iocontrol - interacts with HAL or G-code in userspace
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/oO provided by motion(9) instead.
The INI file is searched for in the directory from which halcmd
was run, unless an absolute path is specified.
- iocontrol.0.coolant-flood
- (Bit, Out) TRUE when flood coolant is requested.
- iocontrol.0.coolant-mist
- (Bit, Out) TRUE when mist coolant is requested.
- iocontrol.0.emc-enable-in
- (Bit, In) Should be driven FALSE when an external E-stop condition exists.
- iocontrol.0.lube
- (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.
- iocontrol.0.lube_level
- (Bit, In) Should be driven FALSE when lubrication tank is empty.
- iocontrol.0.tool-change
- (Bit, Out) TRUE when a tool change is requested.
- iocontrol.0.tool-changed
- (Bit, In) Should be driven TRUE when a tool change is completed.
- iocontrol.0.tool-number
- (s32, Out) Current tool number.
- iocontrol.0.tool-prep-number
- (s32, Out) The number of the next tool, from the RS274NGC T-word.
- iocontrol.0.tool-prep-pocket
- (s32, Out) This is the pocket number (location in the tool storage
mechanism) of the tool requested by the most recent T-word.
- iocontrol.0.tool-prepare
- (Bit, Out) TRUE when a Tn tool prepare is requested.
- iocontrol.0.tool-prepared
- (Bit, In) Should be driven TRUE when a tool prepare is completed.
- iocontrol.0.user-enable-out
- (Bit, Out) FALSE when an internal E-stop condition exists.
- iocontrol.0.user-request-enable
- (Bit, Out) TRUE when the user has requested that E-stop be cleared.
- iocontrol.0.tool-prep-index
- (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).
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.