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.
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 estop condition exists.
iocontrol.0.lube
(Bit, Out) TRUE when lube is requested
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) The pocket number (location in tool storage mechanism) of the next tool, as described in the tool table
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 estop condition exists
iocontrol.0.user-request-enable
(Bit, Out) TRUE when the user has requested that estop be cleared
motion(9)