HALUI

NAME
SYNOPSIS
DESCRIPTION
OPTIONS
USAGE
EXPORTED PINS
SEE ALSO
HISTORY
BUGS
AUTHOR
REPORTING BUGS
COPYRIGHT

NAME

halui − observe HAL pins and command EMC 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.

EXPORTED PINS

abort
halui.abort

pin for clearing most errors

home
halui.home-all

pin for requesting home-all

axis
halui.axis.N.pos-commanded

Commanded axis position in machine coordinates

halui.axis.N.pos-feedback

Feedback axis position in machine coordinates

halui.axis.N.pos-relative

Commanded axis position in relative coordinates

estop
halui.estop.activate

pin for setting Estop (emc internal) On

halui.estop.is-activated

pin for displaying Estop state (emc internal) On/Off

halui.estop.reset

pin for resetting Estop (emc internal) Off

feed override
halui.feed-override.count-enable (default: TRUE)

When TRUE, modify feed override when counts changes.

halui.feed-override.counts

counts from an encoder to change FO

halui.feed-override.decrease

pin for decreasing the FO (-=scale)

halui.feed-override.increase

pin for increasing the FO (+=scale)

halui.feed-override.scale

pin for setting the scale on changing the FO

halui.feed-override.value

current Feed Override value

flood
halui.flood.is-on

pin for flood is on

halui.flood.off

pin for stopping flood

halui.flood.on

pin for starting flood

jog
halui.jog.deadband

pin for setting jog analog deadband (where not to move)

halui.jog.speed

pin for setting jog speed. will be used for minus/plus jogging.

halui.jog.N.analog

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

halui.jog.N.minus

pin for jogging axis N in negative direction at the halui.jog.speed velocity

halui.jog.N.plus

pin for jogging axis N in positive direction at the halui.jog.speed velocity

halui.jog.selected.minus

pin for jogging the selected axis in negative direction at the halui.jog.speed velocity

halui.jog.selected.plus

pin for jogging the selected axis in positive direction at the halui.jog.speed velocity

joint
halui.joint.N.has-fault

status pin telling that joint N has a fault

halui.joint.N.home

pin for homing joint N

halui.joint.N.is-homed

status pin telling that joint N is homed

halui.joint.N.is-selected

status pin that joint N is selected

halui.joint.N.on-hard-max-limit

status pin telling that joint N is on the positive hardware limit

halui.joint.N.on-hard-min-limit

status pin telling that joint N is on the negative hardware limit

halui.joint.N.on-soft-max-limit

status pin telling that joint N is on the positive software limit

halui.joint.N.on-soft-min-limit

status pin telling that joint N is on the negative software limit

halui.joint.N.select

pin for selecting joint N

halui.joint.N.unhome

pin for unhoming joint N

halui.joint.selected

selected joint

halui.joint.selected.has-fault

status pin selected joint is faulted

halui.joint.select

select joint

halui.joint.selected.home

pin for homing the selected joint

halui.joint.selected.is-homed

status pin telling that the selected joint is homed

halui.joint.selected.on-hard-max-limit

status pin telling that the selected joint is on the positive hardware limit

halui.joint.selected.on-hard-min-limit

status pin telling that the selected joint is on the negative hardware limit

halui.joint.selected.on-soft-max-limit

status pin telling that the selected joint is on the positive software limit

halui.joint.selected.on-soft-min-limit

status pin telling that the selected joint is on the negative software limit

halui.joint.selected.unhome

pin for unhoming the selected joint

lube
halui.lube.is-on

pin for lube is on

halui.lube.off

pin for stopping lube

halui.lube.on

pin for starting lube

machine
halui.machine.is-on

pin for machine is On/Off

halui.machine.off

pin for setting machine Off

halui.machine.on

pin for setting machine On

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

When TRUE, modify max velocity when counts changes.

halui.max-velocity.counts

counts from an encoder for example to change maximum velocity

halui.max-velocity.decrease

pin for decreasing the maximum velocity (-=scale)

halui.max-velocity.increase

pin for increasing the maximum velocity (+=scale)

halui.max-velocity.scale

pin for setting the scale on changing the maximum velocity

halui.max-velocity.value

Current value for maximum velocity

mist
halui.mist.is-on

pin for mist is on

halui.mist.off

pin for stopping mist

halui.mist.on

pin for starting mist

mode
halui.mode.auto

pin for requesting auto mode

halui.mode.is-auto

pin for auto mode is on

halui.mode.is-joint

pin showing joint by joint jog mode is on

halui.mode.is-manual

pin for manual mode is on

halui.mode.is-mdi

pin for mdi mode is on

halui.mode.is-teleop

pin showing coordinated jog mode is on

halui.mode.joint

pin for requesting joint by joint jog mode

halui.mode.manual

pin for requesting manual mode

halui.mode.mdi

pin for requesting mdi mode

halui.mode.teleop

pin for requesting coordinated jog mode

program
halui.program.block-delete.is-on

status pin telling that block delete is on

halui.program.block-delete.off

pin for requesting that block delete is off

halui.program.block-delete.on

pin for requesting that block delete is on

halui.program.is-idle

status pin telling that no program is running

halui.program.is-paused

status pin telling that a program is paused

halui.program.is-running

status pin telling that a program is running

halui.program.optional-stop.is-on

status pin telling that the optional stop is on

halui.program.optional-stop.off

pin requesting that the optional stop is off

halui.program.optional-stop.on

pin requesting that the optional stop is on

halui.program.pause

pin for pausing a program

halui.program.resume

pin for resuming a program

halui.program.run

pin for running a program

halui.program.stop

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

halui.program.step

pin for stepping in a program

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

When TRUE, modify spindle override when counts changes.

halui.spindle-override.counts

counts from an encoder for example to change SO

halui.spindle-override.decrease

pin for decreasing the SO (-=scale)

halui.spindle-override.increase

pin for increasing the SO (+=scale)

halui.spindle-override.scale

pin for setting the scale on changing the SO

halui.spindle-override.value

current FO value

spindle
halui.spindle.brake-is-on

status pin that tells us if brake is on

halui.spindle.brake-off

pin for deactivating the spindle brake

halui.spindle.brake-on

pin for activating the spindle brake

halui.spindle.decrease

pin for making the spindle go slower

halui.spindle.forward

a rising edge on this pin makes the spindle go forward

halui.spindle.increase

pin for making the spindle go faster

halui.spindle.in-on

status pin telling if the spindle is on

halui.spindle.reverse

a rising edge on this pin makes the spindle go reverse

halui.spindle.runs-backward

status pin telling if the spindle is running backward

halui.spindle.runs-forward

status pin telling if the spindle is running forward

halui.spindle.start

a rising edge on this pin starts the spindle

halui.spindle.stop

a rising edge on this pin stops the spindle

tool
halui.tool.length-offset.a