IOCONTROL - IOV2(1)

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

SYNOPSIS
[EMCIO]
EMCIO = iov2

DESCRIPTION
I/O control handles I/O tasks like coolant, toolchange, E-stop and lube. The signals are turned on and off in non-realtime with G-code or in the case of E-stop in HAL.
I/O Control V2 (iov2) adds more toolchager support for communication with the toolchanger. Whether io or iov2 is used can be chosen in the [EMCIO] section of the INI file.

Pins

  Basic pins

iocontrol.0.coolant-flood
    (Bit, Out) TRUE when flood coolant is requested.

iocontrol.0.coolant-mist
    (Bit, Out) TRUE when mist coolant is requested.

iocontrol.0.emc-enable-in
    (Bit, In) Should be driven FALSE when an external estop condition exists.

iocontrol.0.lube
    (Bit, Out) TRUE when lube is requested. This pin gets driven True when the controller comes out of E-stop, and when the "Lube On" command gets sent to the controller. It gets driven False when the controller goes into E-stop, and when the "Lube Off" command gets sent to the controller.

iocontrol.0.lube_level
    (Bit, In) Should be driven FALSE when lubrication tank is empty.

iocontrol.0.tool-change
    (Bit, Out) TRUE when a tool change is requested.

iocontrol.0.tool-changed
    (Bit, In) Should be driven TRUE when a tool change is completed.

iocontrol.0.tool-number
    (s32, Out) Current tool number.

iocontrol.0.tool-prep-number
    (s32, Out) The number of the next tool, from the RS274NGC T-word.

iocontrol.0.tool-prep-pocket
    (s32, Out) This is the pocket number (location in the tool storage mechanism) of the tool requested by the most recent T-word.

iocontrol.0.tool-prepare
    (Bit, Out) TRUE when a Tn tool prepare is requested.

iocontrol.0.tool-prepared
    (Bit, In) Should be driven TRUE when a tool prepare is completed.

iocontrol.0.user-enable-out
    (Bit, Out) FALSE when an internal estop condition exists.

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

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

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

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

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

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

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

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

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

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

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

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

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

SEE ALSO
io(1) iocontrol(1) LinuxCNC(1)

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

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

COPYRIGHT
Copyright © 2011 Michael Haberler.
This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.