|IOCONTROL - IO(1)||HAL Component||IOCONTROL - IO(1)|
iocontrol - interacts with HAL or G-code in userspace
EMCIO = io
I/O control handles I/O tasks like coolant, toolchange, e-stop and lube. The signals are turned on and off in userspace with G-code or in the case of e-stop in hal.
The following pins are created by the userspace IO controller, usually found in $LINUXCNC_HOME/bin/io
iocontrol is a userspace process - if you have strict timing requirements or simply need more i/o, consider using the realtime synchronized i/o provided by motion(9) instead.
The inifile is searched for in the directory from which halcmd was run, unless an absolute path is specified.
- (Bit, Out) TRUE when flood coolant is requested
- (Bit, Out) TRUE when mist coolant is requested
- (Bit, In) Should be driven FALSE when an external estop condition exists.
- (Bit, Out) TRUE when lube is requested. This pin gets driven True when the controller comes out of E-stop, and when the "Lube On" command gets sent to the controller. It gets driven False when the controller goes into E-stop, and when the "Lube Off" command gets sent to the controller.
- (Bit, In) Should be driven FALSE when lubrication tank is empty.
- (Bit, Out) TRUE when a tool change is requested
- (Bit, In) Should be driven TRUE when a tool change is completed.
- (s32, Out) Current tool number
- (s32, Out) The number of the next tool, from the RS274NGC T-word
- (s32, Out) This is the pocket number (location in the tool storage mechanism) of the tool requested by the most recent T-word.
- (Bit, Out) TRUE when a Tn tool prepare is requested
- (Bit, In) Should be driven TRUE when a tool prepare is completed.
- (Bit, Out) FALSE when an internal estop condition exists
- (Bit, Out) TRUE when the user has requested that estop be cleared
- (s32, Out) IO's internal array index of the prepped tool requested by the most recent T-word. 0 if no tool is prepped. On Random toolchanger machines this is the tool's pocket number (ie, the same as the tool-prep-pocket pin), on Non-random toolchanger machines this is a small integer corresponding to the tool's location in the internal representation of the tool table. This parameter returns to 0 after a successful tool change (M6).
Report bugs at https://github.com/LinuxCNC/linuxcnc/issues
Derived from a work by Fred Proctor & Will Shackleford.
Copyright © 2004 the LinuxCNC project.
This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.