· 8 years ago · Mar 16, 2018, 04:54 PM
1
2
3[EMC]
4# The version string for this INI file.
5VERSION = 1.0
6
7
8# Name of machine, for use with display, etc.
9MACHINE = HM2-Servo
10
11# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
12#DEBUG = 0x00000003
13#DEBUG = 0x00000007
14DEBUG = 0x40001150
15
16
17
18#+ [DISPLAY]. Display settings
19[DISPLAY]
20
21# Name of display program, e.g., tkemc
22#DISPLAY = tklinuxcnc
23DISPLAY = axis
24#DISPLAY = keystick
25#DISPLAY = hazzy
26#DISPLAY = issy
27#DISPLAY = gmoccapy
28#DISPLAY = unimot
29
30FullScreen = off
31#+ text. Background Interface color (R,G,B)
32Background_interface_color = 125,125,125
33#+ text. Background Grafic color (R,G,B)
34Background_grafic_window_color = 125,125,125
35#+ text. Cutting trace color (R,G,B)
36Foreground_trace_color = 255,255,255
37#+ text. Empty move color (R,G,B)
38Foreground_empty_move_color = 255,255,0
39#+ text. Cutting trace color (R,G,B)
40Foreground_tracePview_color = 160,160,160
41#+ text. Empty move color (R,G,B)
42Foreground_empty_movePview_color = 160,160,10
43#+ text. Empty move color (R,G,B)
44Foreground_frame_color = 0,255,0
45#Tools colors
46#+ text. Cutting trace color for tool 1 (R,G,B)
47Foreground_t1_color = 255,0,0
48#+ text. Cutting trace color for tool 2 (R,G,B)
49Foreground_t2_color = 0,255,0
50#+ text. Cutting trace color for tool 3 (R,G,B)
51Foreground_t3_color = 0,0,255
52#+ text. Cutting trace color for tool 4 (R,G,B)
53Foreground_t4_color = 255,255,0
54#+ text. Cutting trace color for tool 5 (R,G,B)
55Foreground_t5_color = 255,255,125
56#+ text. Cutting trace color for tool 6 (R,G,B)
57Foreground_t6_color = 255,125,255
58#+ text. Cutting trace color for tool 7 (R,G,B)
59Foreground_t7_color = 125,125,255
60#+ text. Cutting trace color for tool 8 (R,G,B)
61Foreground_t8_color = 125,215,125
62#+ text. Cutting trace color for tool 9 (R,G,B)
63Foreground_t9_color = 125,255,125
64#+ text. Cutting trace color for tool 10 (R,G,B)
65Foreground_t10_color = 0,125,0
66#+ text. Cutting trace preview color for tool 1 (R,G,B)
67Foreground_t1_preview_color = 255,0,0
68#+ text. Cutting trace preview color for tool 2 (R,G,B)
69Foreground_t2_preview_color = 0,255,0
70#+ text. Cutting trace preview color for tool 3 (R,G,B)
71Foreground_t3_preview_color = 0,0,255
72#+ text. Cutting trace preview color for tool 4 (R,G,B)
73Foreground_t4_preview_color = 255,255,0
74#+ text. Cutting trace preview color for tool 5 (R,G,B)
75Foreground_t5_preview_color = 255,255,125
76#+ text. Cutting trace preview color for tool 6 (R,G,B)
77Foreground_t6_preview_color = 255,125,255
78#+ text. Cutting trace preview color for tool 7 (R,G,B)
79Foreground_t7_preview_color = 125,125,255
80#+ text. Cutting trace preview color for tool 8 (R,G,B)
81Foreground_t8_preview_color = 125,215,125
82#+ text. Cutting trace preview color for tool 9 (R,G,B)
83Foreground_t9_preview_color = 125,255,125
84#+ text. Cutting trace preview color for tool 10 (R,G,B)
85Foreground_t10_preview_color = 0,125,0
86DEFAULT_SPINDLE_SPEED = 1000
87
88MAX_FEED_OVERRIDE = 3.0
89MAX_ROV_OVERRIDE = 3.0
90MAX_SPINDLE_OVERRIDE = 2.0
91
92
93
94# Cycle time, in seconds, that display will sleep between polls
95CYCLE_TIME = 0.0500
96
97# Path to help file
98HELP_FILE = tklinucnc.txt
99
100# Initial display setting for position, RELATIVE or MACHINE
101POSITION_OFFSET = RELATIVE
102
103# Initial display setting for position, COMMANDED or ACTUAL
104POSITION_FEEDBACK = ACTUAL
105
106# Highest value that will be allowed for feed override, 1.0 = 100%
107
108# Prefix to be used
109PROGRAM_PREFIX = ../../nc_files/
110
111# Introductory graphic
112#INTRO_GRAPHIC = linuxcnc.gif
113#INTRO_TIME = 1
114
115INCREMENTS = 1 mm, 0.1 mm, 0.001 mm
116
117[FILTER]
118PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
119PROGRAM_EXTENSION = .dxf 2D ACad/Qcad drawing
120PROGRAM_EXTENSION = .py Python Script
121dxf = /home/cnc/linuxcnc-dev/dxf2gcode/source/dxf2gcode.py
122png = image-to-gcode
123gif = image-to-gcode
124jpg = image-to-gcode
125py = python
126PROGRAM _FILTER = python
127PROGRAM_EXTENSION = *.py Python Script
128
129[TOOLSENSOR]
130X = 10
131Y = 10
132Z = -20
133MAXPROBE = -20
134
135
136
137
138[RS274NGC]
139
140# File containing interpreter variables
141#PARAMETER_FILE = hm2-stepper.var
142PARAMETER_FILE = gantry_mm.var
143SUBROUTINE_PATH = /home/cnc/linuxcnc/nc_files/
144#M122_COMMAND = M122 call
145#M121_COMMAND = M121 call
146M6_COMMAND=o<m6demo>call
147
148[EMCMOT]
149
150EMCMOT = motmod
151
152# Timeout for comm to emcmot, in seconds
153COMM_TIMEOUT = 1.0
154
155# Interval between tries to emcmot, in seconds
156COMM_WAIT = 0.010
157
158# Servo task period, in nanoseconds
159SERVO_PERIOD = 1000000
160
161[TASK]
162
163# Name of task controller program, e.g., milltask
164TASK = milltask
165
166
167# Cycle time, in seconds, that task controller will sleep between polls
168CYCLE_TIME = 0.001
169
170
171
172
173[HAL]
174
175# The run script first uses halcmd to execute any HALFILE
176# files, and then to execute any individual HALCMD commands.
177
178# list of hal config files to run through halcmd
179# files are executed in the order in which they appear
180
181HALUI = halui
182# HALFILE = LIB:xhc-hb04.tcl
183# HALFILE = monitor_xhc-hb04.tcl
184# HALFILE = xhc-hb04.hal
185
186HALFILE = gantry_mm.hal
187# load module for hal to issy_ui
188HALFILE = hal2ui.hal
189# load module for xpc board definitions
190HALFILE = xpc_module.hal
191HALFILE = xhc-hb04.hal
192
193# list of halcmd commands to execute
194# commands are executed in the order in which they appear
195#HALCMD = save neta
196
197[XHC_HB04_CONFIG]
198threadname = servo-thread
199# specify layout = n for LIB:xhc-hb04-layout{n}.cfg files
200layout = 2
201# coords: specify upto 4 letters from set {x y z a b c u v w}
202# coords: switch labels are xyza but any unique 4 letters
203# from the set {xyxabcuvw) can be used (if the coord exists)
204coords = x y z
205# lowpass settings:
206# coef: slows rate of change of output, range: 0 < coef < 1
207coefs = 1 1 1
208# scale plus or minus, rotaries may require larger scale factor:
209scales = 1 -1 1
210# jogmode normal(default) or vnormal
211jogmode = normal
212# sequence 1: 0.001,0.010,0.100,1.000 (mm-based machine)
213# sequence 2: 0.001,0.005,0.010,0.020 (inch-based machine)
214# sequence 3: 0.001,0.010,0.100
215# sequence 4: 0.001,0.005,0.010,0.020,0.050,0.100
216# sequence 5: 0.001,0.010,0.050,0.100,1.000
217sequence = 1
218# require_pendant = yes|no: create xhc-hb04 hal pins when pendant noti
219# connected at startup
220require_pendant = yes
221# inch_or_mm = in | mm
222inch_or_mm = mm
223# mpg_accels: provision for reduced acceleration for manual mode jogging
224mpg_accels = 50 50 500 600
225
226[XHC_HB04_BUTTONS]
227
228 # use button names according to layout file xhc-hb04-layout{n}.cfg
229 # note: "start-pause" is connected for standard behavior
230 # controlling halui.pause/halui.resume/halui.run
231 # these are examples, edit as required:
232 goto-zero = halui.mdi-command-00
233 start-pause = std_start_pause
234 rewind = halui.program.step
235 # probe-input for simulating a probe:
236 probe-z = motion.probe-input
237 macro-3 = halui.mdi-command-03
238 half = halui.spindle.stop
239 zero = ""
240 safe-z = halui.mdi-command-10
241 # in this sim, home-all only works first time, hold down till finished:
242 #home = halui.home-all
243 macro-1 = halui.mdi-command-01
244 macro-2 = halui.mdi-command-02
245 spindle = halui.spindle.start
246 step = xhc-hb04.stepsize-up
247 mode = ""
248 macro-6 = halui.mdi-command-06
249 macro-7 = halui.mdi-command-07
250 stop = halui.program.stop
251 reset = halui.estop.activate
252
253#INCLUDE layout2.inc
254[APPLICATIONS]
255# APP = monitor-xhc-hb04
256
257
258
259#+ [SS/ENUM.]. smart serial enumerator
260[SSERIAL]
261
262#+ text. Io module serial number
263sserial io-module = SSIO-001
264#+ text. Keyboard serial number
265sserial keyoard = KBD
266#+ text. Gaintry servo-X 1 serial number
267X-axis-1 driver = X1-D
268#+ text. Gaintry servo-X 2 serial number
269X-axis-2 driver = X2-D
270#+ text. Servo-Y serial number
271Y-axis driver = Y-D
272#+ text. Servo-Z serial number
273Z-axis driver = Z-D
274#+ text. Spindle sevo serial number
275Spindle driver = SPD-D
276
277
278
279
280[HALUI]
281MDI_COMMAND = M121
282MDI_COMMAND = M122
283MDI_COMMAND=G0 X0 Y0 Z0
284MDI_COMMAND=(debug, example: mdi-01)
285MDI_COMMAND=(debug, example: mdi-02)
286#03 M110: clears notifications
287MDI_COMMAND=M110
288MDI_COMMAND=(debug, example: mdi-04)
289MDI_COMMAND=(debug, example: mdi-05)
290MDI_COMMAND=(debug, example: mdi-06)
291#07 M101: example print to stdout
292MDI_COMMAND=M101
293MDI_COMMAND=(debug, example: mdi-08)
294MDI_COMMAND=(debug, example: mdi-09)
295MDI_COMMAND=(debug, example: mdi-10)
296MDI_COMMAND=(debug, example: mdi-11)
297#12
298MDI_COMMAND= G10 L20 P0 X0
299#13
300MDI_COMMAND= G10 L20 P0 Y0
301#14
302MDI_COMMAND= G10 L20 P0 Z0
303#15
304MDI_COMMAND= G10 L20 P0 C0
305#No Content
306
307
308
309
310[EMCIO]
311
312# Name of IO controller program, e.g., io
313EMCIO = io
314
315# cycle time, in seconds
316CYCLE_TIME = 0.100
317
318# tool table file
319TOOL_TABLE = tool.tbl
320
321
322
323[KINS]
324JOINTS = 4
325KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH
326# kinstype=BOTH
327# Notes:
328# KINEMATICS coordinates=value MUST agree with [TRAJ]COORDINATES
329#
330# X: JOINT_0
331# Y: JOINT_1 and JOINT_2
332# Z: JOINT_3
333#
334# kinstype=BOTH specifies non-identity kinematics
335#
336# HOME ALL sequence:
337# HOME_SEQUENCE 0 (first) JOINT_0 (coordinate X)
338# HOME_SEQUENCE -1 (second) JOINT_1 and JOINT_2 (coordinate Y)
339# HOME_SEQUENCE 2 (third) JOINT_3 (coordinate Z)
340# The negative (-1) sequence indicates synchronization of
341# the final move for all joints in the sequence
342
343# HOME_SEQUENCE = -1 -1 -1 -1
344
345#+ [SPINDLE].Spindle setting parameters
346[SPINDLE]
347#+ text. Maximum RPM at 10V otput
348MAX_RPM = 60000
349#+ text. Encoder counter pulse/revolution
350ENCODER = 0
351
352
353#+ [TRAJ]. Trajectory settings
354[TRAJ]
355
356#JogMode = axis
357HOME = 0 0 0 0
358#+ text. Specifies the machine units for linear axes. Possible choices are (in, inch, imperial, metric, mm). This does not affect the linear units in NC code (the G20 and G21 words do this).
359#+ float.Coordinates of the homed position of each axis. Again for a fourth axis you will need 0 0 0 0. This value is only used for machines with nontrivial kinematics. On machines with trivial kinematics this value is ignored.
360#+ text. machine specific settings
361COORDINATES = X Y Y Z
362# COORDINATES = X Y Z A B C
363#+ text. The names of the axes being controlled. X, Y, Z, A, B, C, U, V, and W are all valid. Only axis named in COORDINATES are accepted in g-code. This has no effect on the mapping from G-code axis names (X- Y- Z-) to joint numbers--for “trivial kinematicsâ€, X is always joint 0, A is always joint 4, and U is always joint 7, and so on. It is permitted to write an axis name twice (e.g., X Y Y Z for a gantry machine) but this has no effect.
364LINEAR_UNITS = mm
365#+ text.Specifies the machine units for rotational axes. Possible choices are 'deg', 'degree' (360 per circle), 'rad', 'radian' (2pi per circle), 'grad', or 'gon' (400 per circle).This does not affect the angular units of NC code. In RS274NGC, A-, B- and C- words are always expressed in degrees.
366ANGULAR_UNITS = degree
367#+ float. The period, in seconds, at which EMCIO will run. Making it 0.0 or a negative number will tell EMCIO not to sleep at all. There is usually no need to change this number.
368DEFAULT_LINEAR_VELOCITY = 1000
369#+ float.The maximum velocity for any axis or coordinated move, in machine units per second. The value shown equals 300 units per minute.
370MAX_LINEAR_VELOCITY = 4000
371#+ float. In machines with nontrivial kinematics, the acceleration used for “teleop†(cartesian space) jogs, in machine units per second per second.
372DEFAULT_LINEAR_ACCEL = 800
373#+ float. The maximum acceleration for any axis or coordinated axis move, in machine units per second per second.
374DEFAULT_RAPID_VELOCITY = 1000
375#+ float. The default rapid velocity for any axis or coordinated axis move, in machine units per second per second.
376MAX_LINEAR_ACCEL = 800
377NO_FORCE_HOMING = 1
378
379
380
381[EMCIO]
382EMCIO = io
383CYCLE_TIME = 0.100
384TOOL_TABLE = gantry_mm.tbl
385
386[AXIS_X]
387MAX_VELOCITY = 600
388MAX_ACCELERATION = 1500
389MIN_LIMIT = -1615
390MAX_LIMIT = 100
391MIN_FERROR = 1
392
393[AXIS_Y]
394MAX_VELOCITY = 700
395MAX_ACCELERATION = 1500
396MIN_LIMIT = -3500
397MAX_LIMIT = 0
398MIN_FERROR = 1
399
400[AXIS_Z]
401MAX_VELOCITY = 100
402MAX_ACCELERATION = 800
403MIN_LIMIT = -300
404MAX_LIMIT = 5
405MIN_FERROR = 1
406
407[JOINT_0]
408TYPE = LINEAR
409MAX_VELOCITY = 400
410MAX_ACCELERATION = 600
411MIN_LIMIT = -4000
412MAX_LIMIT = 4000
413SCALE = 11.30973
414HOME = 0.0
415HOME_OFFSET = 0.0
416HOME_SEARCH_VEL = 150
417HOME_LATCH_VEL = 5
418HOME_SEQUENCE = 1
419
420[JOINT_1]
421TYPE = LINEAR
422MAX_VELOCITY = 400
423MAX_ACCELERATION = 600
424MIN_LIMIT = -3500
425MAX_LIMIT = 3500
426#SCALE = 13.96263
427HOME = 0.0
428HOME_OFFSET = 1
429HOME_SEARCH_VEL = 150
430HOME_LATCH_VEL = 5
431HOME_SEQUENCE = -2
432
433[JOINT_2]
434TYPE = LINEAR
435MAX_VELOCITY = 400
436MAX_ACCELERATION = 600
437MIN_LIMIT = -3500
438MAX_LIMIT = 3500
439#SCALE = 13.96263
440HOME = 0.0
441HOME_OFFSET = 1
442HOME_SEARCH_VEL = 150
443HOME_LATCH_VEL = 5
444HOME_SEQUENCE = -2
445
446[JOINT_3]
447TYPE = LINEAR
448MAX_VELOCITY = 100
449MAX_ACCELERATION = 400
450MIN_LIMIT = -500
451MAX_LIMIT = 1000
452SCALE = 5
453HOME = 0.0
454HOME_OFFSET = 1
455HOME_SEARCH_VEL = 20
456HOME_LATCH_VEL = 1
457HOME_SEQUENCE = 0
458
459
460
461
462[HOSTMOT2]
463DRIVER=hm2_eth
464BOARD=7i80
465CONFIG=""
466# "sserial_port_00=00000000 sserial_port_01=00000000 sserial_port_02=00000000 sserial_port_03=00000000 sserial_port_04=00000000 sserial_port_05=00000000"
467
468###############################################################################
469# section for main IO controller parameters
470###############################################################################
471#+ [I/O MOD.].I/O module description setings and parameters
472
473[EMCIO]
474
475
476#- Name of IO controller program, e.g., io
477EMCIO = io
478
479#- cycle time, in seconds
480CYCLE_TIME = 0.100
481
482###############################################################################
483#-SECTION INPUTS
484###############################################################################
485ACTIVE_INPUTS = 0,1,2,3,4,5,6,7,8,9
486###############################################################################
487
488input_0_0 = halui.machine.on ; mach.on
489input_0_1 = halui.machine.off ; mch.off
490input_0_2 = halui.estop.activate ; estop_on
491input_0_3 = halui.estop.reset ; estop_off
492input_0_4 = halui.mode.manual ; manual
493input_0_5 = halui.mode.auto ; auto
494input_0_6 = halui.mode.mdi ; mdi
495input_0_7 = halui.mode.teleop ; remote
496
497input_1_0 = halui.mode.joint ;
498input_1_1 = halui.mist.on ; mist_on
499input_1_2 = halui.mist.off ; mist_off
500input_1_3 = halui.flood.on ; flood_on
501input_1_4 = halui.flood.off ; flood_off
502input_1_5 = halui.lube.on ; lube_on
503input_1_6 = halui.lube.off ; lube_off
504input_1_7 = halui.program.run ; run
505
506input_2_0 = halui.program.pause ; pause
507input_2_1 = halui.program.resume ; resume
508input_2_2 = halui.program.step ; step
509input_2_3 = halui.program.stop ; stop
510input_2_4 = halui.program.optional-stop.on ; stop_on
511input_2_5 = halui.program.optional-stop.off ; stop_off
512input_2_6 = halui.program.block-delete.on ; bl.del.on
513input_2_7 = halui.program.block-delete.off ; bl.del.off
514
515input_3_0 = halui.spindle.start ; spindl_on
516input_3_1 = halui.spindle.stop ; spindl_off
517input_3_2 = halui.spindle.forward ; M3_on
518input_3_3 = halui.spindle.reverse ; M4_on
519input_3_4 = halui.spindle.increase ; spdl+
520input_3_5 = halui.spindle.decrease ; spdl-
521input_3_6 = halui.spindle.brake-on ; spdl.brk
522input_3_7 = halui.spindle.brake-off ; spde_rdy
523
524input_4_0 = halui.feed-override.increase ; fov+
525input_4_1 = halui.feed-override.decrease ; fov-
526input_4_2 = halui.abort ; abort
527
528input_7_0 = halui.joint.0.home ;
529input_7_1 = halui.joint.0.select ;
530input_7_2 = halui.jog.0.plus ;
531input_7_3 = halui.jog.0.minus ;
532input_7_4 = halui.jog.0.analog ;
533
534input_8_0 = halui.joint.1.home ;
535input_8_1 = halui.joint.1.select ;
536input_8_2 = halui.jog.1.plus ;
537input_8_3 = halui.jog.1.minus ;
538input_8_4 = halui.jog.1.analog ;
539
540input_9_0 = halui.joint.2.home ;
541input_9_1 = halui.joint.2.select ;
542input_9_2 = halui.jog.2.plus ;
543input_9_3 = halui.jog.2.minus ;
544input_9_4 = halui.jog.2.analog ;
545
546###############################################################################
547#SECTION OUTPUTS
548###############################################################################
549ACTIVE_OUTPUTS = 0,1,2,3,4,5,6,7,8,9
550###############################################################################
551
552output_0_0 = halui.machine.is-on ; vrdy_on
553output_0_1 = halui.estop.is-activated ; estop_on
554output_0_2 = halui.mode.is-manual ; manual
555output_0_3 = halui.mode.is-auto ; auto
556output_0_4 = halui.mode.is-mdi ; mdi
557output_0_5 = halui.mode.is-teleop ; remote
558output_0_6 = iocontrol.0.tool-number ; curr tool
559output_0_7 = halui.mist.is-on ; mist_on
560output_1_0 = halui.flood.is-on ; flood_on
561output_1_1 = halui.lube.is-on ; lube_on
562output_1_2 = halui.program.is-idle ; idle
563output_1_3 = halui.program.is-running ; runing
564output_1_4 = halui.program.is-paused ; pause
565output_1_5 = halui.program.optional-stop.is-on ; stop-1
566output_1_6 = halui.program.block-delete.is-on ; blk.del
567output_1_7 = halui.spindle.is-on ; spdl_on
568output_2_0 = halui.spindle.runs-forward ; spdl+
569output_2_1 = halui.spindle.runs-backward ; spdl-
570output_2_2 = iocontrol.0.tool-number ; curr.tool
571
572output_7_0 = halui.joint.0.is-homed ;
573output_7_1 = halui.joint.0.is-selected ;
574output_7_2 = halui.joint.0.on-soft-min-limit ;
575output_7_3 = halui.joint.0.on-soft-max-limit ;
576output_7_4 = halui.joint.0.on-hard-min-limit ;
577output_7_5 = halui.joint.0.on-hard-max-limit ;
578output_7_6 = halui.joint.0.has-fault ;
579
580output_8_0 = halui.joint.1.is-homed ;
581output_8_1 = halui.joint.1.is-selected ;
582output_8_2 = halui.joint.1.on-soft-min-limit ;
583output_8_3 = halui.joint.1.on-soft-max-limit ;
584output_8_4 = halui.joint.1.on-hard-min-limit ;
585output_8_5 = halui.joint.1.on-hard-max-limit ;
586output_8_6 = halui.joint.1.has-fault ;
587
588output_9_0 = halui.joint.2.is-homed ;
589output_9_1 = halui.joint.2.is-selected ;
590output_9_2 = halui.joint.2.on-soft-min-limit ;
591output_9_3 = halui.joint.2.on-soft-max-limit ;
592output_9_4 = halui.joint.2.on-hard-min-limit ;
593output_9_5 = halui.joint.2.on-hard-max-limit ;
594output_9_6 = halui.joint.2.has-fault ;
595
596
597###############################################################################
598IOinput_0_0 = CURR.TOOL ; current tool
599IOinput_0_1 = SPIN._ALARM_in_2 ; sp_err
600IOinput_0_2 = AIR_PRESURE_in_3
601IOinput_0_3 = SPIN_REDY_in_4
602IOinput_1_0 = SPIN_FAN_in_5
603IOinput_1_1 = LIM-X_in_6
604IOinput_1_2 = LIM-Y_in_7
605IOinput_1_3 = LIM-Z_in_8
606IOinput_2_0 = FREE_in 9
607IOinput_2_1 = FREE_in 10
608IOinput_2_2 = FREE_in 11
609IOinput_2_3 = FREE_in 12
610IOinput_3_0 = FREE_in 13
611IOinput_3_1 = FREE_in 14
612IOinput_3_2 = FREE_in 15
613IOinput_3_3 = FREE in 16
614IOinput_4_0 = FREE in 17
615IOinput_4_1 = FREE in 18
616IOinput_4_2 = FREE in 19
617IOinput_4_3 = FREE in 20
618IOinput_5_0 = ATC-OPENED
619IOinput_5_1 = ATC-CLOSED
620IOinput_5_2 = FREE in 23
621IOinput_5_3 = FREE in 24
622IOinput_6_0 = FREE in 25
623IOinput_6_1 = FREE
624IOinput_6_2 = FREE
625IOinput_6_3 = FREE in 28
626IOinput_7_0 = FREE in 29
627IOinput_7_1 = FREE in 30
628IOinput_7_2 = TC_BUTTON_in_31
629IOinput_7_3 = COLLET-OPENED
630
631###############################################################################
632
633
634IOoutput_0_0 = VACZ-1_out_1
635IOoutput_0_1 = VACZ-2_out_2
636IOoutput_0_2 = VACZ-3_out_3
637IOoutput_0_3 = VACZ-4_out_4
638IOoutput_1_0 = VACZ-5_out_5
639IOoutput_1_1 = VACZ-6_out_6
640IOoutput_1_2 = VACZ-7_out_7
641IOoutput_1_3 = VACZ-8_out_8
642IOoutput_2_0 = VACZ-9_out_9
643IOoutput_2_1 = VACZ-10_out_10
644IOoutput_2_2 = VACZ-11_out_11
645IOoutput_2_3 = VACZ-12_out_12
646IOoutput_3_0 = VACZ-13_out_13
647IOoutput_3_1 = VACZ-14_out_14
648IOoutput_3_2 = VACZ-15_out_15
649IOoutput_3_3 = VACZ-16_out_16
650IOoutput_4_0 = VACZ-17_out_17
651IOoutput_4_1 = VACZ-18_out_18
652IOoutput_4_2 = VACZ-19_out_19
653IOoutput_4_3 = VACZ-20_out_20
654IOoutput_5_0 = ATC-OPEN
655IOoutput_5_1 = ATC-CLOSE
656IOoutput_5_2 = DUST.COL.POWER
657IOoutput_5_3 = DUST.COLECTOR
658IOoutput_6_0 = COLLET-AIR
659IOoutput_6_1 = VACUUM-ON
660IOoutput_6_2 = VORTEX
661IOoutput_6_3 = REG-PIN
662IOoutput_7_0 = FREE
663IOoutput_7_1 = FREE
664IOoutput_7_2 = FREE
665IOoutput_7_3 = COLLET-OPEN