iocontrol − accepts NML I/O commands, interacts with HAL in userspace
loadusr io [-ini inifile]
These pins are created by the userspace IO controller, usually found in $EMC2_HOME/bin/io
The signals are turned on and off in userspace - if you have strict timing requirements or simply need more i/o, consider using the realtime synchronized i/o provided by motion(9) instead.
The inifile is searched for in the directory from which halcmd was run, unless an absolute path is specified.
(Bit, Out) TRUE when flood coolant is requested
(Bit, Out) TRUE when mist coolant is requested
(Bit, In) Should be driven FALSE when an external estop condition exists.
(Bit, Out) TRUE when lube is requested
(Bit, In) Should be driven FALSE when lubrication tank is empty.
(Bit, Out) TRUE when a tool change is requested
(Bit, In) Should be driven TRUE when a tool change is completed.
(s32, Out) Current tool number
(s32, Out) The number of the next tool, from the RS274NGC T-word
(s32, Out) The pocket number (location in tool storage mechanism) of the next tool, as described in the tool table
(Bit, Out) TRUE when a Tn tool prepare is requested
(Bit, In) Should be driven TRUE when a tool prepare is completed.
(Bit, Out) FALSE when an internal estop condition exists
(Bit, Out) TRUE when the user has requested that estop be cleared