#LyX 1.3 created this file. For more info see http://www.lyx.org/
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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 LyX-Code

HALUI = halui
\layout Standard

in the [HAL] section.
\layout Standard

An alternate way to invoke it (especially when using a stepconf generated
 config file) is to include
\layout LyX-Code

loadusr halui -ini /path/to/inifile.ini
\layout Standard

in your custom.hal file.
\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 - starts the spindle
\layout Itemize

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

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.forward - starts the spindle with CW motion
\layout Itemize

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.reverse - starts the spindle with a CCW motion
\layout Itemize

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

(
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.spindle.decrease - decreases spindle speed
\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

(
\noun on 
float
\noun default 
) halui.jog-deadband - deadband for analog jogging (smaller jogging speed
 requests are not performed)
\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 Itemize

(
\noun on 
bit
\noun default 
) halui.jog.<channel>.analog - analog velocity input for jogging (usefull with
 joysticks or other analog devices)
\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 Subsection

MDI
\layout Standard

Sometimes the user wants to add more complicated tasks to be performed by
 the activation of a HAL pin.
 This is possible using the following MDI commands scheme:
\layout Itemize

a MDI_COMMAND is added to the ini (in the section [HALUI]) (e.g.
 [HALUI] MDI_COMMAND = G0 X0
\layout Itemize

when halui starts it will read/detect the MDI_COMMAND fields in the ini,
 and export pins of type (
\family typewriter 
\noun on 
bit
\family default 
\noun default 
) halui.mdi-command-<nr> (<nr> is a number from 00 to the number of MDI_COMMAND's
 found in the ini)
\layout Itemize

when the pin halui.mdi-command-<nr> is activated halui will try to send the
 MDI command defined in the ini 
\begin_inset Foot
collapsed true

\layout Standard

This will not always succeed, depending on the operating mode emc2 is in
 (e.g.
 while in AUTO halui can't successfully send MDI commands).
\end_inset 


\layout Section

Case - Studies
\layout Standard

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