HALUI(1)

NAME
halui - observe HAL pins and command LinuxCNC through NML

SYNOPSIS
halui [-ini <path-to-INI>]

DESCRIPTION
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.

OPTIONS

-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.

USAGE
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.

halui expects the signals to be debounced, so if needed (bad knob contact) connect the physical button to a HAL debounce filter first.

PINS

  Abort

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
    status pin telling if the spindle is on

halui.spindle.N.reverse bit in
    a rising edge on this pin makes the spindle go reverse

halui.spindle.N.runs-backward bit out
    status pin telling if the spindle is running backward

halui.spindle.N.runs-forward bit out
    status pin telling if the spindle is running forward

halui.spindle.N.start bit in
    a rising edge on this pin starts the spindle

halui.spindle.N.stop bit in
    a rising edge on this pin stops the spindle

  Spindle Override

(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

  Program

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 (optional)

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  (default: 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.

  Machine

halui.machine.units-per-mm float out
    pin for machine units-per-mm (inch:1/25.4, mm:1) according to INI file setting: [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

  Lube

halui.lube.is-on bit out
    pin for lube is on

halui.lube.off bit in
    pin for stopping lube

halui.lube.on bit in
    pin for starting lube

  Joint (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
    status pin telling that joint N's limits are temporarily overridden

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))
halui.joint.jog-deadband float in pin for setting jog analog deadband (jog analog inputs smaller/slower than this (in absolute value) are ignored)

halui.joint.jog-speed float in
    pin for setting jog speed for plus/minus jogging.

halui.joint.N.analog float in
    pin for jogging the joint N using an float value (e.g. joystick). The value, typically set between 0.0 and ±1.0, is used as a jog-speed multiplier.

halui.joint.N.increment float in
    pin for setting the jog increment for joint N when using increment-plus/minus

halui.joint.N.increment-minus bit in
    a rising edge will will make joint N jog in the negative direction by the increment amount

halui.joint.N.increment-plus bit in
    a rising edge will will make joint N jog in the positive direction by the increment amount

halui.joint.N.minus bit in
    pin for jogging joint N in negative direction at the halui.joint.jog-speed velocity

halui.joint.N.plus bit in
    pin for jogging joint N in positive direction at the halui.joint.jog-speed velocity

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
    pin for jogging the selected joint bit in in positive direction at the halui.joint.jog-speed velocity

  Axis (L = axis letter (xyzabcuvw)

halui.axis.L.select bit in
    pin for selecting axis by letter

halui.axis.L.is-selected bit out
    status pin that axis L is selected

halui.axis.L.pos-commanded float out  float out
    Commanded axis position in machine coordinates

halui.axis.L.pos-feedback float out  float out
    Feedback axis position in machine coordinates

halui.axis.L.pos-relative float out  float out
    Commanded axis position in relative coordinates

  Axis Jogging (L = axis letter (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
    pin for jogging the axis L using an float value (e.g. joystick). The value, typically set between 0.0 and ±1.0, is used as a jog-speed multiplier.

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
    a rising edge will will make axis L jog in the negative direction by the increment amount

halui.axis.L.increment-plus bit in
    a rising edge will will make axis L jog in the positive direction by the increment amount

halui.axis.L.minus bit in
    pin for jogging axis L in negative direction at the halui.axis.jog-speed velocity

halui.axis.L.plus bit in
    pin for jogging axis L in positive direction at the halui.axis.jog-speed velocity

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
    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

  Feed Override

halui.feed-override.count-enable bit in  (default: 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

  Rapid Override

halui.rapid-override.count-enable bit in  (default: 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)

SEE ALSO
axis(1), iocontrol(1)

BUGS
None known at this time.

AUTHOR
Written by Alex Joni, as part of the LinuxCNC project. Updated by John Thornton

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

COPYRIGHT
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.