So, I might have mentioned that I received a new pendant and got it hooked up and running the other day. I'd been using one of the Logitech joypads, and while it didn't do incremental jogs, it did do continuos motion jogs by holding the joy stick over.
I was playing around over the weekend, and discovered that unlike HALFILE, POSTGUI_HALFILE can only be called once. I was thinking about keeping the joypad around, if only for the continuous motion available from the joy stick. Since I can only call out POSTGUI_HALFILE once, is there a way I can safely combine the two hal files listed below? I've got a pretty good handle on the ini file stuff, but I'm still a little fuzzy on the hal commands and such. Anyway, here's the two files: custom_postgui_pendant.hal ********************************************************** # Jog Pendant loadrt encoder num_chan=1 loadrt mux4 count=1 loadrt mult2 count=1 loadrt lut5 count=1 addf encoder.capture-position servo-thread addf encoder.update-counters base-thread addf mux4.0 servo-thread addf mult2.0 servo-thread addf lut5.0 servo-thread # If your MPG outputs a quadture signal per click set x4 to 1 # If your MPG puts out 1 pulse per click set x4 to 0 setp encoder.0.x4-mode 0 # For velocity mode, set n to 1 # In velocity mode the axis stops when dial is stopped even if that means # the commanded motion is not completed, # For position mode (the default), set n to 0 # In position mode the axis will move exactly jog-scale # units for each count, regardless of how long that might take, # This must be set for each axis you want to behave other than default setp axis.0.jog-vel-mode 1 setp axis.1.jog-vel-mode 1 setp axis.2.jog-vel-mode 1 #setp axis.3.jog-vel-mode 0 setp mux4.0.in0 0.01 setp mux4.0.in1 0.001 setp mux4.0.in2 0.0001 setp mult2.0.in0 100 net scale1 mux4.0.sel0 <= parport.1.pin-09-in net scale2 mux4.0.sel1 <= parport.1.pin-08-in net pend-scale axis.0.jog-scale <= mux4.0.out net pend-scale axis.1.jog-scale net pend-scale axis.2.jog-scale net pend-scale mult2.0.in1 #net rot-scale axis.3.jog-scale <= mult2.0.out net mpg-a encoder.0.phase-A <= parport.1.pin-02-in net mpg-b encoder.0.phase-B <= parport.1.pin-03-in net mpg-x axis.0.jog-enable <= parport.1.pin-04-in net mpg-y axis.1.jog-enable <= parport.1.pin-05-in net mpg-z axis.2.jog-enable <= parport.1.pin-06-in #net mpg-4 axis.3.jog-enable <= parport.1.pin-07-in net pend-counts axis.0.jog-counts <= encoder.0.counts net pend-counts axis.1.jog-counts net pend-counts axis.2.jog-counts #net pend-counts axis.3.jog-counts # Turn on the jog led if any jog axis is enabled setp lut5.0.function 0x116 net mpg-x lut5.0.in-0 net mpg-y lut5.0.in-1 net mpg-z lut5.0.in-2 net mpg-4 lut5.0.in-3 setp lut5.0.in-4 0 net jog-on parport.1.pin-01-out <= lut5.0.out ******************************************************************** custom_postgui_joystick.hal ********************************************************************* # Include your customized HAL commands here # The commands in this file are run after the AXIS GUI (including PyVCP panel) starts loadrt or2 count=2 loadrt mux4 count=1 addf or2.0 servo-thread addf or2.1 servo-thread addf mux4.0 servo-thread # set the jog speed for the joypad again use numbers that make sense for your machine setp mux4.0.in0 0 # this one must be 0 to prevent motion unless a button is pressed # setp mux4.0.in1 25 # setp mux4.0.in2 100 # setp mux4.0.in3 200 setp mux4.0.in1 1.5 setp mux4.0.in2 50 setp mux4.0.in3 100 # the following does the magic of setting the jog speeds net remote-speed-slow or2.0.in0 input.0.btn-trigger net remote-speed-medium or2.1.in0 input.0.btn-thumb net remote-speed-fast or2.0.in1 or2.1.in1 input.0.btn-thumb2 net joy-speed-1 mux4.0.sel0 <= or2.0.out net joy-speed-2 mux4.0.sel1 <= or2.1.out net joy-speed-final halui.jog-speed <= mux4.0.out # Reverse the Z axis loadrt sum2 count=1 # 1 for each axis you need to reverse, also check to make sure you don't all ready have sum2 loaded addf sum2.0 servo-thread # in my case I needed to reverse the Z axis # set up the axis #net joy-x-jog halui.jog.0.analog <= input.0.abs-x-position net joy-x-jog halui.jog.0.analog <= input.0.abs-hat0x-position ###################### not used or backwards############## #net joy-y-jog halui.jog.1.analog <= input.0.abs-y-position #net joy-z-jog halui.jog.2.analog <= input.0.abs-z-position #net joy-z-jog halui.jog.2.analog <= input.0.abs-rz-position ############################################################### setp sum2.0.gain0 -1 net reverse-z sum2.0.in0 <= input.0.abs-rz-position net joy-z-jog halui.jog.2.analog <= sum2.0.out ***************************************************************************** I'm concerned the mux4 calls in the first file would cause problems with the mux 4 calls in the second file. Are my concerns warranted? Mark ------------------------------------------------------------------------------ Start uncovering the many advantages of virtual appliances and start using them to simplify application deployment and accelerate your shift to cloud computing. http://p.sf.net/sfu/novell-sfdev2dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
