4a897203bc
groff treats '-' (the character you get when you hit the "minus" key on the keyboard) as "hyphen", not as "minus". Thus it renders incorrectly in some locales, and line-wraps strangely. groff treats the two-character sequence "\-" as "minus", and the four-character sequence "\(hy" as "hyphen". Details here: https://lists.debian.org/debian-devel/2003/03/msg01481.html This commit replaces every instance of "-" in our manpages where the meaning is "minus" with "\-", so it works right. This fixes many lintian warnings.
507 lines
16 KiB
Groff
507 lines
16 KiB
Groff
.\" Copyright (c) 2006 Alex Joni
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.\" (alex_joni AT users DOT sourceforge DOT net)
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.\"
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.\" This is free documentation; you can redistribute it and/or
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.\" modify it under the terms of the GNU General Public License as
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.\" published by the Free Software Foundation; either version 2 of
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.\" the License, or (at your option) any later version.
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.\"
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.\" The GNU General Public License's references to "object code"
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.\" and "executables" are to be interpreted as the output of any
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.\" document formatting or typesetting system, including
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.\" intermediate and printed output.
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.\"
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.\" This manual is distributed in the hope that it will be useful,
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.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
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.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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.\" GNU General Public License for more details.
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.\"
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.\" You should have received a copy of the GNU General Public
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.\" License along with this manual; if not, write to the Free
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.\" Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111,
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.\" USA.
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.\"
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.\"
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.\"
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.TH HALUI "1" "2006-07-22" "LinuxCNC Documentation" "HAL User Interface"
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.SH NAME
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halui \- observe HAL pins and command LinuxCNC through NML
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.SH SYNOPSIS
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.B halui
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[\fB\-ini <path-to-ini>\fR]
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.SH DESCRIPTION
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\fBhalui\fR is used to build a User Interface using hardware knobs
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and switches. It exports a big number of pins, and acts accordingly
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when these change.
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.SH OPTIONS
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.TP
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\fB\-ini name\fR
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use the \fIname\fR as the configuration file. Note: halui must find the
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nml file specified in the ini, usually that file is in the same
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folder as the ini, so it makes sense to run halui from that folder.
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.SH USAGE
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When run, \fBhalui\fR will export a large number of pins. A user can connect
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those to his physical knobs & switches & leds, and when a change is noticed
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halui triggers an appropriate event.
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\fBhalui\fR expects the signals to be debounced, so if needed (bad knob contact) connect the physical button to a HAL debounce filter first.
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.SH PINS
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.SS abort
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.TP
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.B halui.abort\fR bit in \fR
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pin for clearing most errors
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.SS tool
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.TP
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.B halui.tool.length\-offset.a\fR float out \fR
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current applied tool length offset for the A axis
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.TP
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.B halui.tool.length\-offset.b\fR float out \fR
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current applied tool length offset for the B axis
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.TP
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.B halui.tool.length\-offset.c\fR float out \fR
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current applied tool length offset for the C axis
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.TP
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.B halui.tool.length\-offset.u\fR float out \fR
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current applied tool length offset for the U axis
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.TP
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.B halui.tool.length\-offset.v\fR float out \fR
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current applied tool length offset for the V axis
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.TP
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.B halui.tool.length\-offset.w\fR float out \fR
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current applied tool length offset for the W axis
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.TP
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.B halui.tool.length\-offset.x\fR float out \fR
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current applied tool length offset for the X axis
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.TP
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.B halui.tool.length\-offset.y\fR float out \fR
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current applied tool length offset for the Y axis
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.TP
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.B halui.tool.length\-offset.z\fR float out \fR
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current applied tool length offset for the Z axis
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.TP
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.B halui.tool.number\fR u32 out \fR
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current selected tool
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.SS spindle
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.TP
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.B halui.spindle.brake\-is\-on\fR bit out \fR
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status pin that tells us if brake is on
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.TP
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.B halui.spindle.brake\-off\fR bit in \fR
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pin for deactivating the spindle brake
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.TP
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.B halui.spindle.brake\-on\fR bit in \fR
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pin for activating the spindle brake
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.TP
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.B halui.spindle.decrease\fR bit in \fR
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a rising edge on this pin decreases the current spindle speed by 100
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.TP
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.B halui.spindle.forward\fR bit in \fR
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a rising edge on this pin makes the spindle go forward
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.TP
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.B halui.spindle.increase\fR bit in \fR
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a rising edge on this pin increases the current spindle speed by 100
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.TP
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.B halui.spindle.is\-on\fR bit out \fR
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status pin telling if the spindle is on
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.TP
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.B halui.spindle.reverse\fR bit in \fR
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a rising edge on this pin makes the spindle go reverse
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.TP
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.B halui.spindle.runs\-backward\fR bit out \fR
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status pin telling if the spindle is running backward
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.TP
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.B halui.spindle.runs\-forward\fR bit out \fR
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status pin telling if the spindle is running forward
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.TP
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.B halui.spindle.start\fR bit in \fR
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a rising edge on this pin starts the spindle
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.TP
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.B halui.spindle.stop\fR bit in \fR
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a rising edge on this pin stops the spindle
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.SS spindle override
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.TP
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.B halui.spindle\-override.count\-enable\fR bit in \fR (default: \fBTRUE\fR)
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When TRUE, modify spindle override when counts changes.
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.TP
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.B halui.spindle\-override.counts\fR s32 in \fR
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counts X scale = spindle override percentage
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.TP
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.B halui.spindle\-override.decrease\fR bit in \fR
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pin for decreasing the SO (\-=scale)
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.TP
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.B halui.spindle\-override.direct\-value\fR bit in \fR
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pin to enable direct spindle override value input
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.TP
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.B halui.spindle\-override.increase\fR bit in \fR
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pin for increasing the SO (+=scale)
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.TP
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.B halui.spindle\-override.scale\fR float in \fR
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pin for setting the scale of counts for SO
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.TP
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.B halui.spindle\-override.value\fR float out \fR
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current FO value
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.SS program
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.TP
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.B halui.program.block\-delete.is\-on\fR bit out \fR
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status pin telling that block delete is on
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.TP
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.B halui.program.block\-delete.off\fR bit in \fR
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pin for requesting that block delete is off
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.TP
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.B halui.program.block\-delete.on\fR bit in \fR
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pin for requesting that block delete is on
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.TP
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.B halui.program.is\-idle\fR bit out \fR
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status pin telling that no program is running
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.TP
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.B halui.program.is\-paused\fR bit out \fR
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status pin telling that a program is paused
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.TP
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.B halui.program.is\-running\fR bit out \fR
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status pin telling that a program is running
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.TP
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.B halui.program.optional\-stop.is\-on\fR bit out \fR
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status pin telling that the optional stop is on
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.TP
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.B halui.program.optional\-stop.off\fR bit in \fR
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pin requesting that the optional stop is off
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.TP
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.B halui.program.optional\-stop.on\fR bit in \fR
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pin requesting that the optional stop is on
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.TP
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.B halui.program.pause\fR bit in \fR
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pin for pausing a program
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.TP
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.B halui.program.resume\fR bit in \fR
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pin for resuming a program
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.TP
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.B halui.program.run\fR bit in \fR
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pin for running a program
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.TP
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.B halui.program.step\fR bit in \fR
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pin for stepping in a program
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.TP
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.B halui.program.stop\fR bit in \fR
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pin for stopping a program
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(note: this pin does the same thing as halui.abort)
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.SS mode
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.TP
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.B halui.mode.auto\fR bit in \fR
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pin for requesting auto mode
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.TP
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.B halui.mode.is\-auto\fR bit out \fR
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pin for auto mode is on
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.TP
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.B halui.mode.is\-joint\fR bit out \fR
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pin showing joint by joint jog mode is on
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.TP
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.B halui.mode.is\-manual\fR bit out \fR
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pin for manual mode is on
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.TP
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.B halui.mode.is\-mdi\fR bit out \fR
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pin for mdi mode is on
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.TP
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.B halui.mode.is\-teleop\fR bit out \fR
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pin showing coordinated jog mode is on
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.TP
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.B halui.mode.joint\fR bit in \fR
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pin for requesting joint by joint jog mode
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.TP
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.B halui.mode.manual\fR bit in \fR
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pin for requesting manual mode
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.TP
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.B halui.mode.mdi\fR bit in \fR
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pin for requesting mdi mode
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.TP
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.B halui.mode.teleop\fR bit in \fR
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pin for requesting coordinated jog mode
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.SS mdi \fR(optional)
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.TP
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.B halui.mdi\-command\-XX\fR bit in
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\fBhalui\fR looks for ini variables named [HALUI]MDI_COMMAND, and
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exports a pin for each command it finds. When the pin is driven TRUE,
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\fBhalui\fR runs the specified MDI command. XX is a two digit number
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starting at 00. If no [HALUI]MDI_COMMAND variables are set in the ini
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file, no halui.mdi\-command\-XX pins will be exported by halui.
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.SS mist
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.TP
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.B halui.mist.is\-on\fR bit out \fR
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pin for mist is on
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.TP
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.B halui.mist.off\fR bit in \fR
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pin for stopping mist
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.TP
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.B halui.mist.on\fR bit in \fR
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pin for starting mist
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.SS max\-velocity
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.TP
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.B halui.max\-velocity.count\-enable\fR bit in \fR (default: \fBTRUE\fR)
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When True, modify max velocity when halui.max\-velocity.counts changes.
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.TP
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.B halui.max\-velocity.counts\fR s32 in \fR
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When .count\-enable is True, halui changes the max velocity in response
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to changes to this pin. It's usually connected to an MPG encoder on
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an operator's panel or jog pendant. When .count\-enable is False, halui
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ignores this pin.
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.TP
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.B halui.max\-velocity.direct\-value\fR bit in \fR
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When this pin is True, halui commands the max velocity directly to
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(.counts * .scale). When this pin is False, halui commands the max
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velocity in a relative way: change max velocity by an amount equal to
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(change in .counts * .scale).
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.TP
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.B halui.max\-velocity.increase\fR bit in \fR
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A positive edge (a False to True transition) on this pin increases the
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max velocity by the value of the .scale pin. (Note that halui always
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responds to this pin, independent of the .count\-enable pin.)
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.TP
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.B halui.max\-velocity.decrease\fR bit in \fR
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A positive edge (a False to True transition) on this pin decreases the
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max velocity by the value of the .scale pin. (Note that halui always
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responds to this pin, independent of the .count\-enable pin.)
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.TP
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.B halui.max\-velocity.scale\fR float in \fR
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This pin controls the scale of changes to the max velocity. Each unit
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change in .counts, and each positive edge on .increase and .decrease,
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changes the max velocity by .scale. The units of the .scale pin are
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machine\-units per second.
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.TP
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.B halui.max\-velocity.value\fR float out \fR
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Current value for maximum velocity, in machine\-units per second.
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.SS machine
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.TP
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.B halui.machine.is\-on\fR bit out \fR
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pin for machine is On/Off
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.TP
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.B halui.machine.off\fR bit in \fR
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pin for setting machine Off
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.TP
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.B halui.machine.on\fR bit in \fR
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pin for setting machine On
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.SS lube
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.TP
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.B halui.lube.is\-on\fR bit out \fR
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pin for lube is on
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.TP
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.B halui.lube.off\fR bit in \fR
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pin for stopping lube
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.TP
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.B halui.lube.on\fR bit in \fR
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pin for starting lube
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.SS joint
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.TP
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.B halui.joint.N.has\-fault\fR bit out \fR
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status pin telling that joint N has a fault
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.TP
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.B halui.joint.N.home\fR bit in \fR
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pin for homing joint N
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.TP
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.B halui.joint.N.is\-homed\fR bit out \fR
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status pin telling that joint N is homed
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.TP
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.B halui.joint.N.is\-selected\fR bit out \fR
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status pin that joint N is selected
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.TP
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.B halui.joint.N.on\-hard\-max\-limit\fR bit out \fR
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status pin telling that joint N is on the positive hardware limit
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.TP
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.B halui.joint.N.on\-hard\-min\-limit\fR bit out \fR
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status pin telling that joint N is on the negative hardware limit
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.TP
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.B halui.joint.N.on\-soft\-max\-limit\fR bit out \fR
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status pin telling that joint N is on the positive software limit
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.TP
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.B halui.joint.N.on\-soft\-min\-limit\fR bit out \fR
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status pin telling that joint N is on the negative software limit
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.TP
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.B halui.joint.N.select\fR bit in \fR
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A rising edge on this pin selects joint N. The joint remains selected
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until a rising edge on a different halui.joint.N.select pin selects a
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different joint. By default, joint 0 is the initially selected joint
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at startup.
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.TP
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.B halui.joint.N.unhome\fR bit in \fR
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pin for unhoming joint N
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.TP
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.B halui.joint.selected\fR u32 out \fR
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The number of the currently selected joint (default: joint 0).
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.TP
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.B halui.joint.selected.has\-fault\fR bit out \fR
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status pin selected joint is faulted
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.TP
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.B halui.joint.selected.home\fR bit in \fR
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pin for homing the selected joint
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.TP
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.B halui.joint.selected.is\-homed\fR bit out \fR
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status pin telling that the selected joint is homed
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.TP
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.B halui.joint.selected.on\-hard\-max\-limit\fR bit out \fR
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status pin telling that the selected joint is on the positive hardware limit
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.TP
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.B halui.joint.selected.on\-hard\-min\-limit\fR bit out \fR
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status pin telling that the selected joint is on the negative hardware limit
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.TP
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.B halui.joint.selected.on\-soft\-max\-limit\fR bit out \fR
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status pin telling that the selected joint is on the positive software limit
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.TP
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.B halui.joint.selected.on\-soft\-min\-limit\fR bit out \fR
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status pin telling that the selected joint is on the negative software limit
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.TP
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.B halui.joint.selected.unhome\fR bit in \fR
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pin for unhoming the selected joint
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.SS jog
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.TP
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.B halui.jog.deadband\fR float in \fR
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pin for setting jog analog deadband (jog analog inputs smaller/slower than this are ignored)
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.TP
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.B halui.jog\-speed\fR float in \fR
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pin for setting jog speed for plus/minus jogging.
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.TP
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.B halui.jog.N.analog\fR float in \fR
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pin for jogging the axis N using an float value (e.g. joystick)
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.TP
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.B halui.jog.N.increment\fR float in \fR
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pin for setting the jog increment for axis N when using increment\-plus/minus
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.TP
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.B halui.jog.N.increment\-minus\fR bit in \fR
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a rising edge will will make axis N jog in the negative direction by the increment amount
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.TP
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.B halui.jog.N.increment\-plus\fR bit in \fR
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a rising edge will will make axis N jog in the positive direction by the increment amount
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.TP
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.B halui.jog.N.minus\fR bit in \fR
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pin for jogging axis N in negative direction at the halui.jog\-speed velocity
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.TP
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.B halui.jog.N.plus\fR bit in \fR
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pin for jogging axis N in positive direction at the halui.jog\-speed velocity
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.TP
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.B halui.jog.selected.increment\fR float in \fR
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pin for setting the jog increment for the selected axis when using increment\-plus/minus
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.TP
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.B halui.jog.selected.increment\-minus\fR bit in \fR
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a rising edge will will make the selected axis jog in the negative direction by the increment amount
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.TP
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.B halui.jog.selected.increment\-plus\fR bit in \fR
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a rising edge will will make the selected axis jog in the positive direction by the increment amount
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.TP
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.B halui.jog.selected.minus\fR bit in \fR
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pin for jogging the selected axis in negative direction at the halui.jog\-speed velocity
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.TP
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.B halui.jog.selected.plus\fR
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pin for jogging the selected axis bit in \fRin positive direction at the halui.jog\-speed velocity
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.SS flood
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.TP
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.B halui.flood.is\-on\fR bit out \fR
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pin for flood is on
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.TP
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.B halui.flood.off\fR bit in \fR
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pin for stopping flood
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.TP
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.B halui.flood.on\fR bit in \fR
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pin for starting flood
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.SS feed override
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.TP
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.B halui.feed\-override.count\-enable\fR bit in \fR (default: \fBTRUE\fR)
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When TRUE, modify feed override when counts changes.
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.TP
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.B halui.feed\-override.counts\fR s32 in \fR
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counts X scale = feed override percentage
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.TP
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.B halui.feed\-override.decrease\fR bit in \fR
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pin for decreasing the FO (\-=scale)
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.TP
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.B halui.feed\-override.direct\-value\fR bit in \fR
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pin to enable direct value feed override input
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.TP
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.B halui.feed\-override.increase\fR bit in \fR
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pin for increasing the FO (+=scale)
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.TP
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.B halui.feed\-override.scale\fR float in \fR
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pin for setting the scale on changing the FO
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.TP
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.B halui.feed\-override.value\fR float out \fR
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current Feed Override value
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.SS rapid override
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.TP
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.B halui.rapid\-override.count\-enable\fR bit in \fR (default: \fBTRUE\fR)
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When TRUE, modify Rapid Override when counts changes.
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.TP
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.B halui.rapid\-override.counts\fR s32 in \fR
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counts X scale = Rapid Override percentage
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.TP
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.B halui.rapid\-override.decrease\fR bit in \fR
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pin for decreasing the Rapid Override (\-=scale)
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.TP
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.B halui.rapid\-override.direct\-value\fR bit in \fR
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pin to enable direct value Rapid Override input
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.TP
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.B halui.rapid\-override.increase\fR bit in \fR
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pin for increasing the Rapid Override (+=scale)
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.TP
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.B halui.rapid\-override.scale\fR float in \fR
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pin for setting the scale on changing the Rapid Override
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.TP
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.B halui.rapid\-override.value\fR float out \fR
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current Rapid Override value
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.SS estop
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.TP
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.B halui.estop.activate\fR bit in \fR
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pin for setting Estop (LinuxCNC internal) On
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.TP
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.B halui.estop.is\-activated\fR bit out \fR
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pin for displaying Estop state (LinuxCNC internal) On/Off
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.TP
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.B halui.estop.reset\fR bit in \fR
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pin for resetting Estop (LinuxCNC internal) Off
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.SS axis
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.TP
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.B halui.axis.N.pos\-commanded\fR float out \fR float out \fR
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Commanded axis position in machine coordinates
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.TP
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.B halui.axis.N.pos\-feedback\fR float out \fR float out \fR
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|
Feedback axis position in machine coordinates
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|
.TP
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.B halui.axis.N.pos\-relative\fR float out \fR float out \fR
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|
Commanded axis position in relative coordinates
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|
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.SS home
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|
.TP
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.B halui.home\-all\fR bit in \fR
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|
pin for requesting home\-all
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|
(only available when a valid homing sequence is specified)
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|
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.SH "SEE ALSO"
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.SH HISTORY
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.SH BUGS
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none known at this time.
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.SH AUTHOR
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Written by Alex Joni, as part of the LinuxCNC project. Updated by John
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Thornton
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.SH REPORTING BUGS
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Report bugs to alex_joni AT users DOT sourceforge DOT net
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.SH COPYRIGHT
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Copyright \(co 2006 Alex Joni.
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.br
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This is free software; see the source for copying conditions. There is NO
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warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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