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.TH "IOCONTROL - IOV2" "1"  "2021-04" "LinuxCNC Documentation" "The Enhanced Machine Controller"
.SH NAME
iov2 \- interacts with HAL or G-code in non-realtime
.SH SYNOPSIS

.B [EMCIO]
.br
.B EMCIO = iov2

.SH DESCRIPTION

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. 
.br
I/O Control V2 (iov2) adds more toolchager support for communication with the toolchanger.

Whether \fBio\fR or \fBiov2\fR is used can be chosen in the [EMCIO] section of the INI file.

.SH Pins
.SS Basic pins

.TP
\fBiocontrol.0.coolant\-flood
(Bit, Out) TRUE when flood coolant is requested.

.TP
\fBiocontrol.0.coolant\-mist 
(Bit, Out) TRUE when mist coolant is requested.

.TP
\fBiocontrol.0.emc\-enable\-in 
(Bit, In) Should be driven FALSE when an external estop condition exists.

.TP
\fBiocontrol.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.

.TP
\fBiocontrol.0.lube_level 
(Bit, In) Should be driven FALSE when lubrication tank is empty.

.TP
\fBiocontrol.0.tool\-change 
(Bit, Out) TRUE when a tool change is requested.

.TP
\fBiocontrol.0.tool\-changed 
(Bit, In) Should be driven TRUE when a tool change is completed.

.TP
\fBiocontrol.0.tool\-number
(s32, Out) Current tool number.

.TP
\fBiocontrol.0.tool\-prep\-number 
(s32, Out) The number of the next tool, from the RS274NGC T-word.

.TP
\fBiocontrol.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.

.TP
\fBiocontrol.0.tool\-prepare 
(Bit, Out) TRUE when a T\fIn\fR tool prepare is requested.

.TP
\fBiocontrol.0.tool\-prepared 
(Bit, In) Should be driven TRUE when a tool prepare is completed.

.TP
\fBiocontrol.0.user\-enable\-out 
(Bit, Out) FALSE when an internal estop condition exists.

.TP
\fBiocontrol.0.user\-request\-enable 
(Bit, Out) TRUE when the user has requested that estop be cleared.


.SS Additional IO v2 pins
\fBiocontrol.0.emc\-abort
(BIT,OUT) Signals emc\-originated abort to toolchanger.
.TP
\fBiocontrol.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. 
.TP
\fBiocontrol.0.emc\-reason
(S32,OUT) Convey cause for EMC\-originated abort to toolchanger.
Usage: UI informational. Valid during emc\-abort True. 
.TP
\fBiocontrol.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.
.TP
\fBiocontrol.0.start\-change\-ack
(BIT,IN) Acknowledgment line for start\-change.
.TP
\fBiocontrol.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.
.TP
\fBiocontrol.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.
.TP
\fBiocontrol.0.toolchanger\-reason
(S32,IN) Convey reason code for toolchanger\-originated fault to iov2. Usage
.TP
\fBiocontrol.0.toolchanger\-faulted
(BIT,OUT) Signals toolchanger\-notify line has toggled and toolchanger\-reason\-code was in the fault range.
Next M6 will abort.
.TP
\fBiocontrol.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.
.TP
\fBiocontrol.0.state
(S32,OUT) Debugging pin reflecting internal state.

.PP
See 
.UR http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ToolchangerProtocolProposal 
.UE
for additional information.


.SH SEE ALSO

.ie '\*[.T]'html' \{\

.UR io.1.html
\fBio\fR(1),
.UE
.UR iocontrol.1.html 
\fBiocontrol\fR(1),
.UE
.UR linuxcnc.1.html 
\fBLinuxCNC(1)\fR,
.UE

\}
.el \{\

\fBio\fR(1)
\fBiocontrol\fR(1)
\fBLinuxCNC(1)\fR

\}


.PP
.SH REPORTING BUGS
Report bugs at 
.UR https://github.com/LinuxCNC/linuxcnc/issues
.UE
.SH AUTHOR
Derived from a work by Fred Proctor & Will Shackleford.
.br
Rework & adding v2 protocol support by Michael Haberler.
.SH COPYRIGHT
Copyright \(co 2011 Michael Haberler.
.br
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.