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 $LINUXCNC_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. This pin gets driven True when the controller comes out of E-stop, and when the "Lube On" command gets sent to the controller. It gets driven False when the controller goes into E-stop, and when the "Lube Off" command gets sent to the controller.
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) This is the pocket number (location in the tool storage mechanism) of the tool requested by the most recent T-word.
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
iocontrol.0.tool−prep−index
(s32, RO) IO’s internal array index of the prepped tool requested by the most recent T-word. 0 if no tool is prepped. On Random toolchanger machines this is tool’s pocket number (ie, the same as the tool−prep−pocket pin), on Non-random toolchanger machines this is a small integer corresponding to the tool’s location in the internal representation of the tool table. This parameter returns to 0 after a successful tool change (M6).
motion(9)