HAL Components

Accepts NML motion commands, interacts with HAL in realtime.

Accepts NML motion commands, interacts with HAL in realtime.

Realtime software PLC based on ladder logic. See ClassicLadder chapter for more information.

Displays Virtual Control Panels built with GTK/Glade.

Creates hard realtime HAL threads.

Two-input AND gate. For out to be true both inputs must be true.

Inverter.

Two-input OR gate.

Two-input XOR (exclusive OR) gate.

Filter noisy digital inputs. Description

Edge detector.

D type flip-flop.

One-shot pulse generator.

General logic function component.

A 5-input logic function based on a look-up table. Description

8-bit binary match detector.

8-bit binary match detector.

Compute the absolute value and sign of the input signal.

Perform linear interpolation between two values.

Two input comparator with hysteresis.

Use a parameter to set the value of a pin.

Sum of two inputs (each with a gain) and an offset.

Counts input pulses (deprecated). Use the encoder component.

Counts up or down, with optional limits and wraparound behavior.

Compute the derivative of the input function.

Return the center if within the threshold.

Three-input hypotenuse (Euclidean distance) calculator.

Product of two inputs.

Select from one of sixteen input values.

Select from one of two input values.

Select from one of four input values.

Select from one of eight input values.

Determine whether two values are roughly equal.

Adds an offset to an input, and subtracts it from the feedback value.

Integrator.

Compute the inverse of the input signal.

Window comparator.

Convert a group of bits to an integer.

Biquad IIR filter

Low-pass filter

Limit the output signal to fall between min and max.
[When the input is a position, this means that the position is limited.]

Limit the output signal to fall between min and max. Limit its slew rate to less than maxv per second.
[When the input is a position, this means that position and velocity are limited.]

Limit the output signal to fall between min and max. Limit its slew rate to less than maxv per second. Limit its second derivative to less than MaxA per second squared.
[When the input is a position, this means that the position, velocity, and acceleration are limited.]

Compute the majority of 3 inputs.

Applies a scale and offset to its input.

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 s32 to float.

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.

Pico Systems driver for analog servo, PWM and Stepper controller.

Mesa Electronics driver for the 7i43 EPP Anything IO board with HostMot2. (See the man page for more information)

Mesa Electronics driver for the 5i20, 5i22, 5i23, 4i65, and 4i68 Anything I/O boards, with HostMot2 firmware. (See the man page for more information)

Mesa Electronics driver for the HostMot2 firmware.

Mesa Electronics driver for the 7i65 eight-axis servo card. (See the man page for more information)

Pluto-P driver and firmware for the parallel port FPGA, for servos.

Pluto-P driver for the parallel port FPGA, for steppers.

Torch Height Control using a Mesa THC card or any analog to velocity input

Hardware driver for the digital I/O bits of the 8250 and 16550 serial port.

kinematics definitions for LinuxCNC.

A kinematics module that maps one axis to multiple joints.

Gives six degrees of freedom in position and orientation (XYZABC). The location of the motors is defined at compile time.

Kinematics that can model a general serial-link manipulator with up to 6 angular joints.

Kinematics for a tabletop 5 axis mill named max with tilting head (B axis) and horizontal rotary mounted to the table (C axis). Provides UVW motion in the rotated coordinate system. The source file, maxkins.c, may be a useful starting point for other 5-axis systems.

The joints represent the distance of the controlled point from three predefined locations (the motors), giving three degrees of freedom in position (XYZ).

There is a 1:1 correspondence between joints and axes. Most standard milling machines and lathes use the trivial kinematics module.

Kinematics for PUMA-style robots.

The X and Y axes are rotated 45 degrees compared to the joints 0 and 1.

Kinematics for SCARA-type robots.

Proportional/integral/derivative controller with auto tuning.

Proportional/integral/derivative controller. Description

Software PWM/PDM generation. Description

Software counting of quadrature encoder signals. Description.

Software step pulse generation. Description.

3-wire Bipolar trapezoidal commutation BLDC motor driver using Hall sensors.

Two input version of Clarke transform.

Clarke (3 phase to cartesian) transform.

Inverse Clarke transform.

Creates a square-wave for the charge pump input of some controller boards. The Charge Pump should be added to the base thread function. When enabled the output is on for one period and off for one period. To calculate the frequency of the output 1/(period time in seconds x 2) = hz. For example if you have a base period of 100,000ns that is 0.0001 seconds and the formula would be 1/(0.0001 x 2) = 5,000 hz or 5 Khz.

An electronic gear to synchronize two axes.

ESTOP latch.

Multiply the input by the ratio of current velocity to the feed rate.

Select from one of two speed ranges.

While it may find other applications, this component was written to create smoother motion while jogging with an MPG.

Sets nonlinear joypad movements, deadbands and scales.

Convert counts (probably from an encoder) to a float value.

Track the minimum and maximum values of the input to the outputs.

Sample and Hold.

Sample data from HAL in real time.

Signal generator. Description.

Simulated quadrature encoder. Description.

Probe a pretend hemisphere.

Used by Stepconf to allow testing of acceleration and velocity values for an axis.

Stream file data into HAL in real time.

Set output pins with values from parameters (deprecated).

Component for testing thread behavior.

Accumulated run-time timer counts HH:MM:SS of active input.

The equivalent of a time-delay relay.

Component that measures thread scheduling timing behavior.

Toggle button to nist logic.

Push-on, push-off from momentary pushbuttons.

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.

Monitor one to thirty-two inputs for a heartbeat.