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\layout Chapter


\begin_inset LatexCommand \label{cha:Halui}

\end_inset 

Halui
\layout Section


\begin_inset LatexCommand \label{sec:HaluiIntroduction}

\end_inset 

Introduction
\layout Standard

Halui is a HAL based user interface for EMC, it connects HAL pins to NML
 commands.
 Most of the functionality (buttons, indicators etc.) that is provided by
 a traditional GUI (mini, Axis, etc.), is provided by HAL pins in Halui.
\layout Standard

The easiest way to use halui is to modify your ini file to include
\layout Standard

HALUI = halui
\layout Standard

in the [HAL] section.
\layout Section


\begin_inset LatexCommand \label{sec:Halui-pin-reference}

\end_inset 

Halui pin reference
\layout Subsection

Machine
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.machine.on - pin for requestiong machine on
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.machine.off - pin for requesting machine off
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.machine.is-on - indicates machine on
\layout Subsection

E-Stop
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.estop.activate - pin for requesting E-Stop
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.estop.reset - pin for requesting E-Stop reset
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.estop.is-activated - indicates E-stop reset
\layout Subsection

Mode
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.mode.manual - pin for requesting manual mode
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.mode.is_manual - indicates manual mode is on
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.mode.auto - pin for requesting auto mode
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.mode.is_auto - indicates auto mode is on
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.mode.mdi - pin for requesting mdi mode
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.mode.is_mdi - indicates mdi mode is on
\layout Subsection

Mist, Flood, Lube 
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.mist.on - pin for requesting mist on
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.mist.is-on - indicates mist is on
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.flood.on - pin for requesting flood on
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.flood.is-on - indicates flood is on
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.lube.on - pin for requesting lube on
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.lube.is-on - indicates lube is on
\layout Subsection

Spindle
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.start
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.stop
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.forward
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.reverse
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.increase
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.decrease
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.brake-on - pin for activating spindle-brake
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.brake-off - pin for deactivating spindle/brake
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.brake-is-on - indicates brake is on
\layout Subsection

Joints 
\layout Standard

<channel> is a number between 0 and 7 and 'selected'.
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.joint.<channel>.home - pin for homing the specific joint 
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.joint.<channel>.on-min-limit-soft - status pin telling joint is at
 the negative software limit
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.joint.<channel>.on-max-limit-soft - status pin telling joint is at
 the positive software limit
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.joint.<channel>.on-min-limit-hard - status pin telling joint is on
 the negative hardware limit switch
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.joint.<channel>.on-max-limit-hard - status pin telling joint is on
 the positive hardware limit switch
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.joint.<channel>.fault - status pin telling the joint has a fault
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.joint.<channel>.homed - status pin telling that the joint is homed
\layout Subsection

Jogging
\layout Standard

<channel> is a number between 0 and 7 and 'selected'.
\layout Itemize

(
\noun on 
float
\noun default 
) halui.jog.speed - set jog speed
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.jog.<channel>.minus - jog in negative direction
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.jog.<channel>.plus - jog in positive direction
\layout Subsection

Selecting a joint
\layout Itemize

(
\noun on 
u32
\noun default 
) halui.joint.select - select joint (0..7) - internal halui
\layout Itemize

(
\noun on 
u32
\noun default 
) halui.joint.selected - selected joint (0..7) - internal halui
\layout Itemize

(
\noun on 
bit
\noun default 
) halui.joint.x.select bit - pins for selecting a joint - internal halui
\layout Itemize

(
\noun on 
bit
\noun default 
) halui.joint.x.is-selected bit - status pin a joint is selected - internal
 halui
\layout Subsection

Feed override
\layout Itemize

(
\noun on 
float
\noun default 
) halui.feed-override.value - current FO value
\layout Itemize

(
\noun on 
float
\noun default 
) halui.feed-override.scale - pin for setting the scale on changing the FO
\layout Itemize

(
\noun on 
s32
\noun default 
) halui.feed-override.counts - counts from an encoder for example to change
 FO
\layout Itemize

(
\noun on 
bit
\noun default 
) halui.feed-override.increase - pin for increasing the FO (+=scale)
\layout Itemize

(
\noun on 
bit
\noun default 
) halui.feed-override.decrease - pin for decreasing the FO (-=scale)
\layout Subsection

Spindle override
\layout Itemize

(
\noun on 
float
\noun default 
) halui.spindle-override.value - current SO value
\layout Itemize

(
\noun on 
float
\noun default 
) halui.spindle-override.scale - pin for setting the scale on changing the
 SO
\layout Itemize

(
\noun on 
s32
\noun default 
) halui.spindle-override.counts - counts from an encoder for example to change
 SO
\layout Itemize

(
\noun on 
bit
\noun default 
) halui.spindle-override.increase - pin for increasing the SO (+=scale)
\layout Itemize

(
\noun on 
bit
\noun default 
) halui.spindle-override.decrease - pin for decreasing the SO (-=scale)
\layout Subsection

Tool
\layout Itemize

(
\noun on 
u32
\noun default 
) halui.tool.number - indicates current selected tool
\layout Itemize

(
\noun on 
float
\noun default 
) halui.tool.length-offset - indicates current applied tool-length-offset
\layout Subsection

Program
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.program.is-idle
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.program.is-running
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.program.is-paused
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.program.run
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.program.pause
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.program.resume
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.program.step
\layout Subsection

General
\layout Itemize

(
\noun on 
bit
\noun default 
) halui.abort - pin to send an abort message (clears out most errors)
\layout Section

Case - Studies
\layout Standard

User descriptions of working halui and hardware EMC control panels here.
\the_end