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improvements of simulated_home.hal #2236

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improvements of simulated_home.hal #2236

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46 changes: 27 additions & 19 deletions lib/hallib/simulated_home.hal
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Original file line number Diff line number Diff line change
@@ -1,32 +1,40 @@
loadrt or2 names=or2_0
# this hal file simulates home swithes
# the comp function is used to achieve hysteres similar to physical switches
# see https://linuxcnc.org/docs/stable/html/man/man9/comp.9.html
#
# the or2 function is only needed for shares home swith signals
# loadrt or2 names=or2_0
#
loadrt comp names=comp_x,comp_y,comp_z

net Xhomeswpos => comp_x.in0
net Yhomeswpos => comp_y.in0
net Zhomeswpos => comp_z.in0
# set fixed value for position of virtual switches
setp comp_x.in1 1.0 # use input 1 if switches are on the negative end of the axis, change if necessary
setp comp_y.in1 0.0
setp comp_z.in0 190.0 # use input 0 if swithes are on the positive end of the axis

sets Xhomeswpos 1
sets Yhomeswpos .5
sets Zhomeswpos 2

net Xpos => comp_x.in1
net Ypos => comp_y.in1
# link current position if simulated machine to the other input of virtual switch (the other input of the comp functions is used)
net Xpos => comp_x.in0
net Ypos => comp_y.in0
net Zpos => comp_z.in1

setp comp_x.hyst .02
setp comp_y.hyst .02
setp comp_z.hyst .02
# set hysteresis of virtual home switches
setp comp_x.hyst 0.5
setp comp_y.hyst 0.5
setp comp_z.hyst 0.5

net Xhomesw <= comp_x.out
net Xhomesw <= comp_x.out => joint.0.home-sw-in
net Yhomesw <= comp_y.out => joint.1.home-sw-in
net Zhomesw <= comp_z.out
net Zhomesw <= comp_z.out => joint.2.home-sw-in

net Xhomesw => or2_0.in0
net Zhomesw => or2_0.in1
net XZhomesw or2_0.out => joint.0.home-sw-in joint.2.home-sw-in
# this section is only for shared home switch signals on multiple axis
# net Xhomesw => or2_0.in0
# net Zhomesw => or2_0.in1
# net XZhomesw or2_0.out => joint.0.home-sw-in joint.2.home-sw-in

# add the comp functions to the servo thread
addf comp_x servo-thread
addf comp_y servo-thread
addf comp_z servo-thread

addf or2_0 servo-thread
# add the or2 function to servo thread
# addf or2_0 servo-thread