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1. bit input enable If true the pwmgen will set its Not Enable pin false and output its pulses If enable is false pwmegen will set its Not Enable pin true and not output any signals float input value The current pwmgen command value in arbitrary units Parameters float rw scale Scaling factor to convert value from arbitrary units to duty cycle dc value scale Duty cycle has an effective range of 1 0 to 1 0 inclusive anything outside that range gets clipped The default scale is 1 0 s32 rw output type This emulates the output_type load time argument to the software pwmgen component This parameter may be changed at runtime but most of the time you probably want to set it at startup and then leave it alone Accepted values are 1 PWM on Out0 and Direction on Out1 2 Up on OutO and Down on Outl 3 PDM mode PDM on Out0 and Dir on Out1 and 4 Direction on OutO and PWM on Outl for locked antiphase In addition to the per instance HAL Parameters listed above there are a couple of HAL Parame ters that affect all the pwmgen instances LinuxCNC Documentation 2008 05 13 157 HOSTMOT2 9 HAL Component HOSTMOT2 9 u32 rw pwm_frequency This specifies the PWM frequency in Hz of all the pwmgen instances running in the PWM modes modes and 2 This is the frequency of the variable duty cycle wave Its effective range is from 1 Hz up to 193 kHz Note that the max frequency is determined by the Clock
2. 4 A rising edge on this pin starts the motor alignment sequence This pin should be connected in such a way that the motors re align any time that encoder monitoring has been interrupted Typi cally this will only be at machine power off The alignment process involves powering the motor phases in such a way as to put the motor in a known position The encoder counts are then stored in the offset parameter The alignement process will tend to cause a following error if it is trig gered while the axis is enabled so should be set before the matching axis N enable pin The com plementary init done pin can be used to handle the required sequencing Both pins can be ignored if the encoder offset is known explicitly such as is the case with an abso lute encoder In that case the offset parameter can be set directly in the HAL file blidc N init done bit out if personality amp 0x05 4 default 0 Indicates homing sequence complete bidc N A value float out if personality amp OxF00 0 Output amplitude for phase A bldc N B value float out if personality amp OxF00 0 Output amplitude for phase B bldc N C value float out if personality amp OxF00 0 Output amplitude for phase C bldc N A on bit out if personality amp OxFOO 0x100 Output bit for phase A bldc N B on bit out if personality amp OxF00 0x100 Output bit for phase B bldc N C on bit out if personality amp OxFOO 0
3. LinuxCNC Documentation 2008 05 13 159 HOSTMOT2 9 HAL Component HOSTMOT2 9 160 float input velocity cmd Target velocity of stepper motion in arbitrary position units per second This pin is only used when the stepgen is in velocity control mode control type 1 s32 output counts Feedback position in counts number of steps float output position fb Feedback position in arbitrary position units This is similar to counts position_scale but has finer than step resolution float output velocity fb Feedback velocity in arbitrary position units per second bit input enable This pin enables the step generator instance When True the stepgen instance works as expected When False no steps are generated and velocity fb goes immediately to 0 If the stepgen is mov ing when enable goes false it stops immediately without obeying the maxaccel limit bit input control type Switches between position control mode 0 and velocity control mode 1 Defaults to position control 0 Parameters float r w position scale Converts from counts to position units position counts position_scale float r w maxvel Maximum speed in position units per second If set to 0 the driver will always use the maximum possible velocity based on the current step timings and position scale The max velocity will change if the step timings or position scale changes Defaults to 0 float r w maxaccel Maximum acceleration in
4. SEE ALSO hal_create_thread 3hal hal_add_funct_to_thread 3hal LinuxCNC Documentation 2006 10 12 49 hal_init 3hal HAL hal_init 3hal NAME hal_init Sets up HAL and RTAPI SYNTAX int hal_init const char modname ARGUMENTS modname The name of this hal module DESCRIPTION hal_init sets up HAL and RTAPI It must be called by any module that intends to use the API before any other RTAPI calls modname can optionally point to a string that identifies the module The string may be no longer than RTAPI_NAME_LEN characters If modname is NULL the system will assign a name REALTIME CONSIDERATIONS Call only from within user or init cleanup code not from relatime tasks RETURN VALUE On success returns a positive integer module ID which is used for subsequent calls to hal and rtapi APIs On failure returns a HAL error code 50 2006 10 12 LinuxCNC Documentation hal_malloc 3hal HAL hal_malloc 3hal NAME hal_malloc Allocate space in the HAL shared memory area SYNTAX void hal_malloc long int size ARGUMENTS size Gives the size in bytes of the block DESCRIPTION hal_malloc allocates a block of memory from the main HAL shared memory area It should be used by all components to allocate memory for HAL pins and parameters It allocates size bytes and returns a pointer to the allocated space or NULL 0 on error The returned pointer will be properly aligned for any type HAL supports A compone
5. Example Session This section shows an example session Bold items are typed by you non bold is machine output The user connects to linuxcncrsh handshakes with the server hello enables machine commanding from this session set enable brings the machine out of estop set estop off and turns it on set machine on homes all the axes switches the machine to mdi mode sends an MDI g code command then disconnects and shuts down LinuxCNC gt telnet localhost 5007 Trying 127 0 0 1 Connected to 127 0 0 1 Escape character is hello EMC user typing at telnet 1 0 HELLO ACK EMCNETSVR 1 1 set enable EMCTOO set enable EMCTOO set mode manual set mode manual set estop off set estop off set machine on set machine on set home 0 set home 0 set home 1 set home 1 set home 2 set home 2 set mode mdi set mode mdi set mdi g0x1 set mdi g0x1 shutdown May 31 2011 39 linuxcncrsh 1 The Enhanced Machine Controller linuxcnersh 1 shutdown Connection closed by foreign host 40 May 31 2011 PYVCP 1 The Enhanced Machine Controller PYVCP 1 NAME pyvep Virtual Control Panel for LinuxCNC SYNOPSIS pyvep g WxH X Y c component name myfile xml OPTIONS g WxH X Y This sets the initial geometry of the root window Use WxH for just size X Y for just posi tion or WxH X Y for both Size position use pixel units Position is referenced from top left c component name Use component na
6. ENCODER_RATIO 9 HAL Component ENCODER_RATIO 9 encoder ratio N master teeth unsigned rw encoder ratio N slave teeth unsigned rw The number of teeth on the master and slave gears SEE ALSO encoder 9 LinuxCNC Documentation 2007 01 16 137 ESTOP_LATCH 9 HAL Component ESTOP_LATCH 9 NAME estop_latch ESTOP latch which sets ok out true and fault out false only if ok in is true fault in is false and a rising edge is seen on reset While ok out is true watchdog toggles and can be used for chargepumps or similar needs SYNOPSIS loadrt estop_latch count Mnames name namez2 FUNCTIONS estop latch V PINS estop latch N ok in bit in estop latch N fault in bit in estop latch N reset bit in estop latch N ok out bit out estop latch N fault out bit out estop latch N watchdog bit out LICENSE GPL 138 2015 10 24 LinuxCNC Documentation FEEDCOMP 9 HAL Component NAME feedcomp Multiply the input by the ratio of current velocity to the feed rate SYNOPSIS loadrt feedcomp count Mnames name name2 FUNCTIONS feedcomp N requires a floating point thread PINS feedcomp N out float out Proportionate output value feedcomp N in float in Reference value feedcomp N enable bit in Turn compensation on or off feedcomp N vel float in Current velocity PARAMETERS feedcomp N feed float rw Feed rate reference value NOTES Note that if enable is false out in LICENSE GPL LinuxCNC Documentati
7. For a literal use Immediately after the the following modifiers may be used space Pad the number to the specified width with spaces This is the default and is not strictly necessary 0 Pad the number to the specified width with the numeral 0 Force display of a symbol before positive numbers This like the sign will appear imme diately to the left of the digits for a space padded number and in the extreme left position for a 0 padded number 1234567890 A numerical entry other than the leading 0 above defines the total number of characters to display including the decimal separator and the sign Whilst this number can be as many digits as required the maximum field width is 20 characters The inherent precison of the double data type means that more than 14 digits will tend to show errors in the least significant digits The integer data types will never fill more than 10 decimal digits Following the width specifier should be the decimal specifier This can only be a full stop charac ter as the comma is used as the instance separator Currently lcd does not access the locale information to determine the correct separator and the decimal separator parameter should be used Following the decimal separator should be a number that determines how many places of decimals to display This entry is ignored in the case of integer formats All the above modifiers are optional but to specify a decimal pre
8. LinuxCNC Documentation 2008 05 13 167 HYPOT 9 HAL Component NAME hypot Three input hypotenuse Euclidean distance calculator SYNOPSIS loadrt hypot count Mnames name 1 name2 FUNCTIONS hypot N requires a floating point thread PINS hypot N inO float in hypot N in1 float in hypot N in2 float in hypot N out float out out sqrt in0 2 in1 2 in2 2 LICENSE GPL 168 2015 10 24 HYPOT 9 LinuxCNC Documentation ILOWPASS 9 HAL Component ILOWPASS 9 NAME ilowpass Low pass filter with integer inputs and outputs SYNOPSIS loadrt ilowpass count NInames name I namez2 DESCRIPTION While it may find other applications this component was written to create smoother motion while jogging with an MPG In a machine with high acceleration a short jog can behave almost like a step function By putting the ilowpass component between the MPG encoder counts output and the axis jog counts input this can be smoothed Choose scale conservatively so that during a single session there will never be more than about 2e9 scale pulses seen on the MPG Choose gain according to the smoothing level desired Divide the axis N jog scale values by scale FUNCTIONS ilowpass N requires a floating point thread Update the output based on the input and parameters PINS ilowpass N in s32 in ilowpass N out s32 out out tracks in scale through a low pass filter of gain per period PARAMETERS ilowpass N scale f
9. counts offset scale The default value of scale and offset map the range of the axis reported by the operating system to 1 1 The default values of fuzz and flat are those reported by the operating system The values of min and max are those reported by the operating system For relative axes input N rel name counts s32 out input N rel name position float out input N rel name reset bit in input N rel name scale parameter float rw input N rel name absolute parameter s32 rw input N rel name precision parameter s32 rw input N rel name last parameter s32 rw For LEDs Created for each relative axis on the device As long as reset is true counts is reset to zero regardless of any past or current axis movement Otherwise counts increases or decreases accord ing to the motion of the axis counts is divided by position scale to give position The default value of position is 1 There are some devices notably scroll wheels which return signed values with less resolution than 32 bits The default value of precision is 32 precision can be set to 8 for a device that returns signed 8 bit values or any other value from 1 to 32 absolute when set true ignores duplicate events with the same value This allows for devices that repeat events with out any user action to work correctly last shows the most recent count value returned by the device and is used in the implementation of absolute input N led name bit out input N led name invert par
10. is FALSE charge pump enable bit in default TRUE If FALSE forces out to be low LICENSE GPL 110 2015 10 24 LinuxCNC Documentation CLARKE2 9 HAL Component CLARKE2 9 NAME clarke2 Two input version of Clarke transform SYNOPSIS loadrt clarke2 count NInames name1 name2 DESCRIPTION The Clarke transform can be used to translate a vector quantity from a three phase system three compo nents 120 degrees apart to a two phase Cartesian system clarke2 implements a special case of the Clarke transform which only needs two of the three input phases In a three wire three phase system the sum of the three phase currents or voltages must always be zero As a result only two of the three are needed to completely define the current or voltage clarke2 assumes that the sum is zero so it only uses phases A and B of the input Since the H homopolar output will always be zero in this case it is not generated FUNCTIONS clarke2 N requires a floating point thread PINS clarke2 N a float in clarke2 N b float in first two phases of three phase input clarke2 N x float out clarke2 N y float out cartesian components of output SEE ALSO clarke3 for the general case clarkeinv for the inverse transform LICENSE GPL LinuxCNC Documentation 2015 10 24 111 CLARKE3 9 HAL Component NAME clarke3 Clarke 3 phase to cartesian transform SYNOPSIS loadrt clarke3 count NInames name1 name2 DESCRI
11. observe HAL pins signals and parameters SYNOPSIS halmeter s pinlsiglparam name g X positon Y position Width DESCRIPTION halmeter is used to observe HAL Hardware Abstraction Layer pins signals or parameters It serves the same purpose as a multimeter does when working on physical systems OPTIONS pin name display the HAL pin name sig name display the HAL signal name param name display the HAL parameter name If neither pin sig or param are specified the window starts out blank and the user must select an item to observe S small window Non interactive must be used with pin sig or param to select the item to display The item name is displayed in the title bar instead of the window and there are no Select or Exit buttons Handy when you want a lot of meters in a small space g geometry position allows one to specify the intial starting position and optionally the width of the meter Referenced from top left of screen in pixel units Handy when you want to load a lot of meters in a script with out them displaying on top of each other USAGE Unless s is specified there are two buttons Select and Exit Select opens a dialog box to select the item pin signal or parameter to be observed Exit does what you expect The selection dialog has OK Apply and Cancel buttons OK displays the selected item and closes the dialog Apply displays the selected item but keeps the sele
12. personality amp 0x10 Fanuc Gray code bit 2 input 2015 10 24 LinuxCNC Documentation BLDC 9 HAL Component BLDC 9 bldc N C8 bit in if personality amp 0x10 Fanuc Gray code bit 3 input bldc N value float in PWM master amplitude input bldc N lead angle float in if personality amp 0x06 default 90 The phase lead between the electrical vector and the rotor position in degrees bldc N rev bit in Set this pin true to reverse the motor Negative PWM amplitudes will also reverse the motor and there will generally be a Hall pattern that runs the motor in each direction too bidc N frequency float in if personality amp OxOF 0 Frequency input for motors with no feedback at all or those with only an index which is ignored blidc N initvalue float in if personality amp 0x04 default 0 2 The current to be used for the homing sequence in applications where an incremental encoder is used with no hall sensor feedback bldc N rawcounts s32 in if personality amp 0x06 default 0 Encoder counts input This must be linked to the encoder rawcounts pin or encoder index resets will cause the motor commutation to fail bldc N index enable bit io if personality amp 0x08 This pin should be connected to the associated encoder index enable pin to zero the encoder when it passes index This is only used indicate to the bldc control component that an index has been seen bidc N init bit in if personality amp 0x05
13. pluto servo pwm offset float rw M 0 3 pluto servo pwm M scale float rw M 0 3 default 7 pluto servo pwm M max dce float rw M 0 3 default 7 pluto servo pwm M min dc float rw M 0 3 default 0 pluto servo pwm M pwmdir bit rw M 0 3 default 0 Set to TRUE use PWM direction mode Set to FALSE to use Up Down mode pluto servo pwm is pdm bit rw Set to TRUE to use PDM also called interleaved PWM mode Set to FALSE to use traditional PWM mode Affects all PWM outputs pluto servo dout V M invert bit rw MM 00 19 If TRUE the output on the corresponding dout MM is inverted pluto servo communication error u32 rw Incremented each time pluto servo read detects an error code in the EPP status register While this register is nonzero new values are not being written to the Pluto P board and the status of digital outputs and the PWM duty cycle of the PWM outputs will remain unchanged If the watchdog is enabled it will activate soon after the communication error is detected To continue after a com munication error set this parameter back to zero pluto servo debug 0 s32 rw pluto servo debug 1 s32 rw These parameters can display values which are useful to developers or for debugging the driver and firmware They are not useful for integrators or users SEE ALSO The pluto_servo section in the HAL User Manual which shows the location of each physical pin on the pluto board LICENSE GPL 220 2015 10 24 LinuxCNC Doc
14. wcomp N min float in Low boundary for comparison wcomp N max float in High boundary for comparison wcomp N out bit out True if in is strictly between min and max wcomp N under bit out True if in is less than or equal to min wcomp N over bit out True if in is greater than or equal to max NOTES If max lt min then the behavior is undefined LICENSE GPL LinuxCNC Documentation 2015 10 24 WCOMP 9 261 WEIGHTED_SUM 9 HAL Component WEIGHTED_SUM 9 NAME weighted_sum convert a group of bits to an integer SYNOPSIS loadrt weighted_sum wsum_sizes size size Creates weighted sum groups each with the given number of input bits size DESCRIPTION This component is a weighted summer Its output is the offset plus the sum of the weight of each TRUE input bit The default value for each weight is 2 n where n is the bit number This results in a binary to unsigned conversion There is a limit of 8 weighted summers and each may have up to 16 input bits FUNCTIONS process_wsums requires a floating point thread Read all input values and update all output values PINS wsum N bit M in bit in The m th input of weighted summer n wsum N hold bit in When TRUE the sum output does not change When FALSE the sum output tracks the bit inputs according to the weights and offset wsum N sum signed out The output of the weighted summer wsum N bit V weight signed rw The weight of the m th inpu
15. 0 00 to 1 00 0 to 360 degrees clarkeinv N a float out clarkeinv N b float out clarkeinv N c float out three phase output vector SEE ALSO clarke2 and clarke3 for the forward transform LICENSE GPL LinuxCNC Documentation 2015 10 24 113 CLASSICLADDER 9 HAL Component CLASSICLADDER 9 NAME classicladder realtime software plc based on ladder logic SYNOPSIS loadrt classicladder_rt numRungs N numBits N num Words N numTimers numMonosta bles N numCounters N numPhysInputs N numPhysOutputs N numArithmExpr N num Sections N numSymbols N numS32in N numS32out N numFloatIn N numFloatOut N DESCRIPTION These pins and parameters are created by the realtime classicladder_rt module Each period minimum 1000000 ns classicladder reads the inputs evaluates the ladder logic defined in the GUI and then writes the outputs PINS classicladder 0 in NN IN bit These bit signal pins map to INN variables in classicladder classicladder 0 out NN OUT bit These bit signal pins map to QNN variables in classicladder Output from classicladder classicladder 0 s32in NN IN s32 Integer input from classicladder These s32 signal pins map to IWNN variables in classicladder classicladder 0 s320ut NN OUT s32 Integer output from classicladder These s32 signal pins map to QWNN variables in classiclad der classicladder 0 floatin NN IN float Integer input from classicladder These float signal pins map to IFNN var
16. Data from column M of the data in FIFO N appears on this pin The pin type depends on the con fig string streamer N curr depth s32 output Current number of samples in the FIFO When this reaches zero new data will no longer be writ ten to the pins streamer N empty bit output TRUE when the FIFO N is empty FALSE when valid data is available streamer N enable bit input When TRUE data from FIFO N is written to the HAL pins When false no data is transferred Defaults to TRUE streamer N underruns s32 read write The number of times that sampler has tried to write data to the HAL pins but found no fresh data in the FIFO It increments whenever empty is true and can be reset by the setp command SEE ALSO halstreamer 1 sampler 9 halsampler 1 LinuxCNC Documentation 2006 11 18 243 STREAMER 9 HAL User s Manual STREAMER 9 HISTORY BUGS Should an enable HAL pin be added to allow streaming to be turned on and off AUTHOR Original version by John Kasunich as part of the LinuxCNC project Improvements by several other mem bers of the LinuxCNC development team REPORTING BUGS Report bugs to jmkasunich AT users DOT sourceforge DOT net COPYRIGHT Copyright 2006 John Kasunich This is free software see the source for copying conditions There is NO warranty not even for MER CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE 244 2006 11 18 LinuxCNC Documentation SUM2 9 HAL Component NAME sum2 Sum of two in
17. LICENSE GPL LinuxCNC Documentation 2015 10 24 MUX2 9 203 MUX4 9 HAL Component MUX4 9 NAME mux4 Select from one of four input values SYNOPSIS loadrt mux4 count NInames name 1 name2 FUNCTIONS mux4 N requires a floating point thread PINS mux4 N sel0 bit in mux4 N sell bit in Together these determine which inWN value is copied to out mux4 N out float out Follows the value of one of the inN values according to the two sel values sell FA LSE selO FALSE out follows in0 sell FA LSE sel0 TRUE out follows inl sell1 TRUE sel0 FALSE out follows in2 sell TRUE sel0 TRUE out follows in3 mux4 N in0 float in mux4 N in1 float in mux4 N in2 float in mux4 N in3 float in LICENSE GPL 204 2015 10 24 LinuxCNC Documentation MUX8 9 HAL Component MUX8 9 NAME mux8 Select from one of eight input values SYNOPSIS loadrt mux8 count NInames name 1 name2 FUNCTIONS mux8 N requires a floating point thread PINS mux8 sel0 bit in mux8 N sel1 bit in mux8 N sel2 bit in Together these determine which inWN value is copied to out mux8 out float out Follows the value of one of the inN values according to the three sel values sel2 FALSE sel1 FALSE selO FALSE out follows in0 sel2 FALSE sell FA LSE selO TRUE out follows inl sel2 FALSE sell1 TRUE sel0 FALSE out follows in2 sel2 FALSE sell1 TRUE sel0 TRUE out follows in3 sel2 TRUE sell FALSE sel0 FALSE out fol
18. Measured from change of direction to rising edge of step stepgen N dirhold u32 rw step type 0 only The minimum hold time of direction after step in nanoseconds Measured from falling edge of step to change of direction stepgen N dirdelay u32 rw step types 1 and higher only The minimum time between a forward step and a reverse step in nanoseconds TIMING 240 There are five timing parameters which control the output waveform No step type uses all five and only those which will be used are exported to HAL The values of these parameters are in nano seconds so no recalculation is needed when changing thread periods In the timing diagrams that follow they are ident fied by the following numbers 1 stepgen n steplen 2 stepgen n stepspace 3 stepgen n dirhold 4 stepgen n dirsetup 5 stepgen n dirdelay For step type 0 timing parameters 1 thru 4 are used The following timing diagram shows the output wave forms and what each parameter adjusts STEP 3 l l l l l l Time EEO 2 1 3 e E l DIR 2007 01 16 LinuxCNC Documentation STEPGEN 9 HAL Component STEPGEN 9 For step type 1 timing parameters 1 2 and 5 are used The following timing diagram shows the output waveforms and what each parameter adjusts UP Tim I 1 1 2 1 1 1 5 FEl AS DOWN For step types 2 and higher the exact pattern of the outputs depends on the step t
19. PINNUMBER OUT bit opto_ac5 BOARDNUMBER port PORTNUMBER in PINNUMBER not OUT bit Connect a hal bit signal to this pin to read an i o point from the card The PINNUMBER repre sents the position in the relay rack Eg PPNNUMBER 0 is position 0 in a opto22 relay rack and would be pin 47 on the 50 pin header connector The not pin is inverted so that LOW gives TRUE and HIGH gives FALSE opto_ac5 BOARDNUMBER port PORTNUMBER out PINNUMBER IN bit Connect a hal bit signal to this pin to write to an i o point of the card The PINNUMBER repre sents the position in the relay rack Eg PINNUMBER 23 is position 23 in a opto22 relay rack and would be pin on the 50 pin header connector opto_ac5 BOARDNUMBER led NUMBER OUT bit Turns one of the on board LEDS on off LEDS are numbered 0 to 3 PARAMETERS opto_ac5 BOARDNUMBER port PORTNUMBER out PINNUMBER invert W bit When TRUE invert the meaning of the corresponding out pin so that TRUE gives LOW and FALSE gives HIGH FUNCTIONS opto_ac5 0 digital read Add this to a thread to read all the input points opto_ac5 0 digital write Add this to a thread to write all the output points and LEDS BUGS All boards are loaded with the same port configurations as the first board 210 2008 08 04 LinuxCNC Documentation OPTO_ACS5 9 HAL Component OPTO_ACS5 9 SEE ALSO http wiki linuxcnc org cgi bin wiki pl OptoPciAcs LinuxCNC Documentation 2008 08 04 211 OR2 9 HAL Component NA
20. The default value is zero siggen N clock bit out The clock output Bit type clock signal output at the commanded frequency siggen square float out The square wave output Positive while triangle and cosine are ramping upwards and while sine is negative siggen N sine float out The sine output Lags cosine by 90 degrees LinuxCNC Documentation 2007 01 16 233 SIGGEN 9 HAL Component SIGGEN 9 siggen N cosine float out The cosine output Leads sine by 90 degrees siggen N triangle float out The triangle wave output Ramps up while square is positive and down while square is negative Reaches its positive and negative peaks at the same time as cosine siggen N sawtooth float out The sawtooth output Ramps upwards to its positive peak then instantly drops to its negative peak and starts ramping again The drop occurs when triangle and cosine are at their positive peaks and coincides with the falling edge of square PARAMETERS None 234 2007 01 16 LinuxCNC Documentation SIM_ENCODER 9 HAL Component SIM_ENCODER 9 NAME sim_encoder simulated quadrature encoder SYNOPSIS loadrt sim_encoder num_chan num names name 1 name2 DESCRIPTION sim_encoder can generate quadrature signals as if from an encoder It also generates an index pulse once per revolution It is mostly used for testing and simulation to replace hardware that may not be available It has a limited maximum frequency as do all software bas
21. The driver has 4 step direction channels 14 dedicated digital outputs and 16 dedicated digital inputs Step generators The step generator takes a position input and output The step waveform includes step length space and direction hold setup time Step length and direction set up hold time is enforced in the FPGA Step space is enforced by a velocity cap in the driver all the following numbers are subject to change In speedrange O0 the maximum step rate is 312 5kHz For position feedback to be accurate the maximum step rate is 512 pulses per servo cycle so a 1kHz servo cycle does not impose any additional limitation The maximum step rate may be lowered by the step length and space parameters which are rounded up to the nearest multiple of 1600ns In successive speedranges the maximum step rate is divided in half as is the maximum steps per servo cycle and the minimum nonzero step rate LinuxCNC Documentation 2015 10 24 221 PLUTO_STEP 9 HAL Component PLUTO_STEP 9 Digital O The digital output pins conform to the canonical digital output interface described in the HAL manual The digital input pins conform to the canonical digital input interface described in the HAL manual FUNCTIONS PINS pluto step read requires a floating point thread Read all the inputs from the pluto step board pluto step write requires a floating point thread Write all the outputs on the pluto step board pluto step stepge
22. VAR files It is how ever the most important one because it is the file that holds the configuration together It can adjust a lot of parameters itself but it also tells LinuxCNC which other files to load and use SEE ALSO LinuxCNC 1 Much more information about LinuxCNC and HAL is available in the LinuxCNC and HAL User Manuals found at usr share doc LinuxCNC HISTORY BUGS None known at this time AUTHOR This man page written by Alex Joni as part of the LinuxCNC project REPORTING BUGS Report bugs to alex_joni AT users DOT sourceforge DOT net COPYRIGHT Copyright 2007 Alex Joni This is free software see the source for copying conditions There is NO warranty not even for MER CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE 4 2007 04 01 LinuxCNC Documentation comp 1 The Enhanced Machine Controller comp 1 NAME comp Build compile and install LinuxCNC HAL components SYNOPSIS comp compilel preprocess document view doc compfile sudo comp installl install doc compfile comp compile userspace cfile sudo comp install userspace cfile sudo comp install userspace pyfile DESCRIPTION comp performs many different functions e Compile comp and c files into so or ko HAL realtime components the compile flag e Compile comp and c files into HAL userspace components the compile userspace flag e Preprocess comp files into c files the preprocess flag e
23. axis N f error OUT FLOAT The actual following error axis N f error lim OUT FLOAT The following error limit axis f errored OUT BIT TRUE when this joint has exceeded the following error limit axis V faulted OUT BIT axis N free pos cmd OUT FLOAT The free planner commanded position for this joint axis N free tp enable OUT BIT TRUE when the free planner is enabled for this joint axis N free vel lim OUT FLOAT The velocity limit for the free planner axis V homed OUT BIT TRUE if the joint has been homed axis N in position OUT BIT TRUE if the joint is using the free planner and has come to a stop axis N joint vel emd OUT FLOAT The joint s commanded velocity axis N kb jog active OUT BIT axis N neg hard limit OUT BIT The negative hard limit for the joint axis NV pos hard limit OUT BIT The positive hard limit for the joint LinuxCNC Documentation 2007 08 25 195 MOTION 9 HAL Component MOTION axis V wheel jog active OUT BIT motion in position OUT BIT Same as the pin motion motion inpos motion motion enabled IN BIT motion on soft limit OUT BIT motion program line OUT S32 motion teleop mode OUT BIT TRUE when motion is in teleop mode as opposed to coordinated mode PARAMETERS Many of the parameters serve as debugging aids and are subject to change or removal at any time motion command handler time motion command handler tmax motion controller time motion controller tmax Show informatio
24. lt pyvcp gt In your post gui hal file you might use the following to connect it up loadrt time loadrt not addf time 0 servo thread addf not 0 servo thread net prog running not 0 in lt halui program is idle net cycle timer time 0 start lt not 0 out LinuxCNC Documentation 2015 10 24 251 TIME 9 HAL Component net cycle seconds pyvcp time seconds lt time 0 seconds net cycle minutes pyvcp time minutes lt time 0 minutes net cycle hours pyvcp time hours lt time 0 hours FUNCTIONS time N requires a floating point thread PINS time N start bit in Timer On time N seconds u32 out Seconds time N minutes u32 out Minutes time N hours u32 out Hours AUTHOR John Thornton LICENSE GPL 252 2015 10 24 TIME 9 LinuxCNC Documentation TIMEDELAY 9 HAL Component TIMEDELAY 9 NAME timedelay The equivalent of a time delay relay SYNOPSIS loadrt timedelay count Ninames name namez2 FUNCTIONS timedelay N requires a floating point thread PINS timedelay N in bit in timedelay N out bit out Follows the value of in after applying the delays on delay and off delay timedelay N on delay float in default 0 5 The time in seconds for which in must be true before out becomes true timedelay N off delay float in default 0 5 The time in seconds for which in must be false before out becomes false timedelay N elapsed float out Current value of the internal timer AUTHOR Jeff
25. result is used as the encoder speed in revolutions per second PARAMETERS LinuxCNC Documentation 2007 01 16 235 SIM_ENCODER 9 HAL Component SIM_ENCODER 9 sim encoder N ppr u32 rw The pulses per revolution of the simulated encoder Note that this is pulses not counts per revolu tion Each pulse or cycle from the encoder results in four counts because every edge is counted Default value is 100 ppr or 400 counts per revolution sim encoder N scale float rw Scale factor for the speed input The speed value is divided by scale to get the actual encoder speed in revolutions per second For example if scale is set to 60 then speed is in revolutions per minute RPM instead of revolutions per second The default value is 1 00 236 2007 01 16 LinuxCNC Documentation SPHEREPROBE 9 HAL Component SPHEREPROBE 9 NAME sphereprobe Probe a pretend hemisphere SYNOPSIS loadrt sphereprobe count Ninames name name2 FUNCTIONS sphereprobe N update probe out based on inputs PINS sphereprobe N px s32 in sphereprobe N py s32 in sphereprobe N pz s32 in rawcounts position from software encoder sphereprobe N cx s32 in sphereprobe N cy s32 in sphereprobe N cz s32 in Center of sphere in counts sphereprobe N r s32 in Radius of hemisphere in counts sphereprobe N probe out bit out AUTHOR Jeff Epler LICENSE GPL LinuxCNC Documentation 2015 10 24 237 STEPGEN 9 HAL Component STEPGEN 9 NAME stepgen sof
26. specifier are nameN the_parameter_name encoder N min velocity estimate float rw default 1 0 Determine the minimum true velocity magnitude at which velocity will be estimated as nonzero and postition interpolated will be interpolated The units of min velocity estimate are the same as the units of velocity Setting this parameter too low will cause it to take a long time for velocity 134 2009 04 15 LinuxCNC Documentation ENCODER 9 HAL Component ENCODER 9 to go to 0 after encoder pulses have stopped arriving LinuxCNC Documentation 2009 04 15 135 ENCODER_RATIO 9 HAL Component ENCODER_RATIO 9 NAME encoder_ratio an electronic gear to synchronize two axes SYNOPSIS loadrt encoder_ratio num_chan num names name 1 namez2 DESCRIPTION encoder_ratio can be used to synchronize two axes like an electronic gear It counts encoder pulses from both axes in software and produces an error value that can be used with a PID loop to make the slave encoder track the master encoder with a specific ratio This module supports up to eight axis pairs The number of pairs is set by the module parameter num_chan Alternatively specify names and unique names separated by commas The num_chan and names specifiers are mutually exclusive If neither num_chan nor names are specified the default value is one FUNCTIONS encoder ratio sample Read all input pins Must be called at twice the maximum desired count rate encod
27. the three input lines any pulse shorter than this is rejected as noise If set to False the quadrature counter needs only 3 clocks to register a change The encoder sample clock runs at 33 MHz on the PCI AnyI0 cards and 50 MHz on the 7143 float r w vel timeout When the encoder is moving slower than one pulse for each time that the driver reads the count from the FPGA in the hm2_read function the velocity is harder to estimate The driver can wait several iterations for the next pulse to arrive all the while reporting the upper bound of the encoder velocity which can be accurately guessed This parameter specifies how long to wait for the next pulse before reporting the encoder stopped This parameter is in seconds LinuxCNC Documentation 2008 05 13 155 HOSTMOT2 9 HAL Component HOSTMOT2 9 resolver 156 Resolvers have names like hm2_ lt BoardType gt lt BoardNum gt resolver lt Instance gt lt Instance is a 2 digit number which for the 7149 board will be between 00 and 05 This function only works with the Mesa Resolver interface boards of which the 7149 is the only example at the time of writing This board uses an SPI interface to the FPGA card and will only work with the correct firmware The pins allocated will be listed in the dmesg output but are unlikely to be usefully probed with HAL tools Pins float out angle This pin indicates the angular position of the resolver It is a number between O and 1 for eac
28. 16 LinuxCNC Documentation FREQGEN 9 HAL Component FREQGEN 9 BUGS freqgen N velocity scale float rw The scaling for the velocity command in steps per length unit freqgen N rawcounts s32 ro The position in counts as updated by make pulses Note this is updated more frequently than the counts pin freqgen N steplen u32 rw step type 0 only The length of the step pulses in make pulses periods Measured from rising edge to falling edge freqgen N stepspace u32 rw step type 0 only The minimum space between step pulses in make pulses periods Measured from falling edge to rising edge The actual time depends on the step rate and can be much longer freqgen N dirsetup u32 rw step type 0 only The minimum setup time from direction to step in make pulses periods Measured from change of direction to rising edge of step freqgen N dirhold u32 rw step type 0 only The minimum hold time of direction after step in make pulses periods Measured from falling edge of step to change of direction freqgen should have an enable pin freqgen s command pin should be called velocity cmd not velocity for clarity and consistency with step gen freqgen should use maxvel not maxfreq In other words the velocity limit should be scaled in length units per second not steps per second The scale parameter can be set to 1 0 if it is desired to work in steps instead of length units freqgen s maxaccel parameter should be in length
29. 2006 10 12 LinuxCNC Documentation rtapi_module_param 3rtapi RTAPI rtapi_module_param 3rtapi GPL GNU Public License v2 or later GPL v2 GNU Public License v2 GPL and additional rights GNU Public License v2 rights and more Dual BSD GPL GNU Public License v2 or BSD license choice Dual MIT GPL GNU Public License v2 or MIT license choice Dual MPL GPL GNU Public License v2 or Mozilla license choice Proprietary Non free products It is still good practice to include a license block which indicates the author copyright date and disclaimer of warranty as recommended by the GNU GPL REALTIME CONSIDERATIONS Not available in userspace code LinuxCNC Documentation 2006 10 12 73 rtapi_mutex 3rtapi RTAPI rtapi_mutex 3rtapi NAME rtapi_mutex Mutex related functions SYNTAX int rtapi_mutex_try unsigned long mutex void rtapi_mutex_get unsigned long mutex void rtapi_mutex_give unsigned long mutex ARGUMENTS mutex A pointer to the mutex DESCRIPTION rtapi_mutex_try makes a non blocking attempt to get the mutex If the mutex is available it returns 0 and the mutex is no longer available Otherwise it returns a nonzero value rtapi_mutex_get blocks until the mutex is available rtapi_mutex_give releases a mutex acquired by rtapi_mutex_try or rtapi_mutex_get REALTIME CONSIDERATIONS rtapi_mutex_give and rtapi_mutex_try may be used from user init cleanup and realtime code rtapi_mutex_ge
30. BUGS AUTHOR Original version by John Kasunich as part of the LinuxCNC project Improvements by several other mem bers of the LinuxCNC development team REPORTING BUGS Report bugs to jmkasunich AT users DOT sourceforge DOT net COPYRIGHT Copyright 2003 John Kasunich This is free software see the source for copying conditions There is NO warranty not even for MER CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE LinuxCNC Documentation 2006 03 13 19 HALSAMPLER 1 HAL User s Manual HALSAMPLER 1 NAME halsampler sample data from HAL in realtime SYNOPSIS halsampler options DESCRIPTION sampler 9 and halsampler are used together to sample HAL data in real time and store it in a file sam pler is a realtime HAL component that exports HAL pins and creates a FIFO in shared memory It then begins sampling data from the HAL and storing it to the FIFO halsampler is a user space program that copies data from the FIFO to stdout where it can be redirected to a file or piped to some other program OPTIONS c CHAN instructs halsampler to read from FIFO CHAN FIFOs are numbered from zero and the default value is zero so this option is not needed unless multiple FIFOs have been created n COUNT instructs halsampler to read COUNT samples from the FIFO then exit If n is not specified hal sampler will read continuously until it is killed t instructs halsampler to tag each line by printing the sample number in t
31. Documentation 2008 05 26 65 rtapi_app_main 3rtapi HAL rtapi_app_main 3rtapi NAME rtapi_app_main User provided function to initialize a component SYNTAX include rtapi_app h int rtapi_app_main void ARGUMENTS None DESCRIPTION The body of rtapi_app_main which is provided by the component author generally consists of a call to rtapi_init or hal_init followed by other component specific initialization code RETURN VALUE Return 0 for success Return a negative errno value e g EINVAL on error Existing code also returns RTAPI or HAL error values but using negative errno values gives better diagnostics from insmod REALTIME CONSIDERATIONS Called automatically by the rtapi infrastructure in an initialization not realtime context SEE ALSO rtapi_app_exit 3rtapi rtapi_init 3rtapi hal_init 3hal 66 2008 05 26 LinuxCNC Documentation rtapi_clock_set_period 3rtapi RTAPI rtapi_clock_set_period 3rtapi NAME rtapi_clock_set_period set the basic time interval for realtime tasks SYNTAX rtapi_clock_set_period long int nsec ARGUMENTS nsec The desired basic time interval for realtime tasks DESCRIPTION rtapi_clock_set_period sets the basic time interval for realtime tasks All periodic tasks will run at an integer multiple of this period The first call to rtapi_clock_set_period with nsec greater than zero will start the clock using nsec as the clock period in nano seconds Due to hardware
32. Extract documentation from comp files into 9 manpage files the document flag e Display documentation from comp files onscreen the view doc flag e Compile and install comp and c files into the proper directory for HAL realtime components the install flag which may require sudo to write to system directories e Install c and py files into the proper directory for HAL userspace components the install userspace flag which may require sudo to write to system directories e Extract documentation from comp files into 9 manpage files in the proper system directory the install flag which may require sudo to write to system directories e Preprocess comp files into c files the preprocess flag SEE ALSO Comp HAL Component Generator in the LinuxCNC documentation for a full description of the comp syn tax along with examples pydoc hal and Creating Userspace Python Components in the LinuxCNC documentation for documenta tion on the Python interface to HAL components comp 9 for documentation on the two input comparator with hysteresis a HAL realtime component with the same name as this program LinuxCNC Documentation 2007 10 17 5 GLADEVCP 1 The Enhanced Machine Controller GLADEVCP 1 NAME gladevcp Virtual Control Panel for LinuxCNC based on Glade Gtk and HAL widgets SYNOPSIS gladevep g WxH X Y c component name u handler U useroption H halfile d myfile ui OPTIONS g WxH X Y Thi
33. HAL_LOCK_NONE or 0 locks nothing and HAL_LOCK_ALL locks everything DESCRIPTION RETURN VALUE hal_set_lock Returns a HAL status code hal_get_lock returns the current HAL lock level or a HAL status code LinuxCNC Documentation 2006 10 12 59 hal_signal_new 3hal HAL hal_signal_new 3hal NAME hal_signal_new hal_signal_delete hal_link hal_unlink Manipulate HAL signals SYNTAX int hal_signal_new const char signal_name hal_type_t type int hal_signal_delete const char signal_name int hal_link const char pin_name const char signal_name int hal_unlink const char pin_name ARGUMENTS signal_name The name of the signal pin_name The name of the pin type The type of the signal as specified in hal_type_t 3hal DESCRIPTION hal_signal_new creates a new signal object Once a signal has been created pins can be linked to it with hal_link The signal object contains the actual storage for the signal data Pin objects linked to the signal have pointers that point to the data name is the name of the new signal It may be no longer than HAL_NAME_LEN characters If there is already a signal with the same name the call will fail hal_link links a pin to a signal If the pin is already linked to the desired signal the command succeeds If the pin is already linked to some other signal it is an error In either case the existing connection is not modified Use hal_unlink to break an existing connection If t
34. IN BIT If this bit is driven FALSE motion stops the machine is placed in the machine off state and a message is displayed for the operator For normal motion drive this bit TRUE motion feed hold IN BIT When Feed Stop Control is enabled with M53 P1 and this bit is TRUE the feed rate is set to 0 motion motion inpos OUT BIT TRUE if the machine is in position motion probe input IN BIT G38 x uses the value on this pin to determine when the probe has made contact TRUE for probe contact closed touching FALSE for probe contact open motion program line OUT S32 motion requested vel OUT FLOAT The requested velocity with no adjustments for feed override motion spindle at speed IN BIT Motion will pause until this pin is TRUE under the following conditions before the first feed move after each spindle start or speed change before the start of every chain of spindle synchro nized moves and if in CSS mode at every rapid gt feed transition motion spindle brake OUT BIT TRUE when the spindle brake should be applied motion spindle forward OUT BIT TRUE when the spindle should rotate forward motion spindle index enable I O BIT For correct operation of spindle synchronized moves this signal must be hooked to the index enable pin of the spindle encoder motion spindle on OUT BIT TRUE when spindle should rotate LinuxCNC Documentation 2007 08 25 193 MOTION 9 HAL Component MOTION motion spindle reverse OUT BIT TRUE whe
35. If it is True then value in write_data is written to the address in write_address and write_strobe is set back to False bit in out dump_state This pin is normally False If it gets set to True the hostmot2 driver will write its representation of the board s internal state to the syslog and set the pin back to False Setting up Smart Serial devices If a Smart Serial port is stopped it is then possible to read and set the onboard firmware settings using setp commands from within halrun or with halcmd The hostmot read function needs to be attached to a realtime thread to allow parameters to be read and set but the write thread is not needed A typical com mand line sequence to read the max current setting of an 8120 on channel 1 of port 0 would be gt halrun halcmd loadrt hostmot2 halcmd loadrt hm2_pci config firmware hm2 5i23 svss8_44 sserial_port_O xOxxxxxxx halcmd loadrt threads halcmd addf hm2_5i23 0 read thread 1 halcmd addf hm2_5i23 0 write thread1 halcmd start halcmd setp hm2_5i23 0 sserial 0 port 0 run 0 halcmd setp hm2_5i23 0 sserial 0 port 0 halcmd setp hm2_5i23 0 sserial 0 channel 1 halcmd setp hm2_5i23 0 sserial 0 0 parameter 0x8e8 halcmd setp hm2_5i23 0 sserial 0 0 read 1 halcmd show pin hm2_5i23 0 sserial 0 0 value It is not expected that this would be a frequent task The pin descriptions appear earlier in this document FUNCTIONS 166 hm2_ lt BoardType gt lt BoardNum gt read
36. It is best used for millisecond and microsecond scale measurements though RETURN VALUE Returns the current time in nanoseconds or CPU clocks NOTES Certain versions of the Linux kernel provide a global variable cpu_khz Computing deltat end_clocks start_clocks cpu_khz gives the duration measured in milliseconds Computing deltat end_clocks start_clocks 1000000 cpu_khz gives the duration measured in nanoseconds for deltas less than about 9 trillion clocks e g 3000 seconds at 3GHz REALTIME CONSIDERATIONS 70 May be called from init cleanup code and from within realtime tasks Not available in userspace compo nents 2006 10 12 LinuxCNC Documentation rtapi_init 3rtapi RTAPI rtapi_init 3rtapi NAME rtapi_init Sets up RTAPI SYNTAX int rtapi_init const char modname ARGUMENTS modname The name of this rtapi module DESCRIPTION rtapi_init sets up the RTAPI It must be called by any module that intends to use the API before any other RTAPI calls modname can optionally point to a string that identifies the module The string will be truncated at RTAPI_NAME_LEN characters If modname is NULL the system will assign a name REALTIME CONSIDERATIONS Call only from within user or init cleanup code not from relatime tasks RETURN VALUE On success returns a positive integer module ID which is used for subsequent calls to rtapi_xxx_new rtapi_xxx_delete and rtapi_exit On failure returns
37. This reads the encoder counters stepgen feedbacks and GPIO input pins from the FPGA hm2_ lt BoardType gt lt BoardNum gt write This updates the PWM duty cycles stepgen rates and GPIO outputs on the FPGA Any changes to configuration pins such as stepgen timing GPIO inversions etc are also effected by this func tion hm2_ lt BoardType gt lt BoardNum gt pet watchdog Pet the watchdog to keep it from biting us for a while hm2_ lt BoardType gt lt BoardNum gt read_gpio Read the GPIO input pins Note that the effect of this function is a subset of the effect of the read function described above Normally only read is used The only reason to call this func tion is if you want to do GPIO things in a faster than servo thread This function is not available on the 7143 due to limitations of the EPP bus hm2_ lt BoardType gt lt BoardNum gt write_gpio Write the GPIO control registers and output pins Note that the effect of this function is a subset of the effect of the write Q function described above Normally only write is used The only reason to call this function is if you want to do GPIO things in a faster than servo thread This function is not available on the 7143 due to limitations of the EPP bus 2008 05 13 LinuxCNC Documentation HOSTMOT2 9 HAL Component HOSTMOT2 9 SEE ALSO hm2_7143 9 hm2_pci 9 Mesa s documentation for the Anything I O boards at lt http www mesanet com gt LICENSE GPL
38. a floating point thread PINS joyhandle JN in float in joyhandle N out float out PARAMETERS joyhandle N power float rw default 2 0 joyhandle N deadband float rw default 0 joyhandle scale float rw default 7 joyhandle N offset float rw default 0 joyhandle N inverse bit rw default 0 LICENSE GPL 172 2015 10 24 LinuxCNC Documentation KINS 9 HAL Component KINS 9 NAME kins kinematics definitions for LinuxCNC SYNOPSIS loadrt trivkins loadrt rotatekins loadrt tripodkins loadrt genhexkins loadrt maxkins loadrt genserkins loadrt pumakins loadrt scarakins DESCRIPTION Rather than exporting HAL pins and functions these components provide the forward and inverse kinemat ics definitions for LinuxCNC trivkins Trivial Kinematics There is a 1 1 correspondence between joints and axes Most standard milling machines and lathes use the trivial kinematics module rotatekins Rotated Kinematics The X and Y axes are rotated 45 degrees compared to the joints 0 and 1 tripodkins Tripod Kinematics The joints represent the distance of the controlled point from three predefined locations the motors giving three degrees of freedom in position XYZ tripodkins Bx tripodkins Cx tripodkins Cy The location of the three motors is 0 0 Bx 0 and Cx Cy genhexkins Hexapod Kinematics Gives six degrees of freedom in position and orientation XYZABC The location of the motors is defined at c
39. are serial errors this may become annoying At the moment it doesn t make much difference most of the time PINS lt name gt DC bus volts float out from the VFD lt name gt at speed bit out when drive is at commanded speed lt name gt err reset bit in reset errors sent to VFD lt name gt firmware revision s32 out from the VFD lt name gt frequency command float out from the VFD GS2 VFD January 1 2009 7 gs2_vfd 1 LinuxCNC Documentation gs2_vfd 1 lt name gt frequency out float out from the VFD lt name gt is stopped bit out when the VFD reports 0 Hz output lt name gt load percentage float out from the VFD lt name gt motor RPM float out from the VFD lt name gt output current float out from the VFD lt name gt output voltage float out from the VFD lt name gt power factor float out from the VFD lt name gt scale frequency float out from the VFD lt name gt speed command float in speed sent to VFD in RPM It is an error to send a speed faster than the Motor Max RPM as set in the VFD lt name gt spindle fwd bit in 1 for FWD and 0 for REV sent to VFD lt name gt spindle on bit in 1 for ON and 0 for OFF sent to VFD only on when running lt name gt spindle rev bit in 1 for ON and 0 for OFF only on when running lt name gt status 1 s32 out Drive Status of the VFD see the GS2 manual lt name gt status 2 s32 out Drive Sta
40. comp_id A HAL component identifier returned by an earlier call to hal_init port A pointer to a hal_parport_t structure base The base address of the port if port gt 16 or the linux port number of the port if port lt 16 base_hi The high address of the port location of the ECP registers 0 to use a probed high address or 1 to disable the high address modes Advise the driver of the desired port modes from lt linux parport h gt If a linux detected port does not provide the requested modes a warning is printed with rtapi_print_msg This does not make the port request fail because unfortunately many systems that have working EPP parports are not detected as such by Linux DESCRIPTION hal_parport_get allocates a parallel port for exclusive use of the named hal component The port must be released with hal_parport_release before the component exits with hal_exit HIGH ADDRESS PROBING If the port is a parallel port known to Linux and Linux detected a high I O address this value is used Oth erwise if base 0x400 is not registered to any device it is used Otherwise no address is used If no high address is detected port gt base_hi is 0 PARPORT STRUCTURE typedef struct unsigned short base unsigned short base_hi and further unspecified fields hal_parport_t RETURN VALUE hal_parport_get returns a HAL status code On success port is filled out with information about the allo cated port On failure t
41. completes PARAMETERS pid N Pgain float rw Proportional gain Results in a contribution to the output that is the error multiplied by Pgain pid N Igain float rw Integral gain Results in a contribution to the output that is the integral of the error multiplied by Igain For example an error of 0 02 that lasted 10 seconds would result in an integrated error errorI of 0 2 and if Igain is 20 the integral term would add 4 0 to the output pid V Dgain float rw Derivative gain Results in a contribution to the output that is the rate of change derivative of the error multiplied by Dgain For example an error that changed from 0 02 to 0 03 over 0 2 seconds would result in an error derivative errorD of of 0 05 and if Dgain is 5 the derivative term would add 0 25 to the output pid N bias float rw bias is a constant amount that is added to the output In most cases it should be left at zero How ever it can sometimes be useful to compensate for offsets in servo amplifiers or to balance the weight of an object that moves vertically bias is turned off when the PID loop is disabled just like all other components of the output If a non zero output is needed even when the PID loop is dis abled it should be added with an external HAL sum2 block pid V FFO0 float rw Zero order feed forward term Produces a contribution to the output that is FFO multiplied by the commanded value For position loops it should usually be left at zero For velo
42. deadzone N center float rw default 0 0 The center of the dead zone deadzone N threshhold float rw default 7 0 The dead zone is center threshhold 2 LICENSE GPL 130 2015 10 24 DEADZONE 9 LinuxCNC Documentation DEBOUNCE 9 HAL Component DEBOUNCE 9 NAME debounce filter noisy digital inputs SYNOPSIS loadrt debounce cfg size size Creates debounce groups with the number of filters specified by size Every filter in the same group has the same sample rate and delay DESCRIPTION The debounce filter works by incrementing a counter whenever the input is true and decrementing the counter when it is false If the counter decrements to zero the output is set false and the counter ignores further decrements If the counter increments up to a threshold the output is set true and the counter ignores further increments If the counter is between zero and the threshold the output retains its previous state The threshold determines the amount of filtering a threshold of 1 does no filtering at all and a threshold of N requires a signal to be present for N samples before the output changes state FUNCTIONS debounce G Sample all the input pins in group G and update the output pins PINS debounce G F in bit in The F th input pin in group G debounce G F out bit out The F th output pin in group G Reflects the last stable input seen on the corresponding input pin debounce G delay signed rw Sets the a
43. encoder M count s32 out M 0 3 pluto servo encoder M position float out M 0 3 pluto servo encoder M velocity float out M 0 3 pluto servo encoder reset bit in M 0 3 pluto servo encoder M index enable bit io M 0 3 encoder M corresponds to the pins labeled QAM QBM and QZM on the pinout diagram pluto servo pwm M value float in M 0 3 pluto servo pwm M enable bit in M 0 3 pwm M corresponds to the pins labeled UPM and DNM on the pinout diagram pluto servo dout VMM bit in MM 00 19 dout 0M corresponds to the pin labeled OUTM on the pinout diagram Other pins are shared with the PWM function as follows Pin Shared Label with dout 10 UPO dout 10 UPO dout 12 UPI dout 14 UP2 dout 18 UP3 dout 11 DOWNO dout 13 DOWNI dout 15 DOWN2 dout 19 DOWN3 pluto servo din MM bit out MM 00 19 pluto servo din MM not bit out MM 00 19 For M 0 through 7 din 0M corresponds to the pin labeled INM on the pinout diagram Other pins are shared with the encoder function as follows Pin Shared Label with din 8 QZ0 din 9 QZ1 din 10 QZ2 din 11 QZ3 din 12 QBO din 13 QB1 din 14 QB2 din 15 QB3 din 16 QAO LinuxCNC Documentation 2015 10 24 219 PLUTO_SERVO 9 HAL Component PLUTO_SERVO 9 din 17 QAI din 18 QA2 din 19 QA3 PARAMETERS pluto servo encoder M scale float rw M 0 3 default pluto servo encoder z polarity bit rw Set to TRUE if the index pulse is active low FALSE if it is active high Affects all encoders
44. in IN BIT Should be driven TRUE if the home switch for this joint is closed axis V homing OUT BIT TRUE if the joint is currently homing axis N index enable IO BIT Should be attached to the index enable pin of the joint s encoder to enable homing to index pulse axis N is unlocked IN BIT If the axis is a locked rotary the unlocked sensor should be connected to this pin axis N jog counts IN S32 Connect to the counts pin of an external encoder to use a physical jog wheel axis NV jog enable IN BIT When TRUE and in manual mode any change to jog counts will result in motion When false jog counts is ignored LinuxCNC Documentation 2007 08 25 191 MOTION 9 HAL Component MOTION 192 axis N jog scale IN FLOAT Sets the distance moved for each count on jog counts in machine units axis V jog vel mode IN BIT When FALSE the default the jogwheel operates in position mode The axis will move exactly jog scale units for each count regardless of how long that might take When TRUE the wheel operates in velocity mode motion stops when the wheel stops even if that means the commanded motion is not completed axis N joint pos cmd OUT FLOAT The joint as opposed to motor commanded position There may be several offsets between the joint and motor coordinates backlash compensation screw error compensation and home offsets axis N joint pos fb OUT FLOAT The joint feedback position This value is computed from the actu
45. in rps a value of 0 01666667 will give approximate RPM 2008 05 13 LinuxCNC Documentation HOSTMOT2 9 HAL Component HOSTMOT2 9 float read write excitation khz This pin sets the excitation frequency for the resolver This pin is module level rather than instance level as all resolvers share the same excitation frequency Valid values are 10 10kHz 5 5kHz and 2 5 2 5kHz The actual frequency depends on the FPGA frequency and they correspond to CLOCK_LOW 5000 CLOCK _LOW 10000 and CLOCK_LOW 20000 respectively The parameter will be set to the closest available of the three frequencies A value of 1 the default indicates that the current setting should be retained pwmgen pwmgens have names like hm2_ lt BoardType gt lt BoardNum gt pwmgen lt Instance gt Instance is a two digit number that corresponds to the HostMot2 pwmgen instance number There are num_pwmgens instances starting with 00 So for example the HAL pin that enables output from the fourth pwmgen of the first 7143 board is hm2_7i43 0 pwmgen 03 enable this assumes that the firmware in that board is configured so that this HAL object is available In HM2 each pwmgen uses three output IO pins Not Enable OutO and Out1 The function of the OutO and Out IO pins varies with output type parameter see below The hm2 pwm gen representation is similar to the software pwmgen component Each pwmgen instance has the following pins and parameters Pins
46. is initialized This is used in Axis when running gladevcp under a tab with the EMBED_TAB_NAME EMBED_TAB_ COMMAND ini file feature gladevcp supports gtkbuilder or libglade files though some widgets are not fully supported in gtkbuilder yet ISSUES For now system links need to be added in the glade library folders to point to our new widgets and catalog files look in lib python gladevcp READ_ME for details LinuxCNC Documentation 2010 08 24 147 GRAY 2BIN 9 HAL Component NAME gray2bin convert a gray code input to binary SYNOPSIS loadrt gray2bin count Ninames name name2 DESCRIPTION Converts a gray coded number into the corresponding binary value FUNCTIONS gray2bin N PINS gray2bin N in u32 in gray code in gray2bin N out u32 out binary code out AUTHOR andy pugh LICENSE GPL 148 2015 10 24 GRAY2BIN 9 LinuxCNC Documentation HM2_7143 9 HAL Component HM2_7143 9 NAME hm2_7i43 LinuxCNC HAL driver for the Mesa Electronics 7143 EPP Anything IO board with HostMot2 firmware SYNOPSIS loadrt hm2_7i43 ioaddr A N ioaddr_hi N N epp_wide A N config str str debug_epp N ioaddr default 0x378 The base address of the parallel port ioaddr_hi default 0 The secondary address of the parallel port used to set EPP mode 0 means to use ioaddr 0x400 epp_wide default 1 Set to zero to disable the wide EPP mode Wide mode allows a 16 and 32 bit EPP
47. known at this time AUTHOR Written by Alex Joni as part of the LinuxCNC project Updated by John Thornton REPORTING BUGS Report bugs to alex_joni AT users DOT sourceforge DOT net COPYRIGHT Copyright 2006 Alex Joni This is free software see the source for copying conditions There is NO warranty not even for MER CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE 30 2006 07 22 LinuxCNC Documentation IOCONTROL 1 HAL Component IOCONTROL 1 NAME iocontrol accepts NML I O commands interacts with HAL in userspace SYNOPSIS loadusr io ini inifile DESCRIPTION PINS These pins are created by the userspace IO controller usually found in LINUXCNC_HOME bin io The signals are turned on and off in userspace 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 inifile is searched for in the directory from which halcmd was run unless an absolute path is specified 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 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 reque
48. letters may be specified in uppercase or lowercase A note about joints and axes LinuxCNC makes a distinction between joints and axes a joint is something controlled by a motor and an axis is a coordinate you can move via G code You can also jog joints or jog axes A gantry has two joints controlling one axis and this requires a bit of special care Homing always happens in joint mode aka Free mode The two joints of a gantry s axis must be homed together so they must have the same AXIS_nJHOME_SEQUENCE in the ini file Jogging of a gantry must happen in world mode aka Teleop mode If you jog a gantry in joint mode Free mode you will move just one of the joints and the gantry will rack In contrast if you jog a gantry in world mode Teleop mode it s the axis that jogs linuxcnc will coordinate the motion of the two joints that make up the axis both joints will move together and the gantry will stay square The Axis GUI has provisions for jogging in joint mode Free and in world mode Teleop Use the hotkey or the View menu to switch between them Joint mode aka Free mode supports continuous and incremental jogging World mode aka Teleop mode only supports continuous jogging KINEMATICS In the inverse kinematics each joint gets the value of its corresponding axis In the forward kinematics each axis gets the value of the highest numbered corresponding joint For example with coordi nates XYYZ the Y axis po
49. low side drivers low This is not the same as 0 output 50 duty cycle on both sets of pins or negative full scale where the low side drivers are on 100 of the time bit output fault Indicates the status of the fault bit This output latches high once set by the physical fault pin until the enable pin is set to high Parameters 158 2008 05 13 LinuxCNC Documentation HOSTMOT2 9 HAL Component HOSTMOT2 9 u32 rw deadtime Sets the dead time between the high side driver turning off and the low side driver turning on and vice versa Deadtime is subtracted from on time and added to off time symmetrically For example with 20 kHz PWM 50 uSec period 50 duty cycle and zero dead time the PWM and NPWM outputs would be square waves NPWM being inverted from PWM with high times of 25 uS With the same settings but 1 uS of deadtime the PWM and NPWM outputs would both have high times of 23 uS 25 2X 1 uS 1 uS per edge The value is specified in nS and defaults to a rather conservative 5000nS Setting this parameter to too low a value could be both expensive and dangerous as if both gates are open at the same time there is effectively a short circuit accross the supply float rw scale Sets the half scale of the specified 3 phase PWM generator PWM values from scale to scale are valid Default is 1 0 bit rw fault invert Sets the polarity of the fault input pin A value of 1 means that a fault is triggered with the pin
50. on is false and off is true If is on is false the on true and off is false FUNCTIONS toggle2nist N requires a floating point thread PINS toggle2nist N in bit in toggle2nist N is on bit in toggle2nist N on bit out toggle2nist N off bit out LICENSE GPL 256 2015 10 24 LinuxCNC Documentation TRISTATE_BIT 9 HAL Component TRISTATE_BIT 9 NAME tristate_bit Place a signal on an I O pin only when enabled similar to a tristate buffer in electronics SYNOPSIS loadrt tristate_bit count NiInames name1 name2 FUNCTIONS tristate bit N If enable is TRUE copy in to out PINS tristate bit N in bit in Input value tristate bit N out bit io Output value tristate bit N enable bit in When TRUE copy in to out LICENSE GPL LinuxCNC Documentation 2015 10 24 257 TRISTATE_FLOAT 9 HAL Component TRISTATE_FLOAT 9 NAME tristate_float Place a signal on an I O pin only when enabled similar to a tristate buffer in electronics SYNOPSIS loadrt tristate_float count NiInames name1 name2 FUNCTIONS tristate float N requires a floating point thread If enable is TRUE copy in to out PINS tristate float N in float in Input value tristate float N out float io Output value tristate float N enable bit in When TRUE copy in to out LICENSE GPL 258 2015 10 24 LinuxCNC Documentation UPDOWN 9 HAL Component UPDOWN 9 NAME updown Counts up or down with optional limits and wraparound behav
51. output True when in1 gt inO see parameter hyst for details comp N equal bit out Match output True when difference between in1 and in0 is less than hyst 2 PARAMETERS comp hyst float rw default 0 0 Hysteresis of the comparator default 0 0 With zero hysteresis the output is true when inl gt in0 With nonzero hysteresis the output switches on and off at two different values separated by distance hyst around the point where inl in0 Keep in mind that floating point calculations are never absolute and it is wise to always set hyst if you intend to use equal LICENSE GPL 116 2015 10 24 LinuxCNC Documentation CONSTANT 9 HAL Component NAME constant Use a parameter to set the value of a pin SYNOPSIS loadrt constant count NInames name1 name2 FUNCTIONS constant N requires a floating point thread PINS constant N out float out PARAMETERS constant N value float rw LICENSE GPL LinuxCNC Documentation 2015 10 24 CONSTANT 9 117 CONV_BIT_S32 9 HAL Component NAME conv_bit_s32 Convert a value from bit to s32 SYNOPSIS loadrt conv_bit_s32 count NInames name 1 name2 FUNCTIONS conv bit s32 N Update out based on in PINS conv bit s32 N in bit in conv bit s32 N out s32 out LICENSE GPL 118 2015 10 24 CONV_BIT_S32 9 LinuxCNC Documentation CONV_BIT_U32 9 HAL Component NAME conv_bit_u32 Convert a value from bit to u32 SYNOPSIS loadrt conv_b
52. runs from that line A start line of 1 runs in verify mode pause With set pause program execution resume With set resume program execution abort With set abort program or MDI execution step With set step the program one line May 31 2011 37 linuxcncrsh 1 The Enhanced Machine Controller linuxcnersh 1 38 program With get returns the name of the currently opened program or none program_line With get returns the currently executing line of the program program_status With get returns idle running or paused program_codes With get returns the string for the currently active program codes joint_type lt joint gt With get returns linear angular or custom for the type of the specified joint or for all joints if none is specified joint_units lt joint gt With get returns inch mm cm or deg rad grad or custom for the corresponding native units of the specified joint or for all joints if none is specified The type of the axis linear or angular is used to resolve which type of units are returned The units are obtained heuristically based on the EMC_AXIS_STAT units numerical value of user units per mm or deg For linear joints something close to 0 03937 is deemed inch 1 000 is mm 0 1 is cm otherwise it s custom For angular joints something close to 1 000 is deemed deg PI 180 is rad 100 90 is grad otherwise it s custom program
53. s travel Set tune cycles the default value should be fine in most cases and tune mode Set tune effort to a small value Set enable to true Set tune mode to true Set tune start to true If no oscillation occurs or the oscillation is too small slowly increase tune effort Auto tuning can be aborted at any time by setting enable or tune mode to false NAMING The names for pins parameters and functions are prefixed as pid N for N 0 1 num 1 when using num_chan num nameN for nameN name1 name2 when using names namel name2 The pid N format is shown in the following descriptions FUNCTIONS PINS pid N do pid calcs uses floating point Does the PID calculations for control loop N pid V command float in The desired commanded value for the control loop pid N feedback float in The actual feedback value from some sensor such as an encoder LinuxCNC Documentation 2007 05 12 91 AT_PID 9 HAL Component AT_PID 9 pid N error float out The difference between command and feedback pid N output float out The output of the PID loop which goes to some actuator such as a motor pid N enable bit in When true enables the PID calculations When false output is zero and all internal integrators etc are reset pid N tune mode bit in When true enables auto tune mode When false normal PID calculations are performed pid N tune start bit io When set to true starts auto tuning Cleared when the auto tuning
54. the tool table specified by lt file gt home 01112I With set homes the indicated axis jog_stop 011121 With set stop any in progress jog on the specified axis jog 011121 lt speed gt With set jog the specified axis at lt speed gt sign of speed is direction jog_incr 01112I lt speed gt lt incr gt With set jog the indicated axis by increment lt incr gt at the lt speed gt sign of speed is direction feed_override lt percent gt With get any parameter is ignored and the current feed override is returns as a percentage of May 31 2011 linuxcncrsh 1 The Enhanced Machine Controller linuxcnersh 1 commanded feed With set sets the feed override as specified spindle_override lt percent gt With get any parameter is ignored and the current spindle override is returnd as a percentage of commanded speed With set sets the spindle override as specified abs_cmd_pos 0I1I With get returns the specified axis commanded position in absolute coordinates If no axis is specified returns all axes commanded absolute position abs_act_pos OI1I With get returns the specified axis actual position in absolute coordinates If no axis is specified returns all axes actual absolute position rel_cmd_pos OI1I With get returns the specified axis commanded position in relative coordinates including tool length offset If no axis is specified returns all axes comm
55. units per second squared not steps per second squared for consistency with stepgen freqgen should use position scale for scaling both command and feedback velocity scale is redundant and should be eliminated Step type 1 up down should respect the steplen and stepspace limits Timing parameters steplen stepspace dirsetup and dirhold should be in nano seconds not make pulses periods That would allow the period to be changed without requiring the parameters to be recalculated All of these bugs have been fixed in stepgen Only stepgen will continue to be maintained since freqgen contains large amounts of code that duplicates code in stepgen Since stepgen can provide the same func tionality there is no reason to maintain the duplicate code freqgen may be eliminated at any time and almost certainly will be eliminated for the version 2 2 release of EMC SEE ALSO stepgen 9 LinuxCNC Documentation 2007 01 16 143 GANTRYKINS HAL Component GANTRYKINS 9 NAME gantrykins A kinematics module that maps one axis to multiple joints SYNOPSIS loadrt gantrykins coordinates axisletters Specifying gantry joint mapping via loadrt The coordinates parameter specifies the initial gantry joint mapping Each axis letter is mapped to a joint starting from 0 So coordinates XYYZ maps the X axis to joint 0 the Y axis to joint 1 and 2 and the Z axis to joint 3 If not specified the default mapping is coordinates XYZABC Coordinate
56. 0 24 LinuxCNC Documentation MULTISWITCH 9 HAL Component MULTISWITCH 9 NAME multiswitch This component toggles between a specified number of output bits SYNOPSIS loadrt multiswitch personality P cfg N cfg cfg should be a comma separated list of sizes for example cfg 2 4 6 would create 3 instances of 2 4 and 6 bits respectively Ignore the personality parameter that is auto generated FUNCTIONS multiswitch N requires a floating point thread PINS multiswitch N up bit in default false Receives signal to toggle up multiswitch N down bit in default false Receives signal to toggle down multiswitch N bit MM bit out MM 00 personality default false Output bits PARAMETERS multiswitch N top position u32 rw Number of positions multiswitch N position s32 rw Current state may be set in the HAL AUTHOR ArcEye schooner30 tiscali co uk Andy Pugh andy bodgesoc org LICENSE GPL LinuxCNC Documentation 2015 10 24 201 MUX16 9 HAL Component MUX16 9 NAME mux16 Select from one of sixteen input values SYNOPSIS loadrt mux16 count Mnames name1 name2 FUNCTIONS mux16 N requires a floating point thread PINS mux16 N use graycode bit in This signifies the input will use Gray code instead of binary Gray code is a good choice when using physical switches because for each increment only one select input changes at a time mux16 N suppress no input bit in This suppresses changing the
57. 00 110 5 011 010 000 100 101 111 6 010 000 001 101 111 110 7 011 001 000 100 110 111 8 000 001 101 111 110 010 9 001 000 100 110 111 O11 10 000 010 110 111 101 001 11 001 O11 111 110 100 000 12 010 Oll 111 101 100 000 13 011 010 110 100 101 001 14 010 000 100 101 111 O11 15 011 001 101 100 110 010 16 000 100 101 111 O11 010 17 001 101 100 110 O10 011 18 000 100 110 111 O11 001 19 001 101 111 110 010 000 20 010 110 111 101 001 000 21 011 111 110 100 000 001 22 010 110 100 101 001 011 23 011 111 101 100 000 010 24 100 101 111 011 010 000 25 101 100 110 010 0ll 001 26 100 110 111 011 001 000 27 101 111 110 010 000 001 28 110 111 101 001 000 010 29 111 110 100 000 001 011 30 110 100 101 001 011 010 31 111 101 100 000 010 011 32 100 101 001 011 010 110 33 101 100 000 010 O11 111 34 100 110 010 O11 001 101 35 101 111 011 010 000 100 36 110 111 011 001 000 100 37 111 110 010 OOO 001 101 38 110 100 000 001 O11 111 39 111 101 001 000 010 110 40 100 000 001 011 111 110 41 101 001 000 010 110 111 42 100 000 010 Oll 111 101 43 101 001 011 010 110 100 44 110 010 Oll 001 101 100 45 111 O11 010 000 100 101 46 110 O10 OOO 001 101 111 47 111 O11 001 000 100 110 LinuxCNC Documentation 2015 10 24 BLDC_HALL3 9 107 BLDC_HALL3 9 HAL Component BLDC_HALL3 9 SEE ALSO bldc_hall6 6 wire unipolar driver for BLDC motors AUTHOR Andy Pugh LICENSE GPL 108 2015 10 24 LinuxCNC Documentation BLEND 9 HAL Component BLE
58. 000 001 O11 30 110 100 101 001 O11 010 31 111 101 100 000 010 O11 32 100 101 001 Oll 010 110 33 101 100 000 010 Oll 111 34 100 110 010 Oll 001 101 35 101 111 011 010 000 100 36 110 111 011 001 000 100 37 111 110 O10 000 001 101 38 110 100 000 001 O11 111 39 111 101 001 000 O10 110 40 100 000 001 Oll 111 110 41 101 001 000 010 110 111 42 100 000 010 Oll 111 101 43 101 001 011 010 110 100 44 110 O10 011 001 101 100 45 111 O11 010 000 100 101 46 110 O10 000 001 101 111 47 111 011 001 000 100 110 2015 10 24 BLDC 9 LinuxCNC Documentation BLDC 9 HAL Component BLDC 9 AUTHOR Andy Pugh LICENSE GPL LinuxCNC Documentation 2015 10 24 105 BLDC_HALL3 9 HAL Component BLDC_HALL3 9 NAME bldc_hall3 3 wire BLDC motor driver using Hall sensors and trapezoidal commutation SYNOPSIS The functionality of this component is now included in the generic bldc component This component is likely to be removed in a future release DESCRIPTION This component produces a 3 wire bipolar output This suits upstream drivers that interpret a negative input as a low side drive and positive as a high side drive This includes the Hostmot2 3pwmgen function which is likely to be the most common application of this component FUNCTIONS bldc hall3 N requires a floating point thread Interpret Hall sensor patterns and set 3 phase amplitudes PINS bidc hall3 N hall1 bit in Hall sensor signal 1 bidc hall3 N hall2 bit in Hall se
59. 02 that lasted 10 seconds would result in an integrated error errorI of 0 2 and if Igain is 20 the integral term would add 4 0 to the output pid V Dgain float rw Derivative gain Results in a contribution to the output that is the rate of change derivative of the error multiplied by Dgain For example an error that changed from 0 02 to 0 03 over 0 2 seconds would result in an error derivative errorD of of 0 05 and if Dgain is 5 the derivative term would add 0 25 to the output pid N bias float rw bias is a constant amount that is added to the output In most cases it should be left at zero How ever it can sometimes be useful to compensate for offsets in servo amplifiers or to balance the weight of an object that moves vertically bias is turned off when the PID loop is disabled just like all other components of the output If a non zero output is needed even when the PID loop is dis abled it should be added with an external HAL sum2 block pid V FF0 float rw Zero order feed forward term Produces a contribution to the output that is FFO multiplied by the commanded value For position loops it should usually be left at zero For velocity loops FFO can compensate for friction or motor counter EMF and may permit better tuning if used properly pid N FF1 float rw First order feed forward term Produces a contribution to the output that FF1 multiplied by the derivative of the commanded value For position loops the contribution is pr
60. 400 Hall 3 output bldc N C1 out bit out if personality amp 0x800 Fanuc Gray code bit 0 output bldc N C2 out bit out if personality amp 0x800 Fanuc Gray code bit 1 output bldc N C4 out bit out if personality amp 0x800 Fanuc Gray code bit 2 output bldc N C8 out bit out if personality amp 0x800 Fanuc Gray code bit 3 output bidc N phase angle float out default 0 Phase angle including lead lag angle after encoder zeroing etc Useful for angle current drives This value has a range of 0 to 1 and measures electrical revolutions It will have two zeros for a 4 pole motor three for a 6 pole etc bldc N rotor angle float out default 0 Rotor angle after encoder zeroing etc Useful for angle current drives which add their own phase offset such as the 8120 This value has a range of 0 to 1 and measures electrical revolutions It will have two zeros for a 4 pole motor three for a 6 pole etc 2015 10 24 LinuxCNC Documentation BLDC 9 HAL Component BLDC 9 bldc N out float out Current output including the effect of the dir pin and the alignment sequence bldc N out dir bit out Direction output high if fBvalue fR is negative XOR fBrev fR is true bidc N out abs float out Absolute value of the input value PARAMETERS blidc N in type s32 r default state machine output will probably hide after debug bldc N out type s32 r default state machine output will probably hide after debug bld
61. 7 01 16 239 STEPGEN 9 HAL Component STEPGEN 9 PARAMETERS stepgen N frequency float ro The current step rate in steps per second for channel N stepgen V maxaccel float rw The acceleration deceleration limit in length units per second squared stepgen N maxvel float rw The maximum allowable velocity in length units per second If the requested maximum velocity cannot be reached with the current combination of scaling and make pulses thread period it will be reset to the highest attainable value stepgen N position scale float rw The scaling for position feedback position command and velocity command in steps per length unit stepgen N rawcounts s32 ro The position in counts as updated by make pulses Note this is updated more frequently than the counts pin stepgen N steplen u32 rw The length of the step pulses in nanoseconds Measured from rising edge to falling edge stepgen N stepspace u32 rw step types 0 and 1 only The minimum space between step pulses in nanoseconds Measured from falling edge to rising edge The actual time depends on the step rate and can be much longer If stepspace is 0 then step can be asserted every period This can be used in conjunction with hal_parport s auto resetting pins to output one step pulse per period In this mode steplen must be set for one period or less stepgen N dirsetup u32 rw step type 0 only The minimum setup time from direction to step in nanoseconds periods
62. AL and storing it to the FIFO halsampler is a user space program that copies data from the FIFO to stdout where it can be redirected to a file or piped to some other program OPTIONS depth depth1 depth2 sets the depth of the realtime gt user FIFO that sampler creates to buffer the realtime data Multi ple values of depth separated by commas can be specified if you need more than one FIFO for example if you want to sample data from two different realtime threads efg string1 string2 defines the set of HAL pins that sampler exports and later samples data from One string must be supplied for each FIFO separated by commas sampler exports one pin for each character in string Legal characters are F f float pin B b bit pin S s s32 pin U u u32 pin FUNCTIONS sampler N One function is created per FIFO numbered from zero PINS sampler N pin M input Pin for the data that will wind up in column M of FIFO N and in column M of the output file The pin type depends on the config string sampler N curr depth s32 output Current number of samples in the FIFO When this reaches depth new data will begin overwriting old data and some samples will be lost sampler N full bit output TRUE when the FIFO N is full FALSE when there is room for another sample sampler N enable bit input When TRUE samples are captured and placed in FIFO N when FALSE no samples are acquired Defaults to TRUE PARAMETERS sampl
63. AL command in halemd something like this loadrt hm2_pci config firmware hm2 5i20 SVST8_4 BIT num_encoders 3 num_pwmgens 3 num_stepgens 3 firmv Note this assumes that the hm2_pci driver detects the 5120 first and the 5123 second If the detection order does not match the order of the config strings the hostmot2 driver will refuse to load the firmware and the board driver hm2_pci or hm2_7i43 will fail to load To the best of my knowledge there is no way to pre dict the order in which PCI boards will be detected by the driver but the detection order will be consistent as long as PCI boards are not moved around Best to try loading it and see what the detection order is The format of each board s config string is firmware F num_encoders N num_resolvers N num_pwmgens N num_3pwmgens N num_stepgens N sserial_port_0 00000000 num_leds N enable_raw firmware optional Load the firmware specified by F into the FPGA on this board If no firmware F string is specified the FPGA will not be programmed and had better have a valid config uration already The 5i25 comes pre programmed with firmware and no firmware used It can be loaded if desired with no config string at all 1 string should be The requested firmware F is fetched by udev udev searches for the firmware in the sys tem s firmware search path usually lib firmware F typically has the form hm2 lt BoardType gt file bit a typical value for F mig
64. D Four steps per full cycle Types 5 and 6 are suitable for use with unipolar steppers where power is applied to the center tap of each winding and four open collec tor transistors drive the ends Types 7 and 8 are suitable for bipolar steppers driven by two H bridges types 9 and 10 four phase half step Four pins phases A through D Eight steps per full cycle Type 9 is suitable for unipolar drive and type 10 for bipolar drive types 11 and 12 five phase full step Five pins phases A through E Five steps per full cycle See HAL reference manual for the pat terns LinuxCNC Documentation 2007 01 16 141 FREQGEN 9 HAL Component FREQGEN 9 types 13 and 14 five phase half step Five pins phases A through E Ten steps per full cycle See HAL reference manual for the pat terns FUNCTIONS freqgen make pulses no floating point Generates the step pulses using information computed by update freq Must be called as fre quently as possible to maximize the attainable step rate and minimize jitter Operates on all chan nels at once freqgen capture position uses floating point Captures position feedback value from the high speed code and makes it available on a pin for use elsewhere in the system Operates on all channels at once freqgen update freq uses floating point Accepts a velocity command and converts it into a form usable by make pulses for step genera tion Operates on all channels at once PINS freqgen N co
65. EDs At a fixed rate of approximately 10ms it synchronizes the device and the HAL pins INPUT SPECIFICATION The inputspec may be in one of several forms A string S A substring or shell style pattern match will be tested against the name of the device the phys which gives information about how it is connected and the id which is a string of the form Bus Vendor Product Version You can view the name phys and id of attached devices by executing less proc bus input devices Examples SpaceBall Vendor 001f Product 0001 serio inputO A number N This opens dev input eventN Except for devices that are always attached to the system this number may change over reboots or when the device is removed For this reason using an integer is not recommended When several devices are identified by the same string add N where N is the index of the desired device For example if Mouse matches input3 and input10 then Mouse and Mouse 0 select input3 Specifying mouse 1 selects input10 For devices that appear as multiple entries in dev input these indices are likely to stay the same every time For multiple identical devices these indices are likely to depend on the insertion order but stay the same across reboots as long as the devices are not moved to different ports or unplugged while the machine is booted If the first character of the inputspec is a then hal_input requests exclusive access to the devi
66. Epler based on works by Stephen Wille Padnos and John Kasunich LICENSE GPL LinuxCNC Documentation 2015 10 24 253 TIMEDELTA 9 TIMEDELTA 9 HAL Component NAME timedelta LinuxCNC HAL component that measures thread scheduling timing behavior SYNOPSIS loadrt timedelta count N Inames name name2 FUNCTIONS timedelta N PINS timedelta N out s32 out timedelta N err s32 out default 0 timedelta N min s32 out default 0 timedelta N max s32 out default 0 timedelta N jitter s32 out default 0 timedelta N avg err float out default 0 timedelta N reset bit in LICENSE GPL 254 2015 10 24 LinuxCNC Documentation TOGGLE Q HAL Component NAME toggle push on push off from momentary pushbuttons SYNOPSIS loadrt toggle count Ninames name 1 name2 FUNCTIONS toggle N PINS toggle N in bit in button input toggle N out bit io on off output PARAMETERS toggle V debounce u32 rw default 2 debounce delay in periods LICENSE GPL LinuxCNC Documentation 2015 10 24 TOGGLE 9 255 TOGGLE2NIST 9 HAL Component TOGGLE2NIST 9 NAME toggle2nist toggle button to nist logic SYNOPSIS loadrt toggle2nist count Ninames name 1 name2 DESCRIPTION toggle2nist can be used with a momentary push button connected to a toggle component to control a device that has seperate on and off inputs and has an is on output If in changes states via the toggle output If is on is true then
67. GPL 190 2015 10 24 MINMAX 9 LinuxCNC Documentation MOTION 9 HAL Component MOTION NAME motion accepts NML motion commands interacts with HAL in realtime SYNOPSIS loadrt motmod base_period_nsec period base_thread_fp 0 or 1 servo_period_nsec period traj_period_nsec period num_joints 0 9 num_dio 64 num_aio 6 DESCRIPTION PINS By default the base thread does not support floating point Software stepping software encoder counting and software pwm do not use floating point base_thread_fp can be used to enable floating point in the base thread for example for brushless DC motor control These pins and parameters are created by the realtime motmod module This module provides a HAL inter face for LinuxCNC s motion planner Basically motmod takes in a list of waypoints and generates a nice blended and constraint limited stream of joint positions to be fed to the motor drives Optionally the number of Digital I O is set with num_dio The number of Analog I O is set with num_aio The default is 4 each Pin names starting with axis are actually joint values but the pins and parameters are still called axis N They are read and updated by the motion controller function axis V amp enable out OUT BIT TRUE if the amplifier for this joint should be enabled axis V amp fault in IN BIT Should be driven TRUE if an external fault is detected with the amplifier for this joint axis V home sw
68. High frequency of the Anything IO board the 5i20 and 7143 both have a 100 MHz clock resulting in a 193 kHz max PWM frequency Other boards may have different clocks resulting in different max PWM fre quencies If the user attempts to set the frequency too high it will be clipped to the max supported frequency of the board Frequencies below about 5 Hz are not terribly accurate but above 5 Hz they re pretty close The default pwm_frequency is 20 000 Hz 20 kHz u32 rw pdm_frequency This specifies the PDM frequency in Hz of all the pwmgen instances running in PDM mode mode 3 This is the pulse slot frequency the frequency at which the pdm generator in the AnylO board chooses whether to emit a pulse or a space Each pulse and space in the PDM pulse train has a duration of 1 pdm_frequency seconds For example setting the pdm_frequency to 2e6 2 MHz and the duty cycle to 50 results in a 1 MHz square wave identical to a 1 MHz PWM signal with 50 duty cycle The effective range of this parameter is from about 1525 Hz up to just under 100 MHz Note that the max frequency is determined by the ClockHigh frequency of the Anything IO board the 5120 and 7143 both have a 100 MHz clock resulting in a 100 Mhz max PDM frequency Other boards may have different clocks resulting in different max PDM frequen cies If the user attempts to set the frequency too high it will be clipped to the max supported fre quency of the board The default pdm_fr
69. INS LinuxCNC Documentation LCD 9 HAL Component LCD 9 NAME Icd Stream HAL data to an LCD screen SYNOPSIS loadrt lcd fmt_strings Plain Text 4 4f nAnd So onlSecond Page Next Inst FUNCTIONS Icd requires a floating point thread All LCD instances are updated by the same function PINS Icd NN out u32 out The output byte stream is sent via this pin One character is sent every thread invocation There in no handshaking provided Icd NN page PP arg NN float s32 u32 bit in The input pins have types matched to the format string specifiers Icd NN page_num u32 in Selects the page number Multiple layouts may be defined and this pin switches between them Icd NN contrast float in Attempts to set the contrast of the LCD screen using the byte sequence ESC C and then a value from 0x20 to OxBF matching the Mesa 7173 The value should be between 0 and 1 PARAMETERS Icd NN decimal separator u32 rw Sets the decimal separator used for floating point numbers The default value is 46 0x2E which corresponds to If a comma is required then set this parameter to 44 0x2C DESCRIPTION Icd takes format strings much like those used in C and many other languages in the printf and scanf func tions and their variants The component was written specifically to support the Mesa 7173 pendant controller however it may be of use streaming data to other character devices and as the output format mimics the ADM3 terminal fo
70. If the increment were to be set to zero then no error would ever be raised and the system would carry on regardless Conversely setting decrement to zero threshold to 1 and limit to 1 means that absolutely no errors will be tolerated This structure is copied directly from vehicle ECU practice The other pins and parameters created in HAL depend on the devices detected 8i20 The 8120 is a 2 2kW three phase drive for brushless DC motors and AC servo motors 8120 pins and parameters have names like hm2_ lt BoardType gt lt BoardNum gt 8i20 lt PortNum gt lt Chan Num gt lt Pin gt for example hm2_5i23 0 8i120 1 3 current would set the phase current for the drive connected to the fourth channel of the second sserial port of the first 5123 board Note that the sserial ports do not necessarily correlate in layout or number to the physical ports on the card Pins bit in amp enable Set this pin high to enable the drive With the pin low communications are active but the phase angle and current are set to zero float in angle The rotor angle of the motor in fractions of a full phase revolution An angle of 0 5 indicates that the motor is half a turn 180 degrees zradians from the zero position The zero position is taken to be the position that the motor adopts under no load with a poitive voltage applied to the A or U phase and both B and C or V and W connected to V or OV A 6 pole motor will have 3 zero positions per physica
71. LCMD 1 start stop HAL User s Manual HALCMD 1 Starts execution of realtime threads Each thread periodically calls all of the functions that were added to it with the addf command in the order in which they were added Stops execution of realtime threads The threads will no longer call their functions show item item Prints HAL items to stdout in human readable format item can be one of comp components pin sig signals param parameters funct functions or thread The type all can be used to show matching items of all the preceeding types If item is omitted show will print everything This is equivalent to show all item save item Prints HAL items to stdout in the form of HAL commands These commands can be redirected to a file and later executed using halemd f to restore the saved configuration item can be one of the following comp generates a loadrt command for realtime component sig generates a newsig command for each signal and sigu generates a newsig command for each unlinked signal for use with netl and netla link and linka both generate linkps commands for each link linka includes arrows while link does not net and neta both generate one newsig command for each signal followed by linksp commands for each pin linked to that signal neta includes arrows netl generates one net command for each linked signal and netla generates a similar command using ar
72. L_OUT pin is permitted A component may assign a value to a pin that is HAL_OUT or HAL_IO but may not assign a value to a pin that is HAL_IN LinuxCNC Documentation 2006 10 12 55 hal_pin_new 3hal HAL hal_pin_new 3hal data_ptr_addr The address of the pointer to data which must lie within memory allocated by hal_malloc comp_id A HAL component identifier returned by an earlier call to hal_init fmt A printf style format string and arguments type The type of the param as specified in hal_type_t 3hal DESCRIPTION The hal_pin_new family of functions create a new pin object Once a pin has been created it can be linked to a signal object using hal_link A pin contains a pointer and the component that owns the pin can deref erence the pointer to access whatever signal is linked to the pin If no signal is linked it points to a dummy signal There are functions for each of the data types that the HAL supports Pins may only be linked to signals of the same type RETURN VALUE Returns a HAL status code SEE ALSO 56 hal_type_t 3hal hal_link 3hal 2006 10 12 LinuxCNC Documentation funct 3hal HAL funct 3hal NAME hal_ready indicates that this component is ready SYNTAX hal_ready int comp_id ARGUMENTS comp_id A HAL component identifier returned by an earlier call to hal_init DESCRIPTION hal_ready indicates that this component is ready has created all its pins parameters and functions T
73. LinuxCNC 1 The Enhanced Machine Controller LinuxCNC 1 NAME linuxcne LinuxCNC The Enhanced Machine Controller SYNOPSIS linuxence v d INIFILE DESCRIPTION linuxenc is used to start LinuxCNC The Enhanced Machine Controller It starts the realtime system and then initializes a number of LinuxCNC components IO Motion GUI HAL etc The most important parameter is INIFILE which specifies the configuration name you would like to run If INIFILE is not specified the linuxence script presents a graphical wizard to let you choose one OPTIONS v Be a little bit verbose This causes the script to print information as it works d Print lots of debug information All executed commands are echoed to the screen This mode is useful when something is not working as it should INIFILE The ini file is the main piece of an LinuxCNC configuration It is not the entire configuration there are various other files that go with it NML files HAL files TBL files VAR files It is how ever the most important one because it is the file that holds the configuration together It can adjust a lot of parameters itself but it also tells linuxene which other files to load and use There are several ways to specify which config to use Specify the absolute path to an ini e g linuxene usr local linuxcnc configs sim sim ini Specify a relative path from the current directory e g linuxene configs sim sim ini Otherwise in the case where th
74. ME or2 Two input OR gate SYNOPSIS loadrt or2 count N names name 1 namez2 FUNCTIONS or2 N PINS or2 N inO bit in or2 N in1 bit in or2 N out bit out OR2 9 out is computed from the value of in0 and in1 according to the following rule in0 FALSE in1 FALSE out FALSE Otherwise out TRUE LICENSE GPL 212 2015 10 24 LinuxCNC Documentation PCL720 9 HAL Component PCL720 9 NAME pcl720 Driver for the Advantech PCL 720 card SYNOPSIS loadrt pcl720 ioaddr N ioaddr Base address of card Separate each card base address with a comma but no space to load more than one card eg loadrt pcl720 ioaddr 0x200 0x200 use OXNNN to define addresses in Hex DESCRIPTION This driver supports the Advantech PCL720 ISA card It might work with the PCI version too but this is untested It creates hal pins corresonding to the digital inputs and outputs but does not support the the coun ters timers FUNCTIONS pcl720 N read Reads each of the digital inputs and updates the HAL pins pcl720 N write Writes the values of the output HAL pins to the digital IO pcl720 N reset Waits for the length of time specified by the reset time parameter and resets any pins for which the reset parameter has been set This can be used to allow step generators to make a step every thread rather than every other thread This function must be added to the thread after the write function Do not use this function if you do not wish to res
75. N is 1 then HAL pins for all the LEDs will be created If N 0 then no pins will be added enable_raw optional If specified this turns on a raw access mode whereby a user can peek and poke the firmware from HAL See Raw Mode below encoder 154 Encoders have names like hm2_ lt BoardType gt lt BoardNum gt encoder lt Instance gt Instance is a two digit number that corresponds to the HostMot2 encoder instance number There are num_encoders instances starting with 00 So for example the HAL pin that has the current position of the second encoder of the first 5120 board is hm2_5i20 0 encoder 01 position this assumes that the firmware in that board is configured so that this HAL object is available Each encoder uses three or four input IO pins depending on how the firmware was compiled Three pin encoders use A B and Index sometimes also known as Z Four pin encoders use A B Index and Index mask The hm2 encoder representation is similar to the one described by the Canonical Device Interface in the HAL General Reference document and to the software encoder component Each encoder instance has the following pins and parameters Pins s32 out count Number of encoder counts since the previous reset float out position Encoder position in position units count scale 2008 05 13 LinuxCNC Documentation HOSTMOT2 9 HAL Component HOSTMOT2 9 float out velocity Estimated encoder velocity in p
76. ND Q NAME blend Perform linear interpolation between two values SYNOPSIS loadrt blend count NInames name1 name2 FUNCTIONS blend N requires a floating point thread PINS blend N in1 float in First input If select is equal to 1 0 the output is equal to inl blend N in2 float in Second input If select is equal to 0 0 the output is equal to in2 blend N select float in Select input For values between 0 0 and 1 0 the output changes linearly from in2 to in1 blend N out float out Output value PARAMETERS blend N open bit rw If true select values outside the range 0 0 to 1 0 give values outside the range in2 to inl If false outputs are clamped to the the range in2 to inl LICENSE GPL LinuxCNC Documentation 2015 10 24 109 CHARGE_PUMP 9 HAL Component CHARGE_PUMP 9 NAME charge_pump Create a square wave for the charge pump input of some controller boards SYNOPSIS loadrt charge_pump DESCRIPTION The Charge Pump should be added to the base thread function When enabled the output is on for one period and off for one period To calculate the frequency of the output 1 period time in seconds x 2 hz For example if you have a base period of 100 000ns that is 0 0001 seconds and the formula would be 1 0 0001 x 2 5 000 hz or 5 Khz FUNCTIONS charge pump Toggle the output bit if enabled PINS charge pump out bit out Square wave if enable is TRUE or unconnected low if enable
77. PTION The Clarke transform can be used to translate a vector quantity from a three phase system three compo nents 120 degrees apart to a two phase Cartesian system plus a homopolar component if the three phases don t sum to zero CLARKE3 9 clarke3 implements the general case of the transform using all three phases If the three phases are known to sum to zero see clarke2 for a simpler version FUNCTIONS PINS clarke3 N requires a floating point thread clarke3 N a float in clarke3 N b float in clarke3 N c float in three phase input vector clarke3 N x float out clarke3 N y float out cartesian components of output clarke3 N h float out homopolar component of output SEE ALSO clarke2 for the a b c 0 case clarkeinv for the inverse transform LICENSE 112 GPL 2015 10 24 LinuxCNC Documentation CLARKEINV 9 HAL Component CLARKEINV 9 NAME clarkeinv Inverse Clarke transform SYNOPSIS loadrt clarkeinv count Ninames name1 name2 DESCRIPTION The inverse Clarke transform can be used rotate a vector quantity and then translate it from Cartesian coor dinate system to a three phase system three components 120 degrees apart FUNCTIONS clarkeinv N requires a floating point thread PINS clarkeinv N x float in clarkeinv N y float in cartesian components of input clarkeinv N h float in homopolar component of input usually zero clarkeinv N theta float in rotation angle
78. TRUE whenever any of the inputs are true so the correct value for function is Oxfffffffe Because every weight except 0x1 is true the function is the sum of every line except the first one A 2 input xor function is TRUE whenever exactly one of the inputs is true so the correct value for function is 0x6 Only in 0 and in 1 should be connected to signals because if any other bit is TRUE then the output will be FALSE LinuxCNC Documentation 2015 10 24 185 LUTS 9 HAL Component Weights for each line of truth table Bit4 Bit3 Bit2 Bit1 Bit0 Weight 0 0 0 0 0 0x1 0 0 0 0 1 0x2 0 0 0 1 0 0x4 0 0 0 1 1 0x8 0 0 1 0 0 0x10 0 0 1 0 1 0x20 0 0 1 1 0 0x40 0 0 1 1 1 0x80 0 1 0 0 0 0x 100 0 1 0 0 1 0x200 0 1 0 1 0 0x400 0 1 0 1 1 0x800 0 1 1 0 0 0x1000 0 1 1 0 1 0x2000 0 1 1 1 0 0x4000 0 1 1 1 1 0x8000 1 0 0 0 0 0x 10000 1 0 0 0 1 0x20000 1 0 0 1 0 0x40000 1 0 0 1 1 0x80000 1 0 1 0 0 0x 100000 1 0 1 0 1 0x200000 1 0 1 1 0 0x400000 1 0 1 1 1 0x800000 1 1 0 0 0 0x 1000000 1 1 0 0 1 0x2000000 1 1 0 1 0 0x4000000 1 1 0 1 1 0x8000000 1 1 1 0 0 0x 10000000 1 1 1 0 1 0x20000000 1 1 1 1 0 0x40000000 1 1 1 1 1 0x80000000 FUNCTIONS lut5 N PINS lut5 N in 0 bit in lut5 N in 1 bit in lut5 N in 2 bit in lut5 N in 3 bit in lut5 N in 4 bit in lut5 N out bit out PARAMETERS lut5 N function u32 rw LICENSE GPL 186 2015 10 24 LUTS 9 LinuxCNC Documentation MAJ3 9 HAL Component NAME maj3 Compute the majori
79. _units Synonym for program_linear_units program_linear_units With get returns inch mm cm or none for the corresponding linear units that are active in the program interpreter program_angular_units With get returns deg rad grad or none for the corresponding angular units that are active in the program interpreter user_linear_units With get returns inch mm cm or custom for the corresponding native user linear units of the LinuxCNC trajectory level This is obtained heuristically based on the EMC_TRAJ_STAT linearUnits numerical value of user units per mm Something close to 0 03937 is deemed inch 1 000 is mm 0 1 is cm otherwise it s custom user_angular_units Returns deg rad grad or custom for the corresponding native user angular units of the LinuxCNC trajectory level Like with linear units this is obtained heuristically display_linear_units With get returns inch mm cm or custom for the linear units that are active in the dis play This is effectively the value of linearUnitConversion display_angular_units With get returns deg rad grad or custom for the angular units that are active in the dis play This is effectively the value of angularUnitConversion linear_unit_conversion inchImmlcmlauto With get any parameter is ignored and the active unit conversion is returned With set sets the unit to be displayed If it s auto the units to b
80. ain eas ier to tune by eliminating velocity dependent following error pid N error float out The difference between command and feedback pid N output float out The output of the PID loop which goes to some actuator such as a motor pid N enable bit in When true enables the PID calculations When false output is zero and all internal integrators etc are reset 214 2007 01 16 LinuxCNC Documentation PID 9 HAL Component PID 9 pid N index enable bit in On the falling edge of index enable pid does not update the internal command derivative esti mate On systems which use the encoder index pulse this pin should be connected to the index enable signal When this is not done and FF1 is nonzero a step change in the input command causes a single cycle spike in the PID output On systems which use exactly one of the deriv inputs this affects the D term as well pid N saturated bit out When true the current PID output is saturated That is output maxoutput pid N saturated s float out pid N saturated count s32 out When true the output of PID was continually saturated for this many seconds saturated s or periods saturated count PARAMETERS pid N Pgain float rw Proportional gain Results in a contribution to the output that is the error multiplied by Pgain pid N Igain float rw Integral gain Results in a contribution to the output that is the integral of the error multiplied by Igain For example an error of 0
81. al motor position minus joint offsets Useful for machine visualization axis V motor pos cmd OUT FLOAT The commanded position for this joint axis V motor pos fb IN FLOAT The actual position for this joint axis N neg lim sw in IN BIT Should be driven TRUE if the negative limit switch for this joint is tripped axis N pos lim sw in IN BIT Should be driven TRUE if the positive limit switch for this joint is tripped axis N unlock OUT BIT TRUE if the axis is a locked rotary and a move is commanded motion adaptive feed IN FLOAT When adaptive feed is enabled with M52 P1 the commanded velocity is multiplied by this value This effect is multiplicative with the NML level feed override value and motion feed hold motion analog in NN IN FLOAT These pins are used by M66 Enn wait for input mode motion analog out NN OUT FLOAT These pins are used by M67 68 motion coord error OUT BIT TRUE when motion has encountered an error such as exceeding a soft limit motion coord mode OUT BIT TRUE when motion is in coordinated mode as opposed to teleop mode 2007 08 25 LinuxCNC Documentation MOTION 9 HAL Component MOTION motion current vel OUT FLOAT Current cartesian velocity motion digital in NN IN BIT These pins are used by M66 Pnn wait for input mode motion digital out NN OUT BIT These pins are controlled by the M62 through M65 words motion distance to go OUT FLOAT Distance remaining in the current move motion enable
82. all only from within init cleanup code not from realtime tasks RETURN VALUE Returns an RTAPI status code SEE ALSO rtapi_task_new 3rtapi rtapi_task_pause 3rtapi rtapi_task_resume 3rtapi LinuxCNC Documentation 2006 10 12 85 rtapi_task_wait 3rtap1 RTAPI rtapi_task_wait 3rtapi NAME rtapi_task_wait suspend execution of this periodic task SYNTAX void rtapi_task_wait DESCRIPTION rtapi_task_wait suspends execution of the current task until the next period The task must be periodic If not the result is undefined REALTIME CONSIDERATIONS Call only from within a periodic realtime task RETURN VALUE None SEE ALSO rtapi_task_start 3rtapi rtapi_task_pause 3rtapi 86 2006 10 12 LinuxCNC Documentation undocumented 3rtapi RTAPI undocumented 3rtapi NAME undocumented undocumented functions in RTAPI SEE ALSO The header file rtapi h Most rtapi functions have documentation in that file LinuxCNC Documentation 2006 10 12 87 ABS 9 HAL Component ABS 9 NAME abs Compute the absolute value and sign of the input signal SYNOPSIS loadrt abs count Ninames name 1 namez2 FUNCTIONS abs N requires a floating point thread PINS abs N in float in Analog input value abs N out float out Analog output value always positive abs N sign bit out Sign of input false for positive true for negative abs N is positive bit out TRUE if input is positive FALSE if input is 0 or neg
83. als For example a PID loop gets position command and feedback signals and produces a velocity command signal HAL is based on the approach used to design electronic circuits In electronics off the shelf components like integrated circuits are placed on a circuit board and their pins are interconnected to build whatever overall function is needed The individual components may be as simple as an op amp or as complex as a digital signal processor Each component can be individually tested to make sure it works as designed After the components are placed in a larger circuit the signals connecting them can still be monitored for testing and troubleshooting Like electronic components HAL components have pins and the pins can be interconnected by signals In the HAL a signal contains the actual data value that passes from one pin to another When a signal is created space is allocated for the data value A pin on the other hand is a pointer not a data value When a pin is connected to a signal the pin s pointer is set to point at the signal s data value This allows the component to access the signal with very little run time overhead If a pin is not linked to any signal the pointer points to a dummy location so the realtime code doesn t have to deal with null pointers or treat unlinked variables as a special case in any way There are three approaches to writing a HAL component Those that do not require hard realtime perfor man
84. amer 1 input so waveforms captured with halsampler can be replayed using halstreamer The t option should not be used in this case EXIT STATUS If a problem is encountered during initialization halsampler prints a message to stderr and returns failure Upon printing COUNT samples if n was specified it will shut down and return success If it is termi nated before printing the specified number of samples it returns failure This means that when n is not specified it will always return failure when terminated SEE ALSO 20 sampler 9 streamer 9 halstreamer 1 2006 11 18 LinuxCNC Documentation HALSAMPLER 1 HAL User s Manual HALSAMPLER 1 HISTORY BUGS AUTHOR Original version by John Kasunich as part of the LinuxCNC project Improvements by several other mem bers of the LinuxCNC development team REPORTING BUGS Report bugs to jmkasunich AT users DOT sourceforge DOT net COPYRIGHT Copyright 2006 John Kasunich This is free software see the source for copying conditions There is NO warranty not even for MER CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE LinuxCNC Documentation 2006 11 18 21 HALSTREAMER 1 HAL User s Manual HALSTREAMER 1 NAME halstreamer stream file data into HAL in real time SYNOPSIS halstreamer options DESCRIPTION streamer 9 and halstreamer are used together to stream data from a file into the HAL in real time streamer is a realtime HAL component that ex
85. ames will be printed instead of ID codes in pin param and funct listings Threads are printed on a single line with the thread period FP usage and name first followed by all of the functions in the thread in execution order Signals are printed on a single line with the type value and signal name first followed by a list of pins connected to the signal showing both the direction and the pin name No prompt will be printed if both s and f are specified Release the HAL mutex This is useful for recovering when a HAL component has crashed while holding the HAL mutex Forcibly cause the realtime environment to exit It releases the HAL mutex requests that all HAL components unload and stops the realtime system halrun only U must be the only command line argument display results of each command display lots of debugging junk h command COMMANDS display a help screen and exit displays extended help on command if specified Commands tell halemd what to do Normally halemd reads a single command from the command line and executes it If the f option is used to read commands from a file halemd reads each line of the file as a new command Anything following on a line is a comment LinuxCNC Documentation 2003 12 18 13 HALCMD 1 HAL User s Manual HALCMD 1 14 loadrt modname load realtime module Loads a realtime HAL module called modname halemd looks for the module in a directory specified at compile ti
86. ameter bit rw Created for each LED on the device PERMISSIONS AND UDEV By default the input devices may not be accessible to regular users hal_input requires read write access even if the device has no outputs To change the default permission of a device add a new file to etc udev rules d to set the device s GROUP to plugdev You can do this for all input devices with this rule SUBS YSTEM input MODE 0660 GROUP plugdev You can also make more specific rules for particular devices For instance a SpaceBall input device uses the spaceball kernel module so a udev entry for it would read DRIVER spaceball MODE 0660 GROUP plugdev the next time the device is attached to the system it will be accessible to the plugdev group For USB devices the udev line would refer to the device s Vendor and Product values such as SYSFS idProduct c00e SYSFS id Vendor 046d MODE 0660 GROUP plugdev LinuxCNC Documentation 2007 02 25 11 HAL_INPUT 1 HAL User s Manual HAL_INPUT 1 for a particular logictech brand mouse For more information on writing udev rules see udev 8 BUGS The initial state of keys buttons and absolute axes are erroneously reported as FALSE or 0 until an event is received for that key button or axis SEE ALSO udey 8 12 2007 02 25 LinuxCNC Documentation HALCMD 1 NAME HAL User s Manual HALCMD 1 halemd manipulate the LinuxCNC HAL from the comm
87. an RTAPI error code LinuxCNC Documentation 2006 10 12 71 rtapi_module_param 3rtapi RTAPI rtapi_module_param 3rtapi NAME rtapi_module_param Specifying module parameters SYNTAX RTAPI_MP_INT var description RTAPI_MP_LONGv var description RTAPI_MP_STRING var description RTAPI_MP_ARRAY_INT var num description RTAPI_MP_ARRAY_LONG var num description RTAPI_MP_ARRAY_STRING var num description MODULE_LICENSE license MODULE_AUTHOR author MODULE_DESCRIPTION description EXPORT_FUNCTION function ARGUMENTS var The variable where the parameter should be stored description A short description of the parameter or module num The maximum number of values for an array parameter license The license of the module for instance GPL author The author of the module junction The pointer to the function to be exported DESCRIPTION These macros are portable ways to declare kernel module parameters They must be used in the global scope and are not followed by a terminating semicolon They must be used after the associated variable or function has been defined NOTES EXPORT_FUNCTION makes a symbol available for use by a subsequently loaded component It is unre lated to hal functions which are described in hal_export_funct 3hal Interpretation of license strings MODULE_LICENSE follows the kernel s definition of license strings Notably GPL indicates GNU Public License v2 or later emphasis ours 72
88. and RTOS limitations the actual period may not be exactly what was requested On success the function will return the actual clock period if it is available otherwise it returns the requested period If the requested period is outside the lim its imposed by the hardware or RTOS it returns EINVAL and does not start the clock Once the clock is started subsequent calls with non zero nsec return EINVAL and have no effect Calling rtapi_clock_set_period with nsec set to zero queries the clock returning the current clock period or zero if the clock has not yet been started REALTIME CONSIDERATIONS Call only from within init cleanup code not from realtime tasks This function is not available from user non realtime code RETURN VALUE The actual period provided by the RTOS which may be different than the requested period or a RTAPI sta tus code LinuxCNC Documentation 2006 10 12 67 rtapi_delay 3rtapi RTAPI rtapi_delay 3rtapi NAME rtapi_delay Busy loop for short delays SYNTAX void rtapi_delay long int nsec void rtapi_delay_max ARGUMENTS nsec The desired delay length in nanoseconds DESCRIPTION rtapi_delay is a simple delay It is intended only for short delays since it simply loops wasting CPU cycles rtapi_delay_max returns the max delay permitted usually approximately 1 4 of the clock period Any call to rtapi_delay requesting a delay longer than the max will delay for the max time only rtapi_delay_ma
89. and line SYNOPSIS halemd OPTIONS COMMAND ARG halrun HALCMD OPTIONS halrun U DESCRIPTION halcmd is used to manipulate the HAL Hardware Abstraction Layer from the command line halemd can optionally read commands from a file allowing complex HAL configurations to be set up with a single command halrun is a convenience script which sets up the realtime environment executes halemd with the given arguments optionally runs an interactive halemd kf if Z is given then tears down the realtime environ ment If the readline library is available when LinuxCNC is compiled then halemd offers commandline editing and completion when running interactively Use the up arrow to recall previous commands and press tab to complete the names of items such as pins and signals OPTIONS I f file i inifile y V Before tearing down the realtime environment run an interactive halcmd halrun only If I is used it must precede all other commandline arguments Ignore commands on command line take input from file instead If file is not specified take input from stdin Use variables from inifile for substitutions See SUBSTITUTION below Keep going after failed command s The default is to stop and return failure if any command fails display errors only default display nothing execute commands silently Script friendly mode In this mode show will not output titles for the items shown Also module n
90. anded relative position rel_act_pos OI1I With get returns the specified axis actual position in relative coordinates including tool length offset If no axis is specified returns all axes actual relative position joint_pos OI1I With get returns the specified joint s actual position in absolute coordinates excluding tool length offset If no joint is specified returns all joints actual absolute position pos_offset XIYIZIRIPIW With get returns the position offset associated with the world coordinate provided joint_limit OI1I With get returns limit status of the specified joint as ok minsoft minhard maxsoft or maxhard If no joint number is specified returns the limit status of all joints joint_fault OI1I With get returns the fault status of the specified joint as o specified returns the fault status of all joints joint_homed OI1I With get returns the homed status of the specified joint as homed or not If no joint number is specified returns the homed status of all joints or fault If no joint number is mdi lt string gt With set sends lt string gt as an MDI command task_plan_init With set initializes the program interpreter open lt filename gt With set opens the named file run lt StartLine gt With set runs the opened program If no StartLine is specified runs from the beginning If a StartLine is specified start line
91. annel device pins detailed below there are three per port pins three parameters and a further 7 pins shared between all ports used for changing on device settings Pins bit in sserial port N run Enables the specific Smart Serial module Setting this pin low will disable all boards on the port and puts the port in a pass through mode where device parameter setting is possible This pin defaults to TRUE and can be left unconnected However toggling the pin low to high will re enable a faulted drive so the pin could usefully be connected to the iocontrol 0 user enable out pin u32 ro run_state Shows the state of the sserial communications state machine This pin will generally show a value of 0x03 in normal operation 0x07 in setup mode and 0x00 when the run pin is false u32 ro error count Indicates the state of the Smart Serial error handler see the parameters sections for more details u32 in sserial port When programming device parameters this pin sets the active port u32 in sserial channel This sets the active channel on the port defined above u32 in sserial parameter The two LSBs of this pin determine the parameter address on the device con nected to the channel and port defined above which will be read from or written to Byte 2 is used to pass the data type for non volatile writes and byte 3 passes the access type flags For example 0xECO10002 is the code to use to set 8120 NVMAXCURRENT u32 in
92. ative abs N is negative bit out TRUE if input is negative FALSE if input is 0 or positive LICENSE GPL 88 2015 10 24 LinuxCNC Documentation ABS_S32 9 HAL Component ABS_S32 9 NAME abs_s32 Compute the absolute value and sign of the input signal SYNOPSIS loadrt abs_s32 count Ninames name name2 FUNCTIONS abs s32 N PINS abs s32 N in s32 in input value abs s32 N out s32 out output value always non negative abs s32 N sign bit out Sign of input false for positive true for negative abs s32 N is positive bit out TRUE if input is positive FALSE if input is 0 or negative abs s32 N is negative bit out TRUE if input is negative FALSE if input is 0 or positive LICENSE GPL LinuxCNC Documentation 2015 10 24 89 AND2 9 HAL Component NAME and2 Two input AND gate SYNOPSIS loadrt and2 count NInames name I namez2 FUNCTIONS and2 N PINS and2 N in0 bit in and2 N in1 bit in and2 N out bit out AND2 9 out is computed from the value of in0 and in1 according to the following rule in0 TRUE inl TRUE out TRUE Otherwise out FALSE LICENSE GPL 90 2015 10 24 LinuxCNC Documentation AT_PID 9 HAL Component AT_PID 9 NAME at_pid proportional integral derivative controller with auto tuning SYNOPSIS loadrt at_pid num_chan num names name I namez2 DESCRIPTION at_pid is a classic Proportional Integral Derivative controller used to control position or spe
93. ay N out u32 out gray code out AUTHOR andy pugh LICENSE GPL LinuxCNC Documentation 2015 10 24 BIN2GRAY 9 95 BIQUAD 9 HAL Component BIQUAD 9 NAME biquad Biquad IIR filter SYNOPSIS loadrt biquad count NInames name 1 namez2 DESCRIPTION Biquad IIR filter Implements the following transfer function H z n0 n1z 1 n2z 2 1 dlz 1 d2z 2 FUNCTIONS biquad N requires a floating point thread PINS biquad N in float in Filter input biquad N out float out Filter output biquad N enable bit in default 0 Filter enable When false the in is passed to out without any filtering A transition from false to true causes filter coefficients to be calculated according to parameters biquad N valid bit out default 0 When false indicates an error occured when caclulating filter coefficients PARAMETERS biquad N type u32 rw default 0 Filter type determines the type of filter coefficients calculated When 0 coefficients must be loaded directly When 1 a low pass filter is created When 2 a notch filter is created biquad N f0 float rw default 250 0 The corner frequency of the filter biquad N Q float rw default 0 7071 The Q of the filter biquad N d1 float rw default 0 0 1st delayed denominator coef biquad N d2 float rw default 0 0 2nd delayed denominator coef biquad N n0 float rw default 7 0 non delayed numerator coef biquad N n1 float rw default 0 0 1st delayed n
94. c N scale s32 rw if personality amp 0x06 default 5 2 The number of encoder counts per rotor revolution bldc N poles s32 rw if personality amp 0x06 default 4 The number of motor poles The encoder scale will be divided by this value to determine the num ber of encoder counts per electrical revolution bidc N encoder offset s32 rw if personality amp Ox0A default 0 The offset in encoder counts between the motor electrical zero and the encoder zero modulo the number of counts per electrical revolution blidc N offset measured s32 r if personality amp 0x04 default 0 The encoder offset measured by the homing sequence in certain modes bldc N drive offset float rw default 0 The angle in degrees applied to the commanded angle by the drive in degrees This value is only used during the homing sequence of drives with incremental encoder feedback It is used to back calculate from commanded angle to actual phase angle It is only relevant to drives which expect rotor angle input rather than phase angle demand Should be 0 for most drives bldc N output pattern u32 rw if personality amp 0x400 default 25 Commutation pattern to be output in Hall Signal translation mode See the description of fBpat tern fR for details bldc N pattern u32 rw if personality amp 0x01 default 25 Commutation pattern to use from 0 to 47 Default is type 25 Every plausible combination is included The table shows the excitation
95. ce OPTIONS p port PORT_NUMBER Specify the port for linuxcncrsh to listen on Defaults to 5007 if omitted n name SERVER_NAME Sets the server name that linuxcncrsh will use to identify itself during handshaking with a new client Defaults to EMCNETSVR if omitted w connectpw PASSWORD Specify the connection password to use during handshaking with a new client Note that the pass word is sent in the clear so it can be read by anyone who can read packets on the network between the server and the client Defaults to EMC if omitted e enablepw PASSWORD Specify the password required to enable LinuxCNC via linuxcncrsh Note that the password is sent in the clear so it can be read by anyone who can read packets on the network between the server and the client Defaults to EMCTOO if omitted s sessions MAX SESSIONS Specify the maximum number of simultaneous connections Defaults to 1 no limit if not speci fied In addition to the options listed above linuxcncrsh accepts an optional special LINUXCNC_OPTION at the end ini LINUXCNC_INI_FILE LinuxCNC ini file to use The ini option must be preceeded by two dashes Defaults to emc ini if omitted Starting linuxcnersh To use linuxcncrsh instead of a normal LinuxCNC GUI like axis or touch specify it in your ini file like this DISPLAY DISPLAY linuxcncrsh To use linuxcncrsh in addition to a normal GUI you can either start it at the end of your hal file or
96. ce The first device matching an inputspec is used Any number of inputspecs may be used A subset option may preceed each inputspec The subset option begins with a dash Each letter in the sub set option specifies a device feature to include Features that are not specified are excluded For instance to export keyboard LEDs to HAL without exporting keys use hal_input L keyboard DEVICE FEATURES SUPPORTED EV_KEY buttons and keys Subset K e EV_ABS absolute analog inputs Subset A e EV_REL relative analog inputs Subset R EV_LED LED outputs Subset L HAL PINS AND PARAMETERS For buttons input N btn name bit out input N btn name not bit out Created for each button on the device 2007 02 25 LinuxCNC Documentation HAL_INPUT 1 For keys HAL User s Manual HAL_INPUT 1 input N key name input N key name not Created for each key on the device For absolute axes input N abs name counts s32 out input N abs name position float out input N abs name scale parameter float rw input N abs name offset parameter float rw input N abs name fuzz parameter s32 rw input N abs name flat parameter s32 rw input N abs name min parameter s32 r input N abs name max parameter s32 r Created for each absolute axis on the device Device positions closer than flat to offset are reported as offset in counts and counts does not change until the device position changes by at least fuzz The position is computed as position
97. ce can be written as a single user mode process Components that need hard realtime performance but have simple configuration and init requirements can be done as a single kernel module using either pre defined init info or insmod time parameters Finally complex components may use both a kernel module for the realtime part and a user space process to handle ini file access user interface possibly including GUI features and other details HAL uses the RTAPI ULAPI interface If RTAPI is defined hal_lib c would generate a kernel module hal_lib o that is insmoded and provides the functions for all kernel module based components The same source file compiled with the ULAPI define would make a user space hal_lib o that is staticlly linked to user space code to make user space executables The variable lists and link information are stored in a block of shared memory and protected with mutexes so that kernel modules and any of several user mode programs can access the data REALTIME CONSIDERATIONS 44 For an explanation of realtime considerations see intro 3rtapi 2006 10 12 LinuxCNC Documentation intro 3hal HAL intro 3hal HAL STATUS CODES Except as noted in specific manual pages HAL returns negative errno values for errors and nonnegative values for success SEE ALSO intro 3rtapi LinuxCNC Documentation 2006 10 12 45 hal_add_funct_to_thread 3hal HAL hal_add_funct_to_thread 3hal NAME hal_add_funct_to_thread cau
98. circuits type 1 pwm direction Two output pins pwm and dir The duty cycle on pwm varies as a function of the input value dir is low for positive inputs and high for negative inputs type 2 up down Two output pins up and down For positive inputs the PWM PDM waveform appears on up while down is low For negative inputs the waveform appears on down while up is low Suitable for driving the two sides of an H bridge to generate a bipolar output FUNCTIONS pwmgen make pulses no floating point Generates the actual PWM waveforms using information computed by update Must be called as frequently as possible to maximize the attainable PWM frequency and resolution and minimize jitter Operates on all channels at once pwmgen update uses floating point Accepts an input value performs scaling and limit checks and converts it into a form usable by make pulses for PWM PDM generation Can and should be called less frequently than make pulses Operates on all channels at once PINS pwmgen N enable bit in Enables PWM generator N when false all pwmgen N output pins are low pwmgen N value float in Commanded value When value 0 0 duty cycle is 0 and when value scale duty cycle is 100 Subject to min de and max dc limitations pwmgen N pwm bit out output types 0 and 1 only PWM PDM waveform pwmgen N dir bit out output type 1 only Direction output low for forward high for reverse pwmgen N up bit out out
99. cision the decimal point must pre cede the precision For example 3f The default decimal precision is 4 The numerical formats supported are f for example 09 3f These create a floating point type HAL pin The example would be displayed in a 9 character field with 3 places of decimals as a decimal separator padded to the left with Os and with a sign displayed for both positive and negative Conversely a plain f would be 6 digits of decimal variable format width with a sign only shown for negative numbers both f and F create exactly the same format i d For example 4d Creates a signed s32 HAL pin The example would display the value at a fixed 4 characters space padded width including the giving a range of 999 to 999 i and d create identical output u for example 08u Creates an unsigned u32 HAL pin The example would be a fixed 8 characters wide padded with zeros x X Creates an unsigned u32 HAL pin and displays the value in Hexadecimal Both x and X display capital letters for digits ABCDEF A width may be specified though the u32 HAL type is only 8 hex digits wide 2012 09 17 LinuxCNC Documentation LCD 9 AUTHOR HAL Component LCD Q 0 Creates an unsigned u32 pin and displays the value in Octal c Creates a u32 HAL pin and displays the character corresponding to the value of the pin Val ues less than 32 space are suppressed A width specifier may be used for examp
100. city loops FFO can compensate for friction or motor counter EMF and may permit better tuning if used properly pid V FF1 float rw First order feed forward term Produces a contribution to the output that FF1 multiplied by the derivative of the commanded value For position loops the contribution is proportional to speed and can be used to compensate for friction or motor CEMF For velocity loops it is proportional to acceleration and can compensate for inertia In both cases it can result in better tuning if used properly pid N FF2 float rw Second order feed forward term Produces a contribution to the output that is FF2 multiplied by the second derivative of the commanded value For position loops the contribution is proportional to acceleration and can be used to compensate for inertia For velocity loops it should usually be left at zero pid V deadband float rw Defines a range of acceptable error If the absolute value of error is less than deadband it will be treated as if the error is zero When using feedback devices such as encoders that are inherently quantized the deadband should be set slightly more than one half count to prevent the control loop from hunting back and forth if the command is between two adjacent encoder values When 92 2007 05 12 LinuxCNC Documentation AT_PID 9 HAL Component AT_PID 9 the absolute value of the error is greater than the deadband the deadband value is subtracted from the error before pe
101. code 48 2006 10 12 LinuxCNC Documentation hal_export_funct 3hal HAL hal_export_funct 3hal NAME hal_export_funct create a realtime function callable from a thread SYNTAX typedef void hal_funct_t void arg long period int hal_export_funct const char name hal_funct_t funct void arg int uses_fp int reentrant int comp_id ARGUMENTS name The name of the function funct The pointer to the function arg The argument to be passed as the first parameter of funct uses Nonzero if the function uses floating point operations including assignment of floating point val P g P p 8 g gp ues with reentrant If reentrant is non zero the function may be preempted and called again before the first call com pletes Otherwise it may only be added to one thread comp_id A HAL component identifier returned by an earlier call to hal_init DESCRIPTION hal_export_funct makes a realtime function provided by a component available to the system A subse quent call to hal_add_funct_to_thread can be used to schedule the execution of the function as needed by the system When this function is placed on a HAL thread and HAL threads are started funct is called repeatedly with two arguments void arg is the same value that was given to hal_export_funct and long period is the interval between calls in nanoseconds Each call to the function should do a small amount of work and return RETURN VALUE Returns a HAL status code
102. counts encoder pin to prevent loss of commutation on index reset q Incremental quadrature encoder input If this input is used then the rotor will need to be homed before the motor can be run i Use the index of an incremental encoder as a home reference f Use a 4 bit Gray scale patttern to determine rotor alignment This scheme is only used on the Fanuc Red Cap motors This mode could be used to control one of these motors using a non Fanuc drive Output type descriptions are all upper case Defaults The component will always calculate rotor angle phase angle and the absolute value of the input value for interfacing with drives such as the Mesa 8120 It will also default to three individual bipolar phase output values if no other output type modifiers are used B Bit level outputs Either 3 or 6 logic level outputs indicating which high or low gate drivers on an exter nal drive should be used 6 Create 6 rather than the default 3 outputs In the case of numeric value outputs these are separate positive and negative drive amplitudes Both have positive magnitude H Emulated Hall sensor output This mode can be used to control a drive which expects 3x Hall signals or to convert between a motor with one hall pattern and a drive which expects a different one F Emulated Fanuc Red Cap Gray code encoder output This mode might be used to drive a non Fanuc LinuxCNC Documentation 2015 10 24 99 BLDC 9 HAL Component BLDC 9 motor u
103. ction dialog open Cancel closes the dia log without changing the displayed item EXAMPLES 18 halmeter Opens a meter window with nothing initially displayed Use the Select button to choose an item to observe Does not return until the window is closed halmeter amp Open a meter window with nothing initially displayed Use the Select button to choose an item Runs in the background leaving the shell free for other commands halmeter pin parport 0 pin 03 out amp Open a meter window initially displaying HAL pin parport 0 pin 03 out The Select button can be used to display other items Runs in background halmeter s pin parport 0 pin 03 out amp Open a small meter window displaying HAL pin parport 0 pin 03 out The displayed item cannot be changed Runs in background halmeter s pin parport 0 pin 03 out g 100 500 amp Open a small meter window displaying HAL pin parport 0 pin 03 out places it 100 pixels to the left and 500 pixels down from top of screen The displayed item cannot be changed Runs in background 2006 03 13 LinuxCNC Documentation HALMETER 1 HAL User s Manual HALMETER 1 halmeter s pin parport 0 pin 03 out g 100 500 400 amp Open a small meter window displaying HAL pin parport 0 pin 03 out places it 100 pixels to the left and 500 pixels down from top of screen The width will be 400 pixels 270 is default The dis played item cannot be changed Runs in background SEE ALSO HISTORY
104. cture of the robot scarakins D4 Horizontal distance between joint 1 axis and joint 2 axis ie the length of the outer arm scarakins D5 Vertical distance from the end effector to the tooltip Positive means the tooltip is lower than the end effector and is the normal case scarakins D6 Horizontal distance from the centerline of the end effector and the joints 2 and 3 axis and the tooltip Zero means the tooltip is on the centerline Non zero values should be positive if nega tive they introduce a 180 degree offset on the value of joint 3 SEE ALSO 174 Kinematics section in the LinuxCNC documentation 2007 01 20 LinuxCNC Documentation KNOB2FLOAT 9 HAL Component KNOB2FLOAT 9 NAME knob2float Convert counts probably from an encoder to a float value SYNOPSIS loadrt knob2float count NInames name I name2 FUNCTIONS knob2float N requires a floating point thread PINS knob2float N counts s32 in Counts knob2float N enable bit in When TRUE output is controlled by count when FALSE output is fixed knob2float N scale float in Amount of output change per count knob2float N out float out Output value PARAMETERS knob2float N max out float rw default 7 0 Maximum output value further increases in count will be ignored knob2float N min out float rw default 0 0 Minimum output value further decreases in count will be ignored LICENSE GPL LinuxCNC Documentation 2015 10 24 175 LATENCYBINS 9 HAL Com
105. cumentation 2015 10 24 121 CONV_S32_BIT Q9 HAL Component NAME conv_s32_bit Convert a value from s32 to bit SYNOPSIS loadrt conv_s32_bit count NInames name1 name2 FUNCTIONS conv s32 bit V Update out based on in PINS conv s32 bit N in s32 in conv s32 bit N out bit out cony s32 bit N out of range bit out TRUE when in is not in the range of bit PARAMETERS cony s32 bit N clamp bit rw CONV_S32_BIT 9 If TRUE then clamp to the range of bit If FALSE then allow the value to wrap around LICENSE GPL 122 2015 10 24 LinuxCNC Documentation CONV_S32_FLOAT 9 HAL Component NAME conv_s32_float Convert a value from s32 to float SYNOPSIS loadrt conv_s32_float count NInames name I name2 FUNCTIONS conv s32 float N requires a floating point thread Update out based on in PINS conv s32 float N in s32 in conv s32 float N out float out LICENSE GPL LinuxCNC Documentation 2015 10 24 CONV_S32_FLOAT 9 123 CONV_S32_U32 9 HAL Component NAME conv_s32_u32 Convert a value from s32 to u32 SYNOPSIS loadrt conv_s32_u32 count N names name 1 namez2 FUNCTIONS conv s32 u32 N Update out based on in PINS conv s32 u32 N in s32 in conv s32 u32 N out u32 out conv s32 u32 N out of range bit out TRUE when in is not in the range of u32 PARAMETERS conv s32 u32 N clamp bit rw CONV_S32_U32 9 If TRUE then clamp to the range of u32 I
106. d PINS limit1 N in float in limit1 N out float out PARAMETERS limit1 N min float rw default 7e20 limit1 N max float rw default 7e20 LICENSE GPL 180 2015 10 24 LIMIT1 9 LinuxCNC Documentation LIMIT2 9 HAL Component LIMIT2 9 NAME limit2 Limit the output signal to fall between min and max and limit its slew rate to less than maxv per second When the signal is a position this means that position and velocity are limited SYNOPSIS loadrt limit2 count N Inames name 1 namez2 FUNCTIONS limit2 N requires a floating point thread PINS limit2 N in float in limit2 N out float out limit2 N load bit in When TRUE immediately set out to in ignoring maxv PARAMETERS limit2 N min float rw default 7e20 limit2 N max float rw default 7e20 limit2 N maxv float rw default e20 LICENSE GPL LinuxCNC Documentation 2015 10 24 181 LIMIT3 9 HAL Component LIMIT3 9 NAME limit3 Limit the output signal to fall between min and max limit its slew rate to less than maxv per sec ond and limit its second derivative to less than maxa per second squared When the signal is a position this means that the position velocity and acceleration are limited SYNOPSIS loadrt limit3 count Ninames name 1 name2 FUNCTIONS limit3 N requires a floating point thread PINS limit3 N in float in limit3 N out float out limit3 N load bit in When TRUE immediately set out to in ignoring max
107. d from some other program The FIFO size should be chosen to ride through any momentary disruptions in the flow of data such as disk seeks If the FIFO is big enough halstreamer can be restarted with the same or a new file before the FIFO empties resulting in a continuous stream of data The data format for halstreamer input is the same as for halsampler 1 output so waveforms captured with halsampler can be replayed using halstreamer EXIT STATUS If a problem is encountered during initialization halstreamer prints a message to stderr and returns failure If a badly formatted line is encountered while writing to the FIFO it prints a message to stderr skips the line and continues this behavior may be revised in the future Upon reading EOF from the input it returns success If it is terminated before the input ends it returns failure SEE ALSO streamer 9 sampler 9 halsampler 1 HISTORY 22 2006 11 18 LinuxCNC Documentation HALSTREAMER 1 HAL User s Manual HALSTREAMER 1 BUGS AUTHOR Original version by John Kasunich as part of the LinuxCNC project Improvements by several other mem bers of the LinuxCNC development team REPORTING BUGS Report bugs to jmkasunich AT users DOT sourceforge DOT net COPYRIGHT Copyright 2006 John Kasunich This is free software see the source for copying conditions There is NO warranty not even for MER CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE LinuxCNC D
108. d_delete const char name ARGUMENTS name The name of the thread period The interval in nanoseconds between iterations of the thread uses_fp Must be nonzero if a function which uses floating point will be attached to this thread DESCRIPTION hal_create_thread establishes a realtime thread that will execute one or more HAL functions periodically All thread periods are rounded to integer multiples of the hardware timer period and the timer period is based on the first thread created Threads must be created in order from the fastest to the slowest HAL assigns decreasing priorities to threads that are created later so creating them from fastest to slowest results in rate monotonic priority scheduling hal_delete_thread deletes a previously created thread REALTIME CONSIDERATIONS Call only from realtime init code not from user space or realtime code RETURN VALUE Returns a HAL status code SEE ALSO hal_export_funct 3hal LinuxCNC Documentation 2006 10 12 47 hal_exit 3hal HAL hal_exit 3hal NAME hal_exit Shut down HAL SYNTAX int hal_exit int comp_id ARGUMENTS comp_id A HAL component identifier returned by an earlier call to hal_init DESCRIPTION hal_exit shuts down and cleans up HAL and RTAPI It must be called prior to exit by any module that called hal_init REALTIME CONSIDERATIONS Call only from within user or init cleanup code not from realtime tasks RETURN VALUE Returns a HAL status
109. e wait for Userspace component Waits for user space component name to disconnect from HAL usually on exit The component must already be loaded Usefull near the end of a HAL file to wait until the user closes some user interface component before cleaning up and exiting unloadusr compname unload Userspace component Unloads a userspace component called compname If compname is all it will unload all userspace components unloadusr works by sending SIGTERM to all userspace components unload compname Unloads a userspace component or realtime module If compname is all it will unload all userspace components and realtime modules newsig signame type new signal Creates a new HAL signal called signame that may later be used to connect two or more HAL component pins type is the data type of the new signal and must be one of bit s32 u32 or float Fails if a signal of the same name already exists delsig signame delete signal Deletes HAL signal signame Any pins currently linked to the signal will be unlinked Fails if signame does not exist sets signame value set signal Sets the value of signal signame to value Fails if signame does not exist if it already has a writer or if value is not a legal value Legal values depend on the signals s type 2003 12 18 LinuxCNC Documentation HALCMD 1 HAL User s Manual HALCMD 1 stype name signal type Gets the type of signal name Fails if name does not exist as a s
110. e A pointer to the function to be called when the task is started arg An argument to be passed to the taskcode function when the task is started prio A task priority value returned by rtapi_prio_xxxx uses_fp A flag that tells the OS whether the task uses floating point or not task_id A task ID returned by a previous call to rtapi_task_new DESCRIPTION rtapi_task_new creates but does not start a realtime task The task is created in the paused state To start it call either rtapi_task_start for periodic tasks or rtapi_task_resume for free running tasks REALTIME CONSIDERATIONS Call only from within init cleanup code not from realtime tasks RETURN VALUE On success returns a positive integer task ID This ID is used for all subsequent calls that need to act on the task On failure returns an RTAPI status code SEE ALSO rtapi_prio 3rtapi rtapi_task_start 3rtapi rtapi_task_wait 3rtapi rtapi_task_resume 3rtapi LinuxCNC Documentation 2006 10 12 83 rtapi_task_pause 3rtapi RTAPI rtapi_task_pause 3rtapi NAME rtapi_task_pause rtapi_task_resume pause and resume real time tasks SYNTAX void rtapi_task_pause int task_id void rtapi_task_resume int task_id ARGUMENTS task_id An RTAPI task identifier returned by an earlier call to rtapi_task_new DESCRIPTION rtapi_task_resume starts a task in free running mode The task must be in the paused state A free running task runs continuously until either 1 It
111. e 1 namez2 FUNCTIONS PINS offset V update output requires a floating point thread Updated the output value by adding the offset to the input offset V update feedback requires a floating point thread Update the feedback value by subtracting the offset from the feedback offset N offset float in The offset value offset N in float in The input value offset N out float out The output value offset V fb in float in The feedback input value offset V fb out float out The feedback output value LICENSE 208 GPL 2015 10 24 OFFSET 9 LinuxCNC Documentation ONESHOT 9 HAL Component ONESHOT 9 NAME oneshot one shot pulse generator SYNOPSIS loadrt oneshot count N names name1 name2 DESCRIPTION creates a variable length output pulse when the input changes state This function needs to run in a thread which supports floating point typically the servo thread This means that the pulse length has to be a mul tiple of that thread period typically ImS For a similar function that can run in the base thread and which offers higher resolution see edge FUNCTIONS oneshot N requires a floating point thread Produce output pulses from input edges PINS oneshot N in bit in Trigger input oneshot N out bit out Active high pulse oneshot N out not bit out Active low pulse oneshot N width float in default 0 Pulse width in seconds oneshot N time left float out Time left in current ou
112. e INIFILE is not specified the behavior will depend on whether you configured linuxcne with enable run in place If so the linuxcne config chooser will search only the configs directory in your source tree If not or if you are using a packaged version of linuxcnc it may search several directories The config chooser is currently set to search the path linuxcnce configs home buildslave emc2 buildbot wheezy amd64 clang docs build configs EXAMPLES linuxcne linuxence configs sim sim ini linuxene etc inuxcnc sample configs stepper stepper_mm ini SEE ALSO halemd 1 Much more information about LinuxCNC and HAL is available in the LinuxCNC and HAL User Manuals found at usr share doc linuxcnc HISTORY LinuxCNC Documentation 2006 02 20 1 LinuxCNC 1 The Enhanced Machine Controller LinuxCNC 1 BUGS None known at this time AUTHOR This man page written by Alex Joni as part of the LinuxCNC Enhanced Machine Controller project REPORTING BUGS Report bugs to alex_joni AT users DOT sourceforge DOT net COPYRIGHT Copyright 2006 Alex Joni This is free software see the source for copying conditions There is NO warranty not even for MER CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE 2 2006 02 20 LinuxCNC Documentation axis remote 1 The Enhanced Machine Controller axis remote 1 NAME axis remote AXIS Remote Interface SYNOPSIS axis remote OPTIONS FILENAME DESCRIPTION axis remote is a small scrip
113. e displayed match the program units angular_unit_conversion deglradlgradlauto With get any parameter is ignored and the active unit conversion is returned With set sets the units to be displayed If it s auto the units to be displayed match the program units probe_clear With set clear the probe tripped flag May 31 2011 linuxcncrsh 1 The Enhanced Machine Controller linuxcnersh 1 probe_tripped With get return the probe state has the probe tripped since the last clear probe_value With get return the current value of the probe signal probe With set move toward a certain location If the probe is tripped on the way stop motion record the position and raise the probe tripped flag teleop_enable onloff With get any parameter is ignored and the current teleop mode is returned With set sets the teleop mode as specified kinematics_type With get returns the type of kinematics functions used identity 1 serial 2 parallel 3 cus tom 4 override_limits onloff With get any parameter is ignored and the override_limits setting is returned With set the over ride_limits parameter is set as specified If override_limits is on disables end of travel hardware limits to allow jogging off of a limit If parameters is off then hardware limits are enabled optional_stop 011 With get any parameter is ignored and the current optional stop on M1 setting is returned With set the setting is set as specified
114. e numbered from CRO1 upwards with the name corresponding to the PCB silkscreen Setting the bit to true or 1 lights the led Watchdog 164 The HostMot2 firmware may include a watchdog Module if it does the hostmot2 driver will use it The HAL representation of the watchdog is named hm2_ lt BoardType gt lt BoardNum gt watchdog The watchdog starts out asleep and inactive Once you access the board the first time by running any the hm2 HAL functions read writeQ or pet_watchdog see below the watchdog wakes up From them on it must be petted periodically or it will bite Pet the watchdog by running the pet_watchdog HAL func tion 2008 05 13 LinuxCNC Documentation HOSTMOT2 9 HAL Component HOSTMOT2 9 When the watchdog bites all the board s I O pins are disconnected from their Module instances and become high impedance inputs pulled high and all communication with the board stops The state of the HostMot2 firwmare modules is not disturbed except for the configuration of the IO Pins Encoder instances keep counting quadrature pulses and pwm and step generators keep generating signals which are not relayed to the motors because the IO Pins have become inputs Resetting the watchdog by clearing the has_bit pin see below resumes communication and resets the I O pins to the configuration chosen at load time If the firmware includes a watchdog the following HAL objects will be exported Pins bit in ou
115. e toward the USB connector The board must be configured to power on whether or not the USB interface is active This is done by set ting jumper W7 up ie away from the edge of the board Communicating with the board The 7143 communicates with the LinuxCNC computer over EPP the Enhanced Parallel Port This provides about MBps of throughput and the communication latency is very predictable and reasonably low The parallel port must support EPP 1 7 or EPP 1 9 EPP 1 9 is prefered but EPP 1 7 will work too The EPP mode of the parallel port is sometimes a setting in the BIOS Note that the popular NetMOS aka MosChip 9805 PCI parport cards do not work They do not meet the EPP spec and cannot be reliably used with the 7143 You have to find another card sorry EPP is very reliable under normal circumstances but bad cabling or excessively long cabling runs may LinuxCNC Documentation 2008 05 13 149 HM2_7143 9 HAL Component HM2_7143 9 cause communication timeouts The driver exports a parameter named hm2_7i43 lt BoardNum gt io_error to inform HAL of this condition When the driver detects an EPP timeout it sets io_error to True and stops communicating with the 7143 board Setting io_error back to False makes the driver start trying to commu nicate with the 7143 again Access to the EPP bus is not threadsafe only one realtime thread may access the EPP bus SEE ALSO hostmot2 9 LICENSE GPL 150 2008 05 13 LinuxCNC Docume
116. ed and torch is off and there is no correction pass the Z position and feed back untouched If not enabled pass the Z position and feed back untouched Physical Connections Plasma Torch Arc Voltage Signal gt 6 x 487k 1 resistors gt THC Arc Voltage In THC Frequency Signal gt Encoder 0 pin A Input Plasma Torch Arc OK Signal gt input pin output pin gt Plasma Torch Start Arc Contacts HAL Plasma Connections encoder nn velocity gt thc encoder vel tip voltage motion spindle on gt output pin start the arc thc arc ok lt motion digital in 00 lt input pin arc ok signal HAL Motion Connections thce requested vel lt motion requested vel the current vel lt motion current vel FUNCTIONS the requires a floating point thread PINS thc encoder vel float in Connect to hm2_5i20 0 encoder 00 velocity the current vel float in Connect to motion current vel the requested vel float in Connect to motion requested vel the volts requested float in Tip Volts current_vel gt min_velocity requested LinuxCNC Documentation 2015 10 24 247 THC 9 HAL Component THC Q9 the vel tol float in Velocity Tolerance Corner Lock the torch on bit in Connect to motion spindle on the arc ok bit in Arc OK from Plasma Torch the enable bit in Enable the THC if not enabled Z position is passed through the z pos in float in Z Motor Position Command in from axis n motor pos cmd the z pos out float out Z M
117. ed feedback loops for servo motors and other closed loop applications at_pid supports a maximum of sixteen controllers The number that are actually loaded is set by the num_chan argument when the module is loaded Alternatively specify names and unique names sepa rated by commas The num_chan and names specifiers are mutually exclusive If neither num_chan nor names are specified the default value is three If debug is set to 1 the default is 0 some additional HAL parameters will be exported which might be useful for tuning but are otherwise unnecessary at_pid has a built in auto tune mode It works by setting up a limit cycle to characterize the process From this Pgain Igain Dgain or Pgain Igain FF1 can be determined using Ziegler Nichols When using FF1 scaling must be set so that output is in user units per second During auto tuning the command input should not change The limit cycle is setup around the commanded position No initial tuning values are required to start auto tuning Only tune cycles tune effort and tune mode need be set before starting auto tuning When auto tuning completes the tuning parameters will be set If running from LinuxCNC the FERROR setting for the axis being tuned may need to be loosened up as it must be larger than the limit cycle amplitude in order to avoid a following error To perform auto tuning take the following steps Move the axis to be tuned to somewhere near the center of it
118. ed pulse generators sim_encoder supports a maximum of eight channels The number of channels actually loaded is set by the num_chan argument when the module is loaded Alternatively specify names and unique names sepa rated by commas The num_chan and names specifiers are mutually exclusive If neither num_chan nor names are specified the default value is one FUNCTIONS sim encoder make pulses no floating point Generates the actual quadrature and index pulses Must be called as frequently as possible to maximize the count rate and minimize jitter Operates on all channels at once sim encoder update speed uses floating point Reads the speed command and other parameters and converts the data into a form that can be used by make pulses Changes take effect only when update speed runs Can and should be called less frequently than make pulses Operates on all channels at once NAMING The names for pins and parameters are prefixed as sim encoder N for N 0 1 num 1 when using num_chan num nameN for nameN name1 name2 when using names namel name2 The sim encoder N format is shown in the following descriptions PINS sim encoder N phase A bit out One of the quadrature outputs sim encoder N phase B bit out The other quadrature output sim encoder N phase Z bit out The index pulse sim encoder speed float in The desired speed of the encoder in user units per per second This is divided by scale and the
119. equency is 20 000 Hz 20 kHz 3ppwmgen Three Phase PWM generators 3pwmgens are intended for controlling the high side and low side gates in a 3 phase motor driver The function is included to support the Mesa motor controller daughter cards but can be used to control an IGBT or similar driver directly 3pwmgens have names like hm2_ lt Board Type gt lt BoardNum gt 3pwmgen lt Instance gt where lt Instance gt is a 2 digit number There will be num_3pwmgens instances starting at 00 Each instance allocates 7 output and one input pins on the Mesa card connectors Outputs are PWM A PWM B PWM C PWM A PWM B PWM C Enable The first three pins are the high side drivers the second three are their complementary low side drivers The enable bit is intended to control the servo amplifier The input bit is a fault bit typically wired to over current detection When set the PWM generator is disabled The three phase duty cycles are individually control lable from Scale to Scale Note that 0 corresponds to a 50 duty cycle and this is the inialization value Pins float input A value B value C value The PWM command value for each phase limited to scale Defaults to zero which is 50 duty cycle on high side and low sidepins but see the deadtime parameter bit input enable When high the PWM is enabled as long as the fault bit is not set by the external fault input pin When low the PWM is disabled with both high side and
120. er N overruns s32 read write The number of times that sampler has tried to write data to the HAL pins but found no room in the FIFO It increments whenever full is true and can be reset by the setp command LinuxCNC Documentation 2006 11 18 227 SAMPLER 9 HAL User s Manual SAMPLER 9 sampler V sample num s32 read write A number that identifies the sample It is automatically incremented for each sample and can be reset using the setp command The sample number can optionally be printed in the first column of the output from halsampler using the t option see man 1 halsampler SEE ALSO halsampler 1 streamer 9 halstreamer 1 HISTORY BUGS AUTHOR Original version by John Kasunich as part of the LinuxCNC project Improvements by several other mem bers of the LinuxCNC development team REPORTING BUGS Report bugs to jmkasunich AT users DOT sourceforge DOT net COPYRIGHT Copyright 2006 John Kasunich This is free software see the source for copying conditions There is NO warranty not even for MER CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE 228 2006 11 18 LinuxCNC Documentation SCALE 9 HAL Component NAME scale LinuxCNC HAL component that applies a scale and offset to its input SYNOPSIS loadrt scale count N Inames name name2 FUNCTIONS scale N requires a floating point thread PINS scale N in float in scale N gain float in scale N offset float in scale N out float out out in gain
121. er ratio update uses floating point Updates all output pins May be called from a slower thread NAMING The names for pins and parameters are prefixed as encoder ratio N for N 0 1 num 1 when using num_chan num nameN for nameN name1 name2 when using names namel name2 The encoder ratio N format is shown in the following descriptions PINS encoder ratio N master A bit in encoder ratio N master B bit in encoder ratio N slave A bit in encoder ratio N slave B bit in The encoder channels of the master and slave axes encoder ratio N enable bit in When the enable pin is FALSE the error pin simply reports the slave axis position in revolutions As such it would normally be connected to the feedback pin of a PID block for closed loop con trol of the slave axis Normally the command input of the PID block is left unconnected zero so the slave axis simply sits still However when the enable input goes TRUE the error pin becomes the slave position minus the scaled master position The scale factor is the ratio of master teeth to slave teeth As the master moves error becomes non zero and the PID loop will drive the slave axis to track the master encoder ratio N error float out The error in the position of the slave in revolutions PARAMETERS encoder ratio N master ppr unsigned rw encoder ratio N slave ppr unsigned rw The number of pulses per revolution of the master and slave axes 136 2007 01 16 LinuxCNC Documentation
122. erse of the bitwise XOR AUTHOR Andy Pugh LICENSE 98 GPL 2 2015 10 24 BITWISE 9 LinuxCNC Documentation BLDC 9 HAL Component BLDC 9 NAME bldc BLDC and AC servo control component SYNOPSIS loadrt bldc personality P DESCRIPTION This component is designed as an interface between the most common forms of three phase motor feed back devices and the corresponding types of drive However there is no requirement that the motor and drive should necessarily be of inherently compatible types SYNOPSIS Tags ignore the auto generated SYNOPSIS above loadrt bldc cfg qi6 aH Each instance of the component is defined by a group of letters describing the input and output types A comma separates individual instances of the component Input type definitions are all lower case n No motor feedback This mode could be used to drive AC induction motors but is also potentially useful for creating free running motor simulators for drive testing h Hall sensor input Brushless DC motors electronically commutated permanent magnet 3 phase motors typically use a set of three Hall sensors to measure the angular position of the rotor A lower case h in the cfg string indicates that these should be used a Absolute encoder input Also possibly used by some forms of Resolver conversion hardware The pres ence of this tag over rides all other inputs Note that the component still requires to be be connected to the raw
123. es if there is a step change on the command Not normally needed pid N errorI float ro only if debug 1 Integral of error This is the value that is multiplied by Igain to produce the Integral term of the output pid N errorD float ro only if debug 1 Derivative of error This is the value that is multiplied by Dgain to produce the Derivative term of the output pid V commandD float ro only if debug 1 Derivative of command This is the value that is multiplied by FF1 to produce the first order feed forward term of the output pid V commandDD float ro only if debug 1 Second derivative of command This is the value that is multiplied by FF2 to produce the second order feed forward term of the output Some people would argue that deadband should be implemented such that error is treated as zero if it is within the deadband and be unmodified if it is outside the deadband This was not done because it would cause a step in the transfer function equal to the size of the deadband People who prefer that behavior are welcome to add a parameter that will change the behavior or to write their own version of pid However the default behavior should not be changed Negative gains may lead to unwanted behavior It is possible in some situations that negative FF gains 2007 01 16 LinuxCNC Documentation PID 9 HAL Component PID QQ make sense but in general all gains should be positive If some output is in the wrong direction negating gai
124. escriptors default 0 Developer debug use only Enable debug logging of the HostMot2 Module Descriptors debug_pin_descriptors default 0 Developer debug use only Enable debug logging of the HostMot2 Pin Descriptors debug_modules default 0 Developer debug use only Enable debug logging of the HostMot2 Modules used DESCRIPTION hostmot2 is a device driver that interfaces the Mesa HostMot2 firmware to the LinuxCNC HAL This driver by itself does nothing the boards that actually run the firmware require their own drivers before any thing can happen Currently drivers are available for the 5120 5122 5123 5125 3x20 4165 and 4168 all using the hm2_pci module and the 7143 using the hm2_7i43 module The HostMot 2 firmware provides modules such as encoders PWM generators step dir generators and gen eral purpose I O pins GPIOs These things are called Modules The firmware is configured at firmware compile time to provide zero or more instances of each of these Modules Board I O Pins The HostMot2 firmware runs on an FPGA board The board interfaces with the computer via PCI PC 104 Plus or EPP and interfaces with motion control hardware such as servos and stepper motors via T O pins on the board Each I O pin can be configured at board driver load time to serve one of two purposes either as a particu lar I O pin of a particular Module instance encoder pwmgen stepgen etc or as a general purpose digital T O pi
125. et any pins the stepgen step space parameter should be set to 0 to make use of this function PINS pcel720 N pin MM out bit in MM 00 31 Output pins pcl720 N pin MM in bit out MM 00 31 Input pins pcl720 N pin MM in not bit out MM 00 31 Inverted version of each input pin pcl720 N wait clocks u32 out PARAMETERS pcl720 N reset time u32 rw default 5000 The time in nanoseconds after the write function has run to reset the pins for which the reset parameter is set pcl720 N pin MM reset bit rw MM 00 31 specifies if the pin should be reset by the reset function pcl720 N pin MM out invert bit rw MM 00 31 Set to true to invert the sense of the output pin AUTHOR Andy Pugh LICENSE GPL LinuxCNC Documentation 2015 10 24 213 PID 9 HAL Component PID 9 NAME pid proportional integral derivative controller SYNOPSIS loadrt pid num_chan num names name1 name2 debug dbg DESCRIPTION pid is a classic Proportional Integral Derivative controller used to control position or speed feedback loops for servo motors and other closed loop applications pid supports a maximum of sixteen controllers The number that are actually loaded is set by the num_chan argument when the module is loaded Alternatively specify names and unique names sepa rated by commas The num_chan and names specifiers are mutually exclusive If neither num_chan nor names are specified the default value is three If debug i
126. f FALSE then allow the value to wrap around LICENSE GPL 124 2015 10 24 LinuxCNC Documentation CONV_U32_BIT Q9 HAL Component NAME conv_u32_bit Convert a value from u32 to bit SYNOPSIS loadrt conv_u32_bit count Ninames name 1 name2 FUNCTIONS conv u32 bit V Update out based on in PINS conv u32 bit NV in u32 in conv u32 bit N out bit out conv u32 bit N out of range bit out TRUE when in is not in the range of bit PARAMETERS conv u32 bit N clamp bit rw CONV_U32_BIT 9 If TRUE then clamp to the range of bit If FALSE then allow the value to wrap around LICENSE GPL LinuxCNC Documentation 2015 10 24 125 CONV_U32_FLOAT 9 HAL Component NAME conv_u32_ float Convert a value from u32 to float SYNOPSIS loadrt conv_u32_float count Ninames name I name2 FUNCTIONS conv u32 float N requires a floating point thread Update out based on in PINS conv u32 float N in u32 in conv u32 float N out float out LICENSE GPL 126 2015 10 24 CONV_U32_FLOAT 9 LinuxCNC Documentation CONV_U32_S32 9 HAL Component NAME conv_u32_s32 Convert a value from u32 to s32 SYNOPSIS loadrt conv_u32_s32 count N names name 1 namez2 FUNCTIONS conv u32 s32 N Update out based on in PINS conv u32 s32 N in u32 in conv u32 s32 N out s32 out conv u32 s32 N out of range bit out TRUE when in is not in the range of s32 PARAMETERS con
127. f three four and five phase patterns that can be used to directly control some types of motor windings When used with appropriate buffers of course Some of the stepping types are described below but for more details including timing diagrams see the stepgen section of the HAL reference manual type 0 step dir Two pins one for step and one for direction make pulses must run at least twice for each step once to set the step pin true once to clear it This limits the maximum step rate to half or less of the rate that can be reached by types 2 14 The parameters steplen and stepspace can further lower the maximum step rate Parameters dirsetup and dirhold also apply to this step type type 1 up down Two pins one for step up and one for step down Like type 0 make pulses must run twice per step which limits the maximum speed type 2 quadrature Two pins phase A and phase B For forward motion A leads B Can advance by one step every time make pulses runs type 3 three phase full step Three pins phase A phase B and phase C Three steps per full cycle then repeats Only one phase is high at a time for forward motion the pattern is A then B then C then A again type 4 three phase half step Three pins phases A through C Six steps per full cycle First A is high alone then A and B together then B alone then B and C together etc types 5 through 8 four phase full step Four pins phases A through
128. floating point Accepts a velocity or position command and converts it into a form usable by make pulses for step generation Operates on all channels at once PINS stepgen N counts s32 out The current position in counts for channel N Updated by capture position stepgen N position fb float out The current position in length units see parameter position scale Updated by capture posi tion The resolution of position fb is much finer than a single step If you need to see individual steps use counts stepgen N enable bit in Enables output steps when false no steps are generated stepgen N velocity cmd float in velocity mode only Commanded velocity in length units per second see parameter position scale stepgen N position cmd float in position mode only Commanded position in length units see parameter position scale stepgen N step bit out step type 0 only Step pulse output stepgen N dir bit out step type 0 only Direction output low for forward high for reverse stepgen N up bit out step type 1 only Count up output pulses for forward steps stepgen N down bit out step type 1 only Count down output pulses for reverse steps stepgen N phase A thru phase E bit out step types 2 14 only Output bits phase A and phase B are present for step types 2 14 phase C for types 3 14 phase D for types 5 14 and phase E for types 11 14 Behavior depends on selected stepping type LinuxCNC Documentation 200
129. g_handler_t handler rtapi_msg_handler_t rtapi_set_msg_handler void ARGUMENTS level A message level One of RTAPIMSG_ERR RTAPI_MSG_WARN RTAPI_MSG_INFO or RTAPIL MSG _DBG handler A function to call from rtapi_print or rtapi_print_msg to actually output the message fmt Other arguments are as for printf 3 DESCRIPTION rtapi_print and rtapi_print_msg work like the standard C printf functions except that a reduced set of formatting operations are supported Depending on the RTOS the default may be to print the message to stdout stderr a kernel log etc In RTAPI code the action may be changed by a call to rtapi_set_msg_handler A NULL argument to rtapi_set_msg_handler restores the default handler rtapi_msg_get_handler returns the current handler When the message came from rtapi_print level is RTAPI_MSG_ALL rtapi_print_msg works like rtapi_print but only prints if level is less than or equal to the current message level REALTIME CONSIDERATIONS rtapi_print and rtapi_print_msg May be called from user init cleanup and realtime code rtapi_get_msg_handler and ftapi_set_msg_handler may be called from realtime init cleanup code A message handler passed to rtapi_set_msg_handler may only call functions that can be called from real time code RETURN VALUE None 76 2006 10 12 LinuxCNC Documentation rtapi_print 3rtapi RTAPI rtapi_print 3rtapi SEE ALSO rtapi_set_msg_level 3rtapi rtapi_get_msg_level 3rtapi p
130. gram 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 1 2006 07 22 LinuxCNC Documentation HALUI 1 HAL User Interface HALUI 1 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 HALUIJMDI_COMMAND and exports a pin for each com mand 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 HALUIJMDI_COMMAND variables are set in the ini file no halui mdi command XX pins will be exported by halui mist 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 f
131. h electrical rotation float out position Calculated from the number of complete and partial revolutions since startup reset or index reset multiplied by the scale parameter float out velocity Calculated from the rotational velocity and the velocity scale parameter The default scale is elec trical rotations per second s32 out count This pins outputs a simulated encoder count at 2 24 counts per rev 16777216 counts s32 out rawcounts This is identical to the counts pin except it is not reset by the index or reset pins This is the pin which would be linked to the bldc HAL component if the resolver was being used to commutate a motor bit in reset Resets the position and counts pins to zero immediately bit in out index enable When this pin is set high the position and counts pins will be reset the next time the resolver passes through the zero position At the same time the pin is driven low to indicate to connected modules that the index has been seen and that the counters have been reset bit out error Indicates an error in the particular channel If this value is true then the reported position and velocity are invalid Parameters float read write scale The position scale in machine units per resolver electrical revolution float read write velocity scale The conversion factor between resolver rotation speed and machine velocity A value of 1 will typ ically give motor speed
132. h 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 number u32 out current selected tool spindle 24 2006 07 22 LinuxCNC Documentation HALUI 1 HAL User Interface HALUI 1 halui spindle brake is on bit out status pin that tells us if brake is on halui spindle brake off bit in pin for deactivating the spindle brake halui spindle brake on bit in pin for activating the spindle brake halui spindle decrease bit in a rising edge on this pin decreases the current spindle speed by 100 halui spindle forward bit in a rising edge on this pin makes the spindle go forward halui spindle increase bit in a rising edge on this pin increases the current spindle speed by 100 halui spindle is on bit out status pin telling if the spindle is on halui spindle reverse bit in a rising edge on this pin makes the spindle go reverse halui spindle runs backward bit out status pin telling if the spindle is running backward halui spindle runs forward bit out status pin telling if the spindle is running forward halui spindle start bit in a rising edge on this pin starts the spindle halui spindle stop bit in a rising edge on this pin stops the spindle spindle override halui spindle override c
133. hannels The number of channels actually loaded is set by the num_chan argument when the module is loaded Alternatively specify names and unique names sepa rated by commas The num_chan and names specifiers are mutually exclusive If neither num_chan nor names are specified the default value is three encoder has a one phase unidirectional mode called counter In this mode the phase B input is ignored the counts increase on each rising edge of phase A This mode may be useful for counting a unidirectional spindle with a single input line though the noise resistant characteristics of quadrature are lost FUNCTIONS encoder update counters no floating point Does the actual counting by sampling the encoder signals and decoding the quadrature wave forms Must be called as frequently as possible preferably twice as fast as the maximum desired count rate Operates on all channels at once encoder capture position uses floating point Captures the raw counts from update counters and performs scaling and other necessary conver sion handles counter rollover etc Can and should be called less frequently than update coun ters Operates on all channels at once NAMING The names for pins and parameters are prefixed as encoder N for N 0 1 num 1 when using num_chan num nameN for nameN name1 name2 when using names namel name2 The encoder N format is shown in the following descriptions PINS encoder N counter mode bi
134. he communication error is detected by Linux CNC To continue after a communication error set this parameter back to zero pluto step debug 0 s32 rw pluto step debug 1 s32 rw pluto step debug 2 float rw default 5 pluto step debug 3 float rw default 2 0 Registers that hold debugging information of interest to developers SEE ALSO 222 The pluto_step section in the HAL User Manual which shows the location of each physical pin on the pluto board 2015 10 24 LinuxCNC Documentation PLUTO_STEP 9 HAL Component PLUTO_STEP 9 LICENSE GPL LinuxCNC Documentation 2015 10 24 223 PWMGEN 9 HAL Component PWMGEN 9 NAME pwmgen software PWM PDM generation SYNOPSIS loadrt pwmgen output_type type0 type DESCRIPTION pwmgen is used to generate PWM pulse width modulation or PDM pulse density modulation signals The maximum PWM frequency and the resolution is quite limited compared to hardware based approaches but in many cases software PWM can be very useful If better performance is needed a hardware PWM generator is a better choice pwmgen supports a maximum of eight channels The number of channels actually loaded depends on the number of type values given The value of each type determines the outputs for that channel type 0 single output A single output pin pwm whose duty cycle is determined by the input value for positive inputs and which is off or at min dc for negative inputs Suitable for single ended
135. he contents of port are undefined except that it is safe but not required to pass this port to hal_parport_release hal_parport_release does not return a value It always succeeds 54 2006 10 12 LinuxCNC Documentation hal_pin_new 3hal HAL hal_pin_new 3hal NAME hal_pin_new Create a HAL pin SYNTAX int hal_pin_bit_new const char name hal_pin_dir_t dir hal_bit_t data_ptr_addr int comp_id int hal_pin_float_new const char name hal_pin_dir_t dir hal_float_t data_ptr_addr int comp_id int hal_pin_u32_new const char name hal_pin_dir_t dir hal_u32_t data_ptr_addr int comp_id int hal_pin_s32_new const char name hal_pin_dir_t dir hal_s32_t data_ptr_addr int comp_id int hal_pin_bit_newf hal_pin_dir_t dir hal_bit_t data_ptr_addr int comp_id const char fmt sss int hal_pin_float_newf hal_pin_dir_t dir hal_float_t data_ptr_addr int comp_id const char fmt int hal_pin_u32_newf hal_pin_dir_t dir hal_u32_t data_ptr_addr int comp_id const char fmt int hal_pin_s32_newf hal_pin_dir_t dir hal_s32_t data_ptr_addr int comp_id const char fmt int hal_pin_new const char name hal_type_t type hal_in_dir_t dir void data_ptr_addr int comp_id ARGUMENTS name The name of the pin dir The direction of the pin from the viewpoint of the component It may be one of HAL_IN HAL_OUT or HAL_IO Any number of HAL_IN or HAL_IO pins may be connected to the same signal but at most one HA
136. he first column FILENAME instructs halsampler to write to FILENAME instead of to stdout USAGE A FIFO must first be created by loading sampler 9 with halemd loadrt or a loadrt command in a hal file Then halsampler can be invoked to begin printing data from the FIFO to stdout Data is printed one line per sample If t was specified the sample number is printed first The data fol lows in the order that the pins were defined in the config string For example if the sampler config string was ffbs then a typical line of output without t would look like 123 55 33 4 0 12 halsampler prints data as fast as possible until the FIFO is empty then it retries at regular intervals until it is either killed or has printed COUNT samples as requested by n Usually but not always data printed by halsampler will be redirected to a file or piped to some other program The FIFO size should be chosen to absorb samples captured during any momentary disruptions in the flow of data such as disk seeks terminal scrolling or the processing limitations of subsequent program in a pipeline If the FIFO gets full and sampler is forced to overwrite old data halsampler will print overrun on a line by itself to mark each gap in the sampled data If t was specified gaps in the sequential sample numbers in the first column can be used to determine exactly how many samples were lost The data format for halsampler output is the same as for halstre
137. he signal already has other pins linked to it they are unaffected one signal can be linked to many pins but a pin can be linked to only one signal hal_unlink unlinks any signal from the specified pin hal_signal_delete deletes a signal object Any pins linked to the object are unlinked RETURN VALUE Returns a HAL status code SEE ALSO hal_type_t 3hal 60 2006 10 12 LinuxCNC Documentation hal_start_threads 3hal HAL hal_start_threads 3hal NAME hal_start_threads Allow HAL threads to begin executing SYNTAX int hal_start_threads int hal_stop_threads ARGUMENTS DESCRIPTION hal_start_threads starts all threads that have been created This is the point at which realtime functions start being called hal_stop_threads stops all threads that were previously started by hal_start_threads It should be called before any component that is part of a system exits RETURN VALUE Returns a HAL status code SEE ALSO hal_export_funct 3hal hal_create_thread 3hal hal_add_funct_to_thread 3hal LinuxCNC Documentation 2006 10 12 61 hal_type_t 3hal HAL hal_type_t 3hal NAME hal_type_t typedefs for HAL datatypes DESRCIPTION typedef hal_bit_t A volatile type which may have a value of 0 or nonzero typedef hal_s32_t A volatile type which may have a value from 2147483648 to 2147483647 typedef hal_u32_t A volatile type which may have a value from 0 to 4294967295 typedef hal_float_t A vo
138. high and 0 means that a fault it triggered when the pin is pulled low Default 0 fault low so that the PWM works with the fault pin unconnected u32 rw sample time Sets the time during the cycle when an ADC pulse is generated 0 start of PWM cycle and 1 end Not currently useful to LinuxCNC Default 0 5 In addition the per instance parameters above there is the following parameter that affects all instances u32 rw frequency Sets the master PWM frequency Maximum is approx 48kHz minimum is 1kHz Defaults to 20kHz stepgen stepgens have names like hm2_ lt BoardType gt lt BoardNum gt stepgen lt Instance gt Instance is a two digit number that corresponds to the HostMot2 stepgen instance number There are num_stepgens instances starting with 00 So for example the HAL pin that has the current position feedback from the first stepgen of the second 5122 board is hm2_5i22 1 stepgen 00 position fb this assumes that the firmware in that board is configured so that this HAL object is available Each stepgen uses 2 IO pins The signals on these pins depends on the step_type parameter described below The stepgen representation is modeled on the stepgen software component Each stepgen instance has the following pins and parameters Pins float input position cmd Target position of stepper motion in arbitrary position units This pin is only used when the step gen is in position control mode control type 0
139. his must be called in any realtime HAL component before its rtapi_app_init exits and in any userspace com ponent before it enters its main loop RETURN VALUE Returns a HAL status code LinuxCNC Documentation 2006 10 12 57 hal_set_constructor 3hal HAL hal_set_constructor 3hal NAME hal_set_constructor Set the constructor function for this component SYNTAX typedef int hal_constructor_t const char prefix const char arg int hal_set_constructor int comp_id hal_constructor_t constructor ARGUMENTS comp_id A HAL component identifier returned by an earlier call to hal_init prefix The prefix to be given to the pins parameters and functions in the new instance arg An argument that may be used by the component to customize this istance DESCRIPTION As an experimental feature in HAL 2 1 components may be constructable Such a component may create pins and parameters not only at the time the module is loaded but it may create additional pins and parame ters and functions on demand RETURN VALUE Returns a HAL status code SEE ALSO halemd 1 58 2006 10 12 LinuxCNC Documentation hal_set_lock 3hal HAL hal_set_lock 3hal NAME hal_set_lock hal_get_lock Set or get the HAL lock level SYNTAX int hal_set_lock unsigned char lock_type int hal_get_lockQ ARGUMENTS lock_type The desired lock type which may be a bitwise combination of HAL_LOCK_LOAD HAL_LOCK_COMNFIG HAL_LOCK_PARAMS or HAL_LOCK_PARAMS
140. ht be hm2 5i20 SVST8_4 BIT The hostmot2 firmware files are supplied by the hostmot2 firmware packages available from linuxcnc org num_encoders optional default 1 Only enable the first N encoders If N is 1 all encoders are enabled If N is 0 no encoders are enabled If N is greater than the number of encoders available in the firmware the board will fail to register num_resolvers optional default 1 Only enable the first N resolvers If N 1 then all resolvers are enabled This module does not work with generic resolvers unlike the encoder module which works with any encoder At the time of writing the Hostmot2 Resolver function only works with the Mesa 7149 card num_pwme_ens optional default 1 Only enable the first N pwmgens If N is 1 all pwmgens are enabled If N is 0 no pwmegens are enabled If N is greater than the number of pwmgens available in the firmware the board will fail to register num_3pwme _ens optional default 1 Only enable the first N Three phase pwmgens If N is 1 all 3pwmgens are enabled If N is 0 no pwmgens are enabled If N is greater than the number of pwmgens available in the firmware the board will fail to register num_stepgens optional default 1 Only enable the first N stepgens If N is 1 all stepgens are enabled If N is 0 no step gens are enabled If N is greater than the number of stepgens available in the firmware the board will fail to register LinuxCNC D
141. iables in classicladder These are truncated to 32 values internally eg 7 5 will be 7 classicladder 0 floatout NN OUT float Float output from classicladder These float signal pins map to QENN variables in classicladder PARAMETERS classicladder 0 refresh time RO s32 Tells you how long the last refresh took classicladder 0 refresh tmax RW s32 Tells you how long the longest refresh took classicladder 0 ladder state RO s32 Tells you if the program is running or not FUNCTIONS classicladder 0 refresh FP The rung update rate Add this to the servo thread You can added it to a faster thread but it Will update no faster than once every millisecond 1000000 ns BUGS See http wiki linuxcnc org cgi bin wiki pl ClassicLadder_Ver_7 124 for the latest 114 2008 11 23 LinuxCNC Documentation CLASSICLADDER 9 HAL Component CLASSICLADDER 9 SEE ALSO Classicladder chapters in the LinuxCNC documentation for a full description of the Classicladder syntax and examples http wiki linuxcnc org cgi bin wiki pl ClassicLadder_Ver_7 124 LinuxCNC Documentation 2008 11 23 115 COMP 9 HAL Component COMP 9 NAME comp Two input comparator with hysteresis SYNOPSIS loadrt comp count Mnames name I name2 FUNCTIONS comp N requires a floating point thread Update the comparator PINS comp N in0 float in Inverting input to the comparator comp N in1 float in Non inverting input to the comparator comp N out bit out Normal
142. ic value on the IO pin is available in the in and in_not HAL pins Writes to the out HAL pin have no effect If this parameter is set to 1 the GPIO is an output its behavior then depends on the is_opendrain parameter Only full GPIO pins have this parameter bit r w is_opendrain This parameter only has an effect if the is_output parameter is true If this parameter is false the GPIO behaves as a normal output pin the IO pin on the connector is driven to the value specified by the out HAL pin possibly inverted and the value of the in and in_not HAL pins is unde fined If this parameter is true the GPIO behaves as an open drain pin Writing O to the out HAL pin drives the IO pin low writing 1 to the out HAL pin puts the IO pin in a high imped ance state In this high impedance state the IO pin floats weakly pulled high and other devices can drive the value the resulting value on the IO pin is available on the in and in_not pins Only full GPIO pins and IO pins used as outputs by active module instances have this parameter bit r w invert_output This parameter only has an effect if the is_output parameter is true If this parameter is true the output value of the GPIO will be the inverse of the value on the out HAL pin Only full GPIO pins and IO pins used as outputs by active module instances have this parameter Creates HAL pins for the LEDs on the FPGA board Pins bit in CR lt NN gt The pins ar
143. ignal gets signame get signal Gets the value of signal signame Fails if signame does not exist linkps pinname arrow signame link pin to signal Establishs a link between a HAL component pin pinname and a HAL signal signame Any previous link to pinname will be broken arrow can be gt lt lt gt or omit ted halemd ignores arrows but they can be useful in command files to document the direction of data flow Arrows should not be used on the command line since the shell might try to interpret them Fails if either pinname or signame does not exist or if they are not the same type type linksp signame arrow pinname link signal to pin Works like linkps but reverses the order of the arguments halemd treats both link commands exactly the same Use whichever you prefer linkpp pinname arrow pinname2 OBSOLETE use net instead link pin to pin Shortcut for linkps that creates the signal named like the first pin then links them both to that signal halcmd treats this just as if it were halcmd newsig pinname1 halcmd linksp pinname1 pinname1 halcmd linksp pinname1 pinname2 net signame pinname Create signname to match the type of pinname if it does not yet exist Then link signame to each pinname in turn Arrows may be used as in linkps unlinkp pinname unlink pin Breaks any previous link to pinname Fails if pinname does not exist setp name value set parameter or pin Sets the value of parameter
144. intro 3rtap1 RTAPI intro 3rtapi NAME rtapi Introduction to the RTAPI API DESCRIPTION RTAPI is a library providing a uniform API for several real time operating systems As of ver 2 1 RTLinux RTAI and a pure userspace simulator are supported HEADER FILES rtapi h The file rtapi h defines the RTAPI for both realtime and non realtime code This is a change from Rev 2 where the non realtime user space API was defined in ulapi h and used different function names The symbols RTAPI and ULAPI are used to determine which mode is being compiled RTAPI for realtime and ULAPI for non realtime rtapi_math h The file rtapi_math h defines floating point functions and constants It should be used instead of lt math h gt in rtapi real time components rtapi_string h The file rtapi_string h defines string related functions It should be used instead of lt string h gt in rtapi real time components REALTIME CONSIDERATIONS Userspace code Certain functions are not available in userspace code This includes functions that perform direct device access such as rtapi_inb 3 Init cleanup code Certain functions may only be called from realtime init cleanup code This includes functions that perform memory allocation such as rtapi_shmem_new 3 Realtime code Only a few functions may be called from realtime code This includes functions that perform direct device access such as rtapi_inb 3 It excludes most Linux kernel APIs such as do_getti
145. ion output possibly inverted for second gear PARAMETERS gearchange N min1 float rw default 0 Minimum allowed speed in gear range 1 gearchange N max1 float rw default 100000 Maximum allowed speed in gear range 1 gearchange N min2 float rw default 0 Minimum allowed speed in gear range 2 gearchange N max2 float rw default 100000 Maximum allowed speed in gear range 2 gearchange N scale2 float rw default 7 0 Relative scale of gear 2 vs gear 1 Since it is assumed that gear 2 is high gear scale2 must be greater than 1 and will be reset to 1 if set lower gearchange N reverse bit rw default 0 Set to 1 to reverse the spindle in second gear LICENSE GPL 146 2015 10 24 LinuxCNC Documentation gladevcp 9 HAL Component gladevcp 9 NAME gladevcp displays Virtual control Panels built with GTK GLADE SYNOPSIS loadusr gladevcp c componentname0x N g WxH Xoffset YoffsetOxN H halemdfile x win dowid gladefile glade DESCRIPTION gladevcp parses a glade file and displays the widgets in a window Then calls gladevcp_makepins which again parses the gladefile looking for specific HAL widgets then makes HAL pins and sets up updating for them The HAL component name defaults to the basename of the glade file The x option directs glade vep to reparent itself under this X window id instead of creating its own toplevel window The H option passes an input file for halcmd to be run after the gladevcp component
146. ior SYNOPSIS loadrt updown count Mnames name 1 name2 FUNCTIONS updown Process inputs and update count if necessary PINS updown N countup bit in Increment count when this pin goes from 0 to 1 updown N countdown bit in Decrement count when this pin goes from 0 to 1 updown N reset bit in Reset count when this pin goes from 0 to 1 updown N count s32 out The current count PARAMETERS updown N clamp bit rw If TRUE then clamp the output to the min and max parameters updown N wrap bit rw If TRUE then wrap around when the count goes above or below the min and max parameters Note that wrap implies and overrides clamp updown N max s32 rw default 0x7FFFFFFF If clamp or wrap is set count will never exceed this number updown N min s32 rw If clamp or wrap is set count will never be less than this number LICENSE GPL LinuxCNC Documentation 2015 10 24 259 WATCHDOG 9 HAL Component WATCHDOG 9 NAME watchdog monitor multiple inputs for a heartbeat SYNOPSIS loadrt watchdog num_inputs V You must specify the number of inputs from 1 to 32 Each input has a separate timeout value FUNCTIONS process Check all input pins for transitions clear the ok out pin if any input has no transition within its timeout period This function does not use floating point and should be added to a fast thread set timeouts Check for timeout changes and convert the float timeout inputs to int values that can be used in pr
147. is multiplied by FF1 to produce the first order feed forward term of the output LinuxCNC Documentation 2007 05 12 93 AT_PID 9 HAL Component AT_PID 9 pid V commandDD float ro only if debug 1 Second derivative of command This is the value that is multiplied by FF2 to produce the second order feed forward term of the output pid N ultimate gain float ro only if debug 1 Determined from process characterization ultimate gain is the ratio of tune effort to the limit cycle amplitude multipled by 4 0 divided by Pi pid N ultimate period float ro only if debug 1 Determined from process characterization ultimate period is the period of the limit cycle BUGS Some people would argue that deadband should be implemented such that error is treated as zero if it is within the deadband and be unmodified if it is outside the deadband This was not done because it would cause a step in the transfer function equal to the size of the deadband People who prefer that behavior are welcome to add a parameter that will change the behavior or to write their own version of at_pid How ever the default behavior should not be changed 94 2007 05 12 LinuxCNC Documentation BIN2GRAY 9 HAL Component NAME bin2gray convert a number to the gray code representation SYNOPSIS loadrt bin2gray count Ninames name name2 DESCRIPTION Converts a number into gray code FUNCTIONS bin2gray N PINS bin2gray N in u32 in binary code in bin2gr
148. is prempted by a higher priority task It will resume as soon as the higher priority task releases the CPU 2 It calls a blocking function like rtapi_sem_take It will resume when the function unblocks 3 It is returned to the paused state by rtapi_task_pause May be called from init cleanup code and from within realtime tasks rtapi_task_pause causes a task to stop execution and change to the paused state The task can be free running or periodic Note that rtapi_task_pause may called from any task or from init or cleanup code not just from the task that is to be paused The task will resume execution when either rtapi_task_resume or rtapi_task_start depending on whether this is a free running or periodic task is called REALTIME CONSIDERATIONS May be called from init cleanup code and from within realtime tasks RETURN VALUE An RTAPI status code SEE ALSO rtapi_task_new 3rtapi rtapi_task_start 3rtapi 84 2006 10 12 LinuxCNC Documentation rtapi_task_start 3rtapi RTAPI rtapi_task_start 3rtapi NAME rtapi_task_start start a realtime task in periodic mode SYNTAX int rtapi_task_start int task_id unsigned long period_nsec ARGUMENTS task_id A task ID returned by a previous call to rtapi_task_new period_nsec The clock period in nanoseconds between iterations of a periodic task DESCRIPTION rtapi_task_start starts a task in periodic mode The task must be in the paused state REALTIME CONSIDERATIONS C
149. it_u32 count Ninames name 1 name2 FUNCTIONS cony bit u32 N Update out based on in PINS conv bit u32 N in bit in cony bit u32 N out u32 out LICENSE GPL LinuxCNC Documentation 2015 10 24 CONV_BIT_U32 9 119 CONV_FLOAT_S32 9 HAL Component NAME conv_float_s32 Convert a value from float to s32 SYNOPSIS loadrt conv_float_s32 count NInames name I name2 FUNCTIONS conv float s32 N requires a floating point thread Update out based on in PINS cony float s32 N in float in conv float s32 N out s32 out conv float s32 N out of range bit out TRUE when in is not in the range of s32 PARAMETERS convy float s32 N clamp bit rw CONV_FLOAT_S32 9 If TRUE then clamp to the range of s32 If FALSE then allow the value to wrap around LICENSE GPL 120 2015 10 24 LinuxCNC Documentation CONV_FLOAT_U32 9 HAL Component NAME conv_float_u32 Convert a value from float to u32 SYNOPSIS loadrt conv_float_u32 count NInames name I name2 FUNCTIONS conv float u32 N requires a floating point thread Update out based on in PINS conv float u32 N in float in conv float u32 N out u32 out conv float u32 N out of range bit out TRUE when in is not in the range of u32 PARAMETERS conv float u32 N clamp bit rw CONV_FLOAT_U32 9 If TRUE then clamp to the range of u32 If FALSE then allow the value to wrap around LICENSE GPL LinuxCNC Do
150. ital outputs 8 shared with PWM and 20 digital inputs 12 shared with quadrature Encoders The encoder pins and parameters conform to the canonical encoder interface described in the HAL man ual It operates in x4 mode The sample rate of the encoder is 40MHz The maximum number quadrature rate is 8191 counts per Lin uxCNC servo cycle For correct handling of the index pulse the number of encoder counts per revolution must be less than 8191 PWM The PWM pins and parameters conform to the canonical analog output interface described in the HAL manual The output pins are up down or pwm dir pins as described in the documentation of the pwm gen component Internally the PWM generator is based on a 12 bit 40MHz counter giving 4095 duty cycles from 100 to 100 and a frequency of approximately 19 5kHz In PDM mode the duty periods are approximately 100ns long Digital I O The digital output pins conform to the canonical digital output interface described in the HAL manual The digital input pins conform to the canonical digital input interface described in the HAL manual 218 2015 10 24 LinuxCNC Documentation PLUTO_SERVO 9 HAL Component PLUTO_SERVO 9 FUNCTIONS pluto servo read requires a floating point thread Read all the inputs from the pluto servo board pluto servo write requires a floating point thread Write all the outputs on the pluto servo board PINS pluto servo
151. kes if there is a step change on the command Not normally needed pid V maxcmdDD float rw Limit on command second derivative The command second derivative used by FF2 will be lim ited to this value unless the value is zero Can be used to prevent FF2 from producing large out put spikes if there is a step change on the command Not normally needed pid N tune type u32 rw When set to 0 Pgain Igain Dgain are caclulated When set to 1 Pgain Igain FF1 are calculated pid N tune cycles u32 rw Determines the number of cycles to run to characterize the process tune cycles actually sets the number of half cycles More cycles results in a more accurate characterization as the average of all cycles is used pid N tune effort float rw Determines the effor used in setting up the limit cycle in the process tune effort should be set to a positive value less than maxoutput Start with something small and work up to a value that results in a good portion of the maximum motor current being used The smaller the value the smaller the amplitude of the limit cycle pid N errorlI float ro only if debug 1 Integral of error This is the value that is multiplied by Igain to produce the Integral term of the output pid N errorD float ro only if debug 1 Derivative of error This is the value that is multiplied by Dgain to produce the Derivative term of the output pid V commandD float ro only if debug 1 Derivative of command This is the value that
152. l rotation Note that the 8120 drive automatically adds the phase lead lag angle and that this pin should see the raw rotor angle There is a HAL module bldc which han dles the complexity of differing motor and drive types float in current The phase current command to the drive This is scaled from 1 to 1 for forwards and reverse maximum currents The absolute value of the current is set by the max_current parameter float ro voltage The drive bus voltage in V This will tend to show 25 6V when the drive is unpowered and the drive will not operate below about 50V float ro temp The temperature of the driver in degrees C u32 ro fault The fault status of the drive See the 8120 manual for a detailed description 2008 05 13 LinuxCNC Documentation HOSTMOT2 9 HAL Component HOSTMOT2 9 u32 ro status The operating status of the drive See the 8i20 manual for more details u32 ro comms The communication status of the drive See the manual for more details Parameters float rw max_current Sets the maximum drive current in Amps The default value is the maximum current programmed into the drive EEPROM The value must be positive and an error will be raised if a current in excess of the drive maximum is requested u32 ro serial_number The serial number of the connected drive This is also shown on the label on the drive 7i64 The 7164 is a 24 input 24 output IO card 7i64 pins and parameters have names
153. latile floating point type which typically has the same precision and range as the C type dou ble typedef real_t A nonvolatile floating point type with at least as much precision as hal_float_t typedef ireal_t A nonvolatile unsigned integral type the same size as hal_float_t typedef enum hal_type_t HAL_BIT Corresponds to the type hal_bit_t HAL_FLOAT Corresponds to the type hal_float_t HAL_S32 Corresponds to the type hal_s32_t HAL_U32 Corresponds to the type hal_u32_t NOTES hal_bit_t is typically a typedef to an integer type whose range is larger than just 0 and 1 When testing the value of a hal_bit_t never compare it to 1 Prefer one of the following e ifb e ifb 0 It is often useful to refer to a type that can represent all the values as a hal type but without the volatile qualifier The following types correspond with the hal types hal_bit_t int hal_s32_t s32 hal_u32_t _ u32 hal_float_t hal_real_t Take care not to use the types s32 and u32 These will compile in kernel modules but not in userspace and not for realtime components when using simulated userspace realtime SEE ALSO hal_pin_new 3hal hal_param_new 3hal 62 2006 10 12 LinuxCNC Documentation undocumented 3hal HAL undocumented 3hal NAME undocumented undocumented functions in HAL SEE ALSO The header file Hal h Most hal functions have documentation in that file LinuxCNC Documentation 2006 10 12 63
154. le 20c might be used to create a complete line of one character b This specifier has no equivalent in printf It creates a bit boolean type HAL pin The b should be followed by two characters and the display will show the first of these when the pin is true and the second when false Note that the characters follow not preceed the b unlike the case with other formats The characters may be escaped Hex values For example b FF will display a solid black block if true and a space if false and b 7F 7E would display right arrow for false and left arrow for true An unexpected value of E indicates a formatting error Pages The page separator is the pipe character if the actual character is needed then 7C may be used A Page in this context refers to a separate format which may be displayed on the same display Instances The instance separator is the comma This creates a completely separate lcd instance for example to drive a second lcd display on the second 7173 The use of comma to separate instances is built in to the modparam reading code so not even escaped commas can be used A comma may be displayed by using the 2C sequence Andy Pugh LICENSE GPL LinuxCNC Documentation 2012 09 17 179 LIMIT1 9 HAL Component NAME limit Limit the output signal to fall between min and max SYNOPSIS loadrt limit1 count Nlnames name 1 namez2 FUNCTIONS limit1 N requires a floating point threa
155. like hm2_ lt BoardType gt lt BoardNum gt 7i64 lt PortNum gt lt ChanNum gt lt Pin gt for example hm2_5i23 0 7163 1 3 digout 01 out Pins bit in digout NN out Writing a 1 or TRUE to this pin will enable output driver NN Note that the outputs are drivers switches rather than voltage outputs The LED adjacent to the con nector on the board shows the status bit out digin NN in The value of input NN Note that the inputs are isolated and both pins of each input must be connected typically to signal and the ground of the signal This need not be the ground of the board bit out digin NN in not An inverted copy of the corresponding input float out adcin 00 in amp adcin 01 in The two analogue inputs 0 to 3 3V on the board Parameters bit rw digout NN invert Setting this parameter to 1 TRUE will invert the output value such that writing 0 to gpio NN out will enable the output and vice versa General Purpose I O T O pins on the board which are not used by a module instance are exported to HAL as full GPIO pins Full GPIO pins can be configured at run time to be inputs outputs or open drains and have a HAL inter face that exposes this flexibility IO pins that are owned by an active module instance are constrained by the requirements of the owning module and have a restricted HAL interface GPIOs have names like hm2_ lt BoardType gt lt BoardNum gt gpio lt IONum gt IONumn is a three digit
156. loat rw default 1024 A scale factor applied to the output value of the low pass filter ilowpass N gain float rw default 5 Together with the period sets the rate at which the output changes Useful range is between 0 and 1 with higher values causing the input value to be tracked more quickly For instance a setting of 0 9 causes the output value to go 90 of the way towards the input value in each period AUTHOR Jeff Epler lt jepler unpythonic net gt LICENSE GPL LinuxCNC Documentation 2015 10 24 169 INTEG 9 HAL Component NAME integ Integrator with gain pin and windup limits SYNOPSIS loadrt integ count NInames name 1 name2 FUNCTIONS integ N requires a floating point thread PINS integ N in float in integ N gain float in default 7 0 integ N out float out The discrete integral of gain in since reset was deasserted integ N reset bit in When asserted set out to 0 integ N max float in default e20 integ N min float in default e20 LICENSE GPL 170 2015 10 24 INTEG 9 LinuxCNC Documentation INVERT 9 HAL Component NAME invert Compute the inverse of the input signal SYNOPSIS INVERT 9 The output will be the mathematical inverse of the input ie out 1 in The parameter deadband can be used to control how close to 0 the denominator can be before the output is clamped to 0 deadband must be at least le 8 and must be positive FUNCTIONS invert N re
157. lood 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 LinuxCNC Documentation 2006 07 22 29 HALUI 1 HAL User Interface HALUI 1 halui feed override increase bit in pin for increasing the FO scale 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 estop halui estop activate bit in pin for setting Estop LinuxCNC internal On halui estop is activated bit out pin for displaying Estop state LinuxCNC internal On Off halui estop reset bit in pin for resetting Estop LinuxCNC internal Off axis halui axis N pos commanded float out float out Commanded axis position in machine coordinates halui axis N pos feedback float out float out Feedback axis position in machine coordinates halui axis N pos relative float out float out Commanded axis position in relative coordinates home halui home all bit in pin for requesting home all only available when a valid homing sequence is specified SEE ALSO HISTORY BUGS none
158. lows in4 sel2 TRUE sel1 FALSE sel0 TRUE out follows in5 sel2 TRUE sell1 TRUE sel0 FA LSE out follows in6 sel2 TRUE sel1 TRUE sel0 TRUE out follows in7 mux8 N in0 float in mux8 N in1 float in mux8 N in2 float in mux8 N in3 float in mux8 N in4 float in mux8 N in5 float in mux8 N in6 float in mux8 N in7 float in LICENSE GPL LinuxCNC Documentation 2015 10 24 205 NEAR 9 HAL Component NAME near Determine whether two values are roughly equal SYNOPSIS loadrt near count NInames name I namez2 FUNCTIONS near N requires a floating point thread PINS near N in1 float in near N in2 float in near N out bit out NEAR 9 out is true if inl and in2 are within a factor of scale i e for inl positive inl scale lt in2 lt inl scale OR if their absolute difference is no greater than difference i e linl in2I lt differ ence out is false otherwise PARAMETERS near N scale float rw default 7 near difference float rw default 0 LICENSE GPL 206 2015 10 24 LinuxCNC Documentation NOT 9 HAL Component NAME not Inverter SYNOPSIS loadrt not count NInames name I name2 FUNCTIONS not NV PINS not N in bit in not N out bit out LICENSE GPL LinuxCNC Documentation 2015 10 24 NOT 9 207 OFFSET 9 HAL Component NAME offset Adds an offset to an input and subtracts it from the feedback value SYNOPSIS loadrt offset count NlInames nam
159. m fastest to slowest Each thread is specified by three arguments namel is used to specify the name of the first thread thread 1 period1 is used to specify the period of thread 1 in nanoseconds Both name and period are required The third argument fp1 is optional and is used to specify if thread 1 will be used to execute floating point code If not specified it defaults to 1 which means that the thread will support floating point Specify 0 to disable floating point support which saves a small amount of execution time by not saving the FPU con text For additional threads name2 period2 fp2 name3 period3 and fp3 work exactly the same If more than three threads are needed unload threads then reload it to create more threads FUNCTIONS PINS None None PARAMETERS BUGS None The existence of threads might be considered a bug Ideally creation and deletion of threads would be done directly with halemd commands such as newthread name period delthread name or similar However limitations in the current HAL implementation require thread creation to take place in kernel space and loading a component is the most straightforward way to do that LinuxCNC Documentation 2007 01 16 249 THREADTEST 9 HAL Component NAME threadtest LinuxCNC HAL component for testing thread behavior SYNOPSIS loadrt threadtest count NInames name1 name2 FUNCTIONS threadtest N increment threadtest N reset PINS threadte
160. machine power setting as on or off With set sets the machine on or off as specified mode manuallautolmdi With get ignores any parameters and returns the current machine mode With set sets the machine mode as specified mist onloff With get ignores any parameters and returns the current mist coolant setting With set sets the mist setting as specified flood onloff With get ignores any parameters and returns the current flood coolant setting With set sets the flood setting as specified lube onloff With get ignores any parameters and returns the current lube pump setting With set sets the lube pump setting as specified lube_level With get returns the lubricant level sensor reading as ok or low With set mocks you for wishful thinking spindle forwardlreverselincreaseldecreaselconstantloff With get any parameter is ignored and the current spindle state is returned as forward reverse increase decrease or off With set sets the spindle as specified Note that increase and decrease will cause a speed change in the corresponding direction until a constant command is sent brake onloff With get any parameter is ignored and the current brake setting is returned With set the brake is set as specified tool With get returns the id of the currently loaded tool tool_offset With get returns the currently applied tool length offset load_tool_table lt file gt With set loads
161. me In systems with realtime halemd calls the linuxcnc_module_helper to load realtime modules linuxcnc_module_helper is a setuid program and is compiled with a whitelist of modules it is allowed to load This is currently just a list of LinuxCNC related modules The linuxenc_mod ule_helper execs insmod so return codes and error messages are those from insmod Administra tors who wish to restrict which users can load these LinuxCNC related kernel modules can do this by setting the permissions and group on linuxcnc_module_helper appropriately In systems without realtime halemd calls the rtapi_app which creates the simulated realtime environment if it did not yet exist and then loads the requested component with a call to dlopen 3 unloadrt modname unload realtime module Unloads a realtime HAL module called modname If modname is all it will unload all currently loaded realtime HAL modules unloadrt also works by execing linux cnc_module_helper or rtapi_app just like loadrt loadusr flags unix command load Userspace component Executes the given unix command usually to load a userspace com ponent flags may be one or more of e W to wait for the component to become ready The component is assumed to have the same name as the first argument of the command e Wn name to wait for the component which will have the given name e w to wait for the program to exit e ito ignore the program return value with w waitusr nam
162. me as the HAL component name If the component name is not specified the basename of the xml file is used SEE ALSO Python Virtual Control Panel in the LinuxCNC documentation for a description of the xml syntax along with examples LinuxCNC Documentation 2007 04 01 41 SHUTTLEXPRESS 1 HAL User s Manual SHUTTLEXPRESS 1 NAME shuttlexpress control HAL pins with the ShuttleXpress device made by Contour Design SYNOPSIS loadusr shuttlexpress DEVICE DESCRIPTION UDEV shuttlexpress is a userspace HAL component that interfaces Contour Design s ShuttleXpress device with LinuxCNC s HAL The ShuttleXpress has five momentary buttons a 10 counts revolution jog wheel with detents and a 15 position spring loaded outer wheel that returns to center when released If it is started without command line arguments it will probe all dev hidraw device files for ShuttleXpress devices and use all devices found If it is started with command line arguments only will only probe the devices specified The shuttlexpress module needs read permission on the dev hidraw device files This can be accom plished by adding a file etc udev rules d 99 shuttlexpress rules with the following contents SUBS YSTEM hidraw ATTRS id Vendor 0b33 ATTRS idProduct 0020 MODE 0444 A warning about the Jog Wheel Pins 42 The ShuttleXpress device has an internal 8 bit counter for the current jog wheel position The shuttlexpre
163. meofday 3 and many rtapi APIs such as rtapi_shmem_new 3 Simulator For an RTAPI module to be buildable in the sim environment fake realtime system without special privi leges it must not use any linux kernel APIs and must not use the RTAPI APIs for direct device access such as rtapi_inb 3 This automatically includes any hardware device drivers and also devices which use Linux kernel APIs to do things like create special devices or entries in the proc filesystem RTAPI STATUS CODES Except as noted in specific manual pages RTAPI returns negative errno values for errors and nonnegative values for success 64 2006 10 02 LinuxCNC Documentation rtapi_app_exit 3rtapi HAL rtapi_app_exit 3rtapi NAME rtapi_app_exit User provided function to shut down a component SYNTAX void rtapi_app_exit void ARGUMENTS None DESCRIPTION The body of rtapi_app_exit which is provided by the component author generally consists of a call to rtapi_exit or hal_exit preceded by other component specific shutdown code This code is called when unloading a component which successfully initialized 1 e returned zero from its rtapi_app_main It is not called when the component did not successfully initialize RETURN CODE None REALTIME CONSIDERATIONS Called automatically by the rtapi infrastructure in an initialization not realtime context SEE ALSO rtapi_app_main 3rtapi rtapi_exit 3rtapi hal_exit 3hal LinuxCNC
164. mes then an error will be raised and the component will not load DESCRIPTION Allows HAL pins to trigger a message Example hal commands loadrt message names oillow oilpressure inverterfail messages Slideway oil low No oil pressure Spindle inverter fault addf oillow servo thread addf oilpressure servo thread addf inverterfail servo thread setp oillow edge 0 this pin should be active low net no oil classicladder 0 out 21 oillow trigger net no pressure classicladder 0 out 22 oilpressure trigger net no inverter classicladder 0 out 23 inverterfail trigger When any pin goes active the corresponding message will be displayed FUNCTIONS message V Display a message PINS message N trigger bit in default FALSE signal that triggers the message message N force bit in default FALSE A FALSE gt TRUE transition forces the message to be displayed again if the trigger is active PARAMETERS message N edge bit rw default TRUE Selects the desired edge TRUE means falling FALSE means rising LICENSE GPL v2 LinuxCNC Documentation 2015 10 24 189 MINMAX 9 HAL Component NAME minmax Track the minimum and maximum values of the input to the outputs SYNOPSIS loadrt minmax count NInames name1 name2 FUNCTIONS minmax N requires a floating point thread PINS minmax N in float in minmax N reset bit in When reset is asserted in is copied to the outputs minmax N max float out minmax N min float out LICENSE
165. mount of filtering for all pins in group G LinuxCNC Documentation 2007 01 16 131 EDGE Q9 HAL Component NAME edge Edge detector SYNOPSIS loadrt edge count NInames name I namez2 FUNCTIONS edge N Produce output pulses from input edges PINS edge N in bit in edge N out bit out Goes high when the desired edge is seen on in edge N out invert bit out Goes low when the desired edge is seen on in PARAMETERS edge N in edge bit rw default TRUE Selects the desired edge TRUE means falling FALSE means rising edge N out width ns s32 rw default 0 Time in nanoseconds of the output pulse edge N time left ns s32 r Time left in this output pulse edge N last in bit r Previous input value LICENSE GPL 132 2015 10 24 EDGE 9 LinuxCNC Documentation ENCODER 9 HAL Component ENCODER 9 NAME encoder software counting of quadrature encoder signals SYNOPSIS loadrt encoder num_chan num names name I namez2 DESCRIPTION encoder is used to measure position by counting the pulses generated by a quadrature encoder As a soft ware based implementation it is much less expensive than hardware but has a limited maximum count rate The limit is in the range of 1OKHz to SOKHz depending on the computer speed and other factors If better performance is needed a hardware encoder counter is a better choice Some hardware based systems can count at MHz rates encoder supports a maximum of eight c
166. n By default all Module instances are enabled and all the board s pins are used by the Module instances The user can disable Module instances at board driver load time by specifying a hostmot2 config string modparam Any pins which belong to Module instances that have been disabled automatically become GPIOs All IO pins have some HAL presence whether they belong to an active module instance or are full GPIOs GPIOs can be changed at run time between inputs normal outputs and open drains and have a flexible HAL interface IO pins that belong to active Module instances are constrained by the requirements of the owning Module and have a more limited interface in HAL This is described in the General Purpose I O section below config modparam 152 All the board driver modules hm2_pci and hm2_7i43 accept a load time modparam of type string array named config This array has one config string for each board the driver should use Each board s config string is passed to and parsed by the hostmot2 driver when the board driver registers the board The config string can contain spaces so it is usually a good idea to wrap the whole thing in double quotes the character 2008 05 13 LinuxCNC Documentation HOSTMOT2 9 HAL Component HOSTMOT2 9 The comma character separates members of the config array from each other For example if your control computer has one 5i20 and one 5123 you might load the hm2_pci driver with a H
167. n M position cmd float in M 0 3 pluto step stepgen M velocity fb float out M 0 3 pluto step stepgen position fb float out M 0 3 pluto step stepgen M counts s32 out M 0 3 pluto step stepgen M enable bit in M 0 3 pluto step stepgen reset bit in M 0 3 When TRUE reset position fb to 0 pluto step dout MM bit in MM 00 13 dout MM corresponds to the pin labeled OUTM on the pinout diagram pluto step din MM bit out MM 00 15 pluto step din MM not bit out MM 00 15 din MM corresponds to the pin labeled INM on the pinout diagram PARAMETERS pluto step stepgen scale float rw M 0 3 default 7 0 pluto step stepgen maxvel float rw M 0 3 default 0 pluto step stepgen step polarity bit rw pluto step stepgen steplen u32 rw Step length in ns pluto step stepgen stepspace u32 rw Step space in ns pluto step stepgen dirtime u32 rw Dir hold setup in ns Refer to the pdf documentation for a diagram of what these timings mean pluto step dout MM invert bit rw MM 00 13 If TRUE the output on the corresponding dout M M is inverted pluto step communication error u32 rw Incremented each time pluto step read detects an error code in the EPP status register While this register is nonzero new values are not being written to the Pluto P board and the status of digital outputs and the PWM duty cycle of the PWM outputs will remain unchanged If the hardware watchdog is enabled it will activate shortly after t
168. n about the execution time of these HAL functions in CPU cycles motion debug These values are used for debugging purposes motion servo last period The number of CPU cycles between invocations of the servo thread Typically this number divided by the CPU speed gives the time in seconds and can be used to determine whether the realtime motion controller is meeting its timing constraints motion servo overruns By noting large differences between successive values of motion servo last period the motion con troller can determine that there has probably been a failure to meet its timing constraints Each time such a failure is detected this value is incremented FUNCTIONS Generally these functions are both added to the servo thread in the order shown motion command handler Processes motion commands coming from user space 196 2007 08 25 LinuxCNC Documentation MOTION 9 HAL Component MOTION motion controller Runs the LinuxCNC motion controller BUGS This manual page is horribly incomplete SEE ALSO iocontrol 1 LinuxCNC Documentation 2007 08 25 197 MULT2 9 HAL Component NAME mult2 Product of two inputs SYNOPSIS loadrt mult2 count Nlnames name 1 namez2 FUNCTIONS mult2 N requires a floating point thread PINS mult2 N in0O float in mult2 N in1 float in mult2 N out float out out inO inl LICENSE GPL 198 2015 10 24 MULT2 9 LinuxCNC Documentation MULTICLICK Q9 HAL Componen
169. n the spindle should rotate backward motion spindle revs IN FLOAT For correct operation of spindle synchronized moves this signal must be hooked to the position pin of the spindle encoder motion spindle speed in IN FLOAT Actual spindle speed feedback in revolutions per second used for G96 feed per revolution and constant surface speed modes motion spindle speed out OUT FLOAT Desired spindle speed in rotations per minute motion spindle speed out rps OUT float Desired spindle speed in rotations per second motion tooloffset x OUT FLOAT motion tooloffset y OUT FLOAT motion tooloffset z OUT FLOAT motion tooloffset a OUT FLOAT motion tooloffset b OUT FLOAT motion tooloffset c OUT FLOAT motion tooloffset u OUT FLOAT motion tooloffset v OUT FLOAT motion tooloffset w OUT FLOAT Current tool offset in all 9 axes DEBUGGING PINS Many of the pins below serve as debugging aids and are subject to change or removal at any time axis N active OUT BIT TRUE when this joint is active axis V backlash corr OUT FLOAT Backlash or screw compensation raw value axis V backlash filt OUT FLOAT Backlash or screw compensation filtered value respecting motion limits 194 2007 08 25 LinuxCNC Documentation MOTION 9 HAL Component MOTION axis V backlash vel OUT FLOAT Backlash or screw compensation velocity axis V coarse pos cmd OUT FLOAT axis N error OUT BIT TRUE when this joint has encountered an error such as a limit switch closing
170. ned With set set the set_wait setting to the specified value wait receivedidone With set force a wait for the previous command to be received or done This lets you wait in the event that set_wait none is in effect set_timeout lt timeout gt With set set the timeout for commands to return to lt timeout gt seconds Timeout is a real number If it s lt 0 0 it means wait forever Default is 0 0 wait forever update nonelauto The update mode controls whether to return fresh or stale values for get requests When the update mode is none it returns stale values when it s auto it returns fresh values Defaults to auto for new connections Set this to none if you like to be confused error With get returns the current error string or ok if no error operator_display With get returns the current operator display string or ok if none operator_text With get returns the current operator text string or ok if none May 31 2011 35 linuxcncrsh 1 The Enhanced Machine Controller linuxcnersh 1 36 time With get returns the time in seconds from the start of the epoch This starting time depends on the platform estop onloff With get ignores any parameters and returns the current estop setting as on or off With set sets the estop as specified Estop on means the machine is in the estop state and won t run machine onloff With get ignores any parameters and returns the current
171. ned long base unsigned long int size const char name void rtapi_release_region unsigned long base unsigned long int size ARGUMENTS base The base address of the I O region size The size of the I O region name The name to be shown in proc ioports DESCRIPTION rtapi_request_region reserves I O memory starting at base and going for size bytes REALTIME CONSIDERATIONS May be called from realtime init cleanup code only BUGS On kernels before 2 4 0 rtapi_request_region always suceeds RETURN VALUE rtapi_request_region returns NULL if the allocation fails and a non NULL value otherwise rtapi_release_region has no return value LinuxCNC Documentation 2006 10 12 79 rtapi_set_msg_level 3rtapi RTAPI rtapi_set_msg_level 3rtapi NAME rtapi_get_msg_ level rtapi_set_msg_level Get or set the logging level SYNTAX int rtapi_set_msg_level int level int rtapi_get_msg_level ARGUMENTS level The desired logging level DESCRIPTION Get or set the RTAPI message level used by rtapi_print_msg Depending on the RTOS this level may apply to a single RTAPI module or it may apply to a group of modules REALTIME CONSIDERATIONS May be called from user init cleanup and realtime code RETURN VALUE rtapi_set_msg_level returns a status code and rtapi_get_msg_level returns the current level SEE ALSO rtapi_print_msg 3rtapi 80 2006 10 12 LinuxCNC Documentation rtapi_shmem 3rtapi RTAPI rtapi_shmem 3rta
172. ng with examples 6 2010 12 20 LinuxCNC Documentation gs2_vfd 1 LinuxCNC Documentation gs2_vfd 1 NAME gs2_vfd HAL userspace component for Automation Direct GS2 VFD s SYNOPSIS gs2_vfd OPTIONS DESCRIPTION This manual page explains the gs2_vfd component This component reads and writes to the GS2 via a mod bus connection gs2_vfd is for use with LinuxCNC OPTIONS b bits lt n gt default 8 Set number of data bits to lt n gt where n must be from 5 to 8 inclusive d device lt path gt default dev ttySO Set the name of the serial device node to use g debug Turn on debugging messages This will also set the verbose flag Debug mode will cause all mod bus messages to be printed in hex on the terminal n name lt string gt default gs2_vfd Set the name of the HAL module The HAL comp name will be set to lt string gt and all pin and parameter names will begin with lt string gt p parity even odd none default odd Set serial parity to even odd or none r rate lt n gt default 38400 Set baud rate to lt n gt It is an error if the rate is not one of the following 110 300 600 1200 2400 4800 9600 19200 38400 57600 115200 s stopbits 1 2 default 1 Set serial stop bits to 1 or 2 t target lt n gt default 1 Set MODBUS target slave number This must match the device number you set on the GS 2 v verbose Turn on debug messages Note that if there
173. ns to fix it is a mistake set the scaling correctly elsewhere instead LinuxCNC Documentation 2007 01 16 217 PLUTO_SERVO 9 HAL Component PLUTO_SERVO 9 NAME pluto_servo Hardware driver and firmware for the Pluto P parallel port FPGA for use with servo machines SYNOPSIS loadrt pluto_servo ioaddr N ioaddr_hi N epp_wide N watchdog N test_encoder N ioaddr default 0x378 The base address of the parallel port ioaddr_hi default 0 The secondary address of the parallel port used to set EPP mode 0 means to use ioaddr 0x400 1 means there is no secondary address The secondary address is used to set the port to EPP mode epp_wide default 1 Set to zero to disable the wide EPP mode Wide mode allows a 16 and 32 bit EPP trans fers which can reduce the time spent in the read and write functions However this may not work on all EPP parallel ports watchdog default 1 Set to zero to disable the hardware watchdog Watchdog will tristate all outputs approxi mately 6ms after the last execution of pluto servo write which adds some protection in the case of LinuxCNC crashes test_encoder default 0 Internally connect dout0 2 to QAO QBO QZO to test quadrature counting DESCRIPTION Pluto_servo is a LinuxCNC software driver and associated firmware that allow the Pluto P board to be used to control a servo based CNC machine The driver has 4 PWM channels 4 quadrature channels with index pulse 18 dig
174. nsor signal 2 bidc hall3 N hall3 bit in Hall sensor signal 3 bidc hall3 N value float in PWM master amplitude input bldc hall3 N dir bit in Forwards reverse selection Negative PWM amplitudes will also reverse the motor and there will generally be a pattern that runs the motor in each direction too bidc hall3 N A value float out Output amplitude for phase A bidc hall3 N B value float out Output amplitude for phase B bidc hall3 N C value float out Output amplitude for phase C PARAMETERS bidc hall3 N pattern u32 rw default 25 Commutation pattern to use from 0 to 47 Default is type 25 Every plausible combination is included The table shows the excitation pattern along the top and the pattern code on the left hand side The table entries are the hall patterns in H1 H2 H3 order Common patterns are 0 30 degree commutation and 26 its reverse 17 120 degree 18 alternate 60 degree 21 300 degree Bodine 22 240 degree 25 60 degree commutation Note that a number of incorrect commutations will have non zero net torque which might look as if they work but don t really If your motor lacks documentation it might be worth trying every pattern 106 2015 10 24 LinuxCNC Documentation BLDC_HALL3 9 HAL Component Phases Source Sink pat B A C A C B A B A C B C 0 000 001 011 111 110 100 1 001 000 010 110 111 101 2 000 010 Oll 111 101 100 3 001 011 010 110 100 101 4 010 0ll 001 101 1
175. nt deflection of the spring wheel the outer wheel It s 0 at rest 1 at the counter clockwise extreme and 1 at the clockwise extreme The ShuttleXpress device reports the spring wheel position quantized from 7 to 7 so this pin reports only 15 discrete values in its range LinuxCNC Documentation 2011 01 13 43 intro 3hal HAL intro 3hal NAME hal Introduction to the HAL API DESCRIPTION HAL stands for Hardware Abstraction Layer and is used by LinuxCNC to transfer realtime data to and from I O devices and other low level modules hal h defines the API and data structures used by the HAL This file is included in both realtime and non realtime HAL components HAL uses the RTPAI real time interface and the define symbols RTAPI and ULAPI are used to distinguish between realtime and non realtime code The API defined in this file is implemented in hal_lib c and can be compiled for linking to either realtime or user space HAL components The HAL is a very modular approach to the low level parts of a motion control system The goal of the HAL is to allow a systems integrator to connect a group of software components together to meet whatever I O requirements he or she needs This includes realtime and non realtime I O as well as basic motor control up to and including a PID position loop What these functions have in common is that they all process signals In general a signal is a data item that is updated at regular interv
176. nt should allocate during initialization all the memory it needs The allocator is very simple and there is no free The entire HAL shared memory area is freed when the last component calls hal_exit This means that if you continuously install and remove one component while other components are present you eventually will fill up the shared memory and an install will fail Removing all components completely clears memory and you start fresh RETURN VALUE A pointer to the allocated space which is properly aligned for any variable HAL supports Returns NULL on error LinuxCNC Documentation 2006 10 12 51 hal_param_new 3hal HAL hal_param_new 3hal NAME hal_param_new Create a HAL parameter SYNTAX int hal_param_bit_new const char name hal_param_dir_t dir hal_bit_t data_addr int comp_id int hal_param_float_new const char name hal_param_dir_t dir hal_float_t data_addr int comp_id int hal_param_u32_new const char name hal_param_dir_t dir hal_u32_t data_addr int comp_id int hal_param_s32_new const char name hal_param_dir_t dir hal_s32_t data_addr int comp_id int hal_param_bit_newf hal_param_dir_t dir hal_bit_t data_addr int comp_id const char fmt ss int hal_param_float_newf hal_param_dir_t dir hal_float_t data_addr int comp_id const char fmt int hal_param_u32_newf hal_param_dir_t dir hal_u32_t data_addr int comp_id const char fmt int hal_param_s32_newf hal_pa
177. nt when the module is loaded If numchan is not specified the default value is one FUNCTIONS PINS 246 supply N update uses floating point Updates output pins for channel N supply N q bit out Output bit copied from parameter supply N d supply N _q bit out Output bit inverted copy of parameter supply N d supply N variable float out Analog output copied from parameter supply N value supply _variable float out Analog output equal to 1 0 times parameter supply N value supply N d bit rw Data source for q and _q output pins supply N value bit rw Data source for variable and _variable output pins 2007 01 16 LinuxCNC Documentation THC 9 HAL Component THC 9 NAME the Torch Height Control SYNOPSIS loadrt the DESCRIPTION Torch Height Control Mesa THC gt Encoder gt LinuxCNC THC component The Mesa THC sends a frequency based on the voltage detected to the encoder The velocity from the encoder is converted to volts with the velocity scale parameter inside the THC component The THCAD card sends a frequency at 0 volts so the scale offset parameter is used to zero the calculated voltage Component Functions If enabled and torch is on and X Y velocity is within tolerance of set speed allow the THC to offset the Z axis as needed to maintain voltage If enabled and torch is off and the Z axis is moving up remove any correction at a rate not to exceed the rate of movement of the Z axis If enabl
178. ntation HM2_PCI 9 HAL Component HM2_PCI 9 NAME hm2_pci LinuxCNC HAL driver for the Mesa Electronics PCI based Anything IO boards with HostMot2 firmware SYNOPSIS loadrt hm2_pci config str str config default HostMot2 config strings described in the hostmot2 9 manpage DESCRIPTION hm2_pci is a device driver that interfaces Mesa s PCI and PC 104 Plus based Anything I O boards with the HostMot2 firmware to the LinuxCNC HAL The supported boards are the 5120 5122 and 5123 all on PCI the 4165 and 4168 on PC 104 Plus and the 3x20 on PCI Express probably using a 6168 or 7168 carrier card The driver programs the board s FPGA with firmware when it registers the board with the hostmot2 driver The firmware to load is specified in the config modparam as described in the hostmot2 9 manpage in the config modparam section SEE ALSO hostmot2 9 LICENSE GPL LinuxCNC Documentation 2008 05 13 151 HOSTMOT2 9 HAL Component HOSTMOT2 9 NAME hostmot2 LinuxCNC HAL driver for the Mesa Electronics HostMot2 firmware SYNOPSIS See the config modparam section below for Mesa card configuration Typically hostmot2 is loaded with no parameters unless debugging is required loadrt hostmot2 debug_idrom N debug_module_descriptors N debug_pin_descriptors N debug_modules N debug_idrom default 0 Developer debug use only Enable debug logging of the HostMot2 IDROM header debug_module_d
179. num ber The mapping from IONum to connector and pin on that connector is written to the syslog when the driver loads and it s documented in Mesa s manual for the Anything I O boards So for example the HAL pin that has the current inverted input value read from GPIO 012 of the second 7143 board is hm2_7i43 1 gpio 012 in not this assumes that the firmware in that board is configured so that this HAL object is available The HAL parameter that controls whether the last GPIO of the first 5i22 is an input or an output is hm2_5i22 0 gpio 095 is_output this assumes that the firmware in that board is configured so that this HAL object is available LinuxCNC Documentation 2008 05 13 163 HOSTMOT2 9 HAL Component HOSTMOT2 9 led The hm2 GPIO representation is modeled after the Digital Inputs and Digital Outputs described in the Canonical Device Interface part of the HAL General Reference document Each GPIO can have the fol lowing HAL Pins bit out in amp in_not State normal and inverted of the hardware input pin Both full GPIO pins and IO pins used as inputs by active module instances have these pins bit in out Value to be written possibly inverted to the hardware output pin Only full GPIO pins have this pin Each GPIO can have the following Parameters bit r w is_output If set to 0 the GPIO is an input The IO pin is put in a high impedance state weakly pulled high to be driven by other devices The log
180. ocess This function also monitors enable in for false to true transitions and re enables moni toring when such a transition is detected This function does use floating point and it is appropri ate to add it to the servo thread PINS watchdog input n bit in Input number n The inputs are numbered from 0 to num_inputs 1 watchdog enable in bit in default FALSE If TRUE forces out ok to be false Additionally if a timeout occurs on any input this pin must be set FALSE and TRUE again to re start the monitoring of input pins watchdog ok out bit out default FALSE OK output This pin is true only if enable in is TRUE and no timeout has been detected This out put can be connected to the enable input of a charge_pump or stepgen in v mode to provide a heartbeat signal to external monitoring hardware PARAMETERS watchdog timeout n float in Timeout value for input number n The inputs are numbered from 0 to num_inputs 1 The time out is in seconds and may not be below zero Note that a timeout of 0 0 will likely prevent ok out from ever becoming true Also note that excessively long timeouts are relatively useless for moni toring purposes LICENSE 260 GPL 2010 06 22 LinuxCNC Documentation WCOMP 9 HAL Component NAME wcomp Window comparator SYNOPSIS loadrt wcomp count Ninames name 1 namez2 FUNCTIONS PINS wcomp N requires a floating point thread weomp N in float in Value being compared
181. ocumentation 2006 11 18 23 HALUI 1 HAL User Interface HALUI 1 NAME halui observe HAL pins and command LinuxCNC through NML SYNOPSIS halui ini lt path to ini gt 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 name use the name as the configuration file Note halui must find the nml file specified in the ini usu ally 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 amp switches amp 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 lengt
182. ocumentation 2008 05 13 153 HOSTMOT2 9 HAL Component HOSTMOT2 9 sserial_port_N N 0 3 optional default 00000000 for all ports Up to 32 Smart Serial devices can be connected to a Mesa Anything IO board depending on the firmware used and the number of physical connections on the board These are arranged in 1 4 ports of 1 to 8 channels Some Smart Serial SSLBP cards offer more than one load time configuration for example all inputs or all outputs or offering additional analogue input on some digital pins To set the modes for port 0 use for example sserial_port_0 0120xxxx A 0 in the string sets the corresponding port to mode 0 1 to mode 1 and so on up to mode 9 An x in any position disables that channel and makes the corresponding FPGA pins available as GPIO The string can be up to 8 characters long and if it defines more modes than there are channels on the port then the extras are ignored Channel numbering is left to right so the example above would set sserial device 0 0 to mode 0 0 2 to mode2 and disable channels 0 4 onwards The sserial driver will auto detect connected devices no further configuration should be needed Unconnected channels will default to GPIO but the pin values will vary semi randomly during boot when card detection runs to it is best to actively disable any chan nel that is to be used for GPIO num_leds optional default 1 Only enable the first N of the LEDs on the FPGA board If
183. ode rtapi_shmem_delete frees the shared memory block associated with shmem_id module_id is the ID of the calling module Returns a status code rtapi_shmem_getptr sets ptr to point to shared memory block associated with shmem_id REALTIME CONSIDERATIONS rtapi_shmem_getptr may be called from user code init cleanup code or realtime tasks rtapi_shmem_new and rtapi_shmem_dete may not be called from realtime tasks RETURN VALUE LinuxCNC Documentation 2006 10 12 81 rtapi_snprintf 3rtapi RTAPI rtapi_snprintf 3rtapi NAME rtapi_snprintf rtapi_vsnprintf Perform snprintf like string formatting SYNTAX int rtapi_snprintf char buf unsigned long int size const char fmt int rtapi_vsnprintf char buf unsigned long int size const char fmt va_list apfB ARGUMENTS As for snprintf 3 or vsnprintf 3 DESCRIPTION These functions work like the standard C printf functions except that a reduced set of formatting operations are supported REALTIME CONSIDERATIONS May be called from user init cleanup and realtime code RETURN VALUE The number of characters written to buf SEE ALSO printf 3 82 2006 10 12 LinuxCNC Documentation rtapi_task_new 3rtapi1 RTAPI rtapi_task_new 3rtapi NAME rtapi_task_new create a realtime task SYNTAX int rtapi_task_new void taskcode void void arg int prio unsigned long stacksize int uses_fp int rtapi_task_delete int task_id ARGUMENTS taskcod
184. offset LICENSE GPL LinuxCNC Documentation 2015 10 24 SCALE 9 229 SELECT8 9 HAL Component SELECT8 9 NAME select8 8 bit binary match detector SYNOPSIS loadrt select8 count NInames name 1 namez2 FUNCTIONS select8 N PINS select8 N sel s32 in The number of the output to set TRUE All other outputs well be set FALSE select8 N outM bit out M 0 7 Output bits If enable is set and the sel input is between 0 and 7 then the corresponding output bit will be set true PARAMETERS select8 N enable bit rw default TRUE Set enable to FALSE to cause all outputs to be set FALSE LICENSE GPL 230 2015 10 24 LinuxCNC Documentation SERPORT 9 HAL Component SERPORT 9 NAME serport Hardware driver for the digital I O bits of the 8250 and 16550 serial port SYNOPSIS loadrt serport io addr addr The pin numbers refer to the 9 pin serial pinout Keep in mind that these ports generally use rs232 volt ages not 0 5V signals Specify the I O address of the serial ports using the module parameter io addr addr These ports must not be in use by the kernel To free up the I O ports after bootup install setserial and execute a command like sudo setserial dev ttySO uart none but it is best to ensure that the serial port is never used or configured by the Linux kernel by setting a kernel commandline parameter or not loading the serial kernel module if it is a modularized driver FUNCTIONS serport
185. ompile time maxkins 5 axis kinematics example Kinematics for Chris Radek s tabletop 5 axis mill named max with tilting head B axis and horizintal rotary mounted to the table C axis Provides UVW motion in the rotated coordinate system The source file maxkins c may be a useful starting point for other 5 axis systems genserkins generalized serial kinematics Kinematics that can model a general serial link manipulator with up to 6 angular joints The kinematics use Denavit Hartenberg definition for the joint and links The DH definitions are the ones used by John J Craig in Introduction to Robotics Mechanics and Control The parameters for the manipu lator are defined by hal pins genserkins A N genserkins ALPHA NV genserkins D N Parameters describing the Nth joint s geometry pumakins kinematics for puma typed robots Kinematics for a puma style robot with 6 joints LinuxCNC Documentation 2007 01 20 173 KINS 9 HAL Component KINS 9 pumakins A2 pumakins A3 pumakins D3 pumakins D4 Describe the geometry of the robot scarakins kinematics for SCARA type robots scarakins D1 Vertical distance from the ground plane to the center of the inner arm scarakins D2 Horizontal distance between joint 0 axis and joint 1 axis ie the length of the inner arm scarakins D3 Vertical distance from the center of the inner arm to the center of the outer arm May be positive or negative depending on the stru
186. on 2015 10 24 FEEDCOMP 9 139 FLIPFLOP 9 HAL Component NAME flipflop D type flip flop SYNOPSIS loadrt flipflop count VInames name name2 FUNCTIONS flipflop V PINS flipflop V data bit in data input flipflop NV clk bit in clock rising edge writes data to out flipflop V set bit in when true force out true flipflop N reset bit in when true force out false overrides set flipflop N out bit io output LICENSE GPL 140 2015 10 24 FLIPFLOP 9 LinuxCNC Documentation FREQGEN 9 HAL Component FREQGEN 9 NAME freqgen software step pulse generation OBSOLETE see stepgen s ctrl_type v option SYNOPSIS loadrt freqgen step_type type0 type DESCRIPTION freqgen is used to control stepper motors The maximum step rate depends on the CPU and other factors and is usually in the range of 1OKHz to 5OKHz If higher rates are needed a hardware step generator is a better choice freqgen runs the motor at a commanded velocity subject to acceleration and velocity limits It does not directly control position freqgen can control a maximum of eight motors The number of motors channels actually loaded depends on the number of type values given The value of each type determines the outputs for that channel freq gen supports 15 possible step types By far the most common step type is 0 standard step and direction Others include up down quadrature and a wide variety o
187. oportional to speed and can be used to compensate for friction or motor CEMF For velocity loops it is proportional to acceleration and can compensate for inertia In both cases it can result in better tuning if used properly pid N FF2 float rw Second order feed forward term Produces a contribution to the output that is FF2 multiplied by the second derivative of the commanded value For position loops the contribution is proportional to acceleration and can be used to compensate for inertia For velocity loops it should usually be left at zero pid V deadband float rw Defines a range of acceptable error If the absolute value of error is less than deadband it will be treated as if the error is zero When using feedback devices such as encoders that are inherently quantized the deadband should be set slightly more than one half count to prevent the control LinuxCNC Documentation 2007 01 16 215 PID 9 BUGS 216 HAL Component PID 9 loop from hunting back and forth if the command is between two adjacent encoder values When the absolute value of the error is greater than the deadband the deadband value is subtracted from the error before performing the loop calculations to prevent a step in the transfer function at the edge of the deadband See BUGS pid V maxoutput float rw Output limit The absolute value of the output will not be permitted to exceed maxoutput unless maxoutput is zero When the output is limited the er
188. or pin name to value Fails if name does not exist as a pin or parameter if it is a parameter that is not writable if it is a pin that is an output if it is a pin that is already attached to a signal or if value is not a legal value Legal values depend on the type of the pin or parameter If a pin and a parameter both exist with the given name the parameter is acted on paramname value pinname value Identical to setp This alternate form of the command may be more convenient and readable when used in a file ptype name parameter or pin type Gets the type of parameter or pin name Fails if name does not exist as a pin or parameter If a pin and a parameter both exist with the given name the parameter is acted on getp name get parameter or pin Gets the value of parameter or pin name Fails if name does not exist as a pin or parameter If a pin and a parameter both exist with the given name the parameter is acted on addf functname threadname add function Adds function functname to realtime thread threadname functname will run after any functions that were previously added to the thread Fails if either functname or threadname does not exist or if they are incompatible delf functname threadname delete function Removes function functname from realtime thread threadname Fails if either functname or threadname does not exist or if functname is not currently part of threadname LinuxCNC Documentation 2003 12 18 15 HA
189. or starting mist max velocity halui max velocity count enable bit in default TRUE When TRUE modify max velocity when counts changes halui max velocity counts s32 in counts from an encoder for example to change maximum velocity halui max velocity decrease bit in pin for decreasing the maximum velocity scale halui max velocity direct value bit in pin for using a direct value for max velocity halui max velocity increase bit in pin for increasing the maximum velocity scale halui max velocity scale float in pin for setting the scale on changing the maximum velocity halui max velocity value float out Current value for maximum velocity machine 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 LinuxCNC Documentation 2006 07 22 27 HALUI 1 HAL User Interface HALUI 1 halui lube off bit in pin for stopping lube halui lube on bit in pin for starting lube joint 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 is selected bit out status pin that joint N is selected halui joint N on hard max limit bit out status pin telling that joint N is on the positive hardware limit halui join
190. osition units per second bit in reset When this pin is TRUE the count and position pins are set to 0 The value of the velocity pin is not affected by this The driver does not reset this pin to FALSE after resetting the count to 0 that is the user s job bit in out index enable When this pin is set to True the count and therefore also position are reset to zero on the next Index Phase Z pulse At the same time index enable is reset to zero to indicate that the pulse has occurred s32 out rawcounts Total number of encoder counts since the start not adjusted for index or reset Parameters float r w scale Converts from count units to position units bit r w index invert If set to True the rising edge of the Index input pin triggers the Index event if index enable is True If set to False the falling edge triggers bit r w index mask If set to True the Index input pin only has an effect if the Index Mask input pin is True or False depending on the index mask invert pin below bit r w index mask invert If set to True Index Mask must be False for Index to have an effect If set to False the Index Mask pin must be True bit r w counter mode Set to False the default for Quadrature Set to True for Step Dir in which case Step is on the A pin and Dir is on the B pin bit r w filter If set to True the default the quadrature counter needs 15 clocks to register a change on any of
191. otor Position Command Out the z fb out float out Z Position Feedback to Axis the volts float out The Calculated Volts the vel status bit out When the THC thinks we are at requested speed PARAMETERS the vel scale float rw The scale to convert the Velocity signal to Volts the scale offset float rw The offset of the velocity input at 0 volts the velocity tol float rw The deviation percent from planned velocity the voltage tol float rw The deviation of Tip Voltage before correction takes place the correction vel float rw The amount of change in user units per period to move Z to correct AUTHOR John Thornton LICENSE 248 GPLy2 or greater 2015 10 24 LinuxCNC Documentation THREADS 9 HAL Component THREADS 9 NAME threads creates hard realtime HAL threads SYNOPSIS loadrt threads namel name period1 period fp1 lt 011 gt lt thread 2 info gt lt thread 3 info gt DESCRIPTION threads is used to create hard realtime threads which can execute HAL functions at specific intervals It is not a true HAL component in that it does not export any functions pins or parameters of its own Once it has created one or more threads the threads stand alone and the threads component can be unloaded with out affecting them In fact it can be unloaded and then reloaded to create additional threads as many times as needed threads can create up to three realtime threads Threads must be created in order fro
192. ount enable bit in default TRUE When TRUE modify spindle override when counts changes halui spindle override counts s32 in counts X scale spindle override percentage halui spindle override decrease bit in pin for decreasing the SO scale halui spindle override direct value bit in pin to enable direct spindle override value input halui spindle override increase bit in pin for increasing the SO scale halui spindle override scale float in pin for setting the scale of counts for SO halui spindle override value float out current FO value program halui program block delete is on bit out status pin telling that block delete is on LinuxCNC Documentation 2006 07 22 25 HALUI 1 HAL User Interface 26 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 pro
193. our pins phases A through D Four steps per full cycle Types 5 and 6 are suitable for use with unipolar steppers where power is applied to the center tap of each winding and four open collec tor transistors drive the ends Types 7 and 8 are suitable for bipolar steppers driven by two H bridges 238 2007 01 16 LinuxCNC Documentation STEPGEN 9 HAL Component STEPGEN 9 types 9 and 10 four phase half step Four pins phases A through D Eight steps per full cycle Type 9 is suitable for unipolar drive and type 10 for bipolar drive types 11 and 12 five phase full step Five pins phases A through E Five steps per full cycle See HAL reference manual for the pat terns types 13 and 14 five phase half step Five pins phases A through E Ten steps per full cycle See HAL reference manual for the pat terns type 15 user specified This uses the waveform specified by the user_step_type module parameter which may have up to 10 steps and 5 phases FUNCTIONS stepgen make pulses no floating point Generates the step pulses using information computed by update freq Must be called as fre quently as possible to maximize the attainable step rate and minimize jitter Operates on all chan nels at once stepgen capture position uses floating point Captures position feedback value from the high speed code and makes it available on a pin for use elsewhere in the system Operates on all channels at once stepgen update freq uses
194. output if all select lines are false This stops unwanted jumps in out put between transitions of input but make in00 unavaliable mux16 N debounce time float in sets debouce time in seconds eg 10 a tenth of a second input must be stable this long before outputs changes This helps to ignore noisy switches mux16 N selM bit in M 0 3 Together these determine which inN value is copied to out mux16 N out f float out mux16 N out s s32 out Follows the value of one of the inN values according to the four sel values and whether use gray code is active The s32 value will be trunuated and limited to the max and min values of signed values sel3 FALSE sel2 FALSE sel1 FALSE selO FALSE out follows in0 sel3 FALSE sel2 FALSE sel1 FALSE sel0 TRUE out follows inl etc mux16 N inMM float in MM 00 15 array of selectable outputs PARAMETERS mux16 N elapsed float r Current value of the internal debounce timer for debugging mux16 N selected s32 r Current value of the internal selection variable after conversion for debugging LICENSE GPL 202 2015 10 24 LinuxCNC Documentation MUX2 9 HAL Component NAME mux2 Select from one of two input values SYNOPSIS loadrt mux2 count NInames name 1 name2 FUNCTIONS mux2 N requires a floating point thread PINS mux2 N sel bit in mux2 N out float out Follows the value of inO if sel is FALSE or in1 if sel is TRUE mux2 N in1 float in mux2 N in0 float in
195. ower than this are ignored halui jog speed float in pin for setting jog speed for plus minus jogging halui jog N analog float in pin for jogging the axis N using an float value e g joystick halui jog N increment float in pin for setting the jog increment for axis N when using increment plus minus halui jog N increment minus bit in a rising edge will will make axis N jog in the negative direction by the increment amount halui jog N increment plus bit in a rising edge will will make axis N jog in the positive direction by the increment amount halui jog N minus bit in pin for jogging axis N in negative direction at the halui jog speed velocity halui jog N plus bit in pin for jogging axis N in positive direction at the halui jog speed velocity halui jog selected increment float in pin for setting the jog increment for the selected axis when using increment plus minus halui jog selected increment minus bit in a rising edge will will make the selected axis jog in the negative direction by the increment amount halui jog selected increment plus bit in a rising edge will will make the selected axis jog in the positive direction by the increment amount halui jog selected minus bit in pin for jogging the selected axis in negative direction at the halui jog speed velocity halui jog selected plus pin for jogging the selected axis bit in in positive direction at the halui jog speed velocity flood halui flood is on bit out pin for f
196. pattern along the top and the pattern code on the left hand side The table entries are the hall patterns in H1 H2 H3 order Common patterns are 0 30 degree commutation and 26 its reverse 17 120 degree 18 alternate 60 degree 21 300 degree Bodine 22 240 degree 25 60 degree commutation Note that a number of incorrect commutations will have non zero net torque which might look as if they work but don t really If your motor lacks documentation it might be worth trying every pattern LinuxCNC Documentation 2015 10 24 103 BLDC 9 104 HAL Component Phases Source Sink pat B A C A C B A B A C B C 0 000 001 O11 111 110 100 1 001 000 O10 110 111 101 2 000 010 Oll 111 101 100 3 001 011 010 110 100 101 4 010 Oll 001 101 100 110 5 011 010 000 100 101 111 6 010 000 001 101 111 110 7 011 001 000 100 110 111 8 000 001 101 111 110 010 9 001 000 100 110 111 011 10 000 O10 110 111 101 001 11 001 011 111 110 100 000 12 010 Oll 111 101 100 000 13 011 010 110 100 101 001 14 010 000 100 101 111 011 15 011 001 101 100 110 010 16 000 100 101 111 O11 010 17 001 101 100 110 010 O11 18 000 100 110 111 O11 001 19 001 101 111 110 010 000 20 010 110 111 101 001 000 21 O11 111 110 100 000 001 22 010 110 100 101 001 011 23 O11 111 101 100 000 010 24 100 101 111 Oll 010 000 25 101 100 110 010 Oll 001 26 100 110 111 Oll 001 000 27 101 111 110 010 000 001 28 110 111 101 001 000 010 29 111 110 100
197. pi NAME rtapi_shmem Functions for managing shared memory blocks SYNTAX int rtapi_shmem_new int key int module_id unsigned long int size int rtapi_shmem_delete int shmem_id int module_id int rtapi_shmem_getptr int shmem_id void ptr ARGUMENTS key Identifies the memory block Key must be nonzero All modules wishing to use the same memory must use the same key module_id Module identifier returned by a prior call to rtapi_init size The desired size of the shared memory block in bytes ptr The pointer to the shared memory block Note that the block may be mapped at a different address for different modules DESCRIPTION rtapi_shmem_new allocates a block of shared memory key identifies the memory block and must be non zero All modules wishing to access the same memory must use the same key module_id is the ID of the module that is making the call see rtapi_init The block will be at least size bytes and may be rounded up Allocating many small blocks may be very wasteful When a particular block is allocated for the first time the first 4 bytes are zeroed Subsequent allocations of the same block by other modules or processes will not touch the contents of the block Applications can use those bytes to see if they need to initialize the block or if another module already did so On success it returns a positive integer ID which is used for all subsequent calls dealing with the block On failure it returns a negative error c
198. ponent NAME latencybins comp utility for scripts latencyhistogram SYNOPSIS Usage Read availablebins pin for the number of bins available Set the maxbinnumber pin for the number of bins Ensure maxbinnumber lt availablebins For maxbinnumber N the bins are numbered N 0 N bins the 0 bin is not populated total effective bins 2 maxbinnumber 1 Set nsbinsize pin for the binsize ns Iterate Set index pin to a bin number 0 lt index lt maxbinnumber Read check pin and verify that check pin index pin Read pbinvalue nbinvalue pextra nextra pins pbinvalue is count for bin index nbinvalue is count for bin index pextra is count for all bins gt maxbinnumber nextra is count for all bins lt maxbinnumber If index is out of range index lt 0 or index gt maxbinnumber then pbinvalue nbinvalue 1 The reset pin may be used to restart The latency pin outputs the instantaneous latency Maintainers note hardcoded for MAXBINNUMBER 1000 FUNCTIONS latencybins N PINS latencybins V maxbinnumber s32 in default 1000 latencybins N index s32 in latencybins N reset bit in latencybins N nsbinsize s32 in latencybins N check s32 out latencybins N latency s32 out latencybins N pbinvalue s32 out latencybins N nbinvalue s32 out latencybins N pextra s32 out latencybins nextra s32 out latencybins N availablebins s32 out default 1000 LICENSE GPL 176 2015 10 24 LATENCYB
199. ports HAL pins and creates a FIFO in shared memory hal_streamer is a user space program that copies data from stdin into the FIFO so that streamer can write it to the HAL pins OPTIONS c CHAN instructs halstreamer to write to FIFO CHAN FIFOs are numbered from zero and the default value is zero so this option is not needed unless multiple FIFOs have been created FILENAME instructs halsampler to read from FILENAME instead of from stdin USAGE A FIFO must first be created by loading streamer 9 with halemd loadrt or a loadrt command in a hal file Then halstreamer can be invoked to begin writing data into the FIFO Data is read from stdin and is almost always either redirected from a file or piped from some other pro gram since keyboard input would be unable to keep up with even slow streaming rates Each line of input must match the pins that are attached to the FIFO for example if the streamer config string was ffbs then each line of input must consist of two floats a bit and a signed integer in that order and separated by whitespace Floats must be formatted as required by strtod 3 signed and unsigned inte gers must be formated as required by strtol 3 and strtoul 3 and bits must be either 0 or l halstreamer transfers data to the FIFO as fast as possible until the FIFO is full then it retries at regular intervals until it is either killed or reads EOF from stdin Data can be redirected from a file or pipe
200. position units per second per second Defaults to 1 0 If set to 0 the driver will not limit its acceleration at all this requires that the position cmd or velocity cmd pin is driven in a way that does not exceed the machine s capabilities This is probably what you want if you re going to be using the LinuxCNC trajectory planner to jog or run G code u32 r w steplen Duration of the step signal in nanoseconds u32 r w stepspace Minimum interval between step signals in nanoseconds u32 r w dirsetup Minimum duration of stable Direction signal before a step begins in nanoseconds 2008 05 13 LinuxCNC Documentation HOSTMOT2 9 HAL Component HOSTMOT2 9 u32 r w dirhold Minimum duration of stable Direction signal after a step ends in nanoseconds u32 r w step_type Output format like the step_type modparam to the software stegen 9 component 0 Step Dir 1 Up Down 2 Quadrature In Quadrature mode step_type 2 the stepgen outputs one com plete Gray cycle 00 401 4 11 4 10 4 00 for each step it takes Smart Serial Interface The Smart Serial Interface allows up to 32 different devices such as the Mesa 8120 2 2kW 3 phase drive or 7164 48 way IO cards to be connected to a single FPGA card The driver auto detects the connected hard ware port channel and device type Devices can be connected in any order to any active channel of an active port see the config modparam definition above In addition to the per ch
201. put type 2 only PWM PDM waveform for positive input values low for negative inputs pwmgen N down bit out output type 2 only PWM PDM waveform for negative input values low for positive inputs 224 2007 01 16 LinuxCNC Documentation PWMGEN 9 HAL Component PWMGEN 9 PARAMETERS pwmgen N curr dc float ro The current duty cycle after all scaling and limits have been applied Range is from 1 0 to 1 0 pwmgen N max dc float rw The maximum duty cycle A value of 1 0 corresponds to 100 This can be useful when using transistor drivers with bootstrapped power supplies since the supply requires some low time to recharge pwmgen N min de float rw The minimum duty cycle A value of 1 0 corresponds to 100 Note that when the pwm genera tor is disabled the outputs are constantly low regardless of the setting of min dc pwmegen N scale float rw pwmgen offset float rw These parameters provide a scale and offset from the value pin to the actual duty cycle The duty cycle is calculated according to dc value scale offset with 1 0 meaning 100 pwmgen N pwm freq float rw PWM frequency in Hz The upper limit is half of the frequency at which make pulses is invoked and values above that limit will be changed to the limit If dither pwm is false the value will be changed to the nearest integer submultiple of the make pulses frequency A value of zero pro duces Pulse Density Modulation instead of Pulse Width Modulation pwmgen N di
202. puts each with a gain and an offset SYNOPSIS loadrt sum2 count Ninames name name2 FUNCTIONS sum2 N requires a floating point thread PINS sum2 N in0 float in sum2 N in1 float in sum2 N out float out out in0 gainO inl gain offset PARAMETERS sum2 N gain0 float rw default 7 0 sum2 N gain1 float rw default 7 0 sum2 N offset float rw LICENSE GPL LinuxCNC Documentation 2015 10 24 SUM2 9 245 SUPPLY 9 HAL Component SUPPLY 9 NAME supply set output pins with values from parameters obsolete SYNOPSIS loadrt supply num_chan num DESCRIPTION supply was used to allow the inputs of other HAL components to be manipulated for testing purposes When it was written the only way to set the value of an input pin was to connect it to a signal and connect that signal to an output pin of some other component and then let that component write the pin value sup ply was written to be that other component It reads values from parameters set with the HAL command setp and writes them to output pins Since supply was written the setp command has been modified to allow it to set unconnected pins as well as parameters In addition the sets command was added which can directly set HAL signals as long as there are no output pins connected to them Therefore supply is obsolete supply supports a maximum of eight channels The number of channels actually loaded is set by the num_chan argume
203. quires a floating point thread PINS invert N in float in Analog input value invert N out float out Analog output value PARAMETERS invert V deadband float rw The out will be zero if in is between deadband and deadband LICENSE GPL LinuxCNC Documentation 2015 10 24 171 JOYHANDLE Q HAL Component JOYHANDLE 9 NAME joyhandle sets nonlinear joypad movements deadbands and scales SYNOPSIS loadrt joyhandle count NInames name 1 namez2 DESCRIPTION The component joyhandle uses the following formula for a non linear joypad movements y scale a x power b x offset The parameters a and b are adjusted in such a way that the function starts at deadband offset and ends at 1 scale offset Negative values will be treated point symetrically to origin Values deadband lt x lt deadband will be set to zero Values x gt 1 and x lt 1 will be skipped to scale offset Invert transforms the function to a progressive movement With power one can adjust the nonlinearity default 2 Default for deadband is 0 Valid values are power gt 1 0 reasonable values are 1 x 4 5 take higher power values for higher dead bands gt 0 5 if you want to start with a nearly horizontal slope 0 lt deadband lt 0 99 reasonable 0 1 An additional offset component can be set in special cases default 0 All values can be adjusted for each instance separately FUNCTIONS joyhandle N requires
204. quires a floating point thread PINS lowpass N in float in lowpass N out float out out in out gain lowpass N load bit in When TRUE copy in to out instead of applying the filter equation PARAMETERS lowpass N gain float rw NOTES The effect of a specific gain value is dependent on the period of the function that lowpass N is added to LICENSE GPL 184 2015 10 24 LinuxCNC Documentation LUTS 9 NAME HAL Component LUTS5 9 lut5 Arbitrary 5 input logic function based on a look up table SYNOPSIS loadrt lut5 count NInames name 1 name2 DESCRIPTION lut5 constructs a logic function with up to 5 inputs using a look up table The value for function can be determined by writing the truth table and computing the sum of all the weights for which the output value would be TRUE The weights are hexadecimal not decimal so hexadecimal math must be used to sum the weights A wiki page has a calculator to assist in computing the proper value for function http wiki linuxcnc org cgi bin wiki pl Lut5 Note that LUTS will generate any of the 4 294 967 296 logical functions of 5 inputs so AND OR NAND NOR XOR and every other combinatorial function is possible Example Functions A 5 input and function is TRUE only when all the inputs are true so the correct value for function is 0x80000000 A 2 input or function would be the sum of 0x2 0x4 0x8 so the correct value for function is Oxe A 5 input or function is
205. r N reset bit in When true counts and position are reset to zero immediately encoder N velocity float out Velocity in scaled units per second encoder uses an algorithm that greatly reduces quantization noise as compared to simply differentiating the position output When the magnitude of the true velocity is below min velocity estimate the velocity output is 0 encoder N x4 mode bit i o Enables times 4 mode When true the default the counter counts each edge of the quadrature waveform four counts per full cycle When false it only counts once per full cycle In counter mode this parameter is ignored encoder N latch input bit in encoder N latch falling bit in default TRUE encoder N latch rising bit in default TRUE encoder N counts latched s32 out encoder position latched float out Update counts latched and position latched on the rising and or falling edges of latch input as indicated by latch rising and latch falling encoder N counter mode bit rw Enables counter mode When true the counter counts each rising edge of the phase A input ignoring the value on phase B This is useful for counting the output of a single channel non quadrature sensor When false the default it counts in quadrature mode encoder N capture position tmax s32 rw Maximum number of CPU cycles it took to execute this function PARAMETERS Parameter names for num_chan specifier are encoder N the_parameter_name Parameter names for names
206. ram_dir_t dir hal_s32_t data_addr int comp_id const char fmt int hal_param_new const char name hal_type_t type hal_in_dir_t dir void data_addr int comp_id ARGUMENTS name The name to give to the created parameter dir The direction of the parameter from the viewpoint of the component It may be one of HAL_RO or HAL_RW A component may assign a value to any parameter but other programs such as hal cmd may only assign a value to a parameter that is HAL_RW data_addr The address of the data which must lie within memory allocated by hal_malloc 52 2006 10 12 LinuxCNC Documentation hal_param_new 3hal HAL hal_param_new 3hal comp_id A HAL component identifier returned by an earlier call to hal_init jfmt A printf style format string and arguments type The type of the parameter as specified in hal_type_t 3hal DESCRIPTION The hal_param_new family of functions create a new param object There are functions for each of the data types that the HAL supports Pins may only be linked to signals of the same type RETURN VALUE Returns a HAL status code SEE ALSO hal_type_t 3hal LinuxCNC Documentation 2006 10 12 53 funct 3hal HAL funct 3hal NAME funct one line description of funct SYNTAX include hal_parport h int hal_parport_get int comp_id hal_parport_t port unsigned short base unsigned short base_hi unsigned int modes void hal_parport_release hal_parport_t port ARGUMENTS
207. read serport N write PINS serport N pin 1 in bit out Also called DCD data carrier detect pin 8 on the 25 pin serial pinout serport N pin 6 in bit out Also called DSR data set ready pin 6 on the 25 pin serial pinout serport N pin 8 in bit out Also called CTS clear to send pin 5 on the 25 pin serial pinout serport N pin 9 in bit out Also called RI ring indicator pin 22 on the 25 pin serial pinout serport pin 1 in not bit out Inverted version of pin 1 in serport N pin 6 in not bit out Inverted version of pin 6 in serport pin 8 in not bit out Inverted version of pin 8 in serport N pin 9 in not bit out Inverted version of pin 9 in serport N pin 3 out bit in Also called TX transmit data pin 2 on the 25 pin serial pinout serport N pin 4 out bit in Also called DTR data terminal ready pin 20 on the 25 pin serial pinout serport N pin 7 out bit in Also called RTS request to send pin 4 on the 25 pin serial pinout PARAMETERS serport pin 3 out invert bit rw serport pin 4 out invert bit rw serport pin 7 out invert bit rw LinuxCNC Documentation 2015 10 24 231 SERPORT 9 HAL Component SERPORT 9 serport N ioaddr u32 r LICENSE GPL 232 2015 10 24 LinuxCNC Documentation SIGGEN 9 HAL Component SIGGEN 9 NAME siggen signal generator SYNOPSIS loadrt siggen num_chan num names name 1 name2 DESCRIPTION siggen is a signal generator that can be used for testing and other applica
208. rforming the loop calculations to prevent a step in the transfer function at the edge of the deadband See BUGS pid V maxoutput float rw Output limit The absolute value of the output will not be permitted to exceed maxoutput unless maxoutput is zero When the output is limited the error integrator will hold instead of integrat ing to prevent windup and overshoot pid V maxerror float rw Limit on the internal error variable used for P I and D Can be used to prevent high Pgain values from generating large outputs under conditions when the error is large for example when the command makes a step change Not normally needed but can be useful when tuning non linear systems pid V maxerrorD float rw Limit on the error derivative The rate of change of error used by the Dgain term will be limited to this value unless the value is zero Can be used to limit the effect of Dgain and prevent large out put spikes due to steps on the command and or feedback Not normally needed pid N maxerrorlI float rw Limit on error integrator The error integrator used by the Igain term will be limited to this value unless it is zero Can be used to prevent integrator windup and the resulting overshoot during after sustained errors Not normally needed pid V maxcmdD float rw Limit on command derivative The command derivative used by FF1 will be limited to this value unless the value is zero Can be used to prevent FF1 from producing large output spi
209. rintf 3 LinuxCNC Documentation 2006 10 12 71 rtapi_prio 3rtapi RTAPI rtapi_prio 3rtapi NAME rtapi_prio thread priority functions SYNTAX int rtapi_prio_highest int rtapi_prio_lowest int rtapi_prio_next_higher int prio int rtapi_prio_next_lower int prio ARGUMENTS prio A value returned by a prior rtapi_prio_xxx call DESCRIPTION The rtapi_prio_xxxx functions provide a portable way to set task priority The mapping of actual priority to priority number depends on the RTOS Priorities range from rtapi_prio_lowest to rtapi_prio_highest inclusive To use this API use one of two methods 1 Set your lowest priority task to rtapi_prio_lowest and for each task of the next lowest priority set their priorities to rtapi_prio_next_higher previous 2 Set your highest priority task to rtapi_prio_highest and for each task of the next highest priority set their priorities to rtapi_prio_next_lower previous N B A high priority task will pre empt or interrupt a lower priority task Linux is always the lowest prior ity REALTIME CONSIDERATIONS Call these functions only from within init cleanup code not from realtime tasks RETURN VALUE Returns an opaque real time priority number SEE ALSO rtapi_task_new 3rtapi 78 2006 10 12 LinuxCNC Documentation rtapi_region 3rtapi RTAPI rtapi_region 3rtapi NAME rtapi_region functions to manage I O memory regions SYNTAX void rtapi_request_region unsig
210. rmat it could be used to stream data to a serial device Perhaps even a genuine ADM3 The strings contain a mixture of text values which are displayed directly escaped formatting codes and numerical format descriptors For a detailed description of formatting codes see http en wikipedia org wiki Printf The component can be configured to display an unlimited number of differently formatted pages which may be selected with a HAL pin Escaped codes n Inserts a clear to end carriage return and line feed character This will still linefeed and clear even if an automatic wrap has occurred lcd has no knowledge of the width of the lcd display To print in the rightmost column it is necessary to allow the format to wrap and omit the n code t Inserts a tab actually 4 spaces in the current version rather than a true tab NN inserts the character defined by the hexadecimal code NN Inserts a literal Numerical formats Icd differs slightly from the standard printf conventions One significant difference is that width LinuxCNC Documentation 2012 09 17 177 LCD 9 178 HAL Component LCD Q limits are strictly enforced to prevent the LCD display wrapping and spoiling the layout The field width includes the sign character so that negative numbers will often have a smaller valid range than positive Numbers that do not fit in the specified width are displayed as a line of asterisks Gini Each format begins with a symbol
211. rnal counter is incremented on each rising edge counter NV phase Z bit in The index input signal When the index enable pin is TRUE and a rising edge on phase Z is seen index enable is set to FALSE and the internal counter is reset to zero counter N index enable bit io counter reset bit io counter NV counts signed out counter position float out counter N velocity float out These pins function according to the canonical digital encoder interface counter N position scale float rw This parameter functions according to the canonical digital encoder interface counter V rawcounts signed ro The internal counts value updated from update counters and reflected in the output pins at the next call to capture position SEE ALSO 128 encoder 9 in the LinuxCNC documentation 2007 01 19 LinuxCNC Documentation DDT 9 HAL Component NAME ddt Compute the derivative of the input function SYNOPSIS loadrt ddt count Ninames name 1 namez2 FUNCTIONS ddt N requires a floating point thread PINS ddt N in float in ddt N out float out LICENSE GPL LinuxCNC Documentation 2015 10 24 DDT 9 129 DEADZONE 9 HAL Component NAME deadzone Return the center if within the threshold SYNOPSIS loadrt deadzone count N names name name2 FUNCTIONS deadzone N requires a floating point thread Update out based on in and the parameters PINS deadzone N in float in deadzone N out float out PARAMETERS
212. ror integrator will hold instead of integrat ing to prevent windup and overshoot pid V maxerror float rw Limit on the internal error variable used for P I and D Can be used to prevent high Pgain values from generating large outputs under conditions when the error is large for example when the command makes a step change Not normally needed but can be useful when tuning non linear systems pid NV maxerrorD float rw Limit on the error derivative The rate of change of error used by the Dgain term will be limited to this value unless the value is zero Can be used to limit the effect of Dgain and prevent large out put spikes due to steps on the command and or feedback Not normally needed pid V maxerrorlI float rw Limit on error integrator The error integrator used by the Igain term will be limited to this value unless it is zero Can be used to prevent integrator windup and the resulting overshoot during after sustained errors Not normally needed pid V maxcmdD float rw Limit on command derivative The command derivative used by FF1 will be limited to this value unless the value is zero Can be used to prevent FF1 from producing large output spikes if there is a step change on the command Not normally needed pid V maxcmdDD float rw Limit on command second derivative The command second derivative used by FF2 will be lim ited to this value unless the value is zero Can be used to prevent FF2 from producing large out put spik
213. rows param generates one setp command for each parameter thread generates one addf command for each function in each realtime thread If item is omitted save does the equivalent of comp sigu link param and thread source filename hal Execute the commands from filename hal SUBSTITUTION After a command is read but before it is executed several types of variable substitution take place Environment Variables Environment variables have the following formats ENVVAR followed by end of line or whitespace ENVVAR Inifile Variables Inifile variables are available only when an inifile was specified with the halcmd i flag They have the fol lowing formats EXAMPLES SEE ALSO HISTORY BUGS SECTION VAR followed by end of line or whitespace SECTION VAR None known at this time AUTHOR Original version by John Kasunich as part of the LinuxCNC project Now includes major contributions by several members of the project REPORTING BUGS Report bugs to the LinuxCNC bug tracker http sf net tracker group_id 6744 amp atid 106744 COPYRIGHT Copyright 2003 John Kasunich This is free software see the source for copying conditions There is NO warranty not even for 16 2003 12 18 LinuxCNC Documentation HALCMD 1 HAL User s Manual HALCMD 1 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE LinuxCNC Documentation 2003 12 18 17 HALMETER 1 HAL User s Manual HALMETER 1 NAME halmeter
214. rrent echo state is returned With set sets the echo state as specified Echo defaults to on when the connection is first established When echo is on all commands will be echoed upon receipt This state is local to each connection verbose onloff With get any on off parameter is ignored and the current verbose state is returned With set sets the verbose state as specified When verbose mode is on all set commands return positive acknowledgement in the form SET lt COMMAND gt ACK and text error messages will be issued FIXME I don t know what this means The verbose state is local to each connection and starts out OFF on new connections enable lt passwd gt loff The session s enable state indicates whether the current connection is enabled to perform control functions With get any parameter is ignored and the current enable state is returned With set May 31 2011 linuxcncrsh 1 The Enhanced Machine Controller linuxcnersh 1 and a valid password matching linuxcncrsh s enablepw EMCTOO if not specified the current connection is enabled for control functions OFF may not be used as a password and disables control functions for this connection config TBD Unused ignore for now comm_mode asciilbinary With get any parameter is ignored and the current communications mode is returned With set will set the communications mode to the specified mode The ascii mode is the text request reply mode the binary pro
215. run it by hand in a terminal window To start it from hal add a line like this to the end of your hal file loadusr linuxcncrsh OPTIONS LINUXCNC_OPTIONS To start it from the terminal run linuxcncrsh manually like this linuxcncrsh OPTIONS LINUXCNC_OPTIONS Connecting Once LinuxCNC is up and linuxcncrsh is running you can connect to it using telnet or ne or similar telnet HOST PORT HOST is the hostname or IP address of the computer running linuxcncrsh and PORT is May 31 2011 33 linuxcncrsh 1 The Enhanced Machine Controller linuxcnersh 1 the port it s listening on 5007 if you did not give linuxcncrsh the port option Network protocol linuxcncrsh accepts TCP connections on the port specified by the port option or 5007 if not specified The client sends requests and the linuxcncrsh server returns replies Requests consist of a command word followed by optional command specific parameters Requests and most request parameters are case insen sitive The exceptions are passwords file paths and text strings Requests to linuxcncrsh are terminated with line endings any combination of one or more r and n characters Replies from linuxcncrsh are terminated with the sequence r n The supported commands are as follows hello lt password gt lt client gt lt version gt lt password gt must match linuxcncrsh s connect password or EMC if no connectpw was sup plied The three arg
216. s set to 1 the default is 0 some additional HAL parameters will be exported which might be useful for tuning but are otherwise unnecessary NAMING The names for pins parameters and functions are prefixed as pid N for N 0 1 num 1 when using num_chan num nameN for nameN name1 name2 when using names namel name2 The pid N format is shown in the following descriptions FUNCTIONS pid N do pid calcs uses floating point Does the PID calculations for control loop N PINS pid V command float in The desired commanded value for the control loop pid V command deriv float in The derivative of the desired commanded value for the control loop If no signal is connected then the derivative will be estimated numerically pid N feedback float in The actual feedback value from some sensor such as an encoder pid N feedback deriv float in The derivative of the actual feedback value for the control loop If no signal is connected then the derivative will be estimated numerically When the feedback is from a quantized position source e g encoder feedback position behavior of the D term can be improved by using a better velocity estimate here such as the velocity output of encoder 9 or hostmot2 9 pid N error previous target bit in Use previous invocation s target vs current position for error calculation like the motion con troller expects This may make torque mode position loops and loops requiring a large I g
217. s sets the initial geometry of the root window Use WxH for just size X Y for just posi tion or WxH X Y for both Size position use pixel units Position is referenced from top left c component name Use component name as the HAL component name If the component name is not specified the basename of the ui file is used u handler Instructs gladevcp to inspect the Python script handler for event handlers and connect them to sig nals in the ui file U useroption gladevcp collects all useroption strings and passes them to the handler init method as a list of strings without further inspection x XID Reparent gladevcp into an existing window XID instead of creating a new top level window H halfile gladevcp runs halfile a list of HAL commands by executing halcmd c halfile after the HAL component is finalized d enable debug output R gtkrcfile explicitly load a gtkrc file t THEME set gtk theme Default is system theme Different panels can have different themes m MAXIMUM force panel window to maxumize Together with the g geometry option one can move the panel to a second monitor and force it to use all of the screen R explicitly deactivate workaround for a gtk bug which makes matches of widget and widget_class matches in gtk theme and gtkrc files fail Normally not needed SEE ALSO Glade VCP in the LinuxCNC documentation for a description of gladevcp s capabilities and the associated HAL widget set alo
218. se a function to be executed at regular intervals SYNTAX int hal_add_funct_to_thread const char funct_name const char thread_name int position int hal_del_funct_from_thread const char funct_name const char thread_name ARGUMENTS jfunct_name The name of the function thread_name The name of the thread position The desired location within the thread This determines when the function will run in relation to other functions in the thread A positive number indicates the desired location as measured from the beginning of the thread and a negative is measured from the end So 1 means this function will become the first one to run 5 means it will be the fifth one to run 2 means it will be next to last and 1 means it will be last Zero is illegal DESCRIPTION hal_add_funct_to_thread adds a function exported by a realtime HAL component to a realtime thread This determines how often and in what order functions are executed hal_del_funct_from_thread removes a function from a thread RETURN VALUE Returns a HAL status code REALTIME CONSIDERATIONS Call only from realtime init code not from user space or realtime code SEE ALSO hal_thread_new 3hal hal_export_funct 3hal 46 2006 10 12 LinuxCNC Documentation hal_create_thread 3hal HAL hal_create_thread 3hal NAME hal_create_thread Create a HAL thread SYNTAX int hal_create_thread const char name unsigned long period int uses_fp int hal_threa
219. sing a Fanuc drive intended for the Red Cap motors T Force Trapezoidal mode OPERATING MODES The component can control a drive in either Trapezoidal or Sinusoidal mode but will always default to sinusoidal if the input and output modes allow it This can be over ridden by the T tag Sinusoidal commu tation is significantly smoother trapezoidal commutation induces 13 torque ripple ROTOR HOMING To use an encoder for commutation a reference 0 degrees point must be found The component uses the convention that motor zero is the point that an unloaded motor aligns to with a positive voltage on the A or U terminal and the B amp C or V and W terminals connected together and to ve voltage There will be two such positions on a 4 pole motor 3 on a 6 pole and so on They are all functionally equivalent as far as driving the motor is concerned If the motor has Hall sensors then the motor can be started in trapezoidal commutation mode and will switch to sinusoidal commutation when an alignment is found If the mode is gh then the first Hall state transition will be used If the mode is qhi then the encoder index will be used This gives a more accurate homing position if the distance in encoder counts between motor zero and encoder index is known To force homing to the Hall edges instead simply omit the i Motors without Hall sensors may be homed in synchronous direct mode The better of these options is to home to the encoder zero using
220. sition comes from joint 2 not joint 1 FUNCTIONS None PINS None PARAMETERS gantrykins joint N s32 Specifies the axis mapped to joint N The values O through 8 correspond to the axes XYZ ABCUVW It is preferable to use the coordinates parameter at loadrt time rather than setting the joint N parameters later because the gantrykins module prints the joint to axis mapping at loadrt time and having that output correct is nice 144 2010 10 12 LinuxCNC Documentation GANTRYKINS Q HAL Component GANTRYKINS 9 NOTES gantrykins must be loaded before motion SEE ALSO Kinematics section in the LinuxCNC documentation LICENSE GPL LinuxCNC Documentation 2010 10 12 145 GEARCHANGE 9 HAL Component GEARCHANGE 9 NAME gearchange Select from one two speed ranges SYNOPSIS The output will be a value scaled for the selected gear and clamped to the min max values for that gear The scale of gear is assumed to be 1 so the output device scale should be chosen accordingly The scale of gear 2 is relative to gear 1 so if gear 2 runs the spindle 2 5 times as fast as gear 1 scale2 should be set to 2 5 FUNCTIONS gearchange N requires a floating point thread PINS gearchange N sel bit in Gear selection input gearchange N speed in float in Speed command input gearchange N speed out float out Speed command to DAC PWM gearchange N dir in bit in Direction command input gearchange N dir out bit out Direct
221. ss driver can not know this value until the ShuttleXpress device sends its first event When the first event comes into the driver the driver uses the device s reported jog wheel position to initialize counts to 0 This means that if the first event is generated by a jog wheel move that first move will be lost Any user interaction with the ShuttleXpress device will generate an event informing the driver of the jog wheel position So if you for example push one of the buttons at startup the jog wheel will work fine and notice the first click bit out shuttlexpress 0 button O bit out shuttlexpress 0 button 0 not bit out shuttlexpress 0 button 1 bit out shuttlexpress 0 button 1 not bit out shuttlexpress 0 button 2 bit out shuttlexpress 0 button 2 not bit out shuttlexpress 0 button 3 bit out shuttlexpress 0 button 3 not bit out shuttlexpress 0 button 4 bit out shuttlexpress 0 button 4 not The five buttons around the outside starting with the counter clockwise most one s32 out shuttlexpress 0 counts Accumulated counts from the jog wheel the inner wheel 2011 01 13 LinuxCNC Documentation SHUTTLEXPRESS 1 HAL User s Manual SHUTTLEXPRESS 1 s32 out shuttlexpress 0 spring wheel s32 The current deflection of the spring wheel the outer wheel It s 0 at rest and ranges from 7 at the counter clockwise extreme to 7 at the clockwise extreme float out shuttlexpress 0 spring wheel f The curre
222. sserial value This pin is used to set the value to be written to a device parameter It can also be used to read back a value from the device but as it is an input pin the read back value is only useful to humans bit in sserial read Starts the parameter read cycle On completion the pin will return to zero if not con nected in HAL bit in sserial write Starts the parameter write cycle On completion the pin will return to zero if not con nected in HAL u32 out sserial state Shows the state of the read or write process which typically takes many servo cycles See the source code if the precise meanings are important to your application Parameters LinuxCNC Documentation 2008 05 13 161 HOSTMOT2 9 HAL Component HOSTMOT2 9 162 u32 r w fault inc Any over run or handshaking error in the SmartSerial communications will increment the fault count pin by the amount specified by this parameter Default 10 u32 r w fault dec Every successful read write cycle decrements the fault counter by this amount Default 1 u32 r w fault lim When the fault counter reaches this threshold the Smart Serial interface on the corre sponding port will be stopped and an error printed in dmesg Together these three pins allow for control over the degree of fault tolerance allowed in the interface The default values mean that if more than one transaction in ten fails more than 20 times then a hard error will be raised
223. st N count u32 out LICENSE GPL 250 2015 10 24 THREADTEST 9 LinuxCNC Documentation TIME 9 HAL Component TIME 9 NAME time Time on in Hours Minutes Seconds SYNOPSIS loadrt time count N Inames name name2 DESCRIPTION Time When the time N start bit goes true the cycle timer resets and starts to time until time N start goes false If you connect time N start to halui is running as a cycle timer it will reset during a pause See the example connections below to keep the timer timing during a pause Time returns the hours minutes and seconds that time N start is true Sample py VCP code to display the hours minutes seconds lt pyvcp gt lt hbox gt lt label gt lt text gt Cycle Time lt text gt lt font gt Helvetica 14 lt font gt lt label gt lt u32 gt lt halpin gt time hours lt halpin gt lt font gt Helvetica 14 lt font gt lt format gt 2d lt format gt lt u32 gt lt label gt lt text gt lt text gt lt font gt Helvetica 14 lt font gt lt label gt lt u32 gt lt halpin gt time minutes lt halpin gt lt font gt Helvetica 14 lt font gt lt format gt 2d lt format gt lt u32 gt lt label gt lt text gt lt text gt lt font gt Helvetica 14 lt font gt lt label gt lt u32 gt lt halpin gt time seconds lt halpin gt lt font gt Helvetica 14 lt font gt lt format gt 2d lt format gt lt u32 gt lt hbox gt
224. sted 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 The pocket number location in tool storage mechanism of the next tool as described in the tool table iocontrol 0 tool prepare Bit Out TRUE when a Tn tool prepare is requested LinuxCNC Documentation 2007 08 25 31 IOCONTROL 1 HAL Component 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 SEE ALSO motion 9 32 2007 08 25 IOCONTROL 1 LinuxCNC Documentation linuxcncrsh 1 The Enhanced Machine Controller linuxcnersh 1 NAME linuxcncrsh text mode interface for commanding LinuxCNC over the network SYNOPSIS linuxcnersh OPTIONS LINUXCNC_OPTIONS DESCRIPTION linuxcncrsh is a user interface for LinuxCNC Instead of popping up a GUI window like axis 1 and touchy 1 do it processes text mode commands that it receives via the network A human or a program can interface with linuxenersh using telnet 1 or nc 1 or similar programs All features of LinuxCNC are available via the linuxencrsh interfa
225. t has_bit True if the watchdog has bit False if the watchdog has not bit If the watchdog has bit and the has_bit bit is True the user can reset it to False to resume operation Parameters u32 read write timeout_ns Watchdog timeout in nanoseconds This is initialized to 5 000 000 5 milliseconds at module load time If more than this amount of time passes between calls to the pet_watchdog function the watchdog will bite Functions pet_watchdog Calling this function resets the watchdog timer postponing the watchdog biting until timeout_ns nanoseconds later Raw Mode If the enable_raw config keyword is specified some extra debugging pins are made available in HAL The raw mode HAL pin names begin with hm2_ lt BoardType gt lt BoardNum gt raw With Raw mode enabled a user may peek and poke the firmware from HAL and may dump the internal state of the hostmot 2 driver to the syslog Pins u32 in read_address The bottom 16 bits of this is used as the address to read from u32 out read_data Each time the hm2_read function is called this pin is updated with the value at read_address u32 in write_address The bottom 16 bits of this is used as the address to write to u32 in write_data This is the value to write to write_address LinuxCNC Documentation 2008 05 13 165 HOSTMOT2 9 HAL Component HOSTMOT2 9 bit in write_strobe Each time the hm2_write function is called this pin is examined
226. t MULTICLICK 9 NAME multiclick Single double triple and quadruple click detector SYNOPSIS loadrt multiclick count Ninames name name2 DESCRIPTION A click is defined as a rising edge on the in pin followed by the in pin being True for at most max hold ns nanoseconds followed by a falling edge A double click is defined as two clicks separated by at most max space ns nanoseconds with the in pin in the False state I bet you can guess the definition of triple and quadruple click You probably want to run the input signal through a debounce component before feeding it to the multiclick detector if the input is at all noisy The click pins go high as soon as the input detects the correct number of clicks The click only pins go high a short while after the click after the click separator space timeout has expired to show that no further click is coming This is useful for triggering halui MDI commands FUNCTIONS multiclick V Detect single double triple and quadruple clicks PINS multiclick N in bit in The input line this is where we look for clicks multiclick N single click bit out Goes high briefly when a single click is detected on the in pin multiclick N single click only bit out Goes high briefly when a single click is detected on the in pin and no second click followed it multiclick V double click bit out Goes high briefly when a do
227. t 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 select bit in pin for selecting joint N halui joint N unhome bit in pin for unhoming joint N halui joint selected u32 out selected joint 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 unhome bit in pin for unhoming the selected joint 28 2006 07 22 LinuxCNC Documentation HALUI 1 HAL User Interface HALUI 1 jog halui jog deadband float in pin for setting jog analog deadband jog analog inputs smaller sl
228. t i o Enables counter mode When true the counter counts each rising edge of the phase A input ignoring the value on phase B This is useful for counting the output of a single channel non quadrature sensor When false the default it counts in quadrature mode encoder N counts s32 out Position in encoder counts encoder N index enable bit i o When true counts and position are reset to zero on the next rising edge of Phase Z At the same time index enable is reset to zero to indicate that the rising edge has occurred LinuxCNC Documentation 2009 04 15 133 ENCODER 9 HAL Component ENCODER 9 encoder N phase A bit in Quadrature input for encoder channel N encoder N phase B bit in Quadrature input encoder N phase Z bit in Index pulse input encoder position float out Position in scaled units see position scale encoder N position interpolated float out Position in scaled units interpolated between encoder counts Only valid when velocity is approx imately constant and above min velocity estimate Do not use for position control encoder N position scale float i o Scale factor in counts per length unit For example if position scale is 500 then 1000 counts of the encoder will be reported as a position of 2 0 units encoder N rawcounts s32 out The raw count as determined by update counters This value is updated more frequently than counts and position It is also unaffected by reset or the index pulse encode
229. t may not be used from realtime code RETURN VALUE rtapi_mutex_try returns 0 for if the mutex was claimed and nonzero otherwise rtapi_mutex_get and rtapi_mutex_gif have no return value 74 2006 10 12 LinuxCNC Documentation rtapi_outb 3rtapi RTAPI rtapi_outb 3rtapi NAME rtapi_outb rtapi_inb Perform hardware I O SYNTAX void rtapi_outb unsigned char byte unsigned int port unsigned char rtapi_inb unsigned int port ARGUMENTS port The address of the I O port byte The byte to be written to the port DESCRIPTION rtapi_outb writes a byte to a hardware I O port rtapi_inb reads a byte from a hardware I O port REALTIME CONSIDERATIONS May be called from init cleanup code and from within realtime tasks Not available in userspace compo nents RETURN VALUE rtapi_inb returns the byte read from the given I O port NOTES The I O address should be within a region previously allocated by rtapi_request_region Otherwise another real time module or the Linux kernel might attempt to access the I O region at the same time SEE ALSO rtapi_region 3rtapi LinuxCNC Documentation 2006 10 12 75 rtapi_print 3rtapi RTAPI rtapi_print 3rtapi NAME rtapi_print rtapi_print_msg print diagnostic messages SYNTAX void rtapi_print const char fmt void rtapi_print_msg int level const char fmt typedef void rtapi_msg_handler_t msg_level_t level const char msg void rtapi_set_msg_handler rtapi_ms
230. t of weighted summer n The default value is 2 m wsum offset signed rw The offset is added to the weights corresponding to all TRUE inputs to give the final sum 262 2007 01 16 LinuxCNC Documentation XOR2 9 HAL Component NAME xor2 Two input XOR exclusive OR gate SYNOPSIS loadrt xor2 count NInames name I namez2 FUNCTIONS xor2 N PINS xor2 N in0 bit in xor2 N in1 bit in xor2 N out bit out out is computed from the value of in0 and in1 according to the following rule in0 TRUE in1 FALSE in0 FALSE inl TRUE out TRUE Otherwise out FALSE LICENSE GPL LinuxCNC Documentation 2015 10 24 XOR2 9 263
231. t that triggers commands in a running AXIS GUI Use axis remote help for further information OPTIONS ping p Check whether AXIS is running reload r Make AXIS reload the currently loaded file clear c Make AXIS clear the backplot quit q Make AXIS quit help h Display a list of valid parameters for axis remote mdi COMMAND m COMMAND Run the MDI command COMMAND FILENAME Load the G code file FILENAME SEE ALSO axis 1 Much more information about LinuxCNC and HAL is available in the LinuxCNC and HAL User Manuals found at usr share doc linuxcne HISTORY BUGS None known at this time AUTHOR This man page written by Alex Joni as part of the LinuxCNC project REPORTING BUGS Report bugs to alex_joni AT users DOT sourceforge DOT net COPYRIGHT Copyright 2007 Alex Joni This is free software see the source for copying conditions There is NO warranty not even for MER CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE LinuxCNC Documentation 2007 04 01 3 AXIS 1 The Enhanced Machine Controller AXIS 1 NAME axis AXIS LinuxCNC Graphical User Interface SYNOPSIS axis ini INIFILE DESCRIPTION axis is one of the Graphical User Interfaces GUI for LinuxCNC It gets run by the runscript usually OPTIONS INIFILE The ini file is the main piece of an LinuxCNC configuration It is not the entire configuration there are various other files that go with it NML files HAL files TBL files
232. the iq config parameter When the init pin goes high the motor will rotate in a direction determined by the rev pin until the encoder indicates an index latch the servo thread runs too slowly to rely on detecting an encoder index directly If there is no encoder index or its location rela tive to motor zero can not be found then an alternative is to use magnetic homing using the q config In this mode the motor will go through an alignment sequence ending at motor zero when the init pin goes high It will then set the final position as motor zero Unfortunately the motor is rather springy in this mode and so alignment is likely to be fairly sensitive to load FUNCTIONS PINS 100 bldc N requires a floating point thread bldc N hall1 bit in if personality amp 0x01 Hall sensor signal 1 bldc N hall2 bit in if personality amp 0x01 Hall sensor signal 2 bldc N hall3 bit in if personality amp 0x01 Hall sensor signal 3 bldc N hall error bit out if personality amp 0x01 Indicates that the selected hall pattern gives inconsistent rotor position data This can be due to the pattern being wrong for the motor or one or more sensors being unconnected or broken A consis tent pattern is not neceesarily valid but an inconsistent one can never be valid bldc N C1 bit in if personality amp 0x10 Fanuc Gray code bit 0 input bldc N C2 bit in if personality amp 0x10 Fanuc Gray code bit 1 input bldc N C4 bit in if
233. ther pwm bit rw Because software generated PWM uses a fairly slow timebase several to many microseconds it has limited resolution For example if make pulses is called at a 20KHz rate and pwm freq is 2KHz there are only 10 possible duty cycles If dither pwm is false the commanded duty cycle will be rounded to the nearest of those values Assuming value remains constant the same output will repeat every PWM cycle If dither pwm is true the output duty cycle will be dithered between the two closest values so that the long term average is closer to the desired level dither pwm has no effect if pwm freq is zero PDM mode since PDM is an inherently dithered process LinuxCNC Documentation 2007 01 16 225 SAMPLE_HOLD 9 HAL Component NAME sample_hold Sample and Hold SYNOPSIS loadrt sample_hold count Ninames name namez2 FUNCTIONS sample hold NV PINS sample hold N in s32 in sample hold N hold bit in sample hold N out s32 out LICENSE GPL 226 2015 10 24 SAMPLE_HOLD 9 LinuxCNC Documentation SAMPLER 9 HAL User s Manual SAMPLER 9 NAME sampler sample data from HAL in real time SYNOPSIS loadrt sampler depth depth1 depth2 cfg string1 string2 DESCRIPTION sampler and halsampler 1 are used together to sample HAL data in real time and store it in a file sam pler is a realtime HAL component that exports HAL pins and creates a FIFO in shared memory It then begins sampling data from the H
234. tions that need simple waveforms It produces sine cosine triangle sawtooth and square waves of variable frequency amplitude and offset which can be used as inputs to other HAL components siggen supports a maximum of sixteen channels The number of channels actually loaded is set by the num_chan argument when the module is loaded Alternatively specify names and unique names sepa rated by commas The num_chan and names specifiers are mutually exclusive If neither num_chan nor names are specified the default value is one NAMING The names for pins parameters and functions are prefixed as siggen N for N 0 1 num 1 when using num_chan num nameN for nameN name1 namez2 when using names namel name2 The siggen N format is shown in the following descriptions FUNCTIONS siggen N update uses floating point Updates output pins for signal generator N Each time it is called it calculates a new sample It should be called many times faster than the desired signal frequency to avoid distortion and alias ing PINS siggen frequency float in The output frequency for signal generator N in Hertz The default value is 1 0 Hertz siggen N amplitude float in The output amplitude for signal generator N If offset is zero the outputs will swing from ampli tude to amplitude The default value is 1 00 siggen N offset float in The output offset for signal generator N This value is added directly to the output signal
235. tocol is not currently designed or implemented comm_prot lt version gt With get any parameter is ignored and the current protocol version used by the server is returned With set sets the server to use the specified protocol version provided it is lower than or equal to the highest version number supported by the server implementation inifile Not currently implemented With get returns the string emc ini Should return the full path and file name of the current configuration inifile Setting this does nothing plat With get returns the string Linux ini lt var gt lt section gt Not currently implemented do not use Should return the string value of lt var gt in section lt sec tion gt of the ini file debug lt value gt With get any parameter is ignored and the current integer value of EMC_DEBUG is returned Note that the value of EMC_DEBUG returned is the from the UI s ini file which may be different than emc s ini file With set sends a command to the EMC to set the new debug level and sets the EMC_DEBUG global here to the same value This will make the two values the same since they really ought to be the same set_wait nonelreceivedidone The set_wait setting controls the wait after receiving a command It can be none return right away received after the command was sent and received or done after the command was done With get any parameter is ignored and the current set_wait setting is retur
236. tput pulse PARAMETERS oneshot N retriggerable bit rw default TRUE Allow additional edges to extend pulse oneshot N rising bit rw default TRUE Trigger on rising edge oneshot N falling bit rw default FALSE Trigger on falling edge LICENSE GPL LinuxCNC Documentation 2015 10 24 209 OPTO_ACS5 9 HAL Component OPTO_ACS5 9 NAME opto_ac5 Realtime driver for opto22 PCI ACS5 cards SYNOPSIS loadrt opto_ac5 portconfig0 0x portconfig1 0x N DESCRIPTION These pins and parameters are created by the realtime opto_ac5 module The portconfig0 and portconfig1 variables are used to configure the two ports of each card The first 24 bits of a 32 bit number represent the 24 i o points of each port The lowest rightmost bit would be HAL pin 0 which is header connector pin 47 Then next bit to the left would be HAL pin 1 header connector pin 45 and so on untill bit 24 would be HAL pin 23 header connector pin 1 1 bits represent output points So channel 0 11 as inputs and 12 23 as outputs would be represented by in binary 111111111111000000000000 which is Oxfff000 in hexadecimal That is the number you would use Eg loadrt opto_ac5 portconfig0 Oxfff000 If no portconfig variable is specified the default configuration is 12 inputs then 12 outputs Up to 4 boards are supported Boards are numbered starting at 0 Portnumber can be 0 or 1 Port 0 is closes to the card bracket PINS opto_ac5 BOARDNUMBER port PORTNUMBER in
237. trans fers which can reduce the time spent in the read and write functions However this may not work on all EPP parallel ports config default HostMot2 config strings described in the hostmot2 9 manpage debug_epp default 0 Developer debug use only Enable debug logging of most EPP transfers DESCRIPTION hm2_7i43 is a device driver that interfaces the Mesa 7143 board with the HostMot2 firmware to the Linux CNC HAL Both the 200K and the 400K FPGAs are supported The driver talks with the 7143 over the parallel port not over USB USB can be used to power the 7143 but not to talk to it USB communication with the 7143 will not be supported any time soon since USB has poor real time qualities The driver programs the board s FPGA with firmware when it registers the board with the hostmot2 driver The old bfload 1 firmware loading method is not used anymore Instead the firmware to load is specified in the config modparam as described in the hostmot2 9 manpage in the config modparam section Some parallel ports require special initialization before they can be used LinuxCNC provides a kernel driver that does this initialization called probe_parport Load this driver before loading hm2_7i43 by putting loadrt probe_parport in your hal file Jumper settings To send the FPGA configuration from the PC the board must be configured to get its firmware from the EPP port To do this jumpers W4 and W5 must both be down i
238. ture and a wide variety of three four and five phase patterns that can be used to directly control some types of motor windings When used with appropriate buffers of course Some of the stepping types are described below but for more details including timing diagrams see the stepgen section of the HAL reference manual type 0 step dir Two pins one for step and one for direction make pulses must run at least twice for each step once to set the step pin true once to clear it This limits the maximum step rate to half or less of the rate that can be reached by types 2 14 The parameters steplen and stepspace can further lower the maximum step rate Parameters dirsetup and dirhold also apply to this step type type 1 up down Two pins one for step up and one for step down Like type 0 make pulses must run twice per step which limits the maximum speed type 2 quadrature Two pins phase A and phase B For forward motion A leads B Can advance by one step every time make pulses runs type 3 three phase full step Three pins phase A phase B and phase C Three steps per full cycle then repeats Only one phase is high at a time for forward motion the pattern is A then B then C then A again type 4 three phase half step Three pins phases A through C Six steps per full cycle First A is high alone then A and B together then B alone then B and C together etc types 5 through 8 four phase full step F
239. tus of the VFD see the GS2 manual Note that the value is a sum of all the bits that are on So a 163 which means the drive is in the run mode is the sum of 3 run 32 freq set by serial 128 operation set by serial PARAMETERS lt name gt error count s32 RW lt name gt loop time float RW how often the modbus is polled default 0 1 lt name gt nameplate HZ float RW Nameplate Hz of motor default 60 lt name gt nameplate RPM float RW Nameplate RPM of motor default 1730 lt name gt retval s32 RW the return value of an error in HAL lt name gt tolerance float RW speed tolerance default 0 01 8 January 1 2009 GS2 VFD gs2_vfd 1 LinuxCNC Documentation gs2_vfd 1 lt name gt ack delay s32 RW number of read write cycles before checking at speed default 2 SEE ALSO GS2 Driver in the LinuxCNC documentation for a full description of the GS2 syntax GS2 Examples in the LinuxCNC documentation for examples using the GS2 component BUGS AUTHOR John Thornton LICENSE GPL GS2 VFD January 1 2009 9 HAL_INPUT 1 HAL User s Manual HAL_INPUT 1 NAME hal_input control HAL pins with any Linux input device including USB HID devices SYNOPSIS loadusr hal_input KRAL inputspec DESCRIPTION hal_input is an interface between HAL and any Linux input device including USB HID devices For each device named hal_input creates pins corresponding to its keys absolute axes and L
240. tware step pulse generation SYNOPSIS loadrt stepgen step_type type0 type ctrl_type type0 type user_step_type DESCRIPTION stepgen is used to control stepper motors The maximum step rate depends on the CPU and other factors and is usually in the range of 5KHz to 25KHz If higher rates are needed a hardware step generator is a better choice stepgen has two control modes which can be selected on a channel by channel basis using ctrl_type Pos sible values are p for position control and v for velocity control The default is position control which drives the motor to a commanded position subject to acceleration and velocity limits Velocity control drives the motor at a commanded speed again subject to accel and velocity limits Usually position mode is used for machine axes Velocity mode is reserved for unusual applications where continuous movement at some speed is desired instead of movement to a specific position Note that velocity mode replaces the former component freqgen stepgen can control a maximum of eight motors The number of motors channels actually loaded depends on the number of type values given The value of each type determines the outputs for that channel Posi tion or velocity mode can be individually selected for each channel Both control modes support the same 16 possible step types By far the most common step type is 0 standard step and direction Others include up down quadra
241. ty of 3 inputs SYNOPSIS loadrt maj3 count Mnames name namez2 FUNCTIONS maj3 N PINS maj3 N in1 bit in maj3 N in2 bit in maj3 N in3 bit in maj3 N out bit out PARAMETERS maj3 N invert bit rw LICENSE GPL LinuxCNC Documentation 2015 10 24 MAJ3 9 187 MATCH8 9 NAME match8 8 bit binary match detector SYNOPSIS loadrt match8 count MInames name I name2 FUNCTIONS PINS match8 N match8 N in bit in default TRUE cascade input if false output is false regardless of other inputs match8 N a0 bit in match8 N a1 bit in match8 N a2 bit in match8 N a3 bit in match8 N a4 bit in match8 N a5 bit in match8 N a6 bit in match8 N a7 bit in match8 N b0 bit in match8 N b1 bit in match8 N b2 bit in match8 N b3 bit in match8 N b4 bit in match8 N b5 bit in match8 N b6 bit in match8 N b7 bit in match8 N out bit out true only if in is true and a m matches b m for m 0 thru 7 LICENSE 188 GPL HAL Component 2015 10 24 MATCH8 9 LinuxCNC Documentation MESSAGE 9 HAL Component MESSAGE 9 NAME message Display a message SYNOPSIS loadrt message count Ninames name 1 name2 messages N messages The messages to display These should be listed comma delimited inside a single set of quotes See the Description section for an example If there are more messages than count or names then the excess will be ignored If there are fewer messages than count or na
242. uble click is detected on the in pin multiclick V double click only bit out Goes high briefly when a double click is detected on the in pin and no third click followed it multiclick N triple click bit out Goes high briefly when a triple click is detected on the in pin multiclick N triple click only bit out Goes high briefly when a triple click is detected on the in pin and no fourth click followed it multiclick V quadruple click bit out Goes high briefly when a quadruple click is detected on the in pin multiclick V quadruple click only bit out Goes high briefly when a quadruple click is detected on the in pin and no fifth click followed it multiclick V state s32 out PARAMETERS multiclick N invert input bit rw default FALSE If FALSE the default clicks start with rising edges If TRUE clicks start with falling edges LinuxCNC Documentation 2015 10 24 199 MULTICLICK 9 HAL Component MULTICLICK 9 multiclick N max hold ns u32 rw default 250000000 If the input is held down longer than this it s not part of a multi click Default 250 000 000 ns 250 ms multiclick N max space ns u32 rw default 250000000 If the input is released longer than this it s not part of a multi click Default 250 000 000 ns 250 ms multiclick N output hold ns u32 rw default 700000000 Positive pulses on the output pins last this long Default 100 000 000 ns 100 ms LICENSE GPL 200 2015 1
243. umentation PLUTO_STEP 9 HAL Component PLUTO_STEP 9 NAME pluto_step Hardware driver and firmware for the Pluto P parallel port FPGA for use with stepper machines SYNOPSIS loadrt pluto_step ioaddr addr ioaddr_hi addr epp_wide 0 ioaddr default 0x378 The base address of the parallel port ioaddr_hi default 0 The secondary address of the parallel port used to set EPP mode 0 means to use ioaddr 0x400 1 means there is no secondary address epp_wide default 1 Set to zero to disable Wide EPP mode Wide mode allows 16 and 32 bit EPP transfers which can reduce the time spent in the read and write functions However this mode may not work on all EPP parallel ports watchdog default 1 Set to zero to disable the hardware watchdog Watchdog will tristate all outputs approxi mately 6ms after the last execution of pluto step write which adds some protection in the case of LinuxCNC crashes speedrange default 0 Selects one of four speed ranges 0 Top speed 312 5kHz minimum speed 610Hz 1 Top speed 156 25kHz minimum speed 305Hz 2 Top speed 78 125kHz minimum speed 153Hz 3 Top speed 39 06kHz minimum speed 76Hz Choosing the smallest maximum speed that is above the maximum for any one axis may give improved step regularity at low step speeds DESCRIPTION Pluto_step is a LinuxCNC software driver and associated firmware that allow the Pluto P board to be used to control a stepper based CNC machine
244. uments may not contain whitespace If a valid password was entered the server will respond with HELLO ACK lt ServerName gt lt ServerVersion gt If an invalid password or any other syntax error occurs then the server responds with HELLO NAK get lt subcommand gt lt parameters gt The get command takes one of the LinuxCNC sub commands described in the section Linux CNC Subcommands below and zero or more additional subcommand specific parameters set lt subcommand gt lt parameters gt The set command takes one of the LinuxCNC sub commands described in the section Linux CNC Subcommands below and one or more additional parameters quit The quit command disconnects the associated socket connection shutdown The shutdown command tells LinuxCNC to shutdown and disconnect the session This command may only be issued if the Hello has been successfully negotiated and the connection has control of the CNC see enable subcommand in the LinuxCNC Subcommands section below help The help command will return help information in text format over the connection If no parame ters are specified it will itemize the available commands If a command is specified it will pro vide usage information for the specified command Help will respond regardless of whether a Hello has been successsfully negotiated LinuxCNC Subcommands 34 Subcommands for get and set are echo onloff With get any on off parameter is ignored and the cu
245. umerator coef biquad N n2 float rw default 0 0 2nd delayed numerator coef biquad N s1 float rw default 0 0 biquad N s2 float rw default 0 0 LICENSE GPL 96 2015 10 24 LinuxCNC Documentation BITSLICE Q9 HAL Component BITSLICE Q NAME bitslice Converts an unsigned 32 input into individual bits SYNOPSIS loadrt bitslice count NInames name 1 name2 personality P P DESCRIPTION This component creates individual bit outputs for each bit of an unsigned 32 input The number of bits can be limited by the personality modparam The inverse process can be perfomed by the weighted_sum HAL component FUNCTIONS bitslice NV PINS bitslice N in u32 in The input value bitslice N out MM bit out MM 00 personality AUTHOR Andy Pugh LICENSE GPL2 LinuxCNC Documentation 2015 10 24 97 BITWISE HAL Component NAME bitwise Computes various bitwise operations on the two input values SYNOPSIS loadrt bitwise count NInames name 1 namez2 FUNCTIONS PINS bitwise V bitwise N in0 u32 in First input value bitwise N in1 u32 in Second input value bitwise N out and u32 out The bitwise AND of the two inputs bitwise N out or u32 out The bitwise OR of the two inputs bitwise N out xor u32 out The bitwise XOR of the two inputs bitwise N out nand u32 out The inverse of the bitwise AND bitwise N out nor u32 out The inverse of the bitwise OR bitwise N out xnor u32 out The inv
246. unts s32 out The current position in counts for channel N Updated by capture position freqgen N position fb float out The current position in length units see parameter position scale Updated by capture posi tion freqgen N velocity float in freqgen only Commanded velocity in length units per second see parameter velocity scale freqgen N step bit out step type 0 only Step pulse output freqgen N dir bit out step type 0 only Direction output low for forward high for reverse freqgen N up bit out step type 1 only Count up output pulses for forward steps freqgen V down bit out step type 1 only Count down output pulses for reverse steps freqgen N phase A thru phase E bit out step types 2 14 only Output bits phase A and phase B are present for step types 2 14 phase C for types 3 14 phase D for types 5 14 and phase E for types 11 14 Behavior depends on selected stepping type PARAMETERS freqgen N frequency float ro The current step rate in steps per second for channel N freqgen N maxaccel float rw The acceleration deceleration limit in steps per second squared freqgen NV maxfreq float rw freqgen only The maximum allowable velocity in steps per second If the requested maximum velocity cannot be reached with the current make pulses thread period it will be reset to the highest attainable value freqgen N position scale float rw The scaling for position feedback in steps per length unit 142 2007 01
247. uration of some activ ity Returns a 64 bit value The resolution of the returned value may be as good as one nano second or as poor as several microseconds May be called from init cleanup code and from within realtime tasks rtapi_get_clocks returns the current time in CPU clocks It is fast since it just reads the TSC in the CPU instead of calling a kernel or RTOS function Of course times measured in CPU clocks are not as conve nient but for relative measurements this works fine Its absolute value means nothing but it is monotoni cally increasing and can be used to schedule future events or to time the duration of some activity on SMP machines the two TSC s may get out of sync so if a task reads the TSC gets swapped to the other CPU and reads again the value may decrease RTAPI tries to force all RT tasks to run on one CPU Returns a 64 bit value The resolution of the returned value is one CPU clock which is usually a few nanoseconds to a fraction of a nanosecond Note that long long math may be poorly supported on some platforms especially in kernel space Also note that rtapi_print will NOT print long longs Most time measurements are relative and should be done like this deltat long int end_time start_time where end_time and start_time are longlong values returned from rtapi_get_time and deltat is an ordinary long int 32 bits This will work for times up to a second or so depending on the CPU clock frequency
248. use time for each end of run in seconds PARAMETERS steptest N epsilon float rw default 001 steptest N elapsed float r Current value of the internal timer LICENSE 242 GPL 2015 10 24 LinuxCNC Documentation STREAMER 9 HAL User s Manual STREAMER 9 NAME streamer stream file data into HAL in real time SYNOPSIS loadrt streamer depth depth1 depth2 cfg string1 string2 DESCRIPTION streamer and halstreamer 1 are used together to stream data from a file into the HAL in real time streamer is a realtime HAL component that exports HAL pins and creates a FIFO in shared memory hal_streamer is a user space program that copies data from stdin into the FIFO so that streamer can write it to the HAL pins OPTIONS depth depth1 depth2 sets the depth of the user gt realtime FIFO that streamer creates to receive data from halstreamer Multiple values of depth separated by commas can be specified if you need more than one FIFO for example if you want to stream data from two different realtime threads cfg string1 string2 defines the set of HAL pins that streamer exports and later writes data to One string must be supplied for each FIFO separated by commas streamer exports one pin for each character in string Legal characters are F f float pin B b bit pin S s s32 pin U u u32 pin FUNCTIONS streamer N One function is created per FIFO numbered from zero PINS streamer N pin M output
249. v and maxa limit3 N min float in default e20 limit3 N max float in default 7e20 limit3 N maxv float in default e20 limit3 N maxa float in default e20 LICENSE GPL 182 2015 10 24 LinuxCNC Documentation LOGIC 9 HAL Component LOGIC 9 NAME logic LinuxCNC HAL component providing configurable logic functions SYNOPSIS loadrt logic count Mnames name 1 name2 personality P P DESCRIPTION General logic function component Can perform and or and xor of up to 16 inputs Determine the proper value for personality by adding the inputs and outputs then convert to hex e The number of input pins usually from 2 to 16 e 256 0x100 if the and output is desired 512 0x200 if the or output is desired 1024 0x400 if the xor exclusive or output is desired Outputs can be combined for example 2 256 1024 1282 converted to hex would be 0x502 and would have two inputs and have both xor and and outputs FUNCTIONS logic N PINS logic N in MM bit in MM 00 personality amp Oxff logic N and bit out if personality amp 0x100 logic N or bit out if personality amp 0x200 logic N xor bit out if personality amp 0x400 LICENSE GPL LinuxCNC Documentation 2015 10 24 183 LOWPASS 9 HAL Component LOWPASS 9 NAME lowpass Low pass filter SYNOPSIS loadrt lowpass count Ninames name 1 namez2 FUNCTIONS lowpass N re
250. v u32 s32 N clamp bit rw CONV_U32_S32 9 If TRUE then clamp to the range of s32 If FALSE then allow the value to wrap around LICENSE GPL LinuxCNC Documentation 2015 10 24 127 COUNTER 9 HAL Component COUNTER 9 NAME counter counts input pulses DEPRECATED SYNOPSIS loadrt counter num_chan N DESCRIPTION counter is a deprecated HAL component and will be removed in a future release Use the encoder compo nent with encoder X counter mode set to TRUE counter is a HAL component that provides software based counting that is useful for spindle position sensing and maybe other things Instead of using a real encoder that outputs quadrature some lathes have a sensor that generates a simple pulse stream as the spindle turns and an index pulse once per revolution This component simply counts up when a count pulse phase A is received and if reset is enabled resets when the index phase Z pulse is received This is of course only useful for a unidirectional spindle as it is not possible to sense the direction of rota tion counter conforms to the canonical encoder interface described in the HAL manual FUNCTIONS PINS counter capture position uses floating point Updates the counts position and velocity outputs based on internal counters counter update counters Samples the phase A and phase Z inputs and updates internal counters counter V phase A bit in The primary input signal The inte
251. x should be called before using rtapi_delay to make sure the required delays can be achieved The actual resolution of the delay may be as good as one nano second or as bad as a several microseconds REALTIME CONSIDERATIONS May be called from init cleanup code and from within realtime tasks RETURN VALUE rtapi_delay_max returns the maximum delay permitted SEE ALSO rtapi_clock_set_period 3rtapi 68 2006 10 12 LinuxCNC Documentation rtapi_exit 3rtapi RTAPI rtapi_exit 3rtapi NAME rtapi_exit Shut down RTAPI SYNTAX int rtapi_exit int module_id ARGUMENTS module_id An rtapi module identifier returned by an earlier call to rtapi_init DESCRIPTION rtapi_exit shuts down and cleans up the RTAPI It must be called prior to exit by any module that called rtapi_init REALTIME CONSIDERATIONS Call only from within user or init cleanup code not from relatime tasks RETURN VALUE Returns a RTAPI status code LinuxCNC Documentation 2006 10 12 69 rtapi_get_time 3rtapi HAL rtapi_get_time 3rtapi NAME rtapi_get_time get the current time SYNTAX long long rtapi_get_time long long rtapi_get_clocks DESCRIPTION rtapi_get_time returns the current time in nanoseconds Depending on the RTOS this may be time since boot or time since the clock period was set or some other time Its absolute value means nothing but it is monotonically increasing and can be used to schedule future events or to time the d
252. x100 Output bit for phase C LinuxCNC Documentation 2015 10 24 101 BLDC 9 HAL Component BLDC 9 102 blde N A high float out if personality amp OxFOO 0x200 High side driver for phase A bldc N B high float out if personality amp OxFOO 0x200 High side driver for phase B bldc N C high float out if personality amp OxFOO 0x200 High side driver for phase C bldc N A low float out if personality amp OxFOO 0x200 Low side driver for phase A bldc N B low float out if personality amp OxF00 0x200 Low side driver for phase B bldc N C low float out if personality amp OxFOO 0x200 Low side driver for phase C bidc N A high on bit out if personality amp OxFOO 0x300 High side driver for phase A bldc N B high on bit out if personality amp OxFOO 0x300 High side driver for phase B bldc N C high on bit out if personality amp 0xF00 0x300 High side driver for phase C bldc N A low on bit out if personality amp OxFOO 0x300 Low side driver for phase A bldc N B low on bit out if personality amp OxFOO 0x300 Low side driver for phase B bldc N C low on bit out if personality amp OxFOO 0x300 Low side driver for phase C bidc N hall1 out bit out if personality amp 0x400 Hall 1 output bldc N hall2 out bit out if personality amp 0x400 Hall 2 output blidc N hall3 out bit out if personality amp 0x
253. ype see the HAL manual for a full listing The outputs change from one state to another at a minimum interval of steplen When a direction change occurs the minimum time between the last step in one direction and the first in the other direction is the sum of steplen and dirdelay SEE ALSO The HAL User Manual LinuxCNC Documentation 2007 01 16 241 STEPTEST 9 HAL Component STEPTEST 9 NAME steptest Used by Stepconf to allow testing of acceleration and velocity values for an axis SYNOPSIS loadrt steptest count NInames name 1 namez2 FUNCTIONS PINS steptest N requires a floating point thread steptest V jog minus bit in Drive TRUE to jog the axis in its minus direction steptest V jog plus bit in Drive TRUE to jog the axis in its positive direction steptest N run bit in Drive TRUE to run the axis near its current position_fb with a trapezoidal velocity profile steptest V maxvel float in Maximum velocity steptest V maxaccel float in Permitted Acceleration steptest V amplitude float in Approximate amplitude of positions to command during run steptest N dir s32 in Direction from central point to test 0 both 1 positive 2 negative steptest N position cmd float out steptest N position fb float in steptest V running bit out steptest N run target float out steptest V run start float out steptest NV run low float out steptest N run high float out steptest V pause s32 in default 0 pa

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