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Copy file name to clipboardExpand all lines: docs/man/man1/iov2.1
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Usage: UI informational. Valid during emc\-abort True.
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.TP
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\fBiocontrol.0.start\-change
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(BIT,OUT) Asserted at the very beginning of an M6 operation, before any spindle\-off, quill\-up, or move\-to\-toolchange\-position oeprations are executed.
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(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.
Copy file name to clipboardExpand all lines: docs/man/man9/hm2_eth.9
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hm2_eth uses an iptables chain called "hm2\-eth\-rules\-output.
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That technology is common to control network access to (INPUT chain), through (FORWARD chain) or from (OUTPUT chain) your computer.
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Someone who has configured a firewall on Linux has encountered iptables and is familiar with that technology.
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This chain contains addtional rules to control network interface while HAL is running.
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This chain contains additional rules to control network interface while HAL is running.
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The chain is created if it does not exist, and a jump to it is inserted at the beginning of the OUTPUT chain if it is not there already.
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If you have an existing iptables setup, you can insert a direct jump from OUTPUT to hm2\-eth\-rules\-output in an order appropriate to your local network.
Copy file name to clipboardExpand all lines: docs/src/hal/intro.adoc
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* listen to what the machine wants to tell about the state it is in.
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. Vertical Abstractions: The human system integrator of such machine uses HAL
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* to describe what the machine is looking like and how what cable controls which motor that drives which axis.
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* The description of the machine, the programmer's interfaces and the user's interface somehow "meet" in that abtract layer.
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* The description of the machine, the programmer's interfaces and the user's interface somehow "meet" in that abstract layer.
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. Horizontal Abstractions:
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* Not all machines have all kinds of features
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* Mills, Lathes and Robots share many
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HAL lies at the core of LinuxCNC and is used and/or extended by all the parts of LinuxCNC, which includes the GUIs.
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The G-code (or alternative language) interpreter knows how to interpret the G-code and translates it into machine operations by triggering signals in HAL.
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The user may query HAL in various ways to gain information about its state, which then also represents the state of the machine.
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Whilst writing during the develpment of version 2.9, the GUIs still make bit of an exception to that rule and may know something that HAL does not (need to) know.
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Whilst writing during the development of version 2.9, the GUIs still make bit of an exception to that rule and may know something that HAL does not (need to) know.
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== Communication
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.HAL Components
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The many "expert" software parts of LinuxCNC are typically implemented as _components_ of HAL, conceptually also referred to as _modules_.
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These computer-implemented experts perpetually read from HAL about a state that the machine should strive to achieve and compare that desired state with the state the machine is in at the current moment.
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When there is a difference beween what should be and what the current state is then some action is performed to reduce that difference,
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When there is a difference between what should be and what the current state is then some action is performed to reduce that difference,
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while perpetually writing updates of the current states back to the HAL data space.
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There are components specializing on how to talk to stepper motors, and other components know how to control servos.
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