halui.1

CNC 的开放码,EMC2 V2.2.8版

.\" Copyright (c) 2006 Alex Joni
.\"                (alex_joni AT users DOT sourceforge DOT net)
.\"
.\" This is free documentation; you can redistribute it and/or
.\" modify it under the terms of the GNU General Public License as
.\" published by the Free Software Foundation; either version 2 of
.\" the License, or (at your option) any later version.
.\"
.\" The GNU General Public License's references to "object code"
.\" and "executables" are to be interpreted as the output of any
.\" document formatting or typesetting system, including
.\" intermediate and printed output.
.\"
.\" This manual is distributed in the hope that it will be useful,
.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
.\" GNU General Public License for more details.
.\"
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.\" License along with this manual; if not, write to the Free
.\" Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111,
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.\"
.\"
.TH HALUI "1"  "2006-07-22" "EMC Documentation" "HAL User Interface"
.SH NAME
halui \- observe HAL pins and command EMC through NML
.SH SYNOPSIS
.B halui
[\fB-ini <path-to-ini>\fR]
.SH DESCRIPTION
\fBhalui\fR is used to build a User Interface using hardware knobs
and switches. It experts a big number of pins, and acts accordingly 
when these change.
.SH OPTIONS
.TP
\fB-ini name\fR
use the \fIname\fR 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.
.SH USAGE
When run, \fBhalui\fR 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.
.TP
\fBhalui\fR expects the signals to be debounced, so if needed (bad knob contact) connect the physical button to a HAL debounce filter first.

.SH EXPORTED PINS

\fBmachine\fR
.TP 
\fIhalui.machine.on\fR
pin for setting machine On
.TP 
\fIhalui.machine.off\fR
pin for setting machine Off
.TP 
\fIhalui.machine.is-on\fR
pin for machine is On/Off
.TP
\fBestop\fR
.TP
\fIhalui.estop.activate\fR
pin for setting Estop (emc internal) On
.TP
\fIhalui.estop.reset\fR
pin for resetting Estop (emc internal) Off
.TP
\fIhalui.estop.is-activated\fR
pin for displaying Estop state (emc internal) On/Off
.TP
\fBmode\fR
.TP
\fIhalui.mode.manual\fR
pin for requesting manual mode
.TP
\fIhalui.mode.is_manual\fR
pin for manual mode is on
.TP
\fIhalui.mode.auto\fR
pin for requesting auto mode
.TP
\fIhalui.mode.is_auto\fR
pin for auto mode is on
.TP
\fIhalui.mode.mdi\fR
pin for requesting mdi mode
.TP
\fIhalui.mode.is_mdi\fR
pin for mdi mode is on
.TP
\fIhalui.mode.teleop\fR
pin for requesting coordinated jog mode
.TP
\fIhalui.mode.is_teleop\fR
pin showing coordinated jog mode is on
.TP
\fIhalui.mode.joint\fR
pin for requesting joint by joint jog mode
.TP
\fIhalui.mode.is_joint\fR
pin showing joint by joint jog mode is on
.TP
\fBmist, flood, lube\fR
.TP
\fIhalui.mist.on\fR
pin for starting mist
.TP
\fIhalui.mist.off\fR
pin for stoping mist
.TP
\fIhalui.mist.is-on\fR
pin for mist is on
.TP
\fIhalui.flood.on\fR
pin for starting flood
.TP
\fIhalui.flood.off\fR
pin for stoping flood
.TP
\fIhalui.flood.is-on\fR
pin for flood is on
.TP
\fIhalui.lube.on\fR
pin for starting lube
.TP
\fIhalui.lube.off\fR
pin for stoping lube
.TP
\fIhalui.lube.is-on\fR
pin for lube is on
.TP
\fBspindle\fR
.TP
\fIhalui.spindle.start\fR
pin for starting the spindle
.TP
\fIhalui.spindle.stop\fR
pin for stopping the spindle
.TP
\fIhalui.spindle.forward\fR
pin for making the spindle go forward
.TP
\fIhalui.spindle.reverse\fR
pin for making the spindle go reverse
.TP
\fIhalui.spindle.increase\fR
pin for making the spindle go faster
.TP
\fIhalui.spindle.decrease\fR
pin for making the spindle go slower
.TP
\fIhalui.spindle.brake-on\fR
pin for activating the spindle brake
.TP
\fIhalui.spindle.brake-off\fR
pin for deactivating the spindle brake
.TP
\fIhalui.spindle.brake-is-on\fR
status pin that tells us if brake is on
.TP
\fBjoint\fR
.TP
\fIhalui.joint.x.home\fR
pin for homing the specific joint (x = 0..7)
.TP
\fIhalui.joint.x.is-homed\fR
status pin telling that the joint is homed (x = 0..7)
.TP
\fIhalui.joint.selected.home\fR
pin for homing the selected joint 
.TP
\fIhalui.joint.selected.is-homed\fR
status pin telling that the selected joint is homed
.TP
\fIhalui.joint.x.on-soft-min-limit\fR
status pin telling that the joint is on the negative software limit (x=0..7, selected)
.TP
\fIhalui.joint.x.on-soft-max-limit\fR
status pin telling that the joint is on the positive software limit (x=0..7, selected)
.TP
\fIhalui.joint.x.on-hard-min-limit\fR
status pin telling that the joint is on the negative hardware limit (x=0..7, selected)
.TP
\fIhalui.joint.x.on-hard-max-limit\fR
status pin telling that the joint is on the positive hardware limit (x=0..7, selected)
.TP
\fIhalui.joint.x.has-fault\fR
status pin telling that the joint has a fault (x = 0..7, selected)
.TP
\fIhalui.joint.select\fR
select joint (value = 0..7)
.TP
\fIhalui.joint.selected\fR
selected joint (value = 0..7)
.TP
\fIhalui.joint.x.select\fR
pins for selecting a joint (x = 0..7)
.TP
\fIhalui.joint.x.is-selected\fR
status pin that a joint is selected (x = 0..7)
.TP
\fBjogging\fR
.TP
\fIhalui.jog.speed\fR
pin for setting jog speed. will be used for minus/plus jogging.
.TP
\fIhalui.jog.deadband\fR
pin for setting jog analog deadband (where not to move)
.TP
\fIhalui.jog.N.minus\fR
pin for jogging axis N in negative direction at the halui.jog.speed velocity
.TP
\fIhalui.jog.N.plus\fR
pin for jogging axis N in positive direction at the halui.jog.speed velocity
.TP
\fIhalui.jog.N.analog\fR
pin for jogging the axis X using an float value (e.g. joystick)
.TP
\fIhalui.jog.selected.minus\fR
pin for jogging the selected axis in negative direction at the halui.jog.speed velocity
.TP
\fIhalui.jog.selected.plus\fR
pin for jogging the selected axis in positive direction at the halui.jog.speed velocity
.TP
\fBtool\fR
.TP
\fIhalui.tool.number\fR
current selected tool
.TP
\fIhalui.tool.length-offset\fR
current applied tool-length-offset
.TP
\fBprogram\fR
.TP
\fIhalui.program.is-idle\fR
status pin telling that no program is running
.TP
\fIhalui.program.is-running\fR
status pin telling that a program is running
.TP
\fIhalui.program.is-paused\fR
status pin telling that a program is paused
.TP
\fIhalui.program.run\fR
pin for running a program
.TP
\fIhalui.program.pause\fR
pin for pausing a program
.TP
\fIhalui.program.resume\fR
pin for resuming a program
.TP
\fIhalui.program.step\fR
pin for stepping in a program
.TP
\fIhalui.program.stop\fR
pin for stopping a program 
(note: this pin does the same thing as halui.abort)
.TP
\fBgeneral\fR
.TP
\fIhalui.abort\fR
pin to send an abort message (clears out most errors)
.TP
\fBfeed-override\fR
.TP
\fIhalui.feed-override.value\fR
current Feed Override value
.TP
\fIhalui.feed-override.scale\fR
pin for setting the scale on changing the FO
.TP
\fIhalui.feed-override.counts\fR
counts from an encoder to change FO
.TP
\fIhalui.feed-override.increase\fR
pin for increasing the FO (+=scale)
.TP
\fIhalui.feed-override.decrease\fR
pin for decreasing the FO (-=scale)
.TP
\fBspindle-override\fR
.TP
\fIhalui.spindle-override.value\fR
current FO value
.TP
\fIhalui.spindle-override.scale\fR
pin for setting the scale on changing the SO
.TP
\fIhalui.spindle-override.counts\fR
counts from an encoder for example to change SO
.TP
\fIhalui.spindle-override.increase\fR
pin for increasing the SO (+=scale)
.TP
\fIhalui.spindle-override.decrease\fR
pin for decreasing the SO (-=scale)

.SH "SEE ALSO"

.SH HISTORY

.SH BUGS
none known at this time.
.SH AUTHOR
Written by Alex Joni, as part of the Enhanced Machine
Controller (EMC2) project.
.SH REPORTING BUGS
Report bugs to alex_joni AT users DOT sourceforge DOT net
.SH COPYRIGHT
Copyright \(co 2006 Alex Joni.
.br
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.