HALUI

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

NAME

halui − observe HAL pins and command LinuxCNC 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.

PINS

abort
halui.abort
bit in

pin for clearing most errors

tool
halui.tool.length-offset.a
float out

current applied tool length offset for the A axis

halui.tool.length-offset.b float out

current applied tool length offset for the B axis

halui.tool.length-offset.c float out

current applied tool length offset for the C axis

halui.tool.length-offset.u float out

current applied tool length offset for the U axis

halui.tool.length-offset.v float out

current applied tool length offset for the V axis

halui.tool.length-offset.w float out

current applied tool length offset for the W axis

halui.tool.length-offset.x float out

current applied tool length offset for the X axis

halui.tool.length-offset.y float out

current applied tool length offset for the Y axis

halui.tool.length-offset.z float out

current applied tool length offset for the Z axis

halui.tool.number u32 out

current selected tool

spindle
halui.spindle.brake-is-on
bit out

status pin that tells us if brake is on

halui.spindle.brake-off bit in

pin for deactivating the spindle brake

halui.spindle.brake-on bit in

pin for activating the spindle brake

halui.spindle.decrease bit in

a rising edge on this pin decreases the current spindle speed by 100

halui.spindle.forward bit in

a rising edge on this pin makes the spindle go forward

halui.spindle.increase bit in

a rising edge on this pin increases the current spindle speed by 100

halui.spindle.is-on bit out

status pin telling if the spindle is on

halui.spindle.reverse bit in

a rising edge on this pin makes the spindle go reverse

halui.spindle.runs-backward bit out

status pin telling if the spindle is running backward

halui.spindle.runs-forward bit out

status pin telling if the spindle is running forward

halui.spindle.start bit in

a rising edge on this pin starts the spindle

halui.spindle.stop bit in

a rising edge on this pin stops the spindle

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

When TRUE, modify spindle override when counts changes.

halui.spindle-override.counts s32 in

counts X scale = spindle override percentage

halui.spindle-override.decrease bit in

pin for decreasing the SO (-=scale)

halui.spindle-override.direct-value bit in

pin to enable direct spindle override value input

halui.spindle-override.increase bit in

pin for increasing the SO (+=scale)

halui.spindle-override.scale float in

pin for setting the scale of counts for SO

halui.spindle-override.value float out

current FO value

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

status pin telling that block delete is on

halui.program.block-delete.off bit in

pin for requesting that block delete is off

halui.program.block-delete.on bit in

pin for requesting that block delete is on

halui.program.is-idle bit out

status pin telling that no program is running

halui.program.is-paused bit out

status pin telling that a program is paused

halui.program.is-running bit out

status pin telling that a program is running

halui.program.optional-stop.is-on bit out

status pin telling that the optional stop is on

halui.program.optional-stop.off bit in

pin requesting that the optional stop is off

halui.program.optional-stop.on bit in

pin requesting that the optional stop is on

halui.program.pause bit in

pin for pausing a program

halui.program.resume bit in

pin for resuming a program

halui.program.run bit in

pin for running a program

halui.program.step bit in

pin for stepping in a program

halui.program.stop bit in

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

mode
halui.mode.auto
bit in

pin for requesting auto mode

halui.mode.is-auto bit out

pin for auto mode is on

halui.mode.is-joint bit out

pin showing joint by joint jog mode is on

halui.mode.is-manual bit out

pin for manual mode is on

halui.mode.is-mdi bit out

pin for mdi mode is on

halui.mode.is-teleop bit out

pin showing coordinated jog mode is on

halui.mode.joint bit in

pin for requesting joint by joint jog mode

halui.mode.manual bit in

pin for requesting manual mode

halui.mode.mdi bit in

pin for requesting mdi mode

halui.mode.teleop bit in

pin for requesting coordinated jog mode

mdi (optional)
halui.mdi-command-XX
bit in

halui looks for ini variables named [HALUI]MDI_COMMAND, and exports a pin for each command it finds. When the pin is driven TRUE, halui runs the specified MDI command. XX is a two digit number starting at 00. If no [HALUI]MDI_COMMAND variables are set in the ini file, no halui.mdi-command-XX pins will be exported by halui.

mist
halui.mist.is-on
bit out

pin for mist is on

halui.mist.off bit in

pin for stopping mist

halui.mist.on bit in

pin for starting mist

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

When True, modify max velocity when halui.max-velocity.counts changes.

halui.max-velocity.counts s32 in

When .count-enable is True, halui changes the max velocity in response to changes to this pin. It’s usually connected to an MPG encoder on an operator’s panel or jog pendant. When .count-enable is False, halui ignores this pin.

halui.max-velocity.direct-value bit in

When this pin is True, halui commands the max velocity directly to (.counts * .scale). When this pin is False, halui commands the max velocity in a relative way: change max velocity by an amount equal to (change in .counts * .scale).

halui.max-velocity.increase bit in

A positive edge (a False to True transition) on this pin increases the max velocity by the value of the .scale pin. (Note that halui always responds to this pin, independent of the .count-enable pin.)

halui.max-velocity.decrease bit in

A positive edge (a False to True transition) on this pin decreases the max velocity by the value of the .scale pin. (Note that halui always responds to this pin, independent of the .count-enable pin.)

halui.max-velocity.scale float in

This pin controls the scale of changes to the max velocity. Each unit change in .counts, and each positive edge on .increase and .decrease, changes the max velocity by .scale. The units of the .scale pin are machine-units per second.

halui.max-velocity.value float out

Current value for maximum velocity, in machine-units per second.

machine
halui.machine.is-on
bit out

pin for machine is On/Off

halui.machine.off bit in

pin for setting machine Off

halui.machine.on bit in

pin for setting machine On

lube
halui.lube.is-on
bit out

pin for lube is on

halui.lube.off bit in

pin for stopping lube

halui.lube.on bit in

pin for starting lube

joint
halui.joint.N.has-fault
bit out

status pin telling that joint N has a fault

halui.joint.N.home bit in

pin for homing joint N

halui.joint.N.is-homed bit out

status pin telling that joint N is homed

halui.joint.N.is-selected bit out

status pin that joint N is selected

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

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

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

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

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

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

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

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

halui.joint.N.select bit in

A rising edge on this pin selects joint N. The joint remains selected until a rising edge on a different halui.joint.N.select pin selects a different joint. By default, joint 0 is the initially selected joint at startup.

halui.joint.N.unhome bit in

pin for unhoming joint N

halui.joint.selected u32 out

The number of the currently selected joint (default: joint 0).

halui.joint.selected.has-fault bit out

status pin selected joint is faulted

halui.joint.selected.home bit in

pin for homing the selected joint

halui.joint.selected.is-homed bit out

status pin telling that the selected joint is homed

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

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

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

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

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

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

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

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

halui.joint.selected.unhome bit in

pin for unhoming the selected joint

jog
halui.jog.deadband
float in

pin for setting jog analog deadband (jog analog inputs smaller/slower than this are ignored)

halui.jog-speed float in

pin for setting jog speed for plus/minus jogging.

halui.jog.N.analog float in

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

halui.jog.N.increment float in

pin for setting the jog increment for axis N when using increment-plus/minus

halui.jog.N.increment-minus bit in

a rising edge will will make axis N jog in the negative direction by the increment amount

halui.jog.N.increment-plus bit in

a rising edge will will make axis N jog in the positive direction by the increment amount

halui.jog.N.minus bit in

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

halui.jog.N.plus bit in

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

halui.jog.selected.increment float in

pin for setting the jog increment for the selected axis when using increment-plus/minus

halui.jog.selected.increment-minus bit in

a rising edge will will make the selected axis jog in the negative direction by the increment amount

halui.jog.selected.increment-plus bit in

a rising edge will will make the selected axis jog in the positive direction by the increment amount

halui.jog.selected.minus bit in

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 bit in in positive direction at the halui.jog-speed velocity

flood
halui.flood.is-on
bit out

pin for flood is on

halui.flood.off bit in

pin for stopping flood

halui.flood.on bit in

pin for starting flood

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

When TRUE, modify feed override when counts changes.

halui.feed-override.counts s32 in

counts X scale = feed override percentage

halui.feed-override.decrease bit in

pin for decreasing the FO (-=scale)

halui.feed-override.direct-value bit in

pin to enable direct value feed override input

halui.feed-override.increase bit in

pin for increasing the FO (+=scale)

halui.feed-override.scale float in

pin for setting the scale on changing the FO

halui.feed-override.value float out

current Feed Override value

rapid override
halui.rapid-override.count-enable
bit in (default: TRUE)

When TRUE, modify Rapid Override when counts changes.

halui.rapid-override.counts s32 in

counts X scale = Rapid Override percentage

halui.rapid-override.decrease bit in

pin for decreasing the Rapid Override (-=scale)

halui.rapid-override.direct-value bit in

pin to enable direct value Rapid Override input

halui.rapid-override.increase bit in

pin for increasing the Rapid Override (+=scale)

halui.rapid-override.scale float in

pin for setting the scale on changing the Rapid Override

halui.rapid-override.value float out

current Rapid Override value

estop
halui.estop.activate
bit in

pin for setting Estop (LinuxCNC internal) On

halui.estop.is-activated bit out

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

halui.estop.reset bit in

pin for resetting Estop (LinuxCNC internal) Off

axis
halui.axis.N.pos-commanded
float out float out

Commanded axis position in machine coordinates

halui.axis.N.pos-feedback float out float out

Feedback axis position in machine coordinates

halui.axis.N.pos-relative float out float out

Commanded axis position in relative coordinates

home
halui.home-all
bit in

pin for requesting home-all (only available when a valid homing sequence is specified)

SEE ALSO

HISTORY

BUGS

none known at this time.

AUTHOR

Written by Alex Joni, as part of the LinuxCNC project. Updated by John Thornton

REPORTING BUGS

Report bugs to alex_joni AT users DOT sourceforge DOT net

COPYRIGHT

Copyright © 2006 Alex Joni.
This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.