NAME

       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, E-stop and lube.  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.lube
              (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.

       iocontrol.0.lube_level
              (Bit, In) Should be driven FALSE when lubrication tank is empty.

       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  (ie,  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).

SEE ALSO

       io(1) iov2(1) motion(9)

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.

LinuxCNC Documentation                             2007-08-25                                  IOCONTROL - IO(1)