Halui

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Halui

halui − это компонент HAL LinuxCNC ддя отслеживания пинов и отправления команд LinuxCNC через NML


NAME

halui − observe HAL pins and command LinuxCNC through NML

SYNOPSIS

halui [-ini <path-to-ini>]

DESCRIPTION

halui is used to build a User Interface using hardware knobs and switches. It exports a big number of pins, and acts accordingly when these change.

OPTIONS

-ini name

use the name as the configuration file. Note: halui must find the nml file specified in the ini, usually that file is in the same folder as the ini, so it makes sense to run halui from that folder.

USAGE

When run, halui will export a large number of pins. A user can connect those to his physical knobs & switches & leds, and when a change is noticed halui triggers an appropriate event. halui expects the signals to be debounced, so if needed (bad knob contact) connect the physical button to a HAL debounce filter first.

PINS

abort

halui.abort bit inpin for clearing most errors

tool

halui.tool.length-offset.a float out current applied tool length offset for the A axis

halui.tool.length-offset.b float out current applied tool length offset for the B axis

halui.tool.length-offset.c float out current applied tool length offset for the C axis

halui.tool.length-offset.u float out current applied tool length offset for the U axis

halui.tool.length-offset.v float out current applied tool length offset for the V axis

halui.tool.length-offset.w float out current applied tool length offset for the W axis

halui.tool.length-offset.x float out current applied tool length offset for the X axis

halui.tool.length-offset.y float out current applied tool length offset for the Y axis

halui.tool.length-offset.z float out current applied tool length offset for the Z axis

halui.tool.number u32 out current selected tool

spindle

halui.spindle.brake-is-on bit out status pin that tells us if brake is on

halui.spindle.brake-off bit inpin for deactivating the spindle brake

halui.spindle.brake-on bit inpin for activating the spindle brake

halui.spindle.decrease bit ina rising edge on this pin decreases the current spindle speed by 100

halui.spindle.forward bit ina rising edge on this pin makes the spindle go forward

halui.spindle.increase bit ina rising edge on this pin increases the current spindle speed by 100

halui.spindle.is-on bit out status pin telling if the spindle is on

halui.spindle.reverse bit ina rising edge on this pin makes the spindle go reverse

halui.spindle.runs-backward bit out status pin telling if the spindle is running backward

halui.spindle.runs-forward bit out status pin telling if the spindle is running forward

halui.spindle.start bit ina rising edge on this pin starts the spindle

halui.spindle.stop bit ina rising edge on this pin stops the spindle

spindle override

halui.spindle-override.count-enable bit in (default: TRUE)

When TRUE, modify spindle override when counts changes.

halui.spindle-override.counts s32 incounts X scale = spindle override percentage

halui.spindle-override.decrease bit inpin for decreasing the SO (-=scale)

halui.spindle-override.direct-value bit inpin to enable direct spindle override value input

halui.spindle-override.increase bit inpin for increasing the SO (+=scale)

halui.spindle-override.scale float inpin for setting the scale of counts for SO

halui.spindle-override.value float out current FO value

program

halui.program.block-delete.is-on bit out status pin telling that block delete is on

halui.program.block-delete.off bit inpin for requesting that block delete is off

halui.program.block-delete.on bit inpin for requesting that block delete is on

halui.program.is-idle bit out status pin telling that no program is running

halui.program.is-paused bit out status pin telling that a program is paused

halui.program.is-running bit out status pin telling that a program is running

halui.program.optional-stop.is-on bit out status pin telling that the optional stop is on

halui.program.optional-stop.off bit inpin requesting that the optional stop is off

halui.program.optional-stop.on bit inpin requesting that the optional stop is on

halui.program.pause bit inpin for pausing a program

halui.program.resume bit inpin for resuming a program

halui.program.run bit inpin for running a program

halui.program.step bit inpin for stepping in a program

halui.program.stop bit inpin for stopping a program (note: this pin does the same thing as halui.abort)

mode

halui.mode.auto bit inpin for requesting auto mode

halui.mode.is-auto bit out pin for auto mode is on

halui.mode.is-joint bit out pin showing joint by joint jog mode is on

halui.mode.is-manual bit out pin for manual mode is on

halui.mode.is-mdi bit out pin for mdi mode is on

halui.mode.is-teleop bit out pin showing coordinated jog mode is on

halui.mode.joint bit inpin for requesting joint by joint jog mode

halui.mode.manual bit inpin for requesting manual mode

halui.mode.mdi bit inpin for requesting mdi mode

halui.mode.teleop bit inpin for requesting coordinated jog mode

mist

halui.mist.is-on bit out pin for mist is on

halui.mist.off bit inpin for stopping mist

halui.mist.on bit inpin for starting mist

max-velocity

halui.max-velocity.count-enable bit in (default: TRUE)

When TRUE, modify max velocity when counts changes.

halui.max-velocity.counts s32 incounts from an encoder for example to change maximum velocity

halui.max-velocity.decrease bit inpin for decreasing the maximum velocity (-=scale)

halui.max-velocity.direct-value bit inpin for using a direct value for max velocity

halui.max-velocity.increase bit inpin for increasing the maximum velocity (+=scale)

halui.max-velocity.scale float inpin for setting the scale on changing the maximum velocity

halui.max-velocity.value float out Current value for maximum velocity

machine

halui.machine.is-on bit out pin for machine is On/Off

halui.machine.off bit inpin for setting machine Off

halui.machine.on bit inpin for setting machine On

lube

halui.lube.is-on bit out pin for lube is on

halui.lube.off bit inpin for stopping lube

halui.lube.on bit inpin for starting lube

joint

halui.joint.N.has-fault bit out status pin telling that joint N has a fault

halui.joint.N.home bit inpin for homing joint N

halui.joint.N.is-homed bit out status pin telling that joint N is homed

halui.joint.N.is-selected bit out status pin that joint N is selected

halui.joint.N.on-hard-max-limit bit out status pin telling that joint N is on the positive hardware limit

halui.joint.N.on-hard-min-limit bit out status pin telling that joint N is on the negative hardware limit

halui.joint.N.on-soft-max-limit bit out status pin telling that joint N is on the positive software limit

halui.joint.N.on-soft-min-limit bit out status pin telling that joint N is on the negative software limit

halui.joint.N.select bit inpin for selecting joint N

halui.joint.N.unhome bit inpin for unhoming joint N

halui.joint.selected u32 out == selected joint==

halui.joint.selected.has-fault bit out status pin selected joint is faulted

halui.joint.selected.home bit inpin for homing the selected joint

halui.joint.selected.is-homed bit out status pin telling that the selected joint is homed

halui.joint.selected.on-hard-max-limit bit out status pin telling that the selected joint is on the positive hardware limit

halui.joint.selected.on-hard-min-limit bit out status pin telling that the selected joint is on the negative hardware limit

halui.joint.selected.on-soft-max-limit bit out status pin telling that the selected joint is on the positive software limit

halui.joint.selected.on-soft-min-limit bit out status pin telling that the selected joint is on the negative software limit

halui.joint.selected.unhome bit inpin for unhoming the selected joint

jog

halui.jog.deadband (float,in) Пин для установки мертвой зоны для аналогого задания jog

halui.jog-speed (float,in) пин для установки скорости перемещений в положительном и отрицательном направлении в режиме jog

halui.jog.N.analog float in pin for jogging the axis N using an float value (e.g. joystick)

halui.jog.N.increment (float, in) пин для установеи энкремента режима шагового перемещения для оси N при использовании increment-plus/minus

halui.jog.N.increment-minus (float, in) передний фронт сигнала с этого пина приведет в движение ось N в отрицательном направлении на расстояние инкремента

halui.jog.N.increment-plus (float,in) передний фронт сигнала с этого пина приведет в движение ось N в положительном направлении на расстояние инкремента

halui.jog.N.minus (bit,in) пин для перемещения оси N в отрицательном направлении со скоростью halui.jog-speed

halui.jog.N.plus (bit, in) пин для перемещения оси N в положительном направлении со скоростью halui.jog-speed

halui.jog.selected.increment (float in) пин для установеи энкремента режима шагового перемещения для выбранной оси при использовании increment-plus/minus

halui.jog.selected.increment-minus (float, in) передний фронт сигнала с этого пина приведет в движение выбранную ось в отрицательном направлении на расстояние инкремента

halui.jog.selected.increment-plus (float, in) передний фронт сигнала с этого пина приведет в движение ось N в положительном направлении на расстояние инкремента

halui.jog.selected.minus (bit, in) пин для перемещения выбранной оси в отрицательном направлении со скоростью halui.jog-speed

halui.jog.selected.plus (bit, in) пин для перемещения выбранной оси в отрицательном направлении со скоростью halui.jog-speed

flood

halui.flood.is-on bit out pin for flood is on

halui.flood.off bit inpin for stopping flood

halui.flood.on bit inpin for starting flood

feed override

halui.feed-override.count-enable bit in (default: TRUE) When TRUE, modify feed override when counts changes.

halui.feed-override.counts s32 incounts X scale = feed override percentage

halui.feed-override.decrease bit inpin for decreasing the FO (-=scale)

halui.feed-override.direct-value bit inpin to enable direct value feed override input

halui.feed-override.increase bit inpin for increasing the FO (+=scale)

halui.feed-override.scale float inpin for setting the scale on changing the FO

halui.feed-override.value float out current Feed Override value

estop

halui.estop.activate bit inpin for setting Estop (LinuxCNC internal) On

halui.estop.is-activated bit out pin for displaying Estop state (LinuxCNC internal) On/Off

halui.estop.reset bit inpin for resetting Estop (LinuxCNC internal) Off

axis

halui.axis.N.pos-commanded float out float out Commanded axis position in machine coordinates

halui.axis.N.pos-feedback float out float out Feedback axis position in machine coordinates

halui.axis.N.pos-relative float out float out Commanded axis position in relative coordinates

home

halui.home-all bit inpin for requesting home-all (only available when a valid homing sequence is specified)

SEE ALSO

HISTORY

BUGS

none known at this time.

AUTHOR

Written by Alex Joni, as part of the LinuxCNC Enhanced Machine Controller project. Updated by John Thornton

REPORTING BUGS

Report bugs to alex_joni AT users DOT sourceforge DOT net

COPYRIGHT

Copyright © 2006 Alex Joni. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.