IOV2(1)

💖 iov2(1) — okay bestie, let's talk I/O 💖

So this is the manual page for iov2, from the IOCONTROL - IOV2(1) corner of The Enhanced Machine Controller. Pull up a chair, hydrate, we're doing I/O control. 🦋

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✨ NAME ✨

iov2 — the way it interacts with HAL or G-code in non-realtime. That's the whole vibe. 🎀

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🌸 SYNOPSIS 🌸

[EMCIO]
EMCIO = iov2

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💅 DESCRIPTION 💅

Okay so, I/O control handles all your I/O tasks — think coolant, toolchange, E-stop and lube. Those signals get turned on and off in non-realtime</>, either with G-code, or in the case of E-stop, in HAL. Simple, iconic, no notes. ✨

Then there's I/O Control V2 (iov2), which is the glow-up: it adds more toolchanger support for communication with the toolchanger. It's giving upgraded, honestly. 🔥

And the choice between io and iov2? That's yours, bestie — you pick it in the [EMCIO] section of the INI file. 👑

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🌈 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. Here's the tea: 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. So it's tracking both of those things, fr fr.
• 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. 🙋

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💜 Additional IO v2 pins 💜

This is the new stuff, the sequel, the part two that actually ate. 🔥

• 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. Like, it's waiting. It will simply not move on. So don't leave it hanging bestie. 💀

• 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. So it goes off first, before all of that. ✨
• iocontrol.0.start-change-ack — (BIT,IN) Acknowledgment line for start-change.
• iocontrol.0.toolchanger-fault — (BIT,IN) Toolchanger signals fault. This line is continuously 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. 👀

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Wanna go deeper? There's more lore here:

http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ToolchangerProtocolProposal

That's your additional information, bestie. Go read it. 📖✨

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🦋 SEE ALSO 🦋

io(1) iocontrol(1) LinuxCNC(1)

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🙈 REPORTING BUGS 🙈

Found a bug? Don't suffer in silence, report it, it's the responsible main-character move:

https://github.com/LinuxCNC/linuxcnc/issues

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👑 AUTHOR 👑

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

The v2 glow-up? That was Michael. Iconic behaviour. 💅

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💖 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.

So like, it's free, which slays, but also zero warranty, which is the tradeoff, no cap. 🫶

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Okay that's the whole page, bestie!! This was the IOCONTROL - IOV2(1) page from the LinuxCNC Documentation, dated 2021-04. Go forth and control your I/O. You got this. Periodt. 💖✨🎀