halui - observe HAL pins and command LinuxCNC through NML
halui [-ini <path-to-INI>]
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.
-ini filename
use the filename 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.
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.
halui.abort bit in
pin for clearing most errors
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.diameter float out
Current tool diameter, or 0 if no tool is loaded.
halui.tool.number u32 out
current selected tool
halui.spindle.N.brake-is-on bit out
status pin that tells us if brake is on
halui.spindle.N.brake-off bit in
pin for deactivating the spindle brake
halui.spindle.N.brake-on bit in
pin for activating the spindle brake
halui.spindle.N.decrease bit in
a rising edge on this pin decreases the current spindle speed by 100
halui.spindle.N.forward bit in
a rising edge on this pin makes the spindle go forward
halui.spindle.N.increase bit in
a rising edge on this pin increases the current spindle speed by 100
halui.spindle.N.is-on bit out
status pin telling if the spindle is on
halui.spindle.N.reverse bit in
a rising edge on this pin makes the spindle go reverse
halui.spindle.N.runs-backward bit out
status pin telling if the spindle is running backward
halui.spindle.N.runs-forward bit out
status pin telling if the spindle is running forward
halui.spindle.N.start bit in
a rising edge on this pin starts the spindle
halui.spindle.N.stop bit in
a rising edge on this pin stops the spindle
(SO = spindle
override. FO = feed override)
halui.spindle.N.override.count-enable bit in (default:
TRUE)
When TRUE, modify spindle override when counts changes.
halui.spindle.N.override.counts s32 in
counts X scale = spindle override percentage
halui.spindle.N.override.decrease bit in
pin for decreasing the SO (-=scale)
halui.spindle.N.override.direct-value bit in
pin to enable direct spindle override value input
halui.spindle.N.override.increase bit in
pin for increasing the SO (+=scale)
halui.spindle.N.override.reset bit in
pin for resetting the scale SO value (scale=1.0)
halui.spindle.N.override.scale float in
pin for setting the scale of counts for SO
halui.spindle.N.override.value float out
current FO value
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)
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
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.
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
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.
halui.machine.units-per-mm float out
pin for machine units-per-mm (inch:1/25.4, mm:1) according to INI file setting: [TRAJ]LINEAR_UNITS
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
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
halui.joint.N.select bit in
pin for selecting joint N
halui.joint.N.is-selected bit out
status pin that joint N is selected
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.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.override-limits bit out
status pin telling that joint N’s limits are temporarily overridden
halui.joint.N.unhome bit in
pin for unhoming joint N
halui.joint.selected u32 out
selected joint number (0 ... num_joints-1)
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.override-limits bit out
status pin telling that the selected joint’s limits are temporarily overridden
halui.joint.selected.unhome bit in
pin for unhoming the selected joint
halui.joint.jog-deadband
float in pin for setting jog analog deadband (jog analog
inputs smaller/slower than this (in absolute value) are
ignored)
halui.joint.jog-speed float in
pin for setting jog speed for plus/minus jogging.
halui.joint.N.analog float in
pin for jogging the joint N using an float value (e.g. joystick). The value, typically set between 0.0 and ±1.0, is used as a jog-speed multiplier.
halui.joint.N.increment float in
pin for setting the jog increment for joint N when using increment-plus/minus
halui.joint.N.increment-minus bit in
a rising edge will will make joint N jog in the negative direction by the increment amount
halui.joint.N.increment-plus bit in
a rising edge will will make joint N jog in the positive direction by the increment amount
halui.joint.N.minus bit in
pin for jogging joint N in negative direction at the halui.joint.jog-speed velocity
halui.joint.N.plus bit in
pin for jogging joint N in positive direction at the halui.joint.jog-speed velocity
halui.joint.selected.increment float in
pin for setting the jog increment for the selected joint when using increment-plus/minus
halui.joint.selected.increment-minus bit in
a rising edge will will make the selected joint jog in the negative direction by the increment amount
halui.joint.selected.increment-plus bit in
a rising edge will will make the selected joint jog in the positive direction by the increment amount
halui.joint.selected.minus bit in
pin for jogging the selected joint in negative direction at the halui.joint.jog-speed velocity
halui.joint.selected.plus
pin for jogging the selected joint bit in in positive direction at the halui.joint.jog-speed velocity
halui.axis.L.select bit in
pin for selecting axis by letter
halui.axis.L.is-selected bit out
status pin that axis L is selected
halui.axis.L.pos-commanded float out float out
Commanded axis position in machine coordinates
halui.axis.L.pos-feedback float out float out
Feedback axis position in machine coordinates
halui.axis.L.pos-relative float out float out
Commanded axis position in relative coordinates
halui.axis.jog-deadband float in
pin for setting jog analog deadband (jog analog inputs smaller/slower than this (in absolute value) are ignored)
halui.axis.jog-speed float in
pin for setting jog speed for plus/minus jogging.
halui.axis.L.analog float in
pin for jogging the axis L using an float value (e.g. joystick). The value, typically set between 0.0 and ±1.0, is used as a jog-speed multiplier.
halui.axis.L.increment float in
pin for setting the jog increment for axis L when using increment-plus/minus
halui.axis.L.increment-minus bit in
a rising edge will will make axis L jog in the negative direction by the increment amount
halui.axis.L.increment-plus bit in
a rising edge will will make axis L jog in the positive direction by the increment amount
halui.axis.L.minus bit in
pin for jogging axis L in negative direction at the halui.axis.jog-speed velocity
halui.axis.L.plus bit in
pin for jogging axis L in positive direction at the halui.axis.jog-speed velocity
halui.axis.selected u32 out
selected axis (by index: 0:x 1:y 2:z 3:a 4:b 5:cr 6:u 7:v 8:w)
halui.axis.selected.increment float in
pin for setting the jog increment for the selected axis when using increment-plus/minus
halui.axis.selected.increment-minus bit in
a rising edge will will make the selected axis jog in the negative direction by the increment amount
halui.axis.selected.increment-plus bit in
a rising edge will will make the selected axis jog in the positive direction by the increment amount
halui.axis.selected.minus bit in
pin for jogging the selected axis in negative direction at the halui.axis.jog-speed velocity
halui.axis.selected.plus
pin for jogging the selected axis bit in in positive direction at the halui.axis.jog-speed velocity
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
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.reset bit in
pin for resetting the FO (scale=1.0)
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
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.reset bit in
pin for resetting the rapid override (scale=1.0)
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
halui.estop.activate bit in
pin for setting E-stop (LinuxCNC internal) On
halui.estop.is-activated bit out
pin for displaying E-stop state (LinuxCNC internal) On/Off
halui.estop.reset bit in
pin for resetting E-stop (LinuxCNC internal) Off
halui.home-all bit in
pin for requesting home-all (only available when a valid homing sequence is specified)
axis(1), iocontrol(1)
None known at this time.
Written by Alex Joni, as part of the LinuxCNC project. Updated by John Thornton
Report bugs at https://github.com/LinuxCNC/linuxcnc/issues
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.