EMC2 and HAL

loadrt motmod {[}base\_period\_nsec=period{]} {[}servo\_period\_nsec=period{]} {[}traj\_period\_nsec=period{]} {[}num\_joints={[}0-9{]} ({[}num\_dio=1-64{]} num\_aio=1-16{]}){]} 

[{motion.adaptive-feed}] (float, in) When adaptive feed is enabled
with {M52~P1}, the commanded velocity is multiplied by this value.
This effect is multiplicative with the NML-level feed override
value and **motion.feed-hold**.

[{motion.analog-in-00}] (float, in) These pins (00, 01, 02, 03 or
more if configured) are controlled by M66.

[{motion.analog-out-00}] (float, out) These pins (00, 01, 02, 03 or
more if configured) are controlled by M67 or M68.

[{motion.coord-error}] (bit, out) TRUE when motion has encountered
an error, such as exceeding a soft limit

[{motion.coord-mode}] (bit, out) TRUE when motion is in
coordinated mode, as opposed to teleop mode

[{motion.current-vel}] (float, out) The current tool velocity in
user units per second.

[{motion.digital-in-00}] (bit, in) These pins (00, 01, 02, 03 or
more if configured) are controlled by M62-65.

[{motion.digital-out-00}] (bit, out) These pins (00, 01, 02, 03 or
more if configured) are controlled by the ``M62-65``.

[{motion.distance-to-go}] (float,out) The distance remaining in the
current move.

[{motion.enable}] (bit, in) If this bit is driven FALSE, motion
stops, the machine is placed in the machine offstate, and a
message is displayed for the operator. For normal motion, drive
this bit TRUE.

[{motion.feed-hold}] (bit, in) When Feed Stop Control is enabled
with {M53~P1}, and this bit is TRUE, the feed rate is set to 0.

[{motion.in-position}] (bit, out) TRUE if the machine is in
position.

[{motion.motion-enabled}] (bit, out) TRUE when in machine
onstate.

[{motion.on-soft-limit}] (bit, out) TRUE when the machine is on a
soft limit.

[{motion.probe-input}] (bit, in) ``G38.x`` uses the value on this
pin to determine when the probe has made contact. TRUE for probe
contact closed (touching), FALSE for probe contact open.

[{motion.program-line}] (s32, out) The current program line while
executing. Zero if not running or between lines while single
stepping.

[{motion.requested-vel}] (float, out) The current requested
velocity in user units per second from the F=n setting in the G
Code file. No feed overrides or any other adjustments are applied
to this pin.

[{motion.spindle-at-speed}] (bit, in) Motion will pause until this
pin is TRUE, under the following conditions: before the first feed
move after each spindle start or speed change; before the start of
every chain of spindle-synchronized moves; and if in CSS mode, at
every rapid to feed transition. This input can be used to ensure
that the spindle is up to speed before starting a cut, or that a
lathe spindle in CSS mode has slowed down after a large to small
facing pass before starting the next pass at the large diameter.
Many VFDs have an at speedoutput. Otherwise, it is easy to
generate this signal with the ``HAL near`` component, by comparing
requested and actual spindle speeds.

[{motion.spindle-brake}] (bit, out) TRUE when the spindle brake
should be applied.

[{motion.spindle-forward}] (bit, out) TRUE when the spindle should
rotate forward.

[{motion.spindle-index-enable}] (bit, I/O) For correct operation of
spindle synchronized moves, this pin must be hooked to the
index-enable pin of the spindle encoder.

[{motion.spindle-on}] (bit, out) TRUE when spindle should rotate.

[{motion.spindle-reverse}] (bit, out) TRUE when the spindle should
rotate backward

[{motion.spindle-revs}] (float, in) For correct operation of
spindle synchronized moves, this signal must be hooked to the
position pin of the spindle encoder. The spindle encoder position
should be scaled such that spindle-revs increases by 1.0 for each
rotation of the spindle in the clockwise (``M3``) direction.

[{motion.spindle-speed-in}] (float, in) Feedback of actual spindle
speed in rotations per second. This is used by feed-per-revolution
motion (``G95``). If your spindle encoder driver does not have a
velocity output, you can generate a suitable one by sending the
spindle position through a ``ddt`` component.

[{motion.spindle-speed-out}] (float, out) Commanded spindle speed
in rotations per minute. Positive for spindle forward (``M3``),
negative for spindle reverse (``M4``).

[{motion.spindle-speed-out-rps}] (float, out) Commanded spindle
speed in rotations per second. Positive for spindle forward
(``M3``), negative for spindle reverse (``M4``).

[{motion.teleop-mode}] (bit, out) TRUE when motion is in teleop
mode, as opposed to coordinated mode

[{motion.tooloffset.w}] (float, out) shows the w offset in effect;
it could come from the tool table (``G43`` active), or it could
come from the gcode (``G43.1`` active)

[{motion.tooloffset.x}] (float, out) shows the x offset in effect;
it could come from the tool table (``G43`` active), or it could
come from the gcode (``G43.1`` active)

[{motion.tooloffset.z}] (float, out) shows the z offset in effect;
it could come from the tool table (``G43`` active), or it could
come from the gcode (``G43.1`` active)

[{motion-command-handler.time}] (s32, RO)

[{motion-command-handler.tmax}] (s32, RW)

[{motion-controller.time}] (s32, RO)

[{motion-controller.tmax}] (s32, RW)

[{motion.debug-bit-0}] (bit, RO) This is used for debugging
purposes.

[{motion.debug-bit-1}] (bit, RO) This is used for debugging
purposes.

[{motion.debug-float-0}] (float, RO) This is used for debugging
purposes.

[{motion.debug-float-1}] (float, RO) This is used for debugging
purposes.

[{motion.debug-float-2}] (float, RO) This is used for debugging
purposes.

[{motion.debug-float-3}] (float, RO) This is used for debugging
purposes.

[{motion.debug-s32-0}] (s32, RO) This is used for debugging
purposes.

[{motion.debug-s32-1}] (s32, RO) This is used for debugging
purposes.

[{motion.servo.last-period}] (u32, RO) The number of CPU cycles
between invocations of the servo thread. Typically, this number
divided by the CPU speed gives the time in seconds, and can be used
to determine whether the realtime motion controller is meeting its
timing constraints

[{motion.servo.last-period-ns}] (float, RO)

[{motion.servo.overruns}] (u32, RW) By noting large differences
between successive values of *motion.servo.last-period*, the motion
controller can determine that there has probably been a failure to
meet its timing constraints. Each time such a failure is detected,
this value is incremented.

[{motion-command-handler}] Processes motion commands coming from
user space

[{motion-controller}] Runs the EMC motion controller

[{axis.N.active}] (bit, out)

[{axis.N.amp-enable-out}] (bit, out) TRUE if the amplifier for this
joint should be enabled

[{axis.N.amp-fault-in}] (bit, in) Should be driven TRUE if an
external fault is detected with the amplifier for this joint

[{axis.N.backlash-corr}] (float, out)

[{axis.N.backlash-filt}] (float, out)

[{axis.N.backlash-vel}] (float, out)

[{axis.N.coarse-pos-cmd}] (float, out)

[{axis.N.error}] (bit, out)

[{axis.N.f-error}] (float, out)

[{axis.N.f-error-lim}] (float, out)

[{axis.N.f-errored}] (bit, out)

[{axis.N.faulted}] (bit, out)

[{axis.N.free-pos-cmd}] (float, out)

[{axis.N.free-tp-enable}] (bit, out)

[{axis.N.free-vel-lim}] (float, out)

[{axis.N.home-sw-in}] (bit, in) Should be driven TRUE if the home
switch for this joint is closed.

[{axis.N.homed}] (bit, out)

[{axis.N.homing}] (bit, out) TRUE if the joint is currently homing

[{axis.N.in-position}] (bit, out)

[{axis.N.index-enable}] (bit, I/O)

[{axis.N.jog-counts}] (s32, in) Connect to the countspin of an
external encoder to use a physical jog wheel.

[{axis.N.jog-enable}] (bit, in) When TRUE (and in manual mode), any
change in jog-countswill result in motion. When false,
jog-countsis ignored.

[{axis.N.jog-scale}] (float, in) Sets the distance moved for each
count on jog-counts, in machine units.

[{axis.N.jog-vel-mode}] (bit, in) When FALSE (the default), the
jogwheel operates in position mode. The axis will move exactly
jog-scale units for each count, regardless of how long that might
take. When TRUE, the wheel operates in velocity mode - motion stops
when the wheel stops, even if that means the commanded motion is
not completed.

[{axis.N.joint-pos-cmd}] (float, out) The joint (as opposed to
motor) commanded position. There may be an offset between the joint
and motor positions-for example, the homing process sets this
offset.

[{axis.N.joint-pos-fb}] (float, out) The joint (as opposed to
motor) feedback position.

[{axis.N.joint-vel-cmd}] (float, out)

[{axis.N.kb-jog-active}] (bit, out)

[{axis.N.motor-pos-cmd}] (float, out) The commanded position for
this joint.

[{axis.N.motor-pos-fb}] (float, in) The actual position for this
joint.

[{axis.N.neg-hard-limit}] (bit, out)

[{axis.N.pos-lim-sw-in}] (bit, in) Should be driven TRUE if the
positive limit switch for this joint is closed

[{axis.N.pos-hard-limit}] (bit, out)

[{axis.N.neg-lim-sw-in}] (bit, in) Should be driven TRUE if the
negative limit switch for this joint is closed

[{axis.N.wheel-jog-active}] (bit, out)

[{axis.N.home-state}] Reflects the step of homing currently taking
place

[{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 E-Stop condition exists

[{iocontrol.0.lube}] (bit, out) TRUE when lube is commanded

[{iocontrol.0.lube\_level}] (bit, in) Should be driven TRUE when
lube level is high enough

[{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) The current tool number

[{iocontrol.0.tool-prep-number}] (s32, out) The number of the next
tool, from the RS274NGC T-word

[{iocontrol.0.tool-prepare}] (bit, out) TRUE when a 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
E-Stop condition exists

[{iocontrol.0.user-request-enable}] (bit, out) TRUE when the user
has requested that E-Stop be cleared