
setp debounce.0.delay 2 # 2ms