Table of Contents
1 HAL Components
1.1 Commands and Userspace Components
Some of these will have expanded descriptions from the man pages. Some will have limited descriptions. All of the components have man pages. From this list you know what components exist and can use man n name to get additional information. For example in a terminal window type man 1 axis to view the information in the man page.
- = AXIS Remote Interface
- = AXIS EMC (The Enhanced Machine Controller) Graphical User Interface
- = A program for loading a Xilinx Bitfile program into the FPGA of an Anything I/O board from Mesa
- = Build, compile and install EMC HAL components
- = EMC (The Enhanced Machine Controller)
- = control HAL pins with any Linux input device, including USB HID devices
- = control HAL pins with a joystick (deprecated use hal_input)
- = manipulate the Enhanced Machine Controller HAL from the command line
- = observe HAL pins, signals, and parameters
- = manipulate the Enhanced Machine Controller HAL from the command line
- = sample data from HAL in realtime
- = stream file data into HAL in real time
- = observe HAL pins and command EMC through NML
- = accepts NML I/O commands, interacts with HAL in userspace
- = accepts NML I/O commands, interacts with HAL in userspace
- = Virtual Control Panel for EMC2
1.2 Realtime components and kernel modules
Some of these will have expanded descriptions from the man pages. Some will have limited descriptions. All of the components have man pages. From this list you know what components exist and can use man n name to get additional information. For example to find the man page for abs.9 open a terminal window and type:
man abs.9
- = Compute the absolute value and sign of the input signal
- = Two-input AND gate
- = proportional/integral/derivative controller with auto tuning
- = accepts NML motion commands, interacts with HAL in realtime
- = Biquad IIR filter
- = Perform linear interpolation between two values
- = Old style HAL blocks (deprecated)
- = Create a square-wave for the âcharge pumpâ input of some controller boards
- = Two input version of Clarke transform
- = Clarke (3 phase to cartesian) transform
- = Inverse Clarke transform
- = Realtime software plc based on ladder logic
- = Two input comparator with hysteresis
- = Use a parameter to set the value of a pin
- = Convert a value from bit to s32
- = Convert a value from bit to u32
- = Convert a value from float to s32
- = Convert a value from float to u32
- = Convert a value from s32 to bit
- = Convert a value from u32 to bit
- = Convert a value from s32 to u32
- = Convert a value from u32 to bit
- = Convert a value from u32 to float
- = Convert a value from u32 to s32
- = counts input pulses (deprecated)
- = Compute the derivative of the input function
- = Return the center if within the threshold
- = filter noisy digital inputs, for more information see [->]
- = Edge detector
- = software counting of quadrature encoder signals, for more information see [->]
- = an electronic gear to synchronize two axes
- = ESTOP latch
- = D type flip-flop
- = software step pulse generation
- = kinematics definitions for emc2
- = Three-input hypotenuse (Euclidean distance) calculator
- = Integrator
- = kinematics definitions for emc2
- = Convert counts (probably from an encoder) to a float value
- = Limit the output signal to fall between min and max
- = Limit the output signal to fall between min and max
- = Limit the output signal to fall between min and max
- =
- = Low-pass filter
- = Arbitrary 5-input logic function based on a look-up table
- = RTAI driver for the Mesa 7i43 EPP Anything IO board with HostMot2 firmware
- = Compute the majority of 3 inputs
- = 8-bit binary match detector
- = Track the minimum and maximum values of the input to the outputs
- = Accepts NML motion commands, interacts with HAL in realtime
- = Product of two inputs
- = Select from one of two input values based on the status of the sel bit.
- = Select from one of four input values based on the status of the two sel bits.
- = Inverter
- = Adds an offset to an input, and subtracts it from the feedback value
- = one-shot pulse generator
- = two-input OR gate
- = proportional/integral/derivative controller, for more information see [->]
- = Hardware driver and firmware for the Pluto-P parallel-port FPGA, for use with servos
- = Hardware driver and firmware for the Pluto-P parallel-port FPGA, for use with steppers
- = software PWM/PDM generation, for more information see [->]
- = kinematics definitions for emc2
- = Sample and Hold
- = sample data from HAL in real time
- =
- = 8-bit binary match detector
- = Hardware driver for the digital I/O bits of the 8250 and 16550 serial port
- = signal generator, for more information see [->]
- = simulated quadrature encoder, for more information see [->]
- = software step pulse generation, for more information see [->]
- = Used by Stepconf to allow testing of acceleration and velocity values for an axis
- = stream file data into HAL in real time
- = Sum of two inputs (each with a gain) and an offset
- = set output pins with values from parameters (deprecated)
- = creates hard realtime HAL threads
- =
- =
- = push-on, push-off from momentary pushbuttons
- = kinematics definitions for emc2
- = Place a signal on an I/O pin only when enabled, similar to a tristate buffer in electronics
- = Place a signal on an I/O pin only when enabled, similar to a tristate buffer in electronics
- = kinematics definitions for emc2
- = Counts up or down, with optional limits and wraparound behavior
- = Window comparator
- = convert a group of bits to an integer
- = Two-input XOR (exclusive OR) gate
Index