HAL Components<a id="cha:HAL-Components"></a>

Commands and Userspace Components

Some of these will have expanded descriptions from the man pages. Some will have limited descriptions. All of the components have man pages. From this list you know what components exist and can use man n name to get additional information. For example in a terminal window type

man 1 axis

to view the information in the man page.

[{axis-remote.1}] = AXIS Remote Interface

[{axis.1}] = AXIS EMC (The Enhanced Machine Controller) Graphical
User Interface

[{bfload.1}] = A program for loading a Xilinx Bitfile program into
the FPGA of an Anything I/O board from Mesa

[{comp.1}] = Build, compile and install EMC HAL components

[{emc.1}] = EMC (The Enhanced Machine Controller)

[{hal\_input.1}] = control HAL pins with any Linux input device,
including USB HID devices

[{halcmd.1}] = manipulate the Enhanced Machine Controller HAL from
the command line

[{halmeter.1}] = observe HAL pins, signals, and parameters

[{halrun.1}] = manipulate the Enhanced Machine Controller HAL from
the command line

[{halsampler.1}] = sample data from HAL in realtime

[{halstreamer.1}] = stream file data into HAL in real time

[{halui.1}] = observe HAL pins and command EMC through NML

[{io.1}] = accepts NML I/O commands, interacts with HAL in
userspace

[{iocontrol.1}] = accepts NML I/O commands, interacts with HAL in
userspace

[{pyvcp.1}] = Virtual Control Panel for EMC2

Realtime Components

Compute the absolute value and sign of the input signal

====== Loading

loadrt abs {[}count=N\|names=name1{[},name2...{]}{]}

====== Functions

addf abs.N\|name thread-name

====== Pins

abs.N.in (float in) Input value

abs.N.out (float out) Output Value, always positive

abs.N.sign (bit out) Sign of Input, false = positive, true = negative

The first abs loaded will be abs.0 and each one after that the Nnumber will increment.

Two-input AND gate. For out to be true both inputs must be true

====== Loading

loadrt and2 {[}count=N\|names=name1{[},name2...{]}{]}

====== Functions

addf and2.N\|name thread-name

====== Pins

and2.N.in0 (bit in) Input 0

and2.N.in1 (bit in) Input 1

and2.N.out (bit out) Output

at\_pid{atpid@at\\\_pid}

proportional/integral/derivative controller with auto tuning

accepts NML motion commands, interacts with HAL in realtime

Biquad IIR filter

bldc\_hall3{bldchall3@bldc\\\_hall3}

3-wire Bipolar trapezoidal commutation BLDC motor driver using Hall sensors

Perform linear interpolation between two values

====== Loading

loadrt blend {[}count=N\|names=name1{[},name2...{]}{]}

====== Functions

addf blend.N\|name thread-name

====== Pins

blend.N.in1 (float in) First input.

blend.N.in2 (float in) Second input.

blend.N.select (float in) Select input.

blend.N.out (float out) Output value.

====== Parameters

blend.N.open (bit r/w)

====== Description

If select is equal to 0.0 output is equal to in1.

If select is equal to 1.0, the output is equal to in2.

For select values between 0.0 and 1.0, the output changes linearly from in1 to in2.

If blend.N.open is true, select values outside the range 0.0 to 1.0 give values outside the range in1 to in2. If false, outputs are clamped to the the range in1 to in2

charge\_pump{chargepump@charge\\\_pump}

Create a square-wave for the charge pumpinput of some controller boards

====== Loading

loadrt charge\_pump

====== Functions

addf charge-pump

====== Pins

charge-pump.out (bit out)

charge-pump.enable (bit in) default = TRUE

====== Description

Outputs a square wave if enable is TRUE or unconnected, low if enable is FALSE

Two input version of Clarke transform

====== Loading

loadrt clarke2 {[}count=N\|names=name1{[},name2...{]}{]}

====== Functions

addf clarke2.N \| name

====== Pins

clarke2.N.a (float in) phase a input

clarke2.N.b (float in) phase b input

clarke2.N.x (float out) cartesian components of output

clarke2.N.y (float out) cartesian components of output

====== Description

The Clarke transform can be used to translate a vector quantity from a three phase system (three components 120 degrees apart) to a two phase Cartesian system.

clarke2 implements a special case of the Clarke transform, which only needs two of the three input phases. In a three wire three phase system, the sum of the three phase currents or voltages must always be zero. As a result only two of the three are needed to completely define the current or voltage. clarke2 assumes that the sum is zero, so it only uses phases A and B of the input. Since the H (homopolar) output will always be zero in this case, it is not generated.

Clarke (3 phase to cartesian) transform

====== Loading

loadrt clarke3 {[}count=N\|names=name1{[},name2...{]}{]}

====== Functions

addf clarke3.N \| name

====== Pins

clarke3.N.a (float in) three phase input vector

clarke3.N.b (float in) three phase input vector

clarke3.N.c (float in) three phase input vector

clarke3.N.x (float out) cartesian components of output

clarke3.N.y (float out) cartesian components of output

clarke3.N.h (float out) homopolar component of output

====== Description

The Clarke transform can be used to translate a vector quantity from a three phase system (three components 120 degrees apart) to a two phase Cartesian system (plus a homopolar component if the three phases don’t sum to zero).

clarke3 implements the general case of the transform, using all three phases. If the three phases are known to sum to zero, see clarke2 for a simpler version.

Inverse Clarke transform

====== Loading

loadrt clarkeinv {[}count=N\|names=name1{[},name2...{]}{]}

====== Functions

addf clarkeinv.N \| name

====== Pins

clarkeinv.N.x (float in) cartesian components of input

clarkeinv.N.y (float in) cartesian components of input

clarkeinv.N.h (float in) homopolar component of input (usually zero)

clarkeinv.N.a (float out) three phase output vector

clarkeinv.N.b (float out) three phase output vector

clarkeinv.N.c (float out) three phase output vector

====== Parameters

====== Description

The inverse Clarke transform can be used to translate a vector quantity from Cartesian coordinate system to a three phase system (three components 120 degrees apart).

Realtime software plc based on ladder logic

Two input comparator with hysteresis

Use a parameter to set the value of a pin

conv\_bit\_s32{convbits32@conv\\\_bit\\\_s32}

Convert a value from bit to s32

conv\_bit\_u32{convbitu32@conv\\\_bit\\\_u32}

Convert a value from bit to u32

conv\_float\_s32{convfloats32@conv\\\_float\\\_s32}

Convert a value from float to s32

conv\_float\_u32{convfloatu32@conv\\\_float\\\_u32}

Convert a value from float to u32

conv\_s32\_bit{convs32bit@conv\\\_s32\\\_bit}

Convert a value from s32 to bit

conv\_s32\_float{convs32float@conv\\\_s32\\\_float}

Convert a value from u32 to bit

conv\_s32\_u32{convs32u32@conv\\\_s32\\\_u32}

Convert a value from s32 to u32

conv\_u32\_bit{convu32bit@conv\\\_u32\\\_bit}

Convert a value from u32 to bit

conv\_u32\_float{convu32float@conv\\\_u32\\\_float}

Convert a value from u32 to float

conv\_u32\_s32{convu32s32@conv\\\_u32\\\_s32}

Convert a value from u32 to s32

counts input pulses (deprecated)

Compute the derivative of the input function

Return the center if within the threshold

filter noisy digital inputs, for more information see [sec:Debounce]

Edge detector

software counting of quadrature encoder signals, for more information see [sec:Encoder]

encoder\_ratio{encoderratio@encoder\\\_ratio}

an electronic gear to synchronize two axes

estop\_latch{estoplatch@estop\\\_latch}

ESTOP latch

Multiply the input by the ratio of current velocity to the feed rate

D type flip-flop

software step pulse generation

gantrykins

A kinematics module that maps one axis to multiple joints

Select from one two speed ranges

Gives six degrees of freedom in position and orientation (XYZABC). The location of the motors is defined at compile time.

genserkins

Kinematics that can model a general serial-link manipulator with up to 6 angular joints.

hm2\_7i43{hm27i43@hm2\\\_7i43}

HAL driver for the Mesa Electronics 7i43 EPP Anything IO board with HostMot2

hm2\_pci{hm2pci@hm2\\\_pci}

HAL driver for the Mesa Electronics 5i20, 5i22, 5i23, 4i65, and 4i68 Anything IO boards, with HostMot2 firmware

HAL driver for the Mesa Electronics HostMot2 firmware

Three-input hypotenuse (Euclidean distance) calculator

Low-pass filter with integer inputs and outputs

Integrator

Compute the inverse of the input signal

sets nonlinear joypad movements, deadbands and scales

kinematics definitions for emc2

Convert counts (probably from an encoder) to a float value

Limit the output signal to fall between min and max

Experimental general logic function component

Low-pass filter

Arbitrary 5-input logic function based on a look-up table

Compute the majority of 3 inputs

8-bit binary match detector

Kinematics for a tabletop 5 axis mill named maxwith tilting head (B axis) and horizintal rotary mounted to the table (C axis). Provides UVW motion in the rotated coordinate system. The source file, maxkins.c, may be a useful starting point for other 5-axis systems.

Track the minimum and maximum values of the input to the outputs

accepts NML motion commands, interacts with HAL in realtime

Product of two inputs

Select from one of two input values

Select from one of four input values

Select from one of eight input values

Determine whether two values are roughly equal

Inverter

Adds an offset to an input, and subtracts it from the feedback value

one-shot pulse generator

Two-input OR gate

proportional/integral/derivative controller, for more information see [sec:PID]

pluto\_servo{plutoservo@pluto\\\_servo}

Hardware driver and firmware for the Pluto-P parallel-port FPGA, for use with servos

pluto\_step{plutostep@pluto\\\_step}

Hardware driver and firmware for the Pluto-P parallel-port FPGA, for use with steppers

software PWM/PDM generation, for more information see [sec:PWMgen]

The X and Y axes are rotated 45 degrees compared to the joints 0 and 1.

sample\_hold{samplehold@sample\\\_hold}

Sample and Hold

sample data from HAL in real time

applies a scale and offset to its input

kinematics for SCARA-type robots

8-bit binary match detector

Hardware driver for the digital I/O bits of the 8250 and 16550 serial port

signal generator, for more information see [sec:Siggen]

sim\_encoder{simencoder@sim\\\_encoder}

simulated quadrature encoder, for more information see [sec:Simulated-Encoder]

Probe a pretend hemisphere

software step pulse generation, for more information see [sec:Stepgen]

Used by Stepconf to allow testing of acceleration and velocity values for an axis

stream file data into HAL in real time

Sum of two inputs (each with a gain) and an offset

set output pins with values from parameters (deprecated)

thc

Torch Height Control using a Mesa THC card.

creates hard realtime HAL threads

component for testing thread behavior

The equivalent of a time-delay relay

component that measures thread scheduling timing behavior

push-on, push-off from momentary pushbuttons

toggle button to nist logic

The joints represent the distance of the controlled point from three predefined locations (the motors), giving three degrees of freedom in position (XYZ)

tristate\_bit{tristatebit@tristate\\\_bit}

Place a signal on an I/O pin only when enabled, similar to a tristate buffer in electronics

tristate\_float{tristatefloat@tristate\\\_float}

Place a signal on an I/O pin only when enabled, similar to a tristate buffer in electronics

There is a 1:1 correspondence between joints and axes. Most standard milling machines and lathes use the trivial kinematics module.

Counts up or down, with optional limits and wraparound behavior

Window comparator

weighted\_sum{weightedsum@weighted\\\_sum}

convert a group of bits to an integer

Two-input XOR (exclusive OR) gate

====== Loading

====== Functions

====== Pins

====== Parameters

====== Description