NAME

       iov2 - interacts with HAL or G-code in non-realtime

SYNOPSIS

       [EMCIO]
       EMCIO = iov2

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.
       I/O Control V2 (iov2) adds more toolchager support for communication with the toolchanger.

       Whether io or iov2 is used can be chosen in the [EMCIO] section of the INI file.

Pins

   Basic 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 estop 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 estop condition exists.

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

   Additional IO v2 pins
       iocontrol.0.emc-abort (BIT,OUT) Signals emc-originated abort to toolchanger.

       iocontrol.0.emc-abort-ack
              (BIT,IN)  Acknowledge  line from toolchanger for previous signal, or jumpered to abort-tool-change
              if not used in toolchanger.  NB: after signaling an emc-abort, iov2 will block until emc-abort-ack
              is raised.

       iocontrol.0.emc-reason
              (S32,OUT) Convey cause for EMC-originated abort to toolchanger.  Usage:  UI  informational.  Valid
              during emc-abort True.

       iocontrol.0.start-change
              (BIT,OUT)  Asserted at the very beginning of an M6 operation, before any spindle-off, quill-up, or
              move-to-toolchange-position operations are executed.

       iocontrol.0.start-change-ack
              (BIT,IN) Acknowledgment line for start-change.

       iocontrol.0.toolchanger-fault
              (BIT,IN) Toolchanger signals fault.  This line is contionuously monitored.  A fault toggles a flag
              in iocontrol which is reflected in the toolchanger-faulted pin.

       iocontrol.0.toolchanger-fault-ack
              (BIT,OUT) Handshake line for above signal.  Will be set by iov2 after above  fault  line  True  is
              recognized and deasserted when toolchanger-fault drops.  Toolchanger is free to interpret the ack;
              reading the -ack lines assures fault has been received and acted upon.

       iocontrol.0.toolchanger-reason
              (S32,IN) Convey reason code for toolchanger-originated fault to iov2. Usage

       iocontrol.0.toolchanger-faulted
              (BIT,OUT) Signals toolchanger-notify line has toggled and toolchanger-reason-code was in the fault
              range.  Next M6 will abort.

       iocontrol.0.toolchanger-clear-fault
              (BIT,IN)  Resets  TC  fault condition. Deasserts toolchanger-faulted if toolchanger-notify is line
              False.  Usage: UI - e.g. clear fault condition button.

       iocontrol.0.state
              (S32,OUT) Debugging pin reflecting internal state.

       See http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ToolchangerProtocolProposal for additional information.

SEE ALSO

       io(1) iocontrol(1) LinuxCNC(1)

REPORTING BUGS

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

AUTHOR

       Derived from a work by Fred Proctor & Will Shackleford.
       Rework & adding v2 protocol support by Michael Haberler.

COPYRIGHT

       Copyright © 2011 Michael Haberler.
       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                               2021-04                                 IOCONTROL - IOV2(1)