IO(1)

NAME
io, iocontrol - interacts with HAL or G-code in non-realtime

SYNOPSIS

[EMCIO]

EMCIO = io

DESCRIPTION

I/O control handles I/O tasks like coolant, toolchange and E-stop. The signals are turned on and off in non-realtime with G-code or in the case of E-stop in HAL.

The following pins are created by the non-realtime IO controller, usually found in $LINUXCNC_HOME/bin/io.

iocontrol is a non-realtime process - 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 INI file is searched for in the directory from which halcmd was run, unless an absolute path is specified.

PINS

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 E-stop condition exists.

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 E-stop condition exists.

iocontrol.0.user-request-enable (Bit, Out)
    TRUE when the user has requested that E-stop be cleared.

iocontrol.0.tool-prep-index (s32, Out)
    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 the tool’s pocket number (i.e., 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).

REPORTING BUGS

Report bugs at https://github.com/LinuxCNC/linuxcnc/issues.

AUTHOR

Derived from a work by Fred Proctor & Will Shackleford.

COPYRIGHT

Copyright © 2004 the LinuxCNC project.

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