sudo date 020809182025
sudo ntpdate ntp.ubuntu.com

sudo halcompile --install cia402.comp

Steps to setup LC_E Drives

Set DI (Inputs)

DI0 
P03.02 Set to 14 (Forward Over Travel Switch)
P03.03 Set to 1  (High Level Valid)

DI1 
P03.04 Set to 15 (Reverse Over Travel Switch)
P03.05 Set to 1  (High Level Valid)

DI2
P03.06 Set to 31 (Emergency Stop)
P03.07 Set to 1  (High Level Valid)

DI3
P03.08 Set to 34 Emergency Stop
P03.09 Set to 1  Inverted

For All Axis Set
DI0
P03.03 Set to 1  (High Level Valid)
DI1
P03.05 Set to 1  (High Level Valid)

Set P03.02/P03.03 to 14 or 15 depending on directions
Aixs P03.02 P03.04
x        15     14
y        14     15
z        15     NC

Set P05.19 to 2 Use Vel FF From LinuxCNC
FunIN.34 ESTOP


To Reverse an axis:
Reverse Direction
P02.02 subindex 3 0/1 Must restart


51 Embedded Modbus
51.00 Modbus enable

16.00 Local lock (local control locking)
06.00.08 Jog start
10.15 start enable
Only when the parameter 10.15 start enable (Start enable) is effective can start
command to be executed










Word 60FD
BIT 
0    Reverse overtravel switch
1    Forward overtravel switch
2    Origin Switch
16   Z Signal
17   Probe 1
18   Probe 2
20   DI0
21   DI1
22   DI2
23   DI3
24   DI4

probe1risingb

7.10.1 Function Description of 60B8h and 60B9h

BIT
0     0: Probe 1 is disabled; 1: Probe 1 is enabled;
1     0: Probe 1 single mode; 1: Probe 1 continuous mode;
2     Probe 1 trigger signal selection: 0: DI3; 1: Z signal;
3     reserve
4     0: The rising edge of probe 1 is not enabled; 1: The rising edge of probe 1 is enabled;
5     0: The falling edge of probe 1 is not enabled; 1: The falling edge of probe 1 is enabled;
6-7   reserve;
8     0: Probe 2 is not enabled; 1: Probe 2 is enabled;
9     0: Probe 2 single mode; 1: Probe 2 continuous mode;
10    Probe 2 trigger signal selection: 0: DI4; 1: Z signal;
11    reserve;
12    0: The rising edge of probe 2 is not enabled; 1: The rising edge of probe 2 is enabled;
13    0: The falling edge of probe 2 is not enabled; 1: The falling edge of probe 2 is enabled;
14-15 reserve;

TODO
Verify End of travel prox switches/ Travel Direction
Z Backwards Motion Prox Switch Backward 
Y Backwards Motion Prox switches are correct
X Prox Switches are Backward
HOME

Spindle Control

Turn on/off Arduino Outputs

/usr/bin/halcmd loadusr -W /usr/bin/lcec_conf ~/linuxcnc/configs/my_ethercat_gantry/ethercat-conf.xml

<pdoEntry idx="60B1" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>

