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# ---------------------------------------
# --- Awlsim
# --- LinuxCNC HAL configuration file
# ------
# --- Load the awlsim HAL userspace module ---
#
# Parameters:
# --listen HOST:PORT : The HOST and PORT the core server should listen on.
# Defaults to localhost:4151
# You can connect with awlsim-gui to this port
# to watch, debug or change the AWL program.
#
# --input-base BASE : S7 input base-address byte-offset to use for the HAL module.
# If 0 is used, address-mapping will start at I 0.0
# If 1 is used, address-mapping will start at I 1.0
# etc...
# This overrides the value from the project file.
#
# --output-base BASE : S7 output base-address byte-offset to use for the HAL module.
# If 0 is used, address-mapping will start at Q 0.0
# If 1 is used, address-mapping will start at Q 1.0
# etc...
# This overrides the value from the project file.
#
# --input-size SIZE : Size of the input area mapping, in bytes.
# This overrides the value from the project file.
#
# --output-size SIZE : Size of the output area mapping, in bytes.
# This overrides the value from the project file.
#
# --loglevel LVL : Change the log level.
#
# --nice NICE : Renice the process. -20 <= NICE <= 19.
# Default: Do not renice.
#
# Last argument : The Awlsim AWL/STL project to load and run.
#
loadusr -Wn awlsim awlsim-linuxcnc-hal --listen localhost:4151 linuxcnc-demo.awlpro
# --- 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 LinuxCNC to the awlsim PLC program.
setp awlsim.input.float.0.active 1
setp awlsim.input.float.4.active 1
setp awlsim.input.float.8.active 1
setp awlsim.input.bit.12.0.active 1
setp awlsim.input.bit.12.1.active 1
setp awlsim.input.bit.12.2.active 1
setp awlsim.input.bit.12.3.active 1
setp awlsim.input.bit.12.4.active 1
setp awlsim.input.bit.12.5.active 1
# --- Connect input pins ---
net xpos-cmd => awlsim.input.float.0 # "X_position_in"
net ypos-cmd => awlsim.input.float.4 # "Y_position_in"
net zpos-cmd => awlsim.input.float.8 # "Z_position_in"
net heartbeat => awlsim.input.bit.12.0 # "Heartbeat_in"
net estop-out-not => awlsim.input.bit.12.1 # "Estop_in_not"
net spindle-cw => awlsim.input.bit.12.2 # "Spindle_cw_in"
net spindle-ccw => awlsim.input.bit.12.3 # "Spindle_ccw_in"
net coolant-mist => awlsim.input.bit.12.4 # "Coolant_mist_in"
net coolant-flood => awlsim.input.bit.12.5 # "Coolant_flood_in"
# --- 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 the awlsim PLC program to LinuxCNC.
setp awlsim.output.bit.0.0.active 1
setp awlsim.output.bit.0.1.active 1
setp awlsim.output.bit.0.2.active 1
setp awlsim.output.bit.1.0.active 1
setp awlsim.output.bit.1.1.active 1
setp awlsim.output.bit.1.2.active 1
setp awlsim.output.bit.2.0.active 1
setp awlsim.output.bit.2.1.active 1
# --- Connect output pins ---
net limit-x <= awlsim.output.bit.0.0 # "X_limit_out"
net limit-y <= awlsim.output.bit.0.1 # "Y_limit_out"
net limit-z <= awlsim.output.bit.0.2 # "Z_limit_out"
net home-x <= awlsim.output.bit.1.0 # "X_home_out"
net home-y <= awlsim.output.bit.1.1 # "Y_home_out"
net home-z <= awlsim.output.bit.1.2 # "Z_home_out"
net awlsim-heartbeat <= awlsim.output.bit.2.0 # "Heartbeat_out"
net estop-in-not <= awlsim.output.bit.2.1 # "Estop_out_not"
# Always keep this at the end of this file.
# This will activate data transfer between awlsim and LinuxCNC.
setp awlsim.config.ready 1
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