From 572949c631c7c91e538ddf3434b6831e9ab178f4 Mon Sep 17 00:00:00 2001 From: Bertho Stultiens Date: Mon, 28 Sep 2026 12:31:29 +0200 Subject: [PATCH] docs: Update man1 pages to reflect the HAL API changes. --- docs/src/man/man1/gs2_vfd.1.adoc | 52 +-- docs/src/man/man1/hal_input.1.adoc | 46 ++- docs/src/man/man1/hal_manualtoolchange.1.adoc | 8 +- docs/src/man/man1/halcmd.1.adoc | 4 +- docs/src/man/man1/halcompile.1.adoc | 2 + docs/src/man/man1/halstreamer.1.adoc | 6 +- docs/src/man/man1/halui.1.adoc | 298 +++++++++--------- docs/src/man/man1/hy_gt_vfd.1.adoc | 40 +-- docs/src/man/man1/hy_vfd.1.adoc | 72 ++--- docs/src/man/man1/io.1.adoc | 26 +- docs/src/man/man1/mb2hal.1.adoc | 30 +- docs/src/man/man1/mesambccc.1.adoc | 68 ++-- docs/src/man/man1/mitsub_vfd.1.adoc | 50 +-- docs/src/man/man1/mqtt-publisher.1.adoc | 6 +- docs/src/man/man1/mtconnect-agent.1.adoc | 10 +- docs/src/man/man1/sendkeys.1.adoc | 12 +- docs/src/man/man1/shuttle.1.adoc | 10 +- docs/src/man/man1/sim-torch.1.adoc | 27 +- docs/src/man/man1/sim_pin.1.adoc | 8 +- docs/src/man/man1/svd-ps_vfd.1.adoc | 30 +- docs/src/man/man1/vfdb_vfd.1.adoc | 52 +-- docs/src/man/man1/vfs11_vfd.1.adoc | 68 ++-- docs/src/man/man1/xhc-hb04.1.adoc | 102 +++--- docs/src/man/man1/xhc-whb04b-6.1.adoc | 158 +++++----- 24 files changed, 597 insertions(+), 588 deletions(-) diff --git a/docs/src/man/man1/gs2_vfd.1.adoc b/docs/src/man/man1/gs2_vfd.1.adoc index ae79b1d40f3..f826253f163 100644 --- a/docs/src/man/man1/gs2_vfd.1.adoc +++ b/docs/src/man/man1/gs2_vfd.1.adoc @@ -66,62 +66,62 @@ and writes to the GS2 via a modbus connection. == PINS -.DC-bus-volts (float, out):: +.DC-bus-volts (real, out):: from the VFD -.at-speed (bit, out):: +.at-speed (bool, out):: when drive is at commanded speed -.err-reset (bit, in):: +.err-reset (bool, in):: reset errors sent to VFD -.firmware-revision (s32, out):: +.firmware-revision (sint, out):: from the VFD -.frequency-command (float, out):: +.frequency-command (real, out):: from the VFD -.frequency-out (float, out):: +.frequency-out (real, out):: from the VFD -.is-stopped (bit, out):: +.is-stopped (bool, out):: when the VFD reports 0 Hz output -.load-percentage (float, out):: +.load-percentage (real, out):: from the VFD -.motor-RPM (float, out):: +.motor-RPM (real, out):: from the VFD -.output-current (float, out):: +.output-current (real, out):: from the VFD -.output-voltage (float, out):: +.output-voltage (real, out):: from the VFD -.power-factor (float, out):: +.power-factor (real, out):: from the VFD -.scale-frequency (float, out):: +.scale-frequency (real, out):: from the VFD -.speed-command (float, in):: +.speed-command (real, 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. -.spindle-fwd (bit, in):: +.spindle-fwd (bool, in):: 1 for FWD and 0 for REV sent to VFD -.spindle-on (bit, in):: +.spindle-on (bool, in):: 1 for ON and 0 for OFF sent to VFD, only on when running -.spindle-rev (bit, in):: +.spindle-rev (bool, in):: 1 for ON and 0 for OFF, only on when running -.status-1 (s32, out):: +.status-1 (sint, out):: Drive Status of the VFD (see the GS2 manual) -.status-2 (s32, out):: +.status-2 (sint, out):: Drive Status 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 @@ -129,24 +129,24 @@ and writes to the GS2 via a modbus connection. == PARAMETERS -.error-count (s32, RW):: +.error-count (sint, RW):: -.loop-time (float, RW):: +.loop-time (real, RW):: how often the modbus is polled (default 0.1) -.nameplate-HZ (float, RW):: +.nameplate-HZ (real, RW):: Nameplate Hz of motor (default 60) -.nameplate-RPM (float, RW):: +.nameplate-RPM (real, RW):: Nameplate RPM of motor (default 1730) -.retval (s32, RW):: +.retval (sint, RW):: the return value of an error in HAL -.tolerance (float, RW):: +.tolerance (real, RW):: speed tolerance (default 0.01) -.ack-delay (s32, RW):: +.ack-delay (sint, RW):: number of read/write cycles before checking at-speed (default 2) == SEE ALSO diff --git a/docs/src/man/man1/hal_input.1.adoc b/docs/src/man/man1/hal_input.1.adoc index 3d137300be0..4d35f2f5207 100644 --- a/docs/src/man/man1/hal_input.1.adoc +++ b/docs/src/man/man1/hal_input.1.adoc @@ -71,35 +71,39 @@ instance, to export keyboard LEDs to HAL without exporting keys, use === For buttons -**input.**_N_**.btn-**_name_ bit out +**input.**_N_**.btn-**_name_ bool out -**input.**_N_**.btn-**_name_**-not** bit out:: +**input.**_N_**.btn-**_name_**-not** bool out:: Created for each button on the device. === For keys -**input.**_N_**.key-**_name_ +**input.**_N_**.key-**_name_ bool out -**input**_N_**.key-**_name_**-not**:: +**input**_N_**.key-**_name_**-not** bool out:: Created for each key on the device. === For absolute axes -**input.**_N_**.abs-**_name_**-counts** s32 out +**input.**_N_**.abs-**_name_**-counts** sint out -**input.**_N_**.abs-**_name_**-position** float out +**input.**_N_**.abs-**_name_**-position** real out -**input.**_N_**.abs-**_name_**-scale** parameter float rw +**input.**_N_**.abs-**_name_**-is-pos** bool out -**input.**_N_**.abs-**_name_**-offset** parameter float rw +**input.**_N_**.abs-**_name_**-is-neg** bool out -**input.**_N_**.abs-**_name_**-fuzz** parameter s32 rw +**input.**_N_**.abs-**_name_**-scale** real in -**input.**_N_**.abs-**_name_**-flat** parameter s32 rw +**input.**_N_**.abs-**_name_**-offset** real in -**input.**_N_**.abs-**_name_**-min** parameter s32 r +**input.**_N_**.abs-**_name_**-fuzz** sint in -**input.**_N_**.abs-**_name_**-max** parameter s32 r:: +**input.**_N_**.abs-**_name_**-flat** sint in + +**input.**_N_**.abs-**_name_**-min** parameter sint r + +**input.**_N_**.abs-**_name_**-max** parameter sint 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*. @@ -110,19 +114,13 @@ instance, to export keyboard LEDs to HAL without exporting keys, use === 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_**-counts** sint out -**input.**_N_**.rel-**_name_**-absolute** parameter s32 rw +**input.**_N_**.rel-**_name_**-position** real out -**input.**_N_**.rel-**_name_**-precision** parameter s32 rw +**input.**_N_**.rel-**_name_**-reset** bool in -**input.**_N_**.rel-**_name_**-last** parameter s32 rw:: +**input.**_N_**.rel-**_name_**-scale** real in:: 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 according to the motion of the axis. *counts* is divided by position-scale to give *position*. @@ -135,9 +133,9 @@ instance, to export keyboard LEDs to HAL without exporting keys, use === For LEDs -**input.**_N_**.led-**_name_ bit out +**input.**_N_**.led-**_name_ bool in -**input.**_N_**.led-**_name_**-invert** parameter bit rw:: +**input.**_N_**.led-**_name_**-invert** bool in:: Created for each LED on the device. == PERMISSIONS AND UDEV diff --git a/docs/src/man/man1/hal_manualtoolchange.1.adoc b/docs/src/man/man1/hal_manualtoolchange.1.adoc index 9a1df091b65..72e20049dac 100644 --- a/docs/src/man/man1/hal_manualtoolchange.1.adoc +++ b/docs/src/man/man1/hal_manualtoolchange.1.adoc @@ -34,13 +34,13 @@ the tool table. == PINS -*hal_manualtoolchange.number* s32 in:: +*hal_manualtoolchange.number* sint in:: Receives last programmed T- number. -*hal_manualtoolchange.change* bit in:: +*hal_manualtoolchange.change* bool in:: Receives signal to do tool change. -*hal_manualtoolchange.changed* bit out:: +*hal_manualtoolchange.changed* bool out:: Signifies that the tool change is complete. -*hal_manualtoolchange.change_button* bit in:: +*hal_manualtoolchange.change_button* bool in:: Pin to allow an external switch to signify that the tool change is complete. == USAGE diff --git a/docs/src/man/man1/halcmd.1.adoc b/docs/src/man/man1/halcmd.1.adoc index 15380130302..7b527b87066 100644 --- a/docs/src/man/man1/halcmd.1.adoc +++ b/docs/src/man/man1/halcmd.1.adoc @@ -120,7 +120,7 @@ requested component with a call to *dlopen(3)*. (OBSOLETE - use *net* instead) (_new_ __sig__nal) 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 + must be one of "*bool*", "*sint*", "*uint*", or "*real*". Fails if a signal of the same name already exists. *delsig* _signame_:: (__del__ete __sig__nal) Deletes HAL signal _signame_. Any pins @@ -266,7 +266,7 @@ If _item_ is omitted (or *all*), *save* does the equivalent of *comp*, *alias*, 'pattern' is specified it prints only those names that match the pattern, which may be a 'shell glob'. For *sig*, *pin* and *param*, the first pattern may be -t**datatype** where datatype is - the data type (e.g., 'float') in this case, the listed pins, signals, + the data type (e.g., 'real') in this case, the listed pins, signals, or parameters are restricted to the given data type Names are printed on a single line, space separated. *print* [_message_]:: diff --git a/docs/src/man/man1/halcompile.1.adoc b/docs/src/man/man1/halcompile.1.adoc index 593be844b17..a0cc45349a3 100644 --- a/docs/src/man/man1/halcompile.1.adoc +++ b/docs/src/man/man1/halcompile.1.adoc @@ -73,6 +73,8 @@ components. Extra arguments passed to the C-compiler. *--extra-link-args*=_args_:: Extra arguments passed to the linker. +*-w*,*--werror*:: +Treat warnings as errors. == DESCRIPTION diff --git a/docs/src/man/man1/halstreamer.1.adoc b/docs/src/man/man1/halstreamer.1.adoc index f9fecf9a47f..02315a62f91 100644 --- a/docs/src/man/man1/halstreamer.1.adoc +++ b/docs/src/man/man1/halstreamer.1.adoc @@ -37,10 +37,10 @@ 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), +then each line of input must consist of two reals, a bool, and a signed integer, +in that order and separated by whitespace. Reals must be formatted as required by *strtod*(3), signed and unsigned integers must be formatted as required by *strtol*(3) and *strtoul*(3), -and bits must be either '0' or '1'. +and bools must be either '0' or '1'. Input lines that begin with '#' will be treated as comments and silently skipped. diff --git a/docs/src/man/man1/halui.1.adoc b/docs/src/man/man1/halui.1.adoc index 6e84da6e5f2..bbdcb48b915 100644 --- a/docs/src/man/man1/halui.1.adoc +++ b/docs/src/man/man1/halui.1.adoc @@ -33,139 +33,139 @@ contact) connect the physical button to a HAL debounce filter first. === Abort -*halui.abort* bit in:: +*halui.abort* bool in:: pin for clearing most errors === Tool -*halui.tool.length-offset.a* float out:: +*halui.tool.length-offset.a* real out:: current applied tool length offset for the A axis -*halui.tool.length-offset.b* float out:: +*halui.tool.length-offset.b* real out:: current applied tool length offset for the B axis -*halui.tool.length-offset.c* float out:: +*halui.tool.length-offset.c* real out:: current applied tool length offset for the C axis -*halui.tool.length-offset.u* float out:: +*halui.tool.length-offset.u* real out:: current applied tool length offset for the U axis -*halui.tool.length-offset.v* float out:: +*halui.tool.length-offset.v* real out:: current applied tool length offset for the V axis -*halui.tool.length-offset.w* float out:: +*halui.tool.length-offset.w* real out:: current applied tool length offset for the W axis -*halui.tool.length-offset.x* float out:: +*halui.tool.length-offset.x* real out:: current applied tool length offset for the X axis -*halui.tool.length-offset.y* float out:: +*halui.tool.length-offset.y* real out:: current applied tool length offset for the Y axis -*halui.tool.length-offset.z* float out:: +*halui.tool.length-offset.z* real out:: current applied tool length offset for the Z axis -*halui.tool.diameter* float out:: +*halui.tool.diameter* real out:: Current tool diameter, or 0 if no tool is loaded. -*halui.tool.number* u32 out:: +*halui.tool.number* uint out:: current selected tool === Spindle - **halui.spindle.**_N_**.brake-is-on** bit out:: + **halui.spindle.**_N_**.brake-is-on** bool out:: status pin that tells us if brake is on - **halui.spindle.**_N_**.brake-off** bit in:: + **halui.spindle.**_N_**.brake-off** bool in:: pin for deactivating the spindle brake - **halui.spindle.**_N_**.brake-on** bit in:: + **halui.spindle.**_N_**.brake-on** bool in:: pin for activating the spindle brake - **halui.spindle.**_N_**.decrease** bit in:: + **halui.spindle.**_N_**.decrease** bool in:: a rising edge on this pin decreases the current spindle speed by 100 - **halui.spindle.**_N_**.forward** bit in:: + **halui.spindle.**_N_**.forward** bool in:: a rising edge on this pin makes the spindle go forward - **halui.spindle.**_N_**.increase** bit in:: + **halui.spindle.**_N_**.increase** bool in:: a rising edge on this pin increases the current spindle speed by 100 - **halui.spindle.**_N_**.is-on** bit out:: + **halui.spindle.**_N_**.is-on** bool out:: status pin telling if the spindle is on - **halui.spindle.**_N_**.reverse** bit in:: + **halui.spindle.**_N_**.reverse** bool in:: a rising edge on this pin makes the spindle go reverse - **halui.spindle.**_N_**.runs-backward** bit out:: + **halui.spindle.**_N_**.runs-backward** bool out:: status pin telling if the spindle is running backward - **halui.spindle.**_N_**.runs-forward** bit out:: + **halui.spindle.**_N_**.runs-forward** bool out:: status pin telling if the spindle is running forward - **halui.spindle.**_N_**.start** bit in:: + **halui.spindle.**_N_**.start** bool in:: a rising edge on this pin starts the spindle - **halui.spindle.**_N_**.stop** bit in:: + **halui.spindle.**_N_**.stop** bool in:: a rising edge on this pin stops the spindle === Spindle Override (SO = spindle override. FO = feed override):: -**halui.spindle.**_N_**.override.count-enable** bit in (default: *TRUE*):: +**halui.spindle.**_N_**.override.count-enable** bool in (default: *TRUE*):: When TRUE, modify spindle override when counts changes. -**halui.spindle.**_N_**.override.counts** s32 in:: +**halui.spindle.**_N_**.override.counts** sint in:: counts X scale = spindle override percentage -**halui.spindle.**_N_**.override.decrease** bit in:: +**halui.spindle.**_N_**.override.decrease** bool in:: pin for decreasing the SO (-=scale) -**halui.spindle.**_N_**.override.direct-value** bit in:: +**halui.spindle.**_N_**.override.direct-value** bool in:: pin to enable direct spindle override value input -**halui.spindle.**_N_**.override.increase** bit in:: +**halui.spindle.**_N_**.override.increase** bool in:: pin for increasing the SO (+=scale) -**halui.spindle.**_N_**.override.reset** bit in:: +**halui.spindle.**_N_**.override.reset** bool in:: pin for resetting the scale SO value (scale=1.0) -**halui.spindle.**_N_**.override.scale** float in:: +**halui.spindle.**_N_**.override.scale** real in:: pin for setting the scale of counts for SO -**halui.spindle.**_N_**.override.value** float out:: +**halui.spindle.**_N_**.override.value** real out:: current FO value === Program -*halui.program.block-delete.is-on* bit out:: +*halui.program.block-delete.is-on* bool out:: status pin telling that block delete is on -*halui.program.block-delete.off* bit in:: +*halui.program.block-delete.off* bool in:: pin for requesting that block delete is off -*halui.program.block-delete.on* bit in:: +*halui.program.block-delete.on* bool in:: pin for requesting that block delete is on -*halui.program.is-idle* bit out:: +*halui.program.is-idle* bool out:: status pin telling that no program is running -*halui.program.is-paused* bit out:: +*halui.program.is-paused* bool out:: status pin telling that a program is paused -*halui.program.is-running* bit out:: +*halui.program.is-running* bool out:: status pin telling that a program is running -*halui.program.optional-stop.is-on* bit out:: +*halui.program.optional-stop.is-on* bool out:: status pin telling that the optional stop is on -*halui.program.optional-stop.off* bit in:: +*halui.program.optional-stop.off* bool in:: pin requesting that the optional stop is off -*halui.program.optional-stop.on* bit in:: +*halui.program.optional-stop.on* bool in:: pin requesting that the optional stop is on -*halui.program.pause* bit in:: +*halui.program.pause* bool in:: pin for pausing a program -*halui.program.resume* bit in:: +*halui.program.resume* bool in:: pin for resuming a program -*halui.program.run* bit in:: +*halui.program.run* bool in:: pin for running a program -*halui.program.step* bit in:: +*halui.program.step* bool in:: pin for stepping in a program -*halui.program.stop* bit in:: +*halui.program.stop* bool in:: pin for stopping a program (note: this pin does the same thing as halui.abort) === Mode -*halui.mode.auto* bit in:: +*halui.mode.auto* bool in:: pin for requesting auto mode -*halui.mode.is-auto* bit out:: +*halui.mode.is-auto* bool out:: pin for auto mode is on -*halui.mode.is-joint* bit out:: +*halui.mode.is-joint* bool out:: pin showing joint by joint jog mode is on -*halui.mode.is-manual* bit out:: +*halui.mode.is-manual* bool out:: pin for manual mode is on -*halui.mode.is-mdi* bit out:: +*halui.mode.is-mdi* bool out:: pin for MDI mode is on -*halui.mode.is-teleop* bit out:: +*halui.mode.is-teleop* bool out:: pin showing coordinated jog mode is on -*halui.mode.joint* bit in:: +*halui.mode.joint* bool in:: pin for requesting joint by joint jog mode -*halui.mode.manual* bit in:: +*halui.mode.manual* bool in:: pin for requesting manual mode -*halui.mode.mdi* bit in:: +*halui.mode.mdi* bool in:: pin for requesting MDI mode -*halui.mode.teleop* bit in:: +*halui.mode.teleop* bool in:: pin for requesting coordinated jog mode === MDI (optional) -**halui.mdi-command-**_XX_ bit in:: +**halui.mdi-command-**_XX_ bool in:: *halui* looks for INI variables named [HALUI]MDI_COMMAND, and exports a pin for each command it finds. When the pin is driven TRUE, *halui* runs the specified MDI command. _XX_ is a two digit number starting @@ -174,139 +174,139 @@ contact) connect the physical button to a HAL debounce filter first. === Mist coolant -*halui.mist.is-on* bit out:: +*halui.mist.is-on* bool out:: pin for mist is on -*halui.mist.off* bit in:: +*halui.mist.off* bool in:: pin for stopping mist -*halui.mist.on* bit in:: +*halui.mist.on* bool in:: pin for starting mist === Max-velocity -*halui.max-velocity.count-enable* bit in (default: *TRUE*):: +*halui.max-velocity.count-enable* bool in (default: *TRUE*):: When True, modify max velocity when halui.max-velocity.counts changes. -*halui.max-velocity.counts* s32 in:: +*halui.max-velocity.counts* sint in:: When .count-enable is True, halui changes the max velocity in response to changes to this pin. It's usually connected to an MPG encoder on an operator's panel or jog pendant. When .count-enable is False, halui ignores this pin. -*halui.max-velocity.direct-value* bit in:: +*halui.max-velocity.direct-value* bool in:: When this pin is True, halui commands the max velocity directly to (.counts * .scale). When this pin is False, halui commands the max velocity in a relative way: change max velocity by an amount equal to (change in .counts * .scale). -*halui.max-velocity.increase* bit in:: +*halui.max-velocity.increase* bool in:: A positive edge (a False to True transition) on this pin increases the max velocity by the value of the .scale pin. (Note that halui always responds to this pin, independent of the .count-enable pin.) -*halui.max-velocity.decrease* bit in:: +*halui.max-velocity.decrease* bool in:: A positive edge (a False to True transition) on this pin decreases the max velocity by the value of the .scale pin. (Note that halui always responds to this pin, independent of the .count-enable pin.) -*halui.max-velocity.scale* float in:: +*halui.max-velocity.scale* real in:: This pin controls the scale of changes to the max velocity. Each unit change in .counts, and each positive edge on .increase and .decrease, changes the max velocity by .scale. The units of the .scale pin are machine-units per second. -*halui.max-velocity.value* float out:: +*halui.max-velocity.value* real out:: Current value for maximum velocity, in machine-units per second. === Machine -*halui.machine.units-per-mm* float out:: +*halui.machine.units-per-mm* real out:: pin for machine units-per-mm (inch:1/25.4, mm:1) according to INI file setting: [TRAJ] LINEAR_UNITS -*halui.machine.is-on* bit out:: +*halui.machine.is-on* bool out:: pin for machine is On/Off -*halui.machine.off* bit in:: +*halui.machine.off* bool in:: pin for setting machine Off -*halui.machine.on* bit in:: +*halui.machine.on* bool in:: pin for setting machine On === Joint _N_ = joint number (0 ... num_joints-1) -**halui.joint.**_N_**.select** bit in:: +**halui.joint.**_N_**.select** bool in:: pin for selecting joint _N_ -**halui.joint.**_N_**.is-selected** bit out:: +**halui.joint.**_N_**.is-selected** bool out:: status pin that joint _N_ is selected -**halui.joint.**_N_**.has-fault** bit out:: +**halui.joint.**_N_**.has-fault** bool out:: status pin telling that joint _N_ has a fault -**halui.joint.**_N_**.home** bit in:: +**halui.joint.**_N_**.home** bool in:: pin for homing joint _N_ -**halui.joint.**_N_**.is-homed** bit out:: +**halui.joint.**_N_**.is-homed** bool out:: status pin telling that joint _N_ is homed -**halui.joint.**_N_**.on-hard-max-limit** bit out:: +**halui.joint.**_N_**.on-hard-max-limit** bool out:: status pin telling that joint _N_ is on the positive hardware limit -**halui.joint.**_N_**.on-hard-min-limit** bit out:: +**halui.joint.**_N_**.on-hard-min-limit** bool out:: status pin telling that joint _N_ is on the negative hardware limit -**halui.joint.**_N_**.on-soft-max-limit** bit out:: +**halui.joint.**_N_**.on-soft-max-limit** bool out:: status pin telling that joint _N_ is on the positive software limit -**halui.joint.**_N_**.on-soft-min-limit** bit out:: +**halui.joint.**_N_**.on-soft-min-limit** bool out:: status pin telling that joint _N_ is on the negative software limit -**halui.joint.**_N_**.override-limits** bit out:: +**halui.joint.**_N_**.override-limits** bool out:: status pin telling that joint __N__'s limits are temporarily overridden -**halui.joint.**_N_**.unhome** bit in:: +**halui.joint.**_N_**.unhome** bool in:: pin for unhoming joint _N_ -**halui.joint.selected** u32 out:: +**halui.joint.selected** uint out:: selected joint number (0 ... num_joints-1) -**halui.joint.selected.has-fault** bit out:: +**halui.joint.selected.has-fault** bool out:: status pin selected joint is faulted -**halui.joint.selected.home** bit in:: +**halui.joint.selected.home** bool in:: pin for homing the selected joint -**halui.joint.selected.is-homed** bit out:: +**halui.joint.selected.is-homed** bool out:: status pin telling that the selected joint is homed -**halui.joint.selected.on-hard-max-limit** bit out:: +**halui.joint.selected.on-hard-max-limit** bool out:: status pin telling that the selected joint is on the positive hardware limit -**halui.joint.selected.on-hard-min-limit** bit out:: +**halui.joint.selected.on-hard-min-limit** bool out:: status pin telling that the selected joint is on the negative hardware limit -**halui.joint.selected.on-soft-max-limit** bit out:: +**halui.joint.selected.on-soft-max-limit** bool out:: status pin telling that the selected joint is on the positive software limit -**halui.joint.selected.on-soft-min-limit** bit out:: +**halui.joint.selected.on-soft-min-limit** bool out:: status pin telling that the selected joint is on the negative software limit -**halui.joint.selected.override-limits** bit out:: +**halui.joint.selected.override-limits** bool out:: status pin telling that the selected joint's limits are temporarily overridden -**halui.joint.selected.unhome** bit in:: +**halui.joint.selected.unhome** bool in:: pin for unhoming the selected joint === Joint jogging (*N* = joint number (0 ... num_joints-1)) Joint jogging is possible in unhomed state except for joints having a negative HOME_SEQUENCE value. See Section "Homing Configuration" of the documentation. -*halui.joint.jog-deadband* float in:: +*halui.joint.jog-deadband* real in:: pin for setting jog analog deadband (jog analog inputs smaller/slower than this (in absolute value) are ignored). -*halui.joint.jog-speed* float in:: +*halui.joint.jog-speed* real in:: pin for setting jog speed for plus/minus jogging. -**halui.joint.**_N_**.analog** float in:: - pin for jogging the joint _N_ using an float value (e.g. joystick). +**halui.joint.**_N_**.analog** real in:: + pin for jogging the joint _N_ using a real value (e.g. joystick). The value, typically set between 0.0 and ±1.0, is used as a jog-speed multiplier. -**halui.joint.**_N_**.increment** float in:: +**halui.joint.**_N_**.increment** real in:: pin for setting the jog increment for joint _N_ when using increment-plus/minus -**halui.joint.**_N_**.increment-minus** bit in:: +**halui.joint.**_N_**.increment-minus** bool in:: a rising edge will will make joint _N_ jog in the negative direction by the increment amount -**halui.joint.**_N_**.increment-plus** bit in:: +**halui.joint.**_N_**.increment-plus** bool in:: a rising edge will will make joint _N_ jog in the positive direction by the increment amount -**halui.joint.**_N_**.minus** bit in:: +**halui.joint.**_N_**.minus** bool in:: pin for jogging joint _N_ in negative direction at the halui.joint.jog-speed velocity -**halui.joint.**_N_**.plus** bit in:: +**halui.joint.**_N_**.plus** bool in:: pin for jogging joint _N_ in positive direction at the halui.joint.jog-speed velocity -*halui.joint.selected.increment* float in:: +*halui.joint.selected.increment* real in:: pin for setting the jog increment for the selected joint when using increment-plus/minus -*halui.joint.selected.increment-minus* bit in:: +*halui.joint.selected.increment-minus* bool in:: a rising edge will will make the selected joint jog in the negative direction by the increment amount -*halui.joint.selected.increment-plus* bit in:: +*halui.joint.selected.increment-plus* bool in:: a rising edge will will make the selected joint jog in the positive direction by the increment amount -*halui.joint.selected.minus* bit in:: +*halui.joint.selected.minus* bool in:: pin for jogging the selected joint in negative direction at the halui.joint.jog-speed velocity -*halui.joint.selected.plus* bit in:: +*halui.joint.selected.plus* bool in:: pin for jogging the selected joint bit in in positive direction at the halui.joint.jog-speed velocity @@ -314,15 +314,15 @@ Joint jogging is possible in unhomed state except for joints having a negative H _L_ = axis letter (xyzabcuvw) -**halui.axis.**_L_**.select** bit in:: +**halui.axis.**_L_**.select** bool in:: pin for selecting axis by letter -**halui.axis.**_L_**.is-selected** bit out:: +**halui.axis.**_L_**.is-selected** bool out:: status pin that axis _L_ is selected -**halui.axis.**_L_**.pos-commanded** float out:: +**halui.axis.**_L_**.pos-commanded** real out:: Commanded axis position in machine coordinates -**halui.axis.**_L_**.pos-feedback** float out:: +**halui.axis.**_L_**.pos-feedback** real out:: Feedback axis position in machine coordinates -**halui.axis.**_L_**.pos-relative** float out:: +**halui.axis.**_L_**.pos-relative** real out:: Commanded axis position in relative coordinates === Axis Jogging @@ -331,104 +331,104 @@ This is only possible in homed state. _L_ = axis letter (xyzabcuvw) -*halui.axis.jog-deadband* float in:: +*halui.axis.jog-deadband* real in:: pin for setting jog analog deadband (jog analog inputs smaller/slower than this (in absolute value) are ignored) -*halui.axis.jog-speed* float in:: +*halui.axis.jog-speed* real in:: pin for setting jog speed for plus/minus jogging. -**halui.axis.**L**.analog** float in:: - pin for jogging the axis L using an float value (e.g. joystick). The +**halui.axis.**L**.analog** real in:: + pin for jogging the axis L using a real value (e.g. joystick). The value, typically set between 0.0 and ±1.0, is used as a jog-speed multiplier. -**halui.axis.**_L_**.increment** float in:: +**halui.axis.**_L_**.increment** real in:: pin for setting the jog increment for axis L when using increment-plus/minus -**halui.axis.**_L_**.increment-minus** bit in:: +**halui.axis.**_L_**.increment-minus** bool in:: a rising edge will will make axis _L_ jog in the negative direction by the increment amount -**halui.axis.**_L_**.increment-plus** bit in:: +**halui.axis.**_L_**.increment-plus** bool in:: a rising edge will will make axis _L_ jog in the positive direction by the increment amount -**halui.axis.**_L_**.minus** bit in:: +**halui.axis.**_L_**.minus** bool in:: pin for jogging axis _L_ in negative direction at the halui.axis.jog-speed velocity -**halui.axis.**_L_**.plus** bit in:: +**halui.axis.**_L_**.plus** bool in:: pin for jogging axis _L_ in positive direction at the halui.axis.jog-speed velocity -*halui.axis.selected* u32 out:: +*halui.axis.selected* uint out:: selected axis (by index: 0:x 1:y 2:z 3:a 4:b 5:cr 6:u 7:v 8:w) -*halui.axis.selected.increment* float in:: +*halui.axis.selected.increment* real in:: pin for setting the jog increment for the selected axis when using increment-plus/minus -*halui.axis.selected.increment-minus* bit in:: +*halui.axis.selected.increment-minus* bool in:: a rising edge will will make the selected axis jog in the negative direction by the increment amount -*halui.axis.selected.increment-plus* bit in:: +*halui.axis.selected.increment-plus* bool in:: a rising edge will will make the selected axis jog in the positive direction by the increment amount -*halui.axis.selected.minus* bit in:: +*halui.axis.selected.minus* bool in:: pin for jogging the selected axis in negative direction at the halui.axis.jog-speed velocity -*halui.axis.selected.plus* bit in:: +*halui.axis.selected.plus* bool in:: pin for jogging the selected axis bit in in positive direction at the halui.axis.jog-speed velocity === Flood coolant -*halui.flood.is-on* bit out:: +*halui.flood.is-on* bool out:: pin for flood is on -*halui.flood.off* bit in:: +*halui.flood.off* bool in:: pin for stopping flood -*halui.flood.on* bit in:: +*halui.flood.on* bool in:: pin for starting flood === Feed Override -*halui.feed-override.count-enable* bit in (default: *TRUE*):: +*halui.feed-override.count-enable* bool in (default: *TRUE*):: When TRUE, modify feed override when counts changes. -*halui.feed-override.counts* s32 in:: +*halui.feed-override.counts* sint in:: counts X scale = feed override percentage -*halui.feed-override.decrease* bit in:: +*halui.feed-override.decrease* bool in:: pin for decreasing the FO (-=scale) -*halui.feed-override.direct-value* bit in:: +*halui.feed-override.direct-value* bool in:: pin to enable direct value feed override input -*halui.feed-override.increase* bit in:: +*halui.feed-override.increase* bool in:: pin for increasing the FO (+=scale) -*halui.feed-override.reset* bit in:: +*halui.feed-override.reset* bool in:: pin for resetting the FO (scale=1.0) -*halui.feed-override.scale* float in:: +*halui.feed-override.scale* real in:: pin for setting the scale on changing the FO -*halui.feed-override.value* float out:: +*halui.feed-override.value* real out:: current feed override value === Rapid Override -*halui.rapid-override.count-enable* bit in (default: *TRUE*):: +*halui.rapid-override.count-enable* bool in (default: *TRUE*):: When TRUE, modify rapid override when counts changes. -*halui.rapid-override.counts* s32 in:: +*halui.rapid-override.counts* sint in:: counts X scale = rapid override percentage -*halui.rapid-override.decrease* bit in:: +*halui.rapid-override.decrease* bool in:: pin for decreasing the rapid override (-=scale) -*halui.rapid-override.direct-value* bit in:: +*halui.rapid-override.direct-value* bool in:: pin to enable direct value rapid override input -*halui.rapid-override.increase* bit in:: +*halui.rapid-override.increase* bool in:: pin for increasing the rapid override (+=scale) -*halui.rapid-override.reset* bit in:: +*halui.rapid-override.reset* bool in:: pin for resetting the rapid override (scale=1.0) -*halui.rapid-override.scale* float in:: +*halui.rapid-override.scale* real in:: pin for setting the scale on changing the rapid override -*halui.rapid-override.value* float out:: +*halui.rapid-override.value* real out:: current rapid override value === E-stop -*halui.estop.activate* bit in:: +*halui.estop.activate* bool in:: pin for setting E-stop (LinuxCNC internal) On -*halui.estop.is-activated* bit out:: +*halui.estop.is-activated* bool out:: pin for displaying E-stop state (LinuxCNC internal) On/Off -*halui.estop.reset* bit in:: +*halui.estop.reset* bool in:: pin for resetting E-stop (LinuxCNC internal) Off === Homing -*halui.home-all* bit in:: +*halui.home-all* bool in:: pin for requesting home-all (only available when a valid homing sequence is specified) diff --git a/docs/src/man/man1/hy_gt_vfd.1.adoc b/docs/src/man/man1/hy_gt_vfd.1.adoc index 2e69031d7af..bc0991bb7ca 100644 --- a/docs/src/man/man1/hy_gt_vfd.1.adoc +++ b/docs/src/man/man1/hy_gt_vfd.1.adoc @@ -134,72 +134,72 @@ PC.03 = 1:: == PINS -*hy_gt_vfd.period* (float, in):: +*hy_gt_vfd.period-seconds* (real, in):: The period for the driver's update cycle, in seconds. This is how frequently the driver will wake up, check its HAL pins, and communicate with the VFD. Must be between 0.001 and 2.000 seconds. Default: 0.1 seconds. -*hy_gt_vfd.speed-cmd* (float, in):: +*hy_gt_vfd.speed-cmd* (real, in):: The requested motor speed, in RPM. -*hy_gt_vfd.speed-fb* (float, out):: +*hy_gt_vfd.speed-fb* (real, out):: The motor's current speed, in RPM, reported by the VFD. -*hy_gt_vfd.at-speed* (bit, out):: +*hy_gt_vfd.at-speed* (bool, out):: True when the drive is on and at the commanded speed (within 2%), False otherwise. -*hy_gt_vfd.freq-cmd* (float, out):: +*hy_gt_vfd.freq-cmd* (real, out):: The requested output frequency, in Hz. This is set from the .speed-cmd value, and is just shown for debugging purposes. -*hy_gt_vfd.freq-fb* (float, out):: +*hy_gt_vfd.freq-fb* (real, out):: The current output frequency of the VFD, in Hz. This is reported from the VFD to the driver. -*hy_gt_vfd.spindle-on* (bit, in):: +*hy_gt_vfd.spindle-on* (bool, in):: Set this pin True to command the spindle on, at the speed requested on the .speed-cmd pin. Set this pin False to command the spindle off. -*hy_gt_vfd.output-voltage* (float, out):: +*hy_gt_vfd.output-voltage* (real, out):: The voltage that the VFD is current providing to the motor, in Volts. -*hy_gt_vfd.output-current* (float, out):: +*hy_gt_vfd.output-current* (real, out):: The current that the motor is currently drawing from the VFD, in Ampères. -*hy_gt_vfd.output-power* (float, out):: +*hy_gt_vfd.output-power* (real, out):: The power that the motor is currently drawing from the VFD, in Watts. -*hy_gt_vfd.dc-bus-volts* (float, out):: +*hy_gt_vfd.dc-bus-volts* (real, out):: The current voltage of the VFD's internal DC power supply, in Volts. -*hy_gt_vfd.modbus-errors* (u32, out):: +*hy_gt_vfd.modbus-errors* (uint, out):: A count of the number of modbus communication errors between the driver and the VFD. The driver is resilient against communication errors, but a large or growing number here indicates a problem that should be investigated. -*hy_gt_vfd.input-terminal* (float, out):: +*hy_gt_vfd.input-terminal* (real, out):: The VFD's input terminal register. -*hy_gt_vfd.output-terminal* (float, out):: +*hy_gt_vfd.output-terminal* (real, out):: The VFD's output terminal register. -*hy_gt_vfd.AI1* (float, out):: +*hy_gt_vfd.AI1* (real, out):: The VFD's AI1 register. -*hy_gt_vfd.AI2* (float, out):: +*hy_gt_vfd.AI2* (real, out):: The VFD's AI2 register. -*hy_gt_vfd.HDI-frequency* (float, out):: +*hy_gt_vfd.HDI-frequency* (real, out):: The VFD's HDI-frequency register. -*hy_gt_vfd.external-counter* (float, out):: +*hy_gt_vfd.external-counter* (real, out):: The VFD's external counter register. -*hy_gt_vfd.fault-info* (float, out):: +*hy_gt_vfd.fault-info* (real, out):: The VFD's fault info register in floating point representation. This is kept for backwards compatibility with existing setups and will be removed in the future. -*hy_gt_vfd.fault-info-code* (u32, out):: +*hy_gt_vfd.fault-info-code* (uint, out):: The VFD's fault code register value. Introduced in LinuxCNC version 2.10. 0x00 if no fault is detected, see GT Series Inverter Manual page 87 for list of fault codes. == ISSUES diff --git a/docs/src/man/man1/hy_vfd.1.adoc b/docs/src/man/man1/hy_vfd.1.adoc index 5f454257231..e36a2d50d8b 100644 --- a/docs/src/man/man1/hy_vfd.1.adoc +++ b/docs/src/man/man1/hy_vfd.1.adoc @@ -167,86 +167,86 @@ You will need to log out and back in again for this to take effect. == PINS -__.enable (bit, in):: +__.enable (bool, in):: Enable communication from the hy_vfd driver to the VFD. -__.SetF (float, out) +__.SetF (real, out) -__.OutF (float, out) +__.OutF (real, out) -__.OutA (float, out) +__.OutA (real, out) -__.Rott (float, out) +__.Rott (real, out) -__.DCV (float, out) +__.DCV (real, out) -__.ACV (float, out) +__.ACV (real, out) -__.Cont (float, out) +__.Cont (real, out) -__.Tmp (float, out) +__.Tmp (real, out) -__.spindle-forward (bit, in) +__.spindle-forward (bool, in) __.spindle-reverse (bin, in) __.spindle-on (bin, in) -__.CNTR (float, out) +__.CNTR (real, out) -__.CNST (float, out) +__.CNST (real, out) -__.CNST-run (bit, out) +__.CNST-run (bool, out) -__.CNST-jog (bit, out) +__.CNST-jog (bool, out) -__.CNST-command-rf (bit, out) +__.CNST-command-rf (bool, out) -__.CNST-running (bit, out) +__.CNST-running (bool, out) -__.CNST-jogging (bit, out) +__.CNST-jogging (bool, out) -__.CNST-running-rf (bit, out) +__.CNST-running-rf (bool, out) -__.CNST-bracking (bit, out) +__.CNST-bracking (bool, out) -__.CNST-track-start (bit, out) +__.CNST-track-start (bool, out) -__.speed-command (float, in) +__.speed-command (real, in) -__.spindle-speed-fb (float, out):: +__.spindle-speed-fb (real, out):: Current spindle speed as reported by Huanyang VFD (rpm). -__.spindle-speed-fb-rps (float, out):: +__.spindle-speed-fb-rps (real, out):: Current spindle speed as reported by Huanyang VFD (rps). -__.spindle-at-speed-tolerance (float, in):: +__.spindle-at-speed-tolerance (real, in):: Spindle speed error tolerance. If the actual spindle speed is within `.spindle-at-speed-tolerance` of the commanded speed, then the `.spindle-at-speed pin` will go True. The default `.spindle-at-speed-tolerance` is 0.02, which means the actual speed must be within 2% of the commanded spindle speed. -__.spindle-at-speed (bit, out):: +__.spindle-at-speed (bool, out):: True when the current spindle speed is within `.spindle-at-speed-tolerance` of the commanded speed. -__.frequency-command (float, out) +__.frequency-command (real, out) -__.max-freq (float, out) +__.max-freq (real, out) -__.base-freq (float, out) +__.base-freq (real, out) -__.freq-lower-limit (float, out) +__.freq-lower-limit (real, out) -__.rated-motor-voltage (float, out) +__.rated-motor-voltage (real, out) -__.rated-motor-current (float, out) +__.rated-motor-current (real, out) -__.rated-motor-rev (float, out) +__.rated-motor-rev (real, out) -__.motor-poles (u32, out) +__.motor-poles (uint, out) -__.hycomm-ok (bit, out) +__.hycomm-ok (bool, out) -__.error-count (s32, RO) +__.error-count (sint, RO) -__.retval (u32, R0) +__.retval (uint, RO) == AUTHOR diff --git a/docs/src/man/man1/io.1.adoc b/docs/src/man/man1/io.1.adoc index e9b843e4963..d5e2366648a 100644 --- a/docs/src/man/man1/io.1.adoc +++ b/docs/src/man/man1/io.1.adoc @@ -28,32 +28,32 @@ unless an absolute path is specified. == PINS -*iocontrol.0.coolant-flood* (Bit, Out):: +*iocontrol.0.coolant-flood* (bool, out):: TRUE when flood coolant is requested. -*iocontrol.0.coolant-mist* (Bit, Out):: +*iocontrol.0.coolant-mist* (bool, out):: TRUE when mist coolant is requested. -*iocontrol.0.emc-enable-in* (Bit, In):: +*iocontrol.0.emc-enable-in* (bool, in):: Should be driven FALSE when an external E-stop condition exists. -*iocontrol.0.tool-change* (Bit, Out):: +*iocontrol.0.tool-change* (bool, out):: TRUE when a tool change is requested. -*iocontrol.0.tool-changed* (Bit, In):: +*iocontrol.0.tool-changed* (bool, in):: Should be driven TRUE when a tool change is completed. -*iocontrol.0.tool-number* (s32, Out):: +*iocontrol.0.tool-number* (sint, out):: Current tool number. -*iocontrol.0.tool-prep-number* (s32, Out):: +*iocontrol.0.tool-prep-number* (sint, out):: The number of the next tool, from the RS274NGC T-word. -*iocontrol.0.tool-prep-pocket* (s32, Out):: +*iocontrol.0.tool-prep-pocket* (sint, out):: This is the pocket number (location in the tool storage mechanism) of the tool requested by the most recent T-word. -*iocontrol.0.tool-prepare* (Bit, Out):: +*iocontrol.0.tool-prepare* (bool, out):: TRUE when a T__n__ tool prepare is requested. -*iocontrol.0.tool-prepared* (Bit, In):: +*iocontrol.0.tool-prepared* (bool, in):: Should be driven TRUE when a tool prepare is completed. -*iocontrol.0.user-enable-out* (Bit, Out):: +*iocontrol.0.user-enable-out* (bool, out):: FALSE when an internal E-stop condition exists. -*iocontrol.0.user-request-enable* (Bit, Out):: +*iocontrol.0.user-request-enable* (bool, out):: TRUE when the user has requested that E-stop be cleared. -*iocontrol.0.tool-prep-index* (s32, Out):: +*iocontrol.0.tool-prep-index* (sint, out):: IO's internal array index of the prepped tool requested by the most recent T-word. 0 if no tool is prepped. On Random toolchanger machines this is the tool's pocket number (i.e., the same as the tool-prep-pocket pin), diff --git a/docs/src/man/man1/mb2hal.1.adoc b/docs/src/man/man1/mb2hal.1.adoc index e5a5f8b49e6..f1ab095705f 100644 --- a/docs/src/man/man1/mb2hal.1.adoc +++ b/docs/src/man/man1/mb2hal.1.adoc @@ -22,57 +22,57 @@ See https://linuxcnc.org/docs/html/drivers/mb2hal.html[] for more information. === fnct_01_read_coils: -*mb2hal.m.n.bit* bit out + +*mb2hal.m.n.bit* bool out + -*mb2hal.m.n.bit-inv* bit out +*mb2hal.m.n.bit-inv* bool out === fnct_02_read_discrete_inputs: -*mb2hal.m.n.bit* bit out + +*mb2hal.m.n.bit* bool out + -*mb2hal.m.n.bit-inv* bit out +*mb2hal.m.n.bit-inv* bool out === fnct_03_read_holding_registers: -*mb2hal.m.n.float* float out + +*mb2hal.m.n.float* real out + -*mb2hal.m.n.int* s32 out +*mb2hal.m.n.int* sint out === fnct_04_read_input_registers: -*mb2hal.m.n.float* float out + +*mb2hal.m.n.float* real out + -*mb2hal.m.n.int* s32 out +*mb2hal.m.n.int* sint out === fnct_05_write_single_coil: -*mb2hal.m.n.bit* bit in:: +*mb2hal.m.n.bit* bool in:: NELEMENTS needs to be 1 or PIN_NAMES must contain just one name. === fnct_06_write_single_register: -*mb2hal.m.n.float* float in +*mb2hal.m.n.float* real in -*mb2hal.m.n.int* s32 in:: +*mb2hal.m.n.int* sint in:: NELEMENTS needs to be 1 or PIN_NAMES must contain just one name. + Both pin values are added and limited to 65535 (UINT16_MAX). Use one and let the other open (read as 0). === fnct_15_write_multiple_coils: -*mb2hal.m.n.bit* bit in +*mb2hal.m.n.bit* bool in === fnct_16_write_multiple_registers: -*mb2hal.m.n.float* float in +*mb2hal.m.n.float* real in -*mb2hal.m.n.int* s32 in:: +*mb2hal.m.n.int* sint in:: Both pin values are added and limited to 65535 (UINT16_MAX). Use one and let the other open (read as 0). === Each transaction -*mb2hal.m.num_errors* u32 out:: +*mb2hal.m.num_errors* uint out:: Error counter (0 means the last transaction succeeded) diff --git a/docs/src/man/man1/mesambccc.1.adoc b/docs/src/man/man1/mesambccc.1.adoc index 4ce94ea05cb..bf70720af8e 100644 --- a/docs/src/man/man1/mesambccc.1.adoc +++ b/docs/src/man/man1/mesambccc.1.adoc @@ -65,19 +65,19 @@ clamped to the acceptable range. A subset of the Modbus functions is supported (with function number in parentheses): * `R_COILS` (`1`): - Maps to 1..2000 HAL output pins of type 'HAL_BIT'. + Maps to 1..2000 HAL output pins of type 'HAL_BOOL'. * `R_INPUTS` (`2`): - Maps to 1..2000 HAL output pins of type 'HAL_BIT'. + Maps to 1..2000 HAL output pins of type 'HAL_BOOL'. * `R_REGISTERS` (`3`): Maps to 1..125 HAL output pins depending 'haltype' and 'scale' attributes. * `R_INPUTREGS` (`4`): Maps to 1..125 HAL output pins depending 'haltype' and 'scale' attributes. * `W_COIL` (`5`): - Maps to single HAL input pin of type 'HAL_BIT'. + Maps to single HAL input pin of type 'HAL_BOOL'. * `W_REGISTER` (`6`): Maps to single HAL input pins depending 'haltype' and 'scale' attributes. * `W_COILS` (`15`): - Maps to 1..2000 HAL input pins of type 'HAL_BIT'. + Maps to 1..2000 HAL input pins of type 'HAL_BOOL'. * `W_REGISTERS` (`16`): Maps to 1..125 HAL input pins depending 'haltype' and 'scale' attributes. @@ -395,20 +395,18 @@ Recognized '//' attributes: A '' in the '' section maps to one or more HAL pins with specific type using the 'haltype' attribute. Recognized are: -* 'HAL_BIT' -* 'HAL_FLOAT' -* 'HAL_S32' -* 'HAL_U32' -* 'HAL_S64' -* 'HAL_U64' +* 'BOOL', 'HAL_BOOL' +* 'REAL', 'HAL_REAL' +* 'SINT', 'HAL_SINT' +* 'UINT', 'HAL_UINT' The types are also recognized without the HAL_ prefix. Note that coil and binary input functions `R_COILS` (`1`), `R_INPUTS` (`2`), `W_COIL` (`5`) -and `W_COILS` (`15`) can only map to 'HAL_BIT' and do so implicitly. +and `W_COILS` (`15`) can only map to 'HAL_BOOL' and do so implicitly. -The 'HAL_BIT', 'HAL_U32' and 'HAL_U64' types always map to one single HAL pin. +The 'HAL_BOOL' and 'HAL_UINT' types always map to one single HAL pin. -The 'HAL_FLOAT', 'HAL_S32' and 'HAL_S64' types can generate one single pin or +The 'HAL_REAL' and 'HAL_SINT' types can generate one single pin or can generate multiple pins with 'offset' and 'scale'. Output pins with `R_REGISTERS` (`3`) and `R_INPUTREGS` (`4`) can add a 'scaled' pin to the set. @@ -416,10 +414,16 @@ the set. Mapping HAL pins to commands requires a 'modbustype' attribute to encode the format and necessary conversions. Register functions `R_REGISTERS` (`3`), `R_INPUTREGS` (`4`), `W_REGISTER` (`6`) and `W_REGISTERS` (`16`) may map -to 'HAL_BIT' only when using unsigned 'modbustype' where a value of zero (0) +to 'HAL_BOOL' only when using unsigned 'modbustype' where a value of zero (0) is _false_ and any other value is _true_ for write functions or one (1) for read functions. +[NOTE] +==== +The old 'haltype' values 'HAL_BIT', 'HAL_FLOAT', 'HAL_S32', 'HAL_U32', 'HAL_S64' and 'HAL_U64' are still recognized for compatibility. +They map to 'HAL_BOOL', 'HAL_REAL', 'HAL_SINT', 'HAL_UINT', 'HAL_SINT' and 'HAL_UINT' respectively. +==== + === The '' section defines one or more '' tags to describe the Modbus function(s) to execute in a periodical way. Each '' tag maps to @@ -448,14 +452,14 @@ writes at the specified interval. ---- - Type is implicit HAL_BIT, will become HAL pins: + Type is implicit HAL_BOOL, will become HAL pins: - (out) hm2_modbus.0.wavebox.state-00 - (out) hm2_modbus.0.wavebox.state-01 - (out) hm2_modbus.0.wavebox.state-02 - (out) hm2_modbus.0.wavebox.state-03 - Too much will kill you... @@ -469,7 +473,7 @@ writes at the specified interval. - Will create HAL_BIT pins: + Will create HAL_BOOL pins: - (in) hm2_modbus.0.anyandall-00 - (in) hm2_modbus.0.anyandall-01 The bcanswer flag signifies that a device erroneously sends a reply on @@ -478,10 +482,10 @@ writes at the specified interval. - - Will create a HAL_U32 pin + Will create a HAL_UINT pin - (in) hm2_modbus.0.watcher The 'count' is implicit 1. The data is mapped to U_AB and is clamped. The data is sent every time (resend=1), regardless whether the HAL pin @@ -533,7 +537,7 @@ Recognized '/' attributes: The HAL pin type for interactions. You do not need to specify this attribute for the Modbus functions read/write coil(s) or inputs, `R_COILS` (`1`), `R_INPUTS` (`2`), `W_COIL` (`5`) and `W_COILS` (`15`), as these always use - the 'HAL_BIT' type. + the 'HAL_BOOL' type. *interval* [once,0..3600000000]:: The command repeat interval in micro-seconds. This is the time between repeating this ''. An interval shorter than the time it takes to work @@ -564,12 +568,12 @@ Recognized '/' attributes: *scale* [Boolean]:: Add scaling HAL pins. Modbus read functions `R_REGISTERS` (`3`) and `R_INPUTREGS` (`4`) add extra HAL pins *pin.name.offset* (in, 64-bit 'haltype'), *pin.name.scale* - (in, 'HAL_FLOAT') and *pin.name.scaled* (out, 'HAL_FLOAT'). + + (in, 'HAL_REAL') and *pin.name.scaled* (out, 'HAL_REAL'). + The Modbus write functions `W_REGISTER` (`6`) and `W_REGISTERS` (`16`) create extra HAL pins *pin.name.offset* (in, 64-bit 'haltype') and *pin.name.scale* - (in, 'HAL_FLOAT'). + - The 'scale' attribute is only supported for 'HAL_FLOAT', 'HAL_S32' and 'HAL_S64'. - Default is true for 'HAL_FLOAT' and false for others. The *scale* pin is + (in, 'HAL_REAL'). + + The 'scale' attribute is only supported for 'HAL_REAL' and 'HAL_SINT'. + Default is true for 'HAL_REAL' and false for others. The *scale* pin is initialized to one (1.0) and the *offset* pin is initialized to zero (0). + Scaling is always multiplicative to prevent division-by-zero. The offset is always subtracted before scaling. The scaling action performed and subject to @@ -621,25 +625,25 @@ attributes and can be overridden by adding them to the '' tag. - + ---- diff --git a/docs/src/man/man1/mitsub_vfd.1.adoc b/docs/src/man/man1/mitsub_vfd.1.adoc index efdf6fe8b40..eae27ff3831 100644 --- a/docs/src/man/man1/mitsub_vfd.1.adoc +++ b/docs/src/man/man1/mitsub_vfd.1.adoc @@ -74,32 +74,38 @@ In this case pins such as up-to-speed, amps, alarm and status bits are not usefu == PINS -_VFD_NAME_**.fwd** (bit, in):: Forward/reverse pin -_VFD_NAME_**.run** (bit, in):: Run/stop pin -_VFD_NAME_**.debug** (bit, in):: Set debug mode pin. +_VFD_NAME_**.fwd** (bool, in):: Forward/reverse pin +_VFD_NAME_**.run** (bool, in):: Run/stop pin +_VFD_NAME_**.debug** (bool, in):: Set debug mode pin. This will print many messages to the terminal. -_VFD_NAME_**.monitor** (bit, in):: Set monitor mode pin. +_VFD_NAME_**.monitor** (bool, in):: Set monitor mode pin. If false, request-status command will not be sent to VFD. Status, amps, power, motor-feedback, and alarm would then not be useful. -_VFD_NAME_**.estop** (bit, in):: Set E-stop mode pin. +_VFD_NAME_**.estop** (bool, in):: Set E-stop mode pin. +_VFD_NAME_**.reset-at-estop** (bool, in):: . This will stop the VFD. Restarting requires the run pin to cycle. -_VFD_NAME_**.fwd** (bit, out):: Up-to-speed status pin. Motor is at requested speed within VFD's settings tolerance. -_VFD_NAME_**.alarm** (bit, out):: Alarm status pin -_VFD_NAME_**.motor-cmd** (float, in):: The requested motor speed, in Hertz (Hz) -_VFD_NAME_**.motor-fb** (float, out):: The motor feedback speed (from VFD) in Hertz (Hz) -_VFD_NAME_**.motor-amps** (float, out):: The motor current, in amperes (A) -_VFD_NAME_**.motor-power** (float, out):: The motor power -_VFD_NAME_**.scale-cmd** (float, in):: Motor command's scale setting defaults to 1 -_VFD_NAME_**.scale-cmd** (float, in):: Motor command's scale setting defaults to 1 -_VFD_NAME_**.scale-cmd** (float, in):: Motor command's scale setting defaults to 1 -_VFD_NAME_**.stat-bit-0** (bit, out):: Raw status bit -_VFD_NAME_**.stat-bit-1** (bit, out):: Raw status bit -_VFD_NAME_**.stat-bit-2** (bit, out):: Raw status bit -_VFD_NAME_**.stat-bit-3** (bit, out):: Raw status bit. Configure the VFD so that the function 'Up to frequency' or 'motor-at-speed' is assigned to status bit 3 (parameter 191 for 700 series). -_VFD_NAME_**.stat-bit-4** (bit, out):: Raw status bit -_VFD_NAME_**.stat-bit-5** (bit, out):: Raw status bit -_VFD_NAME_**.stat-bit-6** (bit, out):: Raw status bit -_VFD_NAME_**.stat-bit-7** (bit, out):: Raw status bit. Configure the VFD so that the function 'alarm' is assigned to status bit 7 (parameter 195 for 700 series). +_VFD_NAME_**.up-to-speed** (bool, out):: Up-to-speed status pin. Motor is at requested speed within VFD's settings tolerance. +_VFD_NAME_**.alarm** (bool, out):: Alarm status pin +_VFD_NAME_**.motor-cmd** (real, in):: The requested motor speed, in Hertz (Hz) +_VFD_NAME_**.motor-fb** (real, out):: The motor feedback speed (from VFD) in Hertz (Hz) +_VFD_NAME_**.motor-amps** (real, out):: The motor current, in amperes (A) +_VFD_NAME_**.motor-volts** (real, out):: . +_VFD_NAME_**.motor-power** (real, out):: The motor power +_VFD_NAME_**.motor-user** (real, out):: . +_VFD_NAME_**.scale-cmd** (real, in):: Motor command's scale setting defaults to 1 +_VFD_NAME_**.scale-fb** (real, in):: . +_VFD_NAME_**.scale-amps** (real, in):: . +_VFD_NAME_**.scale-volts** (real, in):: . +_VFD_NAME_**.scale-power** (real, in):: . +_VFD_NAME_**.scale-user** (real, in):: . +_VFD_NAME_**.stat-bit-0** (bool, out):: Raw status bit +_VFD_NAME_**.stat-bit-1** (bool, out):: Raw status bit +_VFD_NAME_**.stat-bit-2** (bool, out):: Raw status bit +_VFD_NAME_**.stat-bit-3** (bool, out):: Raw status bit. Configure the VFD so that the function 'Up to frequency' or 'motor-at-speed' is assigned to status bit 3 (parameter 191 for 700 series). +_VFD_NAME_**.stat-bit-4** (bool, out):: Raw status bit +_VFD_NAME_**.stat-bit-5** (bool, out):: Raw status bit +_VFD_NAME_**.stat-bit-6** (bool, out):: Raw status bit +_VFD_NAME_**.stat-bit-7** (bool, out):: Raw status bit. Configure the VFD so that the function 'alarm' is assigned to status bit 7 (parameter 195 for 700 series). == SAMPLE HAL diff --git a/docs/src/man/man1/mqtt-publisher.1.adoc b/docs/src/man/man1/mqtt-publisher.1.adoc index 09b9af86114..a0c520fd76b 100644 --- a/docs/src/man/man1/mqtt-publisher.1.adoc +++ b/docs/src/man/man1/mqtt-publisher.1.adoc @@ -72,16 +72,16 @@ The loop reading HAL values and publishing MQTT messages. == PINS -*mqtt-publisher*.*enable* bit input:: +*mqtt-publisher*.*enable* bool input:: When TRUE, publish messages to MQTT broker. When FALSE, do not publish messages. Default is TRUE. -*mqtt-publisher*.*period* u32 input:: +*mqtt-publisher*.*period* uint input:: The number of seconds to sleep between publishing MQTT messages to the broker. Default is 10 seconds. -*mqtt-publisher*.*lastpublish* u32 output:: +*mqtt-publisher*.*lastpublish* uint output:: When the last MQTT publication was published in number of seconds since EPOC. If no publication has taken place, the value is zero. diff --git a/docs/src/man/man1/mtconnect-agent.1.adoc b/docs/src/man/man1/mtconnect-agent.1.adoc index c3ef1a5e2ff..a829832b8b9 100644 --- a/docs/src/man/man1/mtconnect-agent.1.adoc +++ b/docs/src/man/man1/mtconnect-agent.1.adoc @@ -95,11 +95,11 @@ Non-standard types and non-SAMPLE categories are skipped with a warning. == HAL PINS -*mtconnect-agent.enable* (bit, in):: Gate polling and publishing (default TRUE). -*mtconnect-agent.sample-hz* (u32, in):: Override *SAMPLE_HZ*. -*mtconnect-agent.active* (bit, out):: TRUE while polling and serving. -*mtconnect-agent.connected* (bit, out):: TRUE while the MQTT broker link is up. -*mtconnect-agent.heartbeat* (u32, out):: Increments on each poll. +*mtconnect-agent.enable* (bool, in):: Gate polling and publishing (default TRUE). +*mtconnect-agent.sample-hz* (uint, in):: Override *SAMPLE_HZ*. +*mtconnect-agent.active* (bool, out):: TRUE while polling and serving. +*mtconnect-agent.connected* (bool, out):: TRUE while the MQTT broker link is up. +*mtconnect-agent.heartbeat* (uint, out):: Increments on each poll. == EXTENSION SCHEMA diff --git a/docs/src/man/man1/sendkeys.1.adoc b/docs/src/man/man1/sendkeys.1.adoc index 2be06abcb19..8a2d5c68f47 100644 --- a/docs/src/man/man1/sendkeys.1.adoc +++ b/docs/src/man/man1/sendkeys.1.adoc @@ -73,22 +73,22 @@ To generate keystrokes from other sources note that a keydown is simply `0xC0 & == PINS -**sendkeys.**_N_**.keycode** u32 in:: +**sendkeys.**_N_**.keycode** uint in:: Connect to scancode generator. -**sendkeys.**_N_**.current-event** s32 out:: +**sendkeys.**_N_**.current-event** sint out:: Shows the current scancode without keyup / keydown markers. -**sendkeys.**_N_**.init** bit in:: +**sendkeys.**_N_**.init** bool in:: Set this pin TRUE once all the event parameters have been set. == PARAMETERS -**sendkeys.**_N_**.scan-event-_MM_** u32 in:: +**sendkeys.**_N_**.scan-event-_MM_** uint in:: Assign the uinput event codes associated with each scancode. -**sendkeys.**_N_**.pin-event-_MM_** u32 in:: - Assign the uinput codes associated with each HAL bit pin. +**sendkeys.**_N_**.pin-event-_MM_** uint in:: + Assign the uinput codes associated with each HAL bool pin. == EXAMPLE diff --git a/docs/src/man/man1/shuttle.1.adoc b/docs/src/man/man1/shuttle.1.adoc index e9e55240409..52476129cbb 100644 --- a/docs/src/man/man1/shuttle.1.adoc +++ b/docs/src/man/man1/shuttle.1.adoc @@ -62,16 +62,16 @@ So if you (for example) push one of the buttons at startup, the jog-wheel will w All HAL pin names are prefixed with `shuttle` followed by the index of the device (the order in which the driver found them), for example `shuttle.0` or `huttle.2`. -_(prefix).button-(number)_ (bit out):: -_(prefix).button-(number)-not_ (bit out):: +_(prefix).button-(number)_ (bool out):: +_(prefix).button-(number)-not_ (bool out):: The momentary buttons. "(number)" identifies which button corresponds to the HAL pin. The "button-(number)" pins are True when the button is pushed, the "button-(number)-not" pins are True when the button is not pushed. -_(prefix).counts_ (s32 out):: +_(prefix).counts_ (sint out):: Accumulated counts from the jog wheel (the inner wheel). -_(prefix).spring-wheel-s32_ (s32 out):: +_(prefix).spring-wheel-s32_ (sint out):: 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. -_(prefix).spring-wheel-f_ (float out):: +_(prefix).spring-wheel-f_ (real out):: The current deflection of the spring-wheel (the outer wheel). It's 0.0 at rest, -1.0 at the counter-clockwise extreme, and +1.0 at the clockwise extreme. (The Shuttle devices report the spring-wheel position as an integer from -7 to +7, so this pin reports only 15 discrete values in its range.) diff --git a/docs/src/man/man1/sim-torch.1.adoc b/docs/src/man/man1/sim-torch.1.adoc index 6e8a9e31aad..afe20163cb4 100644 --- a/docs/src/man/man1/sim-torch.1.adoc +++ b/docs/src/man/man1/sim-torch.1.adoc @@ -17,27 +17,26 @@ _VERSION:_ + == PINS -*sim-torch-rt.cut-noise-in* float in (default: _0.75_):: +*sim-torch.cut-noise-in* real in (default: _0.75_):: the maximum amount of noise during cutting (volts) -*sim-torch-rt.cycles-in* s32 in:: +*sim-torch.cycles-in* sint in (default: _200_):: the number of cycles that the arc voltage overshoots the cut voltage (cycles) - (default: _200_) -*sim-torch-rt.on-delay-in* s32 in:: +*sim-torch.on-delay-in* sint in (default: _10_):: the time from turn on until overshoot begins (cycles) - (default: _10_) -*sim-torch-rt.offset-in* float in:: +*sim-torch.offset-in* real in:: the cut voltage offset(volts) -*sim-torch-rt.overshoot-in* s32 in:: +*sim-torch.overshoot-in* sint in (default: _50_):: the percentage of the cut voltage that the arc voltage overshoots (percent) - (default: _50_) -*sim-torch-rt.ramp-noise-in* float in (default: _5_):: +*sim-torch.ramp-noise-in* real in (default: _5_):: the maximum amount of noise during overshoot (volts) -*sim-torch-rt.ramp-up-in* s32 in (default: _80_):: +*sim-torch.ramp-up-in* sint in (default: _80_):: percent of 'cycles_in' that the arc voltage ramps up (percent) -*sim-torch-rt.start* bit in:: start the arc -*sim-torch-rt.voltage-in* float in:: the cut voltage (volts) - (default: _100_) -*sim-torch-rt.voltage-out* float out:: output voltage (volts) +*sim-torch.start* bool in:: + start the arc +*sim-torch.voltage-in* real in (default: _100_):: + the cut voltage (volts) +*sim-torch.voltage-out* real out:: + output voltage (volts) == AUTHOR diff --git a/docs/src/man/man1/sim_pin.1.adoc b/docs/src/man/man1/sim_pin.1.adoc index 61a5697e1ca..1d80d5363e8 100644 --- a/docs/src/man/man1/sim_pin.1.adoc +++ b/docs/src/man/man1/sim_pin.1.adoc @@ -13,13 +13,13 @@ _Options_: - *--help* (shows help text) - *--title* _title_string_ -For bit items, the name may include a /mode= specifier: +For bool items, the name may include a /mode= specifier: _namei_/*mode=*[*pulse* | *toggle* | *hold*] (default is toggle) == DESCRIPTION -HAL boolean items (bit) and numerical items (u32, s32, float) are +HAL boolean items (bool) and numerical items (uint, sint, real) are supported. If the named input is a numerical type, the GUI displays: @@ -28,14 +28,14 @@ If the named input is a numerical type, the GUI displays: *Set*:: Pushbutton to set new value from Entry (or use ). *Reset*:: Pushbutton to reset to the value present on initiation. -If the input is a *bit* type, the GUI shows a single pushbutton that is +If the input is a *bool* type, the GUI shows a single pushbutton that is controlled by radio-button selectors: - mode=**pulse** Pulse input to 1 for each pushbutton press. + - mode=**toggle** Toggle input for each pushbutton press. + - mode=**hold** Set input to 1 while pushbutton pressed. -If the bit item mode begins with an uppercase letter, the radio buttons +If the bool item mode begins with an uppercase letter, the radio buttons for selecting other modes are not shown == NOTES diff --git a/docs/src/man/man1/svd-ps_vfd.1.adoc b/docs/src/man/man1/svd-ps_vfd.1.adoc index b28b15d25fc..7ffe25c4ccb 100644 --- a/docs/src/man/man1/svd-ps_vfd.1.adoc +++ b/docs/src/man/man1/svd-ps_vfd.1.adoc @@ -73,54 +73,54 @@ PD-06 = 0 (Current resolution) == PINS -*svd-ps_vfd.period* (float, in):: +*svd-ps_vfd.period-seconds* (real, in):: The period for the driver's update cycle, in seconds. This is how frequently the driver will wake up, check its HAL pins, and communicate with the VFD. Must be between 0.001 and 2.000 seconds. Default: 0.1 seconds. -*svd-ps_vfd.speed-cmd* (float, in):: +*svd-ps_vfd.speed-cmd* (real, in):: The requested motor speed, in RPM. -*svd-ps_vfd.speed-fb* (float, out):: +*svd-ps_vfd.speed-fb* (real, out):: The motor's current speed, in RPM, reported by the VFD. -*svd-ps_vfd.at-speed* (bit, out):: +*svd-ps_vfd.at-speed* (bool, out):: True when the drive is on and at the commanded speed (within 2%), False otherwise. -*svd-ps_vfd.freq-cmd* (float, out):: +*svd-ps_vfd.freq-cmd* (real, out):: The requested output frequency, in Hz. This is set from the `.speed-cmd` value, and is just shown for debugging purposes. -*svd-ps_vfd.freq-fb* (float, out):: +*svd-ps_vfd.freq-fb* (real, out):: The current output frequency of the VFD, in Hz. This is reported from the VFD to the driver. -*svd-ps_vfd.spindle-on* (bit, in):: +*svd-ps_vfd.spindle-on* (bool, in):: Set this pin True to command the spindle on, at the speed requested on the `.speed-cmd` pin. Set this pin False to command the spindle off. -*svd-ps_vfd.output-voltage* (float, out):: +*svd-ps_vfd.output-voltage* (real, out):: The voltage that the VFD is current providing to the motor, in Volts. -*svd-ps_vfd.output-current* (float, out):: +*svd-ps_vfd.output-current* (real, out):: The current that the motor is currently drawing from the VFD, in Amperes. -*hsvd-ps_vfd.output-power* (float, out):: +*hsvd-ps_vfd.output-power* (real, out):: The power that the motor is currently drawing from the VFD, in Watts. -*svd-ps_vfd.dc-bus-voltage* (float, out):: +*svd-ps_vfd.dc-bus-voltage* (real, out):: The current voltage of the VFD's internal DC power supply, in Volts. -*svd-ps_vfd.modbus-errors* (u32, out):: +*svd-ps_vfd.modbus-errors* (uint, out):: A count of the number of modbus communication errors between the driver and the VFD. The driver is resilient against communication errors, but a large or growing number here indicates a problem that should be investigated. -*svd-ps_vfd.input-terminal* (float, out):: The VFD's input terminal register. +*svd-ps_vfd.input-terminal* (real, out):: The VFD's input terminal register. -*svd-ps_vfd.AI1* (float, out):: The VFD's AI1 register. +*svd-ps_vfd.AI1* (real, out):: The VFD's AI1 register. -*svd-ps_vfd.AI2* (float, out):: The VFD's AI2 register. +*svd-ps_vfd.AI2* (real, out):: The VFD's AI2 register. == AUTHOR diff --git a/docs/src/man/man1/vfdb_vfd.1.adoc b/docs/src/man/man1/vfdb_vfd.1.adoc index eb82e07aafb..64d227bcb13 100644 --- a/docs/src/man/man1/vfdb_vfd.1.adoc +++ b/docs/src/man/man1/vfdb_vfd.1.adoc @@ -95,93 +95,93 @@ MOTOR_HZ, MOTOR_RPM:: == PINS -.at-speed (bit, out):: +.at-speed (bool, out):: True when drive is at commanded speed (see _speed-tolerance_ below) -.enable (bit, in):: +.enable (bool, in):: Enable the VFD. If False, all operating parameters are still read but control is released and panel control is enabled (subject to VFD setup). -.frequency-command (float, out):: +.frequency-command (real, out):: Current target frequency in HZ as set through speed-command (which is in RPM), from the VFD. -.frequency-out (float, out):: +.frequency-out (real, out):: Current output frequency of the VFD. -.inverter-load-percentage (float, out):: +.inverter-load-percentage (real, out):: Current load report from VFD. -.is-e-stopped (bit, out):: +.is-e-stopped (bool, out):: The VFD is in emergency stop status (blinking "E" on panel). -.is-stopped (bit, out):: +.is-stopped (bool, out):: True when the VFD reports 0 Hz output. -.jog-mode (bit, in):: +.jog-mode (bool, in):: 1 for ON and 0 for OFF, enables the VFD-B 'jog mode'. Speed control is disabled. This might be useful for spindle orientation. -.max-rpm (float, out):: +.max-rpm (real, out):: Actual RPM limit based on maximum frequency the VFD may generate, and the motors nameplate values. For instance, if _nameplate-HZ_ is 50, and _nameplate-RPM_ is 1410, but the VFD may generate up to 80Hz, then _max-rpm_ would read as 2256 (80*1410/50). The frequency limit is read from the VFD at startup. To increase the upper frequency limit, the UL and FH parameters must be changed on the panel. See the VFD-B manual for instructions how to set the maximum frequency. -.modbus-ok (bit, out):: +.modbus-ok (bool, out):: True when the Modbus session is successfully established and the last 10 transactions returned without error. -.motor-RPM (float, out):: +.motor-RPM (real, out):: Estimated current RPM value, from the VFD. -.motor-RPS (float, out):: +.motor-RPS (real, out):: Estimated current RPS value, from the VFD. -.output-voltage (float, out):: +.output-voltage (real, out):: From the VFD. -.output-current (float, out):: +.output-current (real, out):: From the VFD. -.speed-command (float, in):: +.speed-command (real, 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. -.spindle-on (bit, in):: +.spindle-on (bool, in):: 1 for ON and 0 for OFF sent to VFD, only on when running. -.max-speed (bit, in):: +.max-speed (bool, in):: Ignore the loop-time parameter and run Modbus at maximum speed, at the expense of higher CPU usage. Suggested use during spindle positioning. -.status (s32, out):: +.status (sint, out):: Drive Status of the VFD (see the VFD manual). A bitmap. -.error-count (s32, out):: +.error-count (sint, out):: Total number of transactions returning a Modbus error. -.error-code (s32, out):: +.error-code (sint, out):: Most recent Error Code from VFD. -.frequency-limit (float, out):: +.frequency-limit (real, out):: Upper limit read from VFD setup. == PARAMETERS -.loop-time (float, RW):: +.loop-time (real, RW):: How often the Modbus is polled (default interval 0.1 seconds). -.nameplate-HZ (float, RW):: +.nameplate-HZ (real, RW):: Nameplate Hz of motor (default 50). Used to calculate target frequency (together with _nameplate-RPM_ ) for a target RPM value as given by speed-command. -.nameplate-RPM (float, RW):: +.nameplate-RPM (real, RW):: Nameplate RPM of motor (default 1410) -.rpm-limit (float, RW):: +.rpm-limit (real, RW):: Do-not-exceed soft limit for motor RPM (defaults to _nameplate-RPM_ ). -.tolerance (float, RW):: +.tolerance (real, RW):: Speed tolerance (default 0.01) for determining whether spindle is at speed (0.01 meaning: output frequency is within 1% of target frequency). == USAGE diff --git a/docs/src/man/man1/vfs11_vfd.1.adoc b/docs/src/man/man1/vfs11_vfd.1.adoc index 7590fb0f5b9..57cdda7e1cd 100644 --- a/docs/src/man/man1/vfs11_vfd.1.adoc +++ b/docs/src/man/man1/vfs11_vfd.1.adoc @@ -39,123 +39,123 @@ This component reads and writes to the vfs11 via a Modbus connection. == PINS -.acceleration-pattern (bit, in):: +.acceleration-pattern (bool, in):: when true, set acceleration and deceleration times as defined in registers F500 and F501 respectively. Used in PID loops to choose shorter ramp times to avoid oscillation. -.alarm-code (s32, out):: +.alarm-code (sint, out):: non-zero if drive is in alarmed state. Bitmap describing alarm information (see register FC91 description). Use _err-reset_ (see below) to clear the alarm. -.at-speed (bit, out):: +.at-speed (bool, out):: when drive is at commanded speed (see _speed-tolerance_ below) -.current-load-percentage (float, out):: +.current-load-percentage (real, out):: Reported from the VFD. -.dc-brake (bit, in):: +.dc-brake (bool, in):: Engage the DC brake. Also turns off spindle-on. -.enable (bit, in):: +.enable (bool, in):: Enable the VFD. If false, all operating parameters are still read but control is released and panel control is enabled (subject to VFD setup). -.err-reset (bit, in):: +.err-reset (bool, in):: Reset errors (alarms a.k.a Trip and e-stop status). Resetting the VFD may cause a 2-second delay until it's rebooted and Modbus is up again. -.estop (bit, in):: +.estop (bool, in):: Put the VFD into emergency-stopped status. No operation possible until cleared with _err-reset_ or powercycling. -.frequency-command (float, out):: +.frequency-command (real, out):: Current target frequency in Hz as set through speed-command (which is in RPM), from the VFD. -.frequency-out (float, out):: +.frequency-out (real, out):: Current output frequency of the VFD. -.inverter-load-percentage (float, out):: +.inverter-load-percentage (real, out):: Current load report from VFD. -.is-e-stopped (bit, out):: +.is-e-stopped (bool, out):: The VFD is in emergency stop status (blinking "E" on panel). Use _err-reset_ to reboot the VFD and clear the e-stop status. -.is-stopped (bit, out):: +.is-stopped (bool, out):: True when the VFD reports 0 Hz output -.jog-mode (bit, in):: +.jog-mode (bool, in):: 1 for ON and 0 for OFF, enables the VF-S11 'jog mode'. Speed control is disabled, and the output frequency is determined by register F262 (preset to 5 Hz). This might be useful for spindle orientation. -.max-rpm (float, R):: +.max-rpm (real, R):: Actual RPM limit based on maximum frequency the VFD may generate, and the motors nameplate values. For instance, if _nameplate-HZ_ is 50, and _nameplate-RPM__ is 1410, but the VFD may generate up to 80Hz, then _max-rpm_ would read as 2256 (80*1410/50). The frequency limit is read from the VFD at startup. To increase the upper frequency limit, the UL and FH parameters must be changed on the panel. See the VF-S11 manual for instructions how to set the maximum frequency. -.modbus-ok (bit, out):: +.modbus-ok (bool, out):: True when the Modbus session is successfully established and the last 10 transactions returned without error. -.motor-RPM (float, out):: +.motor-RPM (real, out):: Estimated current RPM value, from the VFD. -.output-current-percentage (float, out):: +.output-current-percentage (real, out):: from the VFD -.output-voltage-percentage (float, out):: +.output-voltage-percentage (real, out):: from the VFD -.output-voltage (float, out):: +.output-voltage (real, out):: from the VFD -.speed-command (float, in):: +.speed-command (real, 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. -.spindle-fwd (bit, in):: +.spindle-fwd (bool, in):: 1 for FWD and 0 for REV, sent to VFD. -.spindle-on (bit, in):: +.spindle-on (bool, in):: 1 for ON and 0 for OFF sent to VFD, only on when running. -.spindle-rev (bit, in):: +.spindle-rev (bool, in):: 1 for ON and 0 for OFF, only on when running. -.max-speed (bit, in):: +.max-speed (bool, in):: Ignore the loop-time parameter and run Modbus at maximum speed, at the expense of higher CPU usage. Suggested use during spindle positioning. -.status (s32, out):: +.status (sint, out):: Drive Status of the VFD (see the TOSVERT VF-S11 Communications Function Instruction Manual, register FD01). A bitmap. -.trip-code (s32, out):: +.trip-code (sint, out):: Trip code if VF-S11 is in tripped state. -.error-count (s32, RW):: +.error-count (sint, RW):: Total number of transactions returning a Modbus error. == PARAMETERS -.frequency-limit (float, RO):: +.frequency-limit (real, RO):: Upper limit read from VFD setup. -.loop-time (float, RW):: +.loop-time (real, RW):: How often the Modbus is polled (default interval 0.1 seconds) -.nameplate-HZ (float, RW):: +.nameplate-HZ (real, RW):: Nameplate Hz of motor (default 50). Used to calculate target frequency (together with __nameplate-RPM__) for a target RPM value as given by speed-command. -.nameplate-RPM (float, RW):: +.nameplate-RPM (real, RW):: Nameplate RPM of motor (default 1410) -.rpm-limit (float, RW):: +.rpm-limit (real, RW):: Do-not-exceed soft limit for motor RPM (defaults to __nameplate-RPM__). -.tolerance (float, RW):: +.tolerance (real, RW):: Speed tolerance (default 0.01) for determining whether spindle is at speed (0.01 meaning: output frequency is within 1% of target frequency). == USAGE diff --git a/docs/src/man/man1/xhc-hb04.1.adoc b/docs/src/man/man1/xhc-hb04.1.adoc index 86cb4815824..99413a82037 100644 --- a/docs/src/man/man1/xhc-hb04.1.adoc +++ b/docs/src/man/man1/xhc-hb04.1.adoc @@ -110,130 +110,130 @@ Example: `loadusr -W xhc-hb04-H -I` _path_to_cfg_file_ `-s 2` == Input Pins (Control) -xhc-hb04.stepsize-up (bit in):: +xhc-hb04.stepsize-up (bool in):: A 1 pulse on this pin changes the stepsize to the next higher stepsize in the stepsize sequence specified in the xhc-hb04 (loadusr) command. -xhc-hb04.stepsize-down (bit in):: +xhc-hb04.stepsize-down (bool in):: A 1 pulse on this pin changes the stepsize to the next lower stepsize in the stepsize sequence specified in the xhc-hb04 (loadusr) command. == Input Pins (to the pendant LCD display) -xhc-hb04.[xyza].pos-absolute (float in):: +xhc-hb04.[xyza].pos-absolute (real in):: Absolute position display. The LCD display for pos-absolute is fixed format with a sign, 4 number digits and 3 fraction digits (+XXXX.XXX), require: -9999.999 \<= value \<= 9999.999 (typically connect to: `halui.axis.N.pos-feedback`). -xhc-hb04.[xyza].pos-relative (float in):: +xhc-hb04.[xyza].pos-relative (real in):: Relative position display (typically connect to: halui.axis.N.pos-relative). The LCD display for pos-relative is fixed format with a sign, 4 number digits and 3 fraction digits (+XXXX.XXX), require: -9999.999 \<= value \<= 9999.999. -xhc-hb04.feed-override (float in):: - Feed-override value. The float value is converted to a 16 bit integer +xhc-hb04.feed-override (real in):: + Feed-override value. The real value is converted to a 16 bit integer and multiplied by 100 in order to display as percent, require: 0 \<= pinvalue \<= 655 (typically connect to: `halui.feed-override.value`). -xhc-hb04.feed-value (float in):: - Current Feed-value (units/sec). The float value is converted to a 16 +xhc-hb04.feed-value (real in):: + Current Feed-value (units/sec). The real value is converted to a 16 bit integer and multiplied by 60 in order to display as units-per-minute, require: 0 \<= pinvalue \<= 1092 (65520 units-per-minute) (typically connect to: `motion.current-vel`). -xhc-hb04.spindle-override (float in):: - Spindle-override value. The float value is converted to a 16 bit +xhc-hb04.spindle-override (real in):: + Spindle-override value. The real value is converted to a 16 bit integer and multiplied by 100 in order to display as percent, require: 0 \<= pinvalue \<= 655) (typically connect to: `halui.spindle-override.value`). -xhc-hb04.spindle-rps (float in):: +xhc-hb04.spindle-rps (real in):: Spindle speed in RPS (revolutions per second). - The float value is converted to a 16 bit integer and multiplied by 60 + The real value is converted to a 16 bit integer and multiplied by 60 in order to display as RPMs, require: 0 \<= pinvalue \<= 1092 (65520 RPM) (typically connect to: `spindle.N.speed-out-rps-abs`). -xhc-hb04.inch-icon (bit in):: +xhc-hb04.inch-icon (bool in):: Use inch icon (default is mm): == Output Pins (Status) -xhc-hb04.sleeping (bit out):: +xhc-hb04.sleeping (bool out):: True when the driver receives a pendant inactive (sleeping) message. -xhc-hb04.jog.enable-off (bit out):: +xhc-hb04.jog.enable-off (bool out):: True when the pendant rotary selector switch is in the OFF position or when the pendant is sleeping. -xhc-hb04.enable-[xyza] (bit out):: +xhc-hb04.enable-[xyza] (bool out):: True when the pendant rotary selector switch is in the [xyza] position and not sleeping. -xhc-hb04.enable-spindle-override (bit out):: +xhc-hb04.enable-spindle-override (bool out):: True when the pendant rotary selector switch is in the Spindle position and not sleeping (typically connect to: halui.spindle-override-count-enable). -xhc-hb04.enable-feed-override (bit out):: +xhc-hb04.enable-feed-override (bool out):: True when the pendant rotary selector switch is in the feed position and not sleeping (typically connect to: halui.feed-override-count-enable). -xhc-hb04.connected (bit out):: +xhc-hb04.connected (bool out):: True when connection to the pendant is established over the USB interface. -xhc-hb04.require_pendant (bit out):: +xhc-hb04.require_pendant (bool out):: True if driver started with the -x option. -xhc-hb04.stepsize (s32 out):: +xhc-hb04.stepsize (sint out):: Current stepsize in the stepsize sequence as controlled by the stepsize-up and/or stepsize-down pins. == Output Pins (for jogging using axis.N.jog-counts) -xhc-hb04.jog.counts (s32 out):: +xhc-hb04.jog.counts (sint out):: Number of counts of the wheel since start-up (50 counts per wheel revolution) (typically connect to `axis.N.jog-counts` (lowpass filtering may be helpful)). -xhc-hb04.jog.counts-neg (s32 out):: +xhc-hb04.jog.counts-neg (sint out):: The value of the `xhc-hb04.jog.counts` multiplied by -1. -xhc-hb04.jog.scale (float out):: +xhc-hb04.jog.scale (real out):: Value is the current stepsize multiplied by 0.001 (typically connect to `axis.N.jog-scale`). == Experimental: Pins for halui plus/minus jogging. These pins provide some support for non-trivkins, world mode jogging. -xhc-hb04.jog.max-velocity (float in):: +xhc-hb04.jog.max-velocity (real in):: Connect to halui.max-velocity.value. -xhc-hb04.jog.velocity (float out):: +xhc-hb04.jog.velocity (real out):: Connect to halui.jog-speed. -xhc-hb04.jog.plus-[xyza] (bit out):: +xhc-hb04.jog.plus-[xyza] (bool out):: Connect to halui.jog.N.plus. -xhc-hb04.jog.minus-[xyza] (bit out):: +xhc-hb04.jog.minus-[xyza] (bool out):: Connect to halui.jog.N.minus. -xhc-hb04.jog.increment (float out):: +xhc-hb04.jog.increment (real out):: Debug pin -- abs(delta_pos). == Button output pins (for the 18 button, layout2 pendant) -The output bit type pins are TRUE when the button is pressed. +The output bool type pins are TRUE when the button is pressed. .... ROW 1 - (bit out) xhc-hb04.button-reset - (bit out) xhc-hb04.button-stop + (bool out) xhc-hb04.button-reset + (bool out) xhc-hb04.button-stop ROW 2 - (bit out) xhc-hb04.button-goto-zero - (bit out) xhc-hb04.button-rewind - (bit out) xhc-hb04.button-start-pause - (bit out) xhc-hb04.button-probe-z + (bool out) xhc-hb04.button-goto-zero + (bool out) xhc-hb04.button-rewind + (bool out) xhc-hb04.button-start-pause + (bool out) xhc-hb04.button-probe-z ROW 3 - (bit out) xhc-hb04.button-spindle - (bit out) xhc-hb04.button-half - (bit out) xhc-hb04.button-zero - (bit out) xhc-hb04.button-safe-z + (bool out) xhc-hb04.button-spindle + (bool out) xhc-hb04.button-half + (bool out) xhc-hb04.button-zero + (bool out) xhc-hb04.button-safe-z ROW 4 - (bit out) xhc-hb04.button-home - (bit out) xhc-hb04.button-macro-1 - (bit out) xhc-hb04.button-macro-2 - (bit out) xhc-hb04.button-macro-3 + (bool out) xhc-hb04.button-home + (bool out) xhc-hb04.button-macro-1 + (bool out) xhc-hb04.button-macro-2 + (bool out) xhc-hb04.button-macro-3 ROW 5 - (bit out) xhc-hb04.button-step - (bit out) xhc-hb04.button-mode - (bit out) xhc-hb04.button-macro-6 - (bit out) xhc-hb04.button-macro-7 + (bool out) xhc-hb04.button-step + (bool out) xhc-hb04.button-mode + (bool out) xhc-hb04.button-macro-6 + (bool out) xhc-hb04.button-macro-7 .... == Synthesized button pins @@ -241,9 +241,9 @@ ROW 5 Additional buttons are synthesized for buttons named *zero*, *goto-zero*, and *half*. These synthesized buttons are active when the button is pressed AND the selector-switch is set to the corresponding axis [xyza]. .... - (bit out) xhc-hb04.button-zero-[xyza] - (bit out) xhc-hb04.button-goto-zero-[xyza] - (bit out) xhc-hb04.button-half-[xyza] + (bool out) xhc-hb04.button-zero-[xyza] + (bool out) xhc-hb04.button-goto-zero-[xyza] + (bool out) xhc-hb04.button-half-[xyza] .... == DEBUGGING diff --git a/docs/src/man/man1/xhc-whb04b-6.1.adoc b/docs/src/man/man1/xhc-whb04b-6.1.adoc index e2beade376f..6ead157c1ed 100644 --- a/docs/src/man/man1/xhc-whb04b-6.1.adoc +++ b/docs/src/man/man1/xhc-whb04b-6.1.adoc @@ -116,34 +116,34 @@ Signals utilized for moving axis. __ ... denotes the axis number, which is of {x, y, z, a, b, c}. -`whb.halui.home-all` (bit,out):: +`whb.halui.home-all` (bool, out):: connect to `halui.home-all`, driven by M-Home. Pin for requesting all axis to home. See also `whb.button.m-home`. -`whb.halui.axis.__.select` (bit,out):: +`whb.halui.axis.__.select` (bool, out):: connect to `halui.axis.__.select`. Pin to select axis. -`whb.axis.__.jog-counts` (s32,out):: +`whb.axis.__.jog-counts` (sint, out):: connect to `axis.__.jog-counts`. The count pin of the jogwheel. -`whb.axis.__.jog-enable` (bit,out):: +`whb.axis.__.jog-enable` (bool, out):: connect to `axis.__.jog-enable`. If true (and in manual mode), any change to "jog-counts" will result in motion. If false, "jog-counts" is ignored. -`whb.axis.__.jog-scale` (float,out):: +`whb.axis.__.jog-scale` (real, out):: connect to `axis.`____`.jog-scale`. The distance to move for each count on "jog-counts", in machine units. -`whb.axis.__.jog-vel-mode` (bit,out):: +`whb.axis.__.jog-vel-mode` (bool, out):: connect to `axis.`____`.jog-jog-vel-mode`. If false the jogwheel operates in position mode. The axis will move exactly jog-scale units for each count, regardless of how long that might take. If true, the jogwheel operates in velocity mode - motion stops when the wheel stops, even if that means the commanded motion is not completed. -`whb.halui.max-velocity.value` (float,in):: +`whb.halui.max-velocity.value` (real, in):: connect to `halui.max-velocity.value`. The maximum allowable velocity, in units per second (__ is two digit '0'-padded). -`whb.halui.feed-override.scale` (float,in):: +`whb.halui.feed-override.scale` (real, in):: connect to `halui.feed-override.scale`. The scaling for feed override value. -`whb.halui.axis.`____`.pos-feedback` (float,in):: +`whb.halui.axis.`____`.pos-feedback` (real, in):: connect to `halui.axis.`____`.pos-feedback`. Feedback axis position in machine coordinates to be displayed. -`whb.halui.axis.__.pos-relative` (float,in):: +`whb.halui.axis.__.pos-relative` (real, in):: connect to `halui.axis.`____`.pos-relative`. Commanded axis position in relative coordinates to be displayed. @@ -151,40 +151,40 @@ __ ... denotes the axis number, which is of {x, y, z, a, b, c}. Signals utilized for toggling machine status. -`whb.halui.machine.on` (bit,out):: +`whb.halui.machine.on` (bool, out):: Connect to `halui.machine.on`. Pin for requesting machine on. -`whb.halui.machine.is-on` (bit,in):: +`whb.halui.machine.is-on` (bool, in):: Connect to `halui.machine.is-on`. Pin that indicates machine is on. -`whb.halui.machine.off` (bit,out):: +`whb.halui.machine.off` (bool, out):: Connect to `halui.machine.off`. Pin for requesting machine off. ==== Spindle .Signals utilized for operating a spindle. -`whb.halui.spindle.start` (bit,out):: +`whb.halui.spindle.start` (bool, out):: Connect to `halui.spindle.0.start`. Pin to start the spindle. -`whb.halui.spindle.is-on` (bit,in):: +`whb.halui.spindle.is-on` (bool, in):: Connect to `halui.spindle.0.on`. Pin to indicate spindle is on (either direction). -`whb.halui.spindle.stop` (bit,out):: +`whb.halui.spindle.stop` (bool, out):: Connect to `halui.spindle.0.stop`. Pin to stop the spindle. -`whb.halui.spindle.forward` (bit,out):: +`whb.halui.spindle.forward` (bool, out):: Connect to `halui.spindle.0.forward`. Pin to make the spindle go forward. -`whb.halui.spindle.reverse` (bit,out):: +`whb.halui.spindle.reverse` (bool, out):: Connect to `halui.spindle.0.reverse`. Pin to make the spindle go reverse. -`whb.halui.spindle.decrease` (bit,out):: +`whb.halui.spindle.decrease` (bool, out):: Connect to `halui.spindle.0.decrease`. Pin to decrease the spindle speed. -`whb.halui.spindle.increase` (bit,out):: +`whb.halui.spindle.increase` (bool, out):: Connect to `halui.spindle.0.increase`. Pin to increase the spindle speed. -`whb.halui.spindle-override.increase` (bit,out):: +`whb.halui.spindle-override.increase` (bool, out):: Connect to `halui.spindle.0.override.increase`. Pin for increasing the spindle override by the amount of scale. -`whb.halui.spindle-override.decrease` (bit,out):: +`whb.halui.spindle-override.decrease` (bool, out):: Connect to `halui.spindle.0.override.decrease`. Pin for decreasing the spindle override by the amount of scale. -`whb.halui.spindle-override.value` (float,in):: +`whb.halui.spindle-override.value` (real, in):: Connect to `halui.spindle.0.override.value`. The current spindle override value. -`whb.halui.spindle-override.scale` (float,in):: +`whb.halui.spindle-override.scale` (real, in):: Connect to `halui.spindle.0.override.scale`. The current spindle scaling override value. @@ -208,54 +208,54 @@ As a consequence of 3 modes from manufacturer, switching the feed rotary button Depending on the mode before turning the rotary button, the feed override results in different values. In MPG/CON the feed rate will change to 100%, 60%, ... and so forth. In Step mode the feed rate is specified in mm. -`whb.halui.feed-override.value` (float,in):: +`whb.halui.feed-override.value` (real, in):: Connect to `halui.feed-override.value`. The current feed override value. -`whb.halui.feed-override.decrease` (bit,out):: +`whb.halui.feed-override.decrease` (bool, out):: Connect to `halui.feed-override.decrease`. Pin for decreasing the feed override by amount of scale. -`whb.halui.feed-override.increase` (bit,out):: +`whb.halui.feed-override.increase` (bool, out):: Connect to `halui.feed-override.increase`. Pin for increasing the feed override by amount of scale. -`whb.halui.feed-override.scale` (float,out):: +`whb.halui.feed-override.scale` (real, out):: Connect to `halui.feed-override.scale`. Pin for setting the scale on changing the feed override. -`whb.halui.max-velocity.value` (float,out):: +`whb.halui.max-velocity.value` (real, out):: Connect to `halui.max-velocity.value`. ==== Program Signals for operating program and MDI mode. -`whb.halui.program.run` (bit,out):: +`whb.halui.program.run` (bool, out):: Connect to `halui.program.run` in for running a program. -`whb.halui.program.is-running` (bit,in):: +`whb.halui.program.is-running` (bool, in):: Connect to `halui.program.is-running` in indicating a program is running. -`whb.halui.program.pause` (bit,out):: +`whb.halui.program.pause` (bool, out):: Connect to `halui.program.pause`. Pin for pausing a program. -`whb.halui.program.is-paused` (bit,in):: +`whb.halui.program.is-paused` (bool, in):: Connect to `halui.program.is-paused`. Pin indicating a program is pausing. -`whb.halui.program.resume` (bit,out):: +`whb.halui.program.resume` (bool, out):: Connect to `halui.program.resume`. Pin for resuming a program. -`whb.halui.program.stop` (bit,out):: +`whb.halui.program.stop` (bool, out):: Connect to `program.stop`. Pin for stopping a program. -`whb.halui.program.is-idle` (bit,in):: +`whb.halui.program.is-idle` (bool, in):: Connect to `halui.program.is-idle`. Pin indicating no program is running. -`whb.halui.mode.auto` (bit,out):: +`whb.halui.mode.auto` (bool, out):: Connect to `halui.mode.auto`. Pin for requesting auto mode. -`whb.halui.mode.is-auto` (bit,in):: +`whb.halui.mode.is-auto` (bool, in):: Connect to `halui.mode.is-auto`. Pin for indicating auto mode is on. -`whb.halui.mode.joint` (bit,out):: +`whb.halui.mode.joint` (bool, out):: Connect to `halui.mode.joint` Pin for requesting joint by joint mode. -`whb.halui.mode.is-joint` (bit,in):: +`whb.halui.mode.is-joint` (bool, in):: Connect to `halui.mode.is-joint`. Pin indicating joint by joint mode is on. -`whb.halui.mode.manual` (bit,out):: +`whb.halui.mode.manual` (bool, out):: Connect to `halui.mode.manual`. Pin for requesting manual mode. -`whb.halui.mode.is-manual` (bit,in):: +`whb.halui.mode.is-manual` (bool, in):: Connect to `halui.mode.is-manual`. Pin indicating manual mode is on. -`whb.halui.mode.mdi` (bit,out):: +`whb.halui.mode.mdi` (bool, out):: Connect to `halui.mode.mdi`. Pin for requesting MDI mode. -`whb.halui.mode.is-mdi` (bit,in):: +`whb.halui.mode.is-mdi` (bool, in):: Connect to `halui.mode.is-mdi`. Pin indicating MDI mode is on. -`whb.halui.mode.teleop` (bit,out):: +`whb.halui.mode.teleop` (bool, out):: Connect to `halui.mode.teleop`. Pin for requesting axis by axis mode. -`whb.halui.mode.is-teleop` (bit,in):: +`whb.halui.mode.is-teleop` (bool, in):: Connect to `halui.mode.is-teleop`. Pin indicating axis by axis mode is on. ==== Buttons @@ -290,101 +290,101 @@ MDI_COMMAND=(debug,macro16) *__* ... denotes an arbitrary macro number which is of {1, 2, ..., 16} -`whb.button.reset` (bit,out):: +`whb.button.reset` (bool, out):: See `whb.halui.estop.`{`activate`, `reset`} True one Reset button down, false otherwise. For toggling E-stop use whb.halui.estop .active and .reset. -`whb.button.stop` (bit,out):: +`whb.button.stop` (bool, out):: See `whb.halui.program.stop`. True on Stop button down, false otherwise. For stopping a program use `whb.halui.program.stop`. -`whb.button.start-pause` (bit,out):: +`whb.button.start-pause` (bool, out):: See `whb.halui.program.`{`run`, `pause`, `resume`}`. True on Start-Pause button down, false otherwise. For toggling start-pause use `whb.halui.program.run`, `.pause`, and `.resume`. -`whb.button.feed-plus` (bit,out):: +`whb.button.feed-plus` (bool, out):: True on Feed+ button down, false otherwise. -`whb.button.feed-minus` (bit,out):: +`whb.button.feed-minus` (bool, out):: True on Feed- button down, false otherwise. -`whb.button.spindle-plus` (bit,out):: +`whb.button.spindle-plus` (bool, out):: See `halui.spindle.0.override.increase`. True on Spindle+ button down, false otherwise. This button is meant to manipulate the spindle override. For increasing the spindle override use `halui.spindle.0.override.increase`. -`whb.button.spindle-minus` (bit,out):: +`whb.button.spindle-minus` (bool, out):: See `halui.spindle.0.override.decrease`. True on Spindle- button down, false otherwise. This button is meant to manipulate the spindle override. For decreasing the spindle override use `halui.spindle.0.override.decrease`. -`whb.button.m-home` (bit,out):: +`whb.button.m-home` (bool, out):: Connect to `halui.home-all`. True on M-Home button down, false otherwise. Requests MDI mode before button pin is set. See also `whb.halui.mode.mdi`. -`whb.button.safe-z` (bit,out):: +`whb.button.safe-z` (bool, out):: Connect to `halui.mdi-command-`____ True on Safe-Z button down, false otherwise. Requests MDI mode before button pin is set. See also `whb.halui.mode.mdi`. -`whb.button.w-home` (bit,out):: +`whb.button.w-home` (bool, out):: Connect to `halui.mdi-command-`____ True on W-Home button down, false otherwise. Requests MDI mode before button pin is set. See also `whb.halui.mode.mdi`. -`whb.button.s-on-off` (bit,out):: +`whb.button.s-on-off` (bool, out):: See ``whb.halui.spindle.``{``start``, ``stop``} True on S-ON/OFF button down, false otherwise. For toggling spindle on-off use `halui.spindle.0.start`. For toggling spindle on-off use `halui.spindle.0.stop`. -`whb.button.fn` (bit,out):: +`whb.button.fn` (bool, out):: True on Fn button down, false otherwise. -`whb.button.probe-z` (bit,out):: +`whb.button.probe-z` (bool, out):: Connect to `halui.mdi-command-`____ True on Probe-Z button down, false otherwise. Requests MDI mode before button pin is set. See also `whb.halui.mode.mdi`. -`whb.button.macro-1` (bit,out):: +`whb.button.macro-1` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-1 button (Fn + Feed+) down, false otherwise. -`whb.button.macro-2` (bit,out):: +`whb.button.macro-2` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-2 button (Fn + Feed-) down, false otherwise. -`whb.button.macro-3` (bit,out):: +`whb.button.macro-3` (bool, out):: See `whb.halui.spindle.increase` True on Macro-3 button (Fn + Spindle+) down, false otherwise. This button is meant to manipulate the spindle speed. For decreasing the spindle speed use whb.halui.spindle.increase. -`whb.button.macro-4` (bit,out):: +`whb.button.macro-4` (bool, out):: See `whb.halui.spindle.decrease` True on Macro-4 button down (Fn + Spindle-), false otherwise. This button is meant to manipulate the spindle speed. For decreasing the spindle speed use `whb.halui.spindle.decrease`. -`whb.button.macro-5` (bit,out):: +`whb.button.macro-5` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-5 button down (Fn + M-HOME), false otherwise. -`whb.button.macro-6` (bit,out):: +`whb.button.macro-6` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-6 button down (Fn + Safe-Z), false otherwise. -`whb.button.macro-7` (bit,out):: +`whb.button.macro-7` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-7 button down (Fn + W-HOME), false otherwise. -`whb.button.macro-8` (bit,out):: +`whb.button.macro-8` (bool, out):: Reserved for Spindle Direction True on Macro-8 button down (Fn + S-ON/OFF), false otherwise. -`whb.button.macro-9` (bit,out):: +`whb.button.macro-9` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-9 button down (Fn + Probe-Z), false otherwise. -`whb.button.macro-10` (bit,out):: +`whb.button.macro-10` (bool, out):: Reserved for toggle DRO Abs/rel. True on Macro-10 button down, false otherwise. Switches the display coordinates to relative coordinates. On display the axis are denoted then as X1, Y1, Z1, A1, B1 and C1. See also `whb.halui.axis.`____`.pos-relative`. -`whb.button.macro-11` (bit,out):: +`whb.button.macro-11` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-11 button down (Fn + RESET), false otherwise. -`whb.button.macro-12` (bit,out):: +`whb.button.macro-12` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-12 button (Fn + Stop) down, false otherwise. -`whb.button.macro-13` (bit,out):: +`whb.button.macro-13` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-13 button (Fn + Start/Pause) down, false otherwise. -`whb.button.macro-14` (bit,out):: +`whb.button.macro-14` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-14 button (Fn + Macro-10) down, false otherwise. -`whb.button.macro-15` (bit,out):: +`whb.button.macro-15` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-15 button down (Fn + MPG), false otherwise. -`whb.button.macro-16` (bit,out):: +`whb.button.macro-16` (bool, out):: Connect to `halui.mdi-command-`____ True on Macro-16 button (Fn + Step) down, false otherwise. -`whb.button.mode-continuous` (bit,out):: +`whb.button.mode-continuous` (bool, out):: True on Continuous mode button down, false otherwise. -`whb.button.mode-step` (bit,out):: +`whb.button.mode-step` (bool, out):: True on Step mode button down, false otherwise. ==== Pendant -`whb.pendant.is-sleeping` (bit,out):: +`whb.pendant.is-sleeping` (bool, out):: True as long pendant is in sleep mode (usually a few seconds after turned off), false otherwise. -`whb.pendant.is-connected` (bit,out):: +`whb.pendant.is-connected` (bool, out):: True as long pendant is not in sleep mode (turned on), false otherwise. == HAL Configuration Example