СИНОПСИС
halui [-ini <path-to-INI>]
ОПИСАНИЕ
The program halui is used to build a User Interface using hardware knobs and switches. It exports a big number of pins, and acts accordingly when these change.
ОПЦИИ
- -ini filename
-
Use the filename 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.
ИСПОЛЬЗОВАНИЕ
When run, halui 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.
Caveat, halui expects the signals to be debounced, so if needed (bad knob contact) connect the physical button to a HAL debounce filter first.
PINS
Прерывание
- halui.abort bit in
-
pin for clearing most errors
Tool
- halui.tool.length-offset.a float out
-
current applied tool length offset for the A axis
- halui.tool.length-offset.b float out
-
current applied tool length offset for the B axis
- halui.tool.length-offset.c float out
-
current applied tool length offset for the C axis
- halui.tool.length-offset.u float out
-
current applied tool length offset for the U axis
- halui.tool.length-offset.v float out
-
current applied tool length offset for the V axis
- halui.tool.length-offset.w float out
-
current applied tool length offset for the W axis
- halui.tool.length-offset.x float out
-
current applied tool length offset for the X axis
- halui.tool.length-offset.y float out
-
current applied tool length offset for the Y axis
- halui.tool.length-offset.z float out
-
current applied tool length offset for the Z axis
- halui.tool.diameter float out
-
Current tool diameter, or 0 if no tool is loaded.
- halui.tool.number u32 out
-
current selected tool
Spindle
- halui.spindle.N.brake-is-on bit out
-
status pin that tells us if brake is on
- halui.spindle.N.brake-off bit in
-
pin for deactivating the spindle brake
- halui.spindle.N.brake-on bit in
-
pin for activating the spindle brake
- halui.spindle.N.decrease bit in
-
a rising edge on this pin decreases the current spindle speed by 100
- halui.spindle.N.forward bit in
-
a rising edge on this pin makes the spindle go forward
- halui.spindle.N.increase bit in
-
a rising edge on this pin increases the current spindle speed by 100
- halui.spindle.N.is-on bit out
-
контакт состояния, показывающий, включен ли шпиндель
- halui.spindle.N.reverse bit in
-
a rising edge on this pin makes the spindle go reverse
- halui.spindle.N.runs-backward bit out
-
контакт состояния, показывающий, вращается ли шпиндель в обратном направлении
- halui.spindle.N.runs-forward bit out
-
контакт состояния, говорящий, вращается ли шпиндель вперед
- halui.spindle.N.start bit in
-
фронт сигнала на этом контакте запускает шпиндель
- halui.spindle.N.stop bit in
-
фронт сигнала на этом контакте останавливает шпиндель
Переопределение шпинделя
- (SO = spindle override. FO = feed override)
- halui.spindle.N.override.count-enable bit in (default: TRUE)
-
When TRUE, modify spindle override when counts changes.
- halui.spindle.N.override.counts s32 in
-
counts X scale = spindle override percentage
- halui.spindle.N.override.decrease bit in
-
pin for decreasing the SO (-=scale)
- halui.spindle.N.override.direct-value bit in
-
pin to enable direct spindle override value input
- halui.spindle.N.override.increase bit in
-
pin for increasing the SO (+=scale)
- halui.spindle.N.override.reset bit in
-
pin for resetting the scale SO value (scale=1.0)
- halui.spindle.N.override.scale float in
-
pin for setting the scale of counts for SO
- halui.spindle.N.override.value float out
-
current FO value
Программа
- halui.program.block-delete.is-on bit out
-
status pin telling that block delete is on
- halui.program.block-delete.off bit in
-
pin for requesting that block delete is off
- halui.program.block-delete.on bit in
-
pin for requesting that block delete is on
- halui.program.is-idle bit out
-
status pin telling that no program is running
- halui.program.is-paused bit out
-
status pin telling that a program is paused
- halui.program.is-running bit out
-
status pin telling that a program is running
- *halui.program.optional-stop.is-on bit out *
-
status pin telling that the optional stop is on
- halui.program.optional-stop.off bit in
-
pin requesting that the optional stop is off
- halui.program.optional-stop.on bit in
-
pin requesting that the optional stop is on
- halui.program.pause bit in
-
pin for pausing a program
- halui.program.resume bit in
-
pin for resuming a program
- halui.program.run bit in
-
pin for running a program
- halui.program.step bit in
-
pin for stepping in a program
- halui.program.stop bit in
-
pin for stopping a program (note: this pin does the same thing as halui.abort)
Mode
- halui.mode.auto bit in
-
pin for requesting auto mode
- halui.mode.is-auto bit out
-
pin for auto mode is on
- halui.mode.is-joint bit out
-
pin showing joint by joint jog mode is on
- halui.mode.is-manual bit out
-
pin for manual mode is on
- halui.mode.is-mdi bit out
-
pin for MDI mode is on
- halui.mode.is-teleop bit out
-
pin showing coordinated jog mode is on
- halui.mode.joint bit in
-
pin for requesting joint by joint jog mode
- halui.mode.manual bit in
-
pin for requesting manual mode
- halui.mode.mdi bit in
-
pin for requesting MDI mode
- halui.mode.teleop bit in
-
pin for requesting coordinated jog mode
MDI (опционально)
- halui.mdi-command-XX bit in
-
halui looks for INI variables named [HALUI]MDI_COMMAND, and exports a pin for each command it finds. When the pin is driven TRUE, halui runs the specified MDI command. XX is a two digit number starting at 00. If no [HALUI]MDI_COMMAND variables are set in the INI file, no halui.mdi-command-XX pins will be exported by halui.
Mist coolant
- halui.mist.is-on bit out
-
pin for mist is on
- halui.mist.off bit in
-
pin for stopping mist
- halui.mist.on bit in
-
pin for starting mist
Max-velocity
- halui.max-velocity.count-enable bit in (по умолчанию: TRUE)
-
When True, modify max velocity when halui.max-velocity.counts changes.
- halui.max-velocity.counts s32 in
-
When .count-enable is True, halui changes the max velocity in response to changes to this pin. It’s usually connected to an MPG encoder on an operator’s panel or jog pendant. When .count-enable is False, halui ignores this pin.
- halui.max-velocity.direct-value bit in
-
When this pin is True, halui commands the max velocity directly to (.counts * .scale). When this pin is False, halui commands the max velocity in a relative way: change max velocity by an amount equal to (change in .counts * .scale).
- halui.max-velocity.increase bit in
-
A positive edge (a False to True transition) on this pin increases the max velocity by the value of the .scale pin. (Note that halui always responds to this pin, independent of the .count-enable pin.)
- halui.max-velocity.decrease bit in
-
A positive edge (a False to True transition) on this pin decreases the max velocity by the value of the .scale pin. (Note that halui always responds to this pin, independent of the .count-enable pin.)
- halui.max-velocity.scale float in
-
This pin controls the scale of changes to the max velocity. Each unit change in .counts, and each positive edge on .increase and .decrease, changes the max velocity by .scale. The units of the .scale pin are machine-units per second.
- halui.max-velocity.value float out
-
Current value for maximum velocity, in machine-units per second.
Станок
- halui.machine.units-per-mm float out
-
контакт для единиц станка на мм (дюйм:1/25,4, мм:1) в соответствии с настройками файла INI: [TRAJ] LINEAR_UNITS
- halui.machine.is-on bit out
-
pin for machine is On/Off
- halui.machine.off bit in
-
pin for setting machine Off
- halui.machine.on bit in
-
pin for setting machine On
Сочленение
N = joint number (0 … num_joints-1)
- halui.joint.N.select bit in
-
pin for selecting joint N
- halui.joint.N.is-selected bit out
-
status pin that joint N is selected
- halui.joint.N.has-fault bit out
-
status pin telling that joint N has a fault
- halui.joint.N.home bit in
-
pin for homing joint N
- halui.joint.N.is-homed bit out
-
status pin telling that joint N is homed
- halui.joint.N.on-hard-max-limit bit out
-
status pin telling that joint N is on the positive hardware limit
- halui.joint.N.on-hard-min-limit bit out
-
status pin telling that joint N is on the negative hardware limit
- halui.joint.N.on-soft-max-limit bit out
-
status pin telling that joint N is on the positive software limit
- halui.joint.N.on-soft-min-limit bit out
-
status pin telling that joint N is on the negative software limit
- halui.joint.N.override-limits bit out
-
контакт статуса , сообщающий, что пределы сочленения N временно переназначены
- halui.joint.N.unhome bit in
-
pin for unhoming joint N
- halui.joint.selected u32 out
-
selected joint number (0 … num_joints-1)
- halui.joint.selected.has-fault bit out
-
status pin selected joint is faulted
- halui.joint.selected.home bit in
-
pin for homing the selected joint
- halui.joint.selected.is-homed bit out
-
status pin telling that the selected joint is homed
- halui.joint.selected.on-hard-max-limit bit out
-
status pin telling that the selected joint is on the positive hardware limit
- halui.joint.selected.on-hard-min-limit bit out
-
status pin telling that the selected joint is on the negative hardware limit
- halui.joint.selected.on-soft-max-limit bit out
-
status pin telling that the selected joint is on the positive software limit
- halui.joint.selected.on-soft-min-limit bit out
-
status pin telling that the selected joint is on the negative software limit
- halui.joint.selected.override-limits bit out
-
status pin telling that the selected joint’s limits are temporarily overridden
- halui.joint.selected.unhome bit in
-
pin for unhoming the selected joint
Joint jogging (N = joint number (0 … num_joints-1))
Joint jogging is possible in unhomed state except for joints having a negative HOME_SEQUENCE value. See Section "Homing Configuration" of the documentation.
- halui.joint.jog-deadband float in
-
контакт для установки зоны нечувствительности аналогового сигнала медленной подачи (аналоговые входы сигнала медленной подачи, меньше/медленнее этого (по абсолютному значению), игнорируются).
- halui.joint.jog-speed float in
-
pin for setting jog speed for plus/minus jogging.
- halui.joint.N.analog float in
-
контакт для медленной подачи сочленения N с использованием плавающего значения (например, джойстик). Значение, обычно устанавливаемое в диапазоне от 0,0 до ±1,0, используется в качестве множителя скорости медленной подачи.
- halui.joint.N.increment float in
-
контакт для установки инкремента шага для сочленения N при использовании приращения плюс/минус
- halui.joint.N.increment-minus bit in
-
фронт заставит сочленение N двигаться в отрицательном направлении на величину приращения
- halui.joint.N.increment-plus bit in
-
фронт заставит сочленение N двигаться в положительном направлении на величину приращения
- halui.joint.N.minus bit in
-
контакт для медленной подачи сочленения N в отрицательном направлении со скоростью halui.joint.jog-speed
- halui.joint.N.plus bit in
-
контакт для медленной подачи сочленения N в положительном направлении со скоростью halui.joint.jog-speed
- halui.joint.selected.increment float in
-
pin for setting the jog increment for the selected joint when using increment-plus/minus
- halui.joint.selected.increment-minus bit in
-
a rising edge will will make the selected joint jog in the negative direction by the increment amount
- halui.joint.selected.increment-plus bit in
-
a rising edge will will make the selected joint jog in the positive direction by the increment amount
- halui.joint.selected.minus bit in
-
pin for jogging the selected joint in negative direction at the halui.joint.jog-speed velocity
- halui.joint.selected.plus bit in
-
pin for jogging the selected joint bit in in positive direction at the halui.joint.jog-speed velocity
Axis
L = буква оси (xyzabcuvw)
- halui.axis.L.select bit in
-
pin for selecting axis by letter
- halui.axis.L.is-selected bit out
-
контакт статуса , что ось L выбрана
- halui.axis.L.pos-commanded float out
-
Commanded axis position in machine coordinates
- halui.axis.L.pos-feedback float out
-
Feedback axis position in machine coordinates
- halui.axis.L.pos-relative float out
-
Commanded axis position in relative coordinates
Медленная подача оси
This is only possible in homed state.
L = буква оси (xyzabcuvw)
- halui.axis.jog-deadband float in
-
pin for setting jog analog deadband (jog analog inputs smaller/slower than this (in absolute value) are ignored)
- halui.axis.jog-speed float in
-
pin for setting jog speed for plus/minus jogging.
- halui.axis.L.analog float in
-
контакт для перемещения оси L с использованием плавающего значения (например, джойстик). Значение, обычно устанавливаемое в диапазоне от 0,0 до ±1,0, используется в качестве множителя скорости режима медленной подачи.
- halui.axis.L.increment float in
-
pin for setting the jog increment for axis L when using increment-plus/minus
- halui.axis.L.increment-minus bit in
-
по фронту ось L будет медленно подаваться в отрицательном направлении на величину приращения
- halui.axis.L.increment-plus bit in
-
по фронту будет осуществляться медленная подача оси L в положительном направлении на величину приращения
- halui.axis.L.minus bit in
-
контакт для медленной подачи оси L в отрицательном направлении со скоростью halui.axis.jog-speed
- halui.axis.L.plus bit in
-
контакт для медленной подачи оси L в положительном направлении со скоростью halui.axis.jog-speed
- halui.axis.selected u32 out
-
selected axis (by index: 0:x 1:y 2:z 3:a 4:b 5:cr 6:u 7:v 8:w)
- halui.axis.selected.increment float in
-
pin for setting the jog increment for the selected axis when using increment-plus/minus
- halui.axis.selected.increment-minus bit in
-
a rising edge will will make the selected axis jog in the negative direction by the increment amount
- halui.axis.selected.increment-plus bit in
-
a rising edge will will make the selected axis jog in the positive direction by the increment amount
- halui.axis.selected.minus bit in
-
pin for jogging the selected axis in negative direction at the halui.axis.jog-speed velocity
- halui.axis.selected.plus bit in
-
pin for jogging the selected axis bit in in positive direction at the halui.axis.jog-speed velocity
Flood coolant
- halui.flood.is-on bit out
-
pin for flood is on
- halui.flood.off bit in
-
pin for stopping flood
- halui.flood.on bit in
-
pin for starting flood
Переопределение подачи
- halui.feed-override.count-enable bit in (по умолчанию: TRUE)
-
When TRUE, modify feed override when counts changes.
- halui.feed-override.counts s32 in
-
counts X scale = feed override percentage
- halui.feed-override.decrease bit in
-
pin for decreasing the FO (-=scale)
- halui.feed-override.direct-value bit in
-
pin to enable direct value feed override input
- halui.feed-override.increase bit in
-
pin for increasing the FO (+=scale)
- halui.feed-override.reset bit in
-
pin for resetting the FO (scale=1.0)
- halui.feed-override.scale float in
-
pin for setting the scale on changing the FO
- halui.feed-override.value float out
-
current feed override value
Быстрое переназначение
- halui.rapid-override.count-enable bit in (по умолчанию: TRUE)
-
When TRUE, modify rapid override when counts changes.
- halui.rapid-override.counts s32 in
-
counts X scale = rapid override percentage
- halui.rapid-override.decrease bit in
-
pin for decreasing the rapid override (-=scale)
- halui.rapid-override.direct-value bit in
-
pin to enable direct value rapid override input
- halui.rapid-override.increase bit in
-
pin for increasing the rapid override (+=scale)
- halui.rapid-override.reset bit in
-
pin for resetting the rapid override (scale=1.0)
- halui.rapid-override.scale float in
-
pin for setting the scale on changing the rapid override
- halui.rapid-override.value float out
-
current rapid override value
E-stop
- halui.estop.activate bit in
-
pin for setting E-stop (LinuxCNC internal) On
- halui.estop.is-activated bit out
-
pin for displaying E-stop state (LinuxCNC internal) On/Off
- halui.estop.reset bit in
-
pin for resetting E-stop (LinuxCNC internal) Off
Homing
- halui.home-all bit in
-
pin for requesting home-all (only available when a valid homing sequence is specified)
СМОТРИТЕ ТАКЖЕ
axis(1), iocontrol(1)
BUGS
None known at this time.
АВТОР
Written by Alex Joni, as part of the LinuxCNC project. Updated by John Thornton
СООБЩЕНИЕ ОБ ОШИБКАХ
Report bugs at https://github.com/LinuxCNC/linuxcnc/issues
АВТОРСКОЕ ПРАВО
Copyright © 2006 Alex Joni.
This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.