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NAME

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

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

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