HAL Component List

1. Components

Most of the commands in the following list have their own dedicated man pages. Some will have expanded descriptions, some will have limited descriptions. From this list you know what components exist, and you can use man name on your UNIX command line to get additional information. To view the information in the man page, in a terminal window type:

man axis

The one or other setup of a UNIX system may require to explicitly specify the section of the man page. If you do not find the man page or the name of the man page is already taken by another UNIX tool with the LinuxCNC man page residing in another section, then try to explicitly specify the section, as in man _section-no_ axis, with section-no = 1 for non-realtime and 9 for realtime components.

Nota	See also the Man Pages section of the docs main page or the directory listing. To search in the man pages, use the UNIX tool `apropos`.

1.1. User Interfaces (non-realtime)

1.1.1. Machine Control

axis	AXIS LinuxCNC (The Enhanced Machine Controller) GUI
axis-remote	Interfaz remota AXIS
gmoccapy	Touchy LinuxCNC Graphical User Interface
gscreen	Touchy LinuxCNC Graphical User Interface
halui	Observar los pines HAL y dar ordenes a LinuxCNC a través de NML
mdro	manual only Digital Read Out (DRO)
ngcgui	Framework for conversational G-code generation on the controller
panelui
pyngcgui	Implementación Python de NGCGUI
touchy	AXIS - TOUCHY LinuxCNC Graphical User Interface

1.1.2. Virtual Control Panels (VCP)

gladevcp	Panel de control virtual para LinuxCNC basado en widgets Glade, Gtk y HAL
gladevcp_demo	GladeVCP - used by sample configs to demonstrate Glade Virtual_demo
gremlin_view	G-code graphical preview
moveoff_gui	Interfaz gráfica de usuario para el componente moveoff
pyui	Utility for panelui
pyvcp	Panel de control virtual para LinuxCNC
pyvcp_demo	Python Virtual Control Panel demonstration component
qtvcp	Qt based virtual control panel

1.1.3. Vismach Virtual Machines

5axisgui	Vismach Virtual Machine GUI
hbmgui	Vismach Virtual Machine GUI
hexagui	Vismach Virtual Machine GUI
lineardelta	Vismach Virtual Machine GUI
maho600gui	hexagui - Vismach Virtual Machine GUI
max5gui	hexagui - Vismach Virtual Machine GUI
melfagui	Vismach Virtual Machine GUI
puma560gui	puma560agui - Vismach Virtual Machine GUI
pumagui	Vismach Virtual Machine GUI
rotarydelta	Vismach Virtual Machine GUI
scaragui	Vismach Virtual Machine GUI
xyzac-trt-gui	Vismach Virtual Machine GUI
xyzbc-trt-gui	Vismach Virtual Machine GUI
xyzab-tdr-gui	Vismach Virtual Machine GUI

1.2. Motion (non-realtime)

io	iocontrol - interactúa con HAL o código G en tiempo no-real
iocontrol	Interactúa con HAL o código G en tiempo no-real
mdi	Send G-code commands from the terminal to the running LinuxCNC instance
milltask	Controlador de tareas en tiempo no-real para LinuxCNC

1.3. Controladores de Hardware

1.3.1. VFD & Communication Interfaces (non-realtime)

elbpcom	Communicate with Mesa Ethernet cards
gs2_vfd	Componente HAL en tiempo no-real para VFDs de Automation Direct GS2
hy_gt_vfd	Componente HAL en tiempo no-real para VFDs de Huanyang serie GT
hy_vfd	Componente HAL en tiempo no-real para VFDs de Huanyang
mb2hal	MB2HAL is a generic non-realtime HAL component to communicate with one or more Modbus devices. Modbus RTU and Modbus TCP are supported.
mitsub_vfd	HAL non-realtime component for Mitsubishi A500 F500 E500 A500 D700 E700 F700-series VFDs (others may work)
monitor-xhc-hb04	Monitors the XHC-HB04 pendant and warns of disconnection
pi500_vfd	Powtran PI500 modbus driver
pmx485	Modbus communications with a Powermax Plasma Cutter
pmx485-test	Modbus communications testing with a Powermax Plasma Cutter
shuttle	controla los pines HAL con los dispositivos ShuttleXpress, ShuttlePRO y ShuttlePRO2 fabricados por Contour Design
svd-ps_vfd	Componente HAL de tiempo diferido para VDFs de SVD-P(S)
vfdb_vfd	Componente HAL de tiempo diferido para VFDs Delta VFD-B
vfs11_vfd	Componente HAL de tiempo diferido para VFDs Toshiba-Schneider VF-S11
wj200_vfd	Hitachi wj200 Modbus driver
xhc-hb04	Componente HAL en tiempo diferido para xhc-hb04 pendiente
xhc-hb04-accels	Obsolete script for jogging wheel
xhc-whb04b-6	Non-realtime jog dial HAL component for the wireless XHC WHB04B-6 USB device

1.4. Mesa and other I/O Cards (Realtime)

hal_ppmc	<< cha:pico-drivers,Controlador >> Pico Systems para servo analógico, PWM y motor a pasos
hal_bb_gpio	Driver for BeagleBone GPIO pins
hal_parport	Realtime HAL component to communicate with one or more PC parallel ports
hm2_7i43	Controlador Mesa Electronics para las tarjetas de E/S 7I43 EPP Anything con HostMot2. (Ver la página del manual para mas información)
hm2_7i90	Controlador HAL LinuxCNC para tarjetas de E/S Mesa Electronics 7I90 EPP Anything con firmware HostMot2
hm2_eth	Controlador HAL LinuxCNC para tarjetas Ethernet Anything IO de Mesa Electronics con firmware HostMot2
hm2_pci	Controlador Mesa Electronics para las tarjetas Anything I/O 5I20, 5I22, 5I23, 4I65 y 4I68 con firmware HostMot2. (Ver la página del manual para mas información)
hm2_rpspi	Controlador HAL LinuxCNC para las tarjetas de Mesa Electronics SPI Anything IO con firmware HostMot2
hm2_spi	Controlador HAL LinuxCNC para las tarjetas de Mesa Electronics SPI Anything IO con firmware HostMot2
hostmot2	Mesa Electronics driver for the HostMot2 firmware.
max31855	Support for the MAX31855 Thermocouple-to-Digital converter using bitbanged SPI
mesa_7i65	Controlador Mesa Electronics para la tarjeta servo de ocho ejes 7I65. (Ver la página del manual para mas información)
mesa_pktgyro_test	PktUART simple test with Microstrain 3DM-GX3-15 gyro
mesa_uart	An example component demonstrating how to access the Hostmot2 UART
opto_ac5	Realtime driver for opto22 PCI-AC5 cards
pluto_servo	Controlador Pluto-P y firmware para el puerto paralelo FPGA, para servos
pluto_step	Controlador Pluto-P para el puerto paralelo FPGA, para steppers
serport	Controlador de hardware para los bits de E/S digitales del puerto serie 8250 y 16550
setsserial	An utility for setting Smart Serial NVRAM parameters
sserial	hostmot2 - Smart Serial LinuxCNC HAL driver for the Mesa Electronics HostMot2 Smart-Serial remote cards

1.5. Utilities (non-realtime)

hal-histogram	Plots the value of a HAL pin as a histogram
halcompile	Construye, compila e instala componentes HAL de LinuxCNC
halmeter	Observar pines, señales y parámetros de HAL
halcmd	Manipula el HAL de LinuxCNC desde la línea de comandos
halcmd_twopass	Utility script used when parsing HAL files. It allows to have multiple load-commands for multiple instances of the same component.
halreport	Crea un reporte sobre el estado del HAL
halrmt	Interfaz de control remoto para LinuxCNC
halrun	Manipula el HAL de LinuxCNC desde la línea de comandos
halsampler	Muestreo de datos de HAL en tiempo real
halscope	Software oscilloscope for viewing real time waveforms of HAL pins and signals
halshow	Show HAL parameters, pins and signals
halstreamer	Transmitir archivos de datos a HAL en tiempo real
haltcl	Manipula el HAL de LinuxCNC desde la línea de comandos usando Tcl
image-to-gcode	Converts bitmap images to G-code
inivar	Query an INI file
latency-histogram	Plots histogram of machine latency
latency-plot	Another way to view latency numbers
latency-test	Tests the realtime system latency
linuxcncmkdesktop	Crea un icono de escritorio para LinuxCNC
modcompile	Utility for compiling Modbus drivers
motion-logger	Log motion commands sent from LinuxCNC
pncconf	Configuration wizard for Mesa cards
sim_pin	GUI for displaying and setting one or more HAL inputs
stepconf	Configuration wizard for parallel-port based machines
update_ini	Convierte archivos INI formato 2.7 a formato 2.8
debuglevel	Sets the debug level for the non-realtime part of LinuxCNC
emccalib	Adjust ini tuning variables on the fly with save option
hal_input	Controlar los pines HAL con cualquier dispositivo de entrada de Linux, incluidos los dispositivos USB HID
linuxcnc_info	Collects information about the LinuxCNC version and the host
linuxcnc_module_helper	Controls root access for system hardware
linuxcnc_var	Retrieves LinuxCNC variables
linuxcnc	LinuxCNC (El controlador de máquina mejorado)
linuxcnclcd	LinuxCNC Graphical User Interface for LCD character display
linuxcncrsh	Text-mode interface for commanding LinuxCNC over the network
linuxcncsvr	Allows network access to LinuxCNC internals via NML
linuxcnctop	Live LinuxCNC status description
rs274	Standalone G-code interpreter
schedrmt	Programador de tareas basado en Telnet para LinuxCNC
setup_designer	A script to configure the system for use of Qt Designer
teach-in	Jog the machine to a position, and record the state
tool_mmap_read	A component of the tool database system (an alternative to the classic tooltable)
tool_watch	A component of the tool database system (an alternative to the classic tooltable)
tooledit	Tooltable editor

1.6. Signal processing (Realtime)

1.6.1. Logic and Bitwise

and2	Compuerta AND de dos entradas. Para devolver TRUE, ambas entradas deben ser verdaderas. (and2)
bitwise	Computes various bitwise operations on the two input values
dbounce	Filtra entradas digitales ruidosas Detalles
debounce	Filter noisy digital inputs Details description
demux	Select one of several output pins by integer and/or or individual bits
edge	Detector de flanco
estop_latch	E-stop latch
flipflop	Flip-flop tipo D
logic	Componente de función lógica general
lut5	Función lógica de 5 entradas basada en una tabla de consulta (look-up table) descripción
match8	Detector de coincidencia binaria de 8 bits
multiclick	Single-, double-, triple-, and quadruple-click detector
multiswitch	Toggles between a specified number of output bits
not	Inverter
oneshot	Generador de disparos de un pulso
or2	Compuerta OR de dos entradas
reset	Restablece una señal de E/S
select8	8-bit binary match detector.
tof	IEC TOF timer - delay falling edge on a signal
toggle	Push-on, push-off de pulsadores momentáneos
toggle2nist	Botón alternante para logica nist
ton	IEC TON timer - delay rising edge on a signal
timedelay	Equivalent of a time-delay relay.
tp	IEC TP timer - generate a high pulse of defined duration on rising edge
tristate_bit	Coloca una señal en un pin de E/S solo cuando esté habilitado, similar a un buffer triestado en electrónica
tristate_float	Coloca una señal en un pin de E/S solo cuando esté habilitado, similar a un buffer triestado en electrónica
xor2	Compuerta XOR (O exclusivo) de dos entradas

1.6.2. Arithmetic and float

abs_s32	Calcula el valor absoluto y el signo de la señal de entrada
abs_s64	Calcula el valor absoluto y el signo de una señal de entrada entera de 64 bits
abs	Calcula el valor absoluto y el signo de una señal de entrada de punto flotante
biquad	Biquad IIR filter
blend	Realiza interpolación lineal entre dos valores
comp	Comparador de dos entradas con histéresis
counter	Counts input pulses (deprecated). Use the encoder component.
ddt	Computes the derivative of the input function.
deadzone	Returns the center if within the threshold.
div2	Quotient of two floating point inputs.
hypot	Three-input hypotenuse (Euclidean distance) calculator.
ilowpass	Low-pass filter with integer inputs and outputs
integ	Integrator
invert	Computes the inverse of the input signal.
filter_kalman	Unidimensional Kalman filter, also known as linear quadratic estimation (LQE)
knob2float	Converts counts (probably from an encoder) to a float value.
led_dim	HAL component for dimming LEDs
lowpass	Low-pass filter
limit1	Limita la señal de salida para que caiga entre mín y máx. [Cuando la entrada es una posición, esto significa que la posición está limitada.]
limit2	Limits the output signal to fall between min and max. Limit its slew rate to less than maxv per second. [When the input is a position, this means that position and velocity are limited.]
limit3	Limita la señal de salida para que caiga entre min y max. Limita su velocidad de giro a menos de maxv por segundo. Limita su segunda derivada a menos de MaxA por segundo al cuadrado. [Cuando la entrada es una posición, esto significa que la posición, velocidad, y aceleración están limitadas.] .
lincurve	One-dimensional lookup table
maj3	Calcula la mayor de 3 entradas
minmax	Tracks the minimum and maximum values of the input to the outputs.
mult2	Product of two inputs.
mux16	Select from one of 16 input values (multiplexer).
mux2	Select from one of two input values (multiplexer).
mux4	Select from one of four input values (multiplexer).
mux8	Select from one of eight input values (multiplexer).
mux_generic	Select one from several input values (multiplexer).
near	Determine whether two values are roughly equal.
offset	Adds an offset to an input, and subtracts it from the feedback value.
safety_latch	latch for error signals
sample_hold	Sample and Hold.
scaled_s32_sums	Suma de cuatro entradas (cada una con escala)
scale	Applies a scale and offset to its input.
sum2	Sum of two inputs (each with a gain) and an offset.
time	Accumulated run-time timer counts HH:MM:SS of active input.
timedelta	Component that measures thread scheduling timing behavior.
updown	Counts up or down, with optional limits and wraparound behavior.
wcomp	Window comparator.
watchdog	Monitor one to thirty-two inputs for a heartbeat.
weighted_sum	Convert a group of bits to an integer.
xhc_hb04_util	xhc-hb04 convenience utility

1.7. Signal generation (Realtime)

charge_pump	Creates a square-wave for the charge pump input of some controller boards.
pwmgen	Software PWM/PDM generation, see description.
siggen	Signal generator, see description.
sim_encoder	Simulated quadrature encoder, see description.
stepgen	Software step pulse generation, see description.

1.7.1. Type conversion

bin2gray	Converts a number to the gray-code representation
bitmerge	Converts individual input bits into an unsigned-32
bitslice	Converts an unsigned-32 input into individual bits
conv_bit_float	Convierte de bit a float
conv_bit_s32	Convierte de bit a s32
conv_bit_u32	Convierte de bit a u32
conv_float_s32	Convierte de float a s32
conv_float_u32	Convierte de float a u32
conv_s32_bit	Convierte un valor s32 a bit
conv_s32_float	Convierte un valor s32 a float
conv_s32_u32	Convierte un valor s32 a u32
conv_u32_bit	Convierte un valor u32 a bit
conv_u32_float	Convierte un valor u32 a float
conv_u32_s32	Convierte un valor u32 a s32
conv_bit_s64	Convierte un valor bit a s64
conv_bit_u64	Convierte un valor bit a u64
conv_float_s64	Convierte un valor float a s64
conv_float_u64	Convierte un valor float a u64
conv_s32_s64	Convierte un valor s32 a s64
conv_s32_u64	Convierte un valor s32 a u64
conv_s64_bit	Convierte un valor s64 a bit
conv_s64_float	Convierte un valor s64 a float
conv_s64_s32	Convierte un valor s64 a s32
conv_s64_u32	Convierte un valor s64 a u32
conv_s64_u64	Convierte un valor s64 a u64
conv_u32_s64	Convierte un valor u32 a s64
conv_u32_u64	Convierte un valor u32 a u64
conv_u64_bit	Convierte un valor u64 a bit
conv_u64_float	Convierte un valor u64 a float
conv_u64_s32	Convierte un valor u64 a s32
conv_u64_s64	Convierte un valor u64 a s64
conv_u64_u32	Convierte un valor u64 a u32
gray2bin	Converts gray-code input to binary

1.8. Kinematics (Realtime)

corexy_by_hal	CoreXY kinematics
differential	Cinemática para una transmisión diferencial
gantry	LinuxCNC HAL component for driving multiple joints from a single axis
gantrykins	Kinematics module that maps one axis to multiple joints.
genhexkins	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.
gentrivkins	Correspondencia 1:1 entre articulaciones y ejes. La mayoría de las fresadoras y tornos estándar utilizan el módulo de cinemática trivial.
kins	Kinematics definitions for LinuxCNC.
lineardeltakins	Cinemática para un robot delta lineal
matrixkins	Calibrated kinematics for 3-axis machines
maxkins	Kinematics for a tabletop 5 axis mill named max with tilting head (B axis) and horizontal rotary mounted to the table (C axis). Provides UVW motion in the rotated coordinate system.
millturn	Switchable kinematics for a mill-turn machine
pentakins
pumakins	Kinematics for PUMA-style robots.
rosekins	Kinematics for a rose engine
rotatekins	The X and Y axes are rotated 45 degrees compared to the joints 0 and 1.
scarakins	Kinematics for SCARA-type robots.
tripodkins	The joints represent the distance of the controlled point from three predefined locations (the motors), giving three degrees of freedom in position (XYZ).
userkins	Template for user-built kinematics
xyzab_tdr_kins	Switchable kinematics for 5 axis machine with rotary table A and B
xyzacb_trsrn	Switchable kinematics for 6 axis machine with a rotary table C, rotary spindle B and nutating spindle A
xyzbca_trsrn	Switchable kinematics for 6 axis machine with a rotary table B, rotary spindle C and nutating spindle A

1.9. Motion control (Realtime)

feedcomp	Multiply the input by the ratio of current velocity to the feed rate.
homecomp	Homing module template
limit_axis	Dynamic range based axis limits
motion	Acepta comandos de movimiento NML e interactúa con HAL en tiempo real
simple_tp	This component is a single axis simple trajectory planner, same as used for jogging in LinuxCNC.
tpcomp	Trajectory Planning (tp) module skeleton

1.10. Motor control (Realtime)

at_pid	Proportional/integral/derivative controller with auto tuning.
bldc	BLDC and AC-servo control component
clarke2	Versión de dos entradas de la transformada de Clarke
clarke3	Transformada Clarke (3 fases a cartesiana)
clarkeinv	Transformada Clarke inversa
encoder	Software counting of quadrature encoder signals, see description.
pid	Proportional/integral/derivative controller, description.
pwmgen	Software PWM/PDM generation, see description.
stepgen	Software step pulse generation, see description.

1.11. Simulation/Testing

axistest	Used to allow testing of an axis. Used In PnCConf.
rtapi_app	creates a simulated real time environment
sim-torch	A simulated plasma torch
sim_axis_hardware	A component to simulate home and limit switches
sim_home_switch	Home switch simulator
sim_matrix_kb	convert HAL pin inputs to key codes
sim_parport	A component to simulate the pins of the hal_parport component
sim_spindle	Simulated spindle with index pulse
simulate_probe	simulate a probe input

1.12. Other (Realtime)

anglejog	Jog two axes (or joints) at an angle
classicladder	Realtime software PLC based on ladder logic. See ClassicLadder chapter for more information.
charge_pump	Creates a square-wave for the charge pump input of some controller boards.
encoder_ratio	Electronic gear to synchronize two axes.
enum	Enumerate integer values into bits
eoffset_per_angle	Compute External Offset Per Angle
gladevcp (Realtime)	muestra paneles de control virtuales construidos con GTK/GLADE
histobins	Histogram bins utility for scripts/hal-histogram
joyhandle	Sets nonlinear joypad movements, deadbands and scales.
latencybins	Comp utility for scripts/latency-histogram
message	Display a message
moveoff	Component for HAL-only offsets
raster	Outputs laser power based upon pre programmed rastering data
sampler	Sample data from HAL in real time.
siggen	Signal generator, see description.
sphereprobe	Probe a pretend hemisphere.
threads	Creates hard realtime HAL threads.
threadtest	Component for testing thread behavior.
steptest	Used by StepConf to allow testing of acceleration and velocity values for an axis.
streamer	Stream file data into HAL in real time.
supply	Set output pins with values from parameters (deprecated).

1.12.1. Other Hardware interfaces (Realtime)

laserpower	Scales laser power output based upon velocity input power and distance to go
lcd	Transmitir datos HAL a una pantalla LCD
matrix_kb	Convert integers to HAL pins. Optionally scan a matrix of I/O ports to create those integers.

1.12.2. Spindle related

gearchange	Select from one of two speed ranges.
orient	Provide a PID command input for orientation mode based on current spindle position, target angle and orient mode
spindle	Control a spindle with different acceleration and deceleration and optional gear change scaling
spindle_monitor	Spindle at-speed and underspeed detection

1.12.3. Tool related

carousel	Orient a toolchanger carousel using various encoding schemes
hal_manualtoolchange	HAL non-realtime component to enable manual tool changes&.

1.12.4. Plasma cutter related

thc	Control de la altura de antorcha utilizando una tarjeta Mesa THC o cualquier análogo a entrada de velocidad
thcud	Torch Height Control Up/Down Input
ohmic	LinuxCNC HAL component that uses a Mesa THCAD (A/D card) for ohmic sensing
plasmac	A plasma cutter controller

2. HAL API calls

hal_add_funct_to_thread.3
hal_bit_t.3
hal_create_thread.3
hal_del_funct_from_thread.3
hal_exit.3
hal_export_funct.3
hal_export_functf.3
hal_float_t.3
hal_get_lock.3
hal_init.3
hal_link.3
hal_malloc.3
hal_param_bit_new.3
hal_param_bit_newf.3
hal_param_float_new.3
hal_param_float_newf.3
hal_param_new.3
hal_param_s32_new.3
hal_param_s32_newf.3
hal_param_u32_new.3
hal_param_u32_newf.3
hal_parport.3
hal_pin_bit_new.3
hal_pin_bit_newf.3
hal_pin_float_new.3
hal_pin_float_newf.3
hal_pin_new.3
hal_pin_s32_new.3
hal_pin_s32_newf.3
hal_pin_u32_new.3
hal_pin_u32_newf.3
hal_ready.3
hal_s32_t.3
hal_set_constructor.3
hal_set_lock.3
hal_signal_delete.3
hal_signal_new.3
hal_start_threads.3
hal_type_t.3
hal_u32_t.3
hal_unlink.3
hal.3

3. RTAPI calls

EXPORT_FUNCTION.3
MODULE_AUTHOR.3
MODULE_DESCRIPTION.3
MODULE_LICENSE.3
RTAPI_MP_ARRAY_INT.3
RTAPI_MP_ARRAY_LONG.3
RTAPI_MP_ARRAY_STRING.3
RTAPI_MP_INT.3
RTAPI_MP_LONG.3
RTAPI_MP_STRING.3
rtapi.3
rtapi_app_exit.3
rtapi_app_main.3
rtapi_clock_set_period.3
rtapi_delay.3
rtapi_delay_max.3
rtapi_exit.3
rtapi_get_clocks.3
rtapi_get_msg_level.3
rtapi_get_time.3
rtapi_inb.3
rtapi_init.3
rtapi_module_param.3
RTAPI_MP_ARRAY_INT.3
RTAPI_MP_ARRAY_LONG.3
RTAPI_MP_ARRAY_STRING.3
RTAPI_MP_INT.3
RTAPI_MP_LONG.3
RTAPI_MP_STRING.3
rtapi_mutex.3
rtapi_outb.3
rtapi_print.3
rtapi_prio.3
rtapi_prio_highest.3
rtapi_prio_lowest.3
rtapi_prio_next_higher.3
rtapi_prio_next_lower.3
rtapi_region.3
rtapi_release_region.3
rtapi_request_region.3
rtapi_set_msg_level.3
rtapi_shmem.3
rtapi_shmem_delete.3
rtapi_shmem_getptr.3
rtapi_shmem_new.3
rtapi_snprintf.3
rtapi_task_delete.3
rtapi_task_new.3
rtapi_task_pause.3
rtapi_task_resume.3
rtapi_task_start.3
rtapi_task_wait.3