131 lines
3.4 KiB
Groff
131 lines
3.4 KiB
Groff
.TH "IOCONTROL - IO" "1" "2007-08-25" "LinuxCNC Documentation" "HAL Component"
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.SH NAME
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iocontrol \- interacts with HAL or G-code in userspace
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.SH SYNOPSIS
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.B [EMCIO]
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.br
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.B EMCIO = io
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.SH DESCRIPTION
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I/O control handles I/O tasks like coolant, toolchange, E-stop and lube.
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The signals are turned on and off in userspace with G-code or in the case of E-stop in HAL.
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The following pins are created by the userspace IO controller, usually found in $LINUXCNC_HOME/bin/io
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.P
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iocontrol is a userspace process - if you have strict timing requirements
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or simply need more I/O, consider using the realtime synchronized I/oO
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provided by \fBmotion\fR(9) instead.
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.P
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The INI file is searched for in the directory from which halcmd was run,
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unless an absolute path is specified.
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.SH PINS
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.TP
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\fBiocontrol.0.coolant\-flood
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(Bit, Out) TRUE when flood coolant is requested.
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.TP
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\fBiocontrol.0.coolant\-mist
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(Bit, Out) TRUE when mist coolant is requested.
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.TP
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\fBiocontrol.0.emc\-enable\-in
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(Bit, In) Should be driven FALSE when an external E-stop condition exists.
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.TP
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\fBiocontrol.0.lube
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(Bit, Out) TRUE when lube is requested. This pin gets driven True when
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the controller comes out of E-stop, and when the "Lube On" command gets
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sent to the controller. It gets driven False when the controller goes
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into E-stop, and when the "Lube Off" command gets sent to the controller.
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.TP
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\fBiocontrol.0.lube_level
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(Bit, In) Should be driven FALSE when lubrication tank is empty.
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.TP
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\fBiocontrol.0.tool\-change
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(Bit, Out) TRUE when a tool change is requested.
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.TP
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\fBiocontrol.0.tool\-changed
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(Bit, In) Should be driven TRUE when a tool change is completed.
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.TP
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\fBiocontrol.0.tool\-number
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(s32, Out) Current tool number.
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.TP
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\fBiocontrol.0.tool\-prep\-number
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(s32, Out) The number of the next tool, from the RS274NGC T-word.
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.TP
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\fBiocontrol.0.tool\-prep\-pocket
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(s32, Out) This is the pocket number (location in the tool storage
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mechanism) of the tool requested by the most recent T-word.
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.TP
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\fBiocontrol.0.tool\-prepare
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(Bit, Out) TRUE when a T\fIn\fR tool prepare is requested.
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.TP
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\fBiocontrol.0.tool\-prepared
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(Bit, In) Should be driven TRUE when a tool prepare is completed.
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.TP
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\fBiocontrol.0.user\-enable\-out
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(Bit, Out) FALSE when an internal E-stop condition exists.
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.TP
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\fBiocontrol.0.user\-request\-enable
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(Bit, Out) TRUE when the user has requested that E-stop be cleared.
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.TP
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\fBiocontrol.0.tool\-prep\-index
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(s32, Out) IO's internal array index of the prepped tool requested
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by the most recent T-word. 0 if no tool is prepped. On Random
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toolchanger machines this is the tool's pocket number (ie, the same as the
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tool\-prep\-pocket pin), on Non-random toolchanger machines this is
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a small integer corresponding to the tool's location in the internal
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representation of the tool table. This parameter returns to 0 after a
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successful tool change (M6).
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.SH SEE ALSO
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.ie '\*[.T]'html' \{\
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.UR io.1.html
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\fBio\fR(1),
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.UE
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.UR iov2.1.html
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\fBiov2\fR(1),
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.UE
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.UR ../man9/motion.9.html
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\fBmotion\fR(9)
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.UE
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\}
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.el \{\
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\fBio\fR(1)
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\fBiov2\fR(1)
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\fBmotion\fR(9)
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\}
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.SH REPORTING BUGS
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Report bugs at
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.UR https://github.com/LinuxCNC/linuxcnc/issues
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.UE
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.SH AUTHOR
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Derived from a work by Fred Proctor & Will Shackleford.
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.SH COPYRIGHT
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Copyright \(co 2004 the LinuxCNC project.
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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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