This documentation is no longer maintained. For documentation of the current version of emc2, please see http://www.linuxcnc.org/docview/html

Halui

Introduction

Halui is a HAL based user interface for EMC, it connects HAL pins to NML commands. Most of the functionality (buttons, indicators etc.) that is provided by a traditional GUI (mini, Axis, etc.), is provided by HAL pins in Halui.

The easiest way to use halui is to modify your ini file to include

HALUI = halui

in the [HAL] section.

Halui pin reference

Machine

• (BIT) halui.machine.on - pin for requestiong machine on
• (BIT) halui.machine.off - pin for requesting machine off
• (BIT) halui.machine.is-on - indicates machine on

E-Stop

• (BIT) halui.estop.activate - pin for requesting E-Stop
• (BIT) halui.estop.reset - pin for requesting E-Stop reset
• (BIT) halui.estop.is-activated - indicates E-stop reset

Mode

• (BIT) halui.mode.manual - pin for requesting manual mode
• (BIT) halui.mode.is_manual - indicates manual mode is on
• (BIT) halui.mode.auto - pin for requesting auto mode
• (BIT) halui.mode.is_auto - indicates auto mode is on
• (BIT) halui.mode.mdi - pin for requesting mdi mode
• (BIT) halui.mode.is_mdi - indicates mdi mode is on

Mist, Flood, Lube

• (BIT) halui.mist.on - pin for requesting mist on
• (BIT) halui.mist.is-on - indicates mist is on
• (BIT) halui.flood.on - pin for requesting flood on
• (BIT) halui.flood.is-on - indicates flood is on
• (BIT) halui.lube.on - pin for requesting lube on
• (BIT) halui.lube.is-on - indicates lube is on

Spindle

• (BIT) halui.spindle.start
• (BIT) halui.spindle.stop
• (BIT) halui.spindle.forward
• (BIT) halui.spindle.reverse
• (BIT) halui.spindle.increase
• (BIT) halui.spindle.decrease
• (BIT) halui.spindle.brake-on - pin for activating spindle-brake
• (BIT) halui.spindle.brake-off - pin for deactivating spindle/brake
• (BIT) halui.spindle.brake-is-on - indicates brake is on

Joints

<channel> is a number between 0 and 7 and 'selected'.

• (BIT) halui.joint.<channel>.home - pin for homing the specific joint
• (BIT) halui.joint.<channel>.on-min-limit-soft - status pin telling joint is at the negative software limit
• (BIT) halui.joint.<channel>.on-max-limit-soft - status pin telling joint is at the positive software limit
• (BIT) halui.joint.<channel>.on-min-limit-hard - status pin telling joint is on the negative hardware limit switch
• (BIT) halui.joint.<channel>.on-max-limit-hard - status pin telling joint is on the positive hardware limit switch
• (BIT) halui.joint.<channel>.fault - status pin telling the joint has a fault
• (BIT) halui.joint.<channel>.homed - status pin telling that the joint is homed

Jogging

<channel> is a number between 0 and 7 and 'selected'.

• (FLOAT) halui.jog.speed - set jog speed
• (BIT) halui.jog.<channel>.minus - jog in negative direction
• (BIT) halui.jog.<channel>.plus - jog in positive direction

Selecting a joint

• (U32) halui.joint.select - select joint (0..7) - internal halui
• (U32) halui.joint.selected - selected joint (0..7) - internal halui
• (BIT) halui.joint.x.select bit - pins for selecting a joint - internal halui
• (BIT) halui.joint.x.is-selected bit - status pin a joint is selected - internal halui

Feed override

• (FLOAT) halui.feed-override.value - current FO value
• (FLOAT) halui.feed-override.scale - pin for setting the scale on changing the FO
• (S32) halui.feed-override.counts - counts from an encoder for example to change FO
• (BIT) halui.feed-override.increase - pin for increasing the FO (+=scale)
• (BIT) halui.feed-override.decrease - pin for decreasing the FO (-=scale)

Spindle override

• (FLOAT) halui.spindle-override.value - current SO value
• (FLOAT) halui.spindle-override.scale - pin for setting the scale on changing the SO
• (S32) halui.spindle-override.counts - counts from an encoder for example to change SO
• (BIT) halui.spindle-override.increase - pin for increasing the SO (+=scale)
• (BIT) halui.spindle-override.decrease - pin for decreasing the SO (-=scale)

Tool

• (U32) halui.tool.number - indicates current selected tool
• (FLOAT) halui.tool.length-offset - indicates current applied tool-length-offset

Program

• (BIT) halui.program.is-idle
• (BIT) halui.program.is-running
• (BIT) halui.program.is-paused
• (BIT) halui.program.run
• (BIT) halui.program.pause
• (BIT) halui.program.resume
• (BIT) halui.program.step

General

• (BIT) halui.abort - pin to send an abort message (clears out most errors)

Case - Studies

User descriptions of working halui and hardware EMC control panels here.