iov2 - interacts with HAL or G-code in userspace
EMCIO = iov2
handles I/O tasks like coolant, toolchange, E-stop and lube.
The signals are turned on and off in userspace with G-code
or in the case of E-stop in HAL.
I/O Control V2 (iov2) adds more toolchager support for communication with the toolchanger.
Whether io or iov2 is used can be chosen in the [EMCIO] section of the INI file.
(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. 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.
(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) This is the pocket number (location in the tool storage mechanism) of the tool requested by the most recent T-word.
(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.
(BIT,OUT) Signals emc-originated abort to toolchanger.
(BIT,IN) Acknowledge line from toolchanger for previous signal, or jumpered to abort-tool-change if not used in toolchanger. NB: after signaling an emc-abort, iov2 will block until emc-abort-ack is raised.
(S32,OUT) Convey cause for EMC-originated abort to toolchanger. Usage: UI informational. Valid during emc-abort True.
(BIT,OUT) Asserted at the very beginning of an M6 operation, before any spindle-off, quill-up, or move-to-toolchange-position oeprations are executed.
(BIT,IN) Acknowledgment line for start-change.
(BIT,IN) Toolchanger signals fault. This line is contionuously monitored. A fault toggles a flag in iocontrol which is reflected in the toolchanger-faulted pin.
(BIT,OUT) Handshake line for above signal. Will be set by iov2 after above fault line True is recognized and deasserted when toolchanger-fault drops. Toolchanger is free to interpret the ack; reading the -ack lines assures fault has been received and acted upon.
(S32,IN) Convey reason code for toolchanger-originated fault to iov2. Usage
(BIT,OUT) Signals toolchanger-notify line has toggled and toolchanger-reason-code was in the fault range. Next M6 will abort.
(BIT,IN) Resets TC fault condition. Deasserts toolchanger-faulted if toolchanger-notify is line False. Usage: UI - e.g. clear fault condition button.
(S32,OUT) Debugging pin reflecting internal state.
See http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ToolchangerProtocolProposal for additional information.
io(1), iocontrol(1), LinuxCNC(1),
Report bugs at https://github.com/LinuxCNC/linuxcnc/issues
Derived from a
work by Fred Proctor & Will Shackleford.
Rework & adding v2 protocol support by Michael Haberler.
© 2011 Michael Haberler.
This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.