NAME¶

iocontrol - interacts with HAL or G-code in userspace

SYNOPSIS¶

[EMCIO]
EMCIO = io

DESCRIPTION¶

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.

PINS¶

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).

SEE ALSO¶

io(1) iov2(1) motion(9)

REPORTING BUGS¶

Report bugs at https://github.com/LinuxCNC/linuxcnc/issues

AUTHOR¶

Derived from a work by Fred Proctor & Will Shackleford.

COPYRIGHT¶

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.