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vc-p2s.hal
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# 0---vc-p2s Control Pendant
loadusr -W vc-p2s
loadrt and2 names=and2.vc
addf and2.vc servo-thread
# 1---LCD reletive Coordinates
net axis.0.pos-relative halui.axis.x.pos-relative => vc-p2s.axis.0.pos-relative
net axis.1.pos-relative halui.axis.y.pos-relative => vc-p2s.axis.1.pos-relative
net axis.2.pos-relative halui.axis.z.pos-relative => vc-p2s.axis.2.pos-relative
# 2---JOG
net axis.0.jog-en vc-p2s.axis.0.jog-enable => axis.x.jog-enable joint.0.jog-enable
net axis.1.jog-en vc-p2s.axis.1.jog-enable => axis.y.jog-enable joint.1.jog-enable
net axis.2.jog-en vc-p2s.axis.2.jog-enable => axis.z.jog-enable joint.2.jog-enable
net jog-scale vc-p2s.jog-scale => joint.0.jog-scale axis.x.jog-scale
net jog-scale vc-p2s.jog-scale => joint.1.jog-scale axis.y.jog-scale
net jog-scale vc-p2s.jog-scale => joint.2.jog-scale axis.z.jog-scale
net jog-counts vc-p2s.jog-counts => joint.0.jog-counts axis.x.jog-counts
net jog-counts vc-p2s.jog-counts => joint.1.jog-counts axis.y.jog-counts
net jog-counts vc-p2s.jog-counts => joint.2.jog-counts axis.z.jog-counts
net jog.0.cont-plus vc-p2s.jog.0.plus => halui.axis.x.plus halui.joint.0.plus
net jog.0.cont-minus vc-p2s.jog.0.minus => halui.axis.x.minus halui.joint.0.minus
net jog.1.cont-plus vc-p2s.jog.1.plus => halui.axis.y.plus halui.joint.1.plus
net jog.1.cont-minus vc-p2s.jog.1.minus => halui.axis.y.minus halui.joint.1.minus
net jog.2.cont-plus vc-p2s.jog.2.plus => halui.axis.z.plus halui.joint.2.plus
net jog.2.cont-mimus vc-p2s.jog.2.minus => halui.axis.z.minus halui.joint.2.minus
net jog-speed vc-p2s.jog.velocity => halui.axis.jog-speed halui.joint.jog-speed
net motion-in-position motion.in-position => vc-p2s.is-moving
setp axis_0_max_velocity [JOINT_0]MAX_VELOCITY
setp axis_1_max_velocity [JOINT_1]MAX_VELOCITY
setp axis_2_max_velocity [JOINT_2]MAX_VELOCITY
# 3---FOR 4TH AXIS, REMOVE # FROM THE FOLLOWING LINES
#net axis.3.pos-relative halui.axis.a.pos-relative => vc-p2s.axis.3.pos-relative
#net axis.3.jog-en vc-p2s.axis.3.jog-enable => axis.a.jog-enable joint.3.jog-enable
#net jog-scale vc-p2s.jog-scale => joint.3.jog-scale axis.a.jog-scale
#net jog-counts vc-p2s.jog-counts => joint.3.jog-counts axis.a.jog-counts
#net jog.3.cont-plus vc-p2s.jog.3.plus => halui.axis.a.plus halui.joint.3.plus
#net jog.3.cont-mimus vc-p2s.jog.3.minus => halui.axis.a.minus halui.joint.3.minus
#setp axis_3_max_velocity [JOINT_3]MAX_VELOCITY
# 4---FEED OVERRIDE
setp halui.feed-override.scale 0.001
net feed-enable vc-p2s.feed-override.count.enable => halui.feed-override.count-enable
net feedrate-counts vc-p2s.feedrate-counts => halui.feed-override.counts
net feed.value halui.feed-override.value => vc-p2s.feed-override.value
# 5---RAPID OVERRIDE
setp halui.rapid-override.scale 0.001
net rapid-enable vc-p2s.rapid-override.count.enable => halui.rapid-override.count-enable
net rapid-counts vc-p2s.rapid-counts => halui.rapid-override.counts
net rapid.value halui.rapid-override.value => vc-p2s.rapid-override.value
# 6---MAX VELOCITY
setp halui.max-velocity.scale 0.001
net max-enable vc-p2s.max-velocity.count.enable => halui.max-velocity.count-enable
net max-counts vc-p2s.max-counts => halui.max-velocity.counts
net max.value halui.max-velocity.value => vc-p2s.max-velocity.value
# 7---SPINDLE OVERRIDE
setp halui.spindle.0.override.scale 0.001
net spindle-enable vc-p2s.spindle-override.count.enable => halui.spindle.0.override.count-enable
net spindle-counts vc-p2s.spindle-counts => halui.spindle.0.override.counts
net spindle.value halui.spindle.0.override.value => vc-p2s.spindle-override.value
# 8---PROGRAM
net program.is-idle halui.program.is-idle => vc-p2s.program.is-idle
net program.is-paused halui.program.is-paused => vc-p2s.program.is-paused
net program.is-running halui.program.is-running => vc-p2s.program.is-running
net program-start-btn halui.mode.auto and2.vc.in0 <= vc-p2s.program.run
net program-run-ok and2.vc.in1 <= halui.mode.is-auto
net remote-program-run halui.program.run <= and2.vc.out
net program.pause vc-p2s.program.pause => halui.program.pause
net program.resume vc-p2s.program.resume => halui.program.resume
net program.stop vc-p2s.program.stop => halui.program.stop
# 9---ZERO
net zero-x vc-p2s.zero-x => halui.mdi-command-05
net zero-y vc-p2s.zero-y => halui.mdi-command-06
net zero-z vc-p2s.zero-z => halui.mdi-command-07
net go-to-zero vc-p2s.go-to-zero => halui.mdi-command-08
# 10---SPINDLE
net spindle.is-on halui.spindle.0.is-on => vc-p2s.spindle.is-on
net spindle.start vc-p2s.spindle.start => halui.spindle.0.start
net spindle.stop vc-p2s.spindle.stop => halui.spindle.0.stop
# 11---E-STOP
net estop vc-p2s.estop.activate => halui.estop.activate
net reset vc-p2s.estop.reset => halui.estop.reset
net estop-is-activated halui.estop.is-activated => vc-p2s.estop.is-activated
# 12---MACHINE
net machine-on vc-p2s.machine.on => halui.machine.on
net machine-off vc-p2s.machine.off => halui.machine.off
net machine-ison halui.machine.is-on => vc-p2s.machine.ison
##### P2-S PENDANT SETTINGS #####
# 13---STEP SIZE, SET 0 TO SKIP
setp stepsize-1 0.01
# DEFAULT
setp stepsize-2 0.1
setp stepsize-3 1
setp stepsize-4 0
setp stepsize-5 0
setp stepsize-6 0
setp stepsize-7 0
setp stepsize-8 0
setp stepsize-9 0