.TH TURRET "9" "2007-08-31" "EMC Documentation" "HAL Component"
.SH NAME

turret \- This component controls the turret hardware for Kirk Wallace's Hardinge HNC turret. M6 calls this (via .hal file link - linkpp iocontrol.0.tool-change turret.0.ToolChange) to move the turret to the last T word value entered. Only position 1 through 8 are considered valid.
.SH SYNOPSIS
.B loadrt turret [count=\fIN\fB]
.SH FUNCTIONS
.TP
\fBturret.\fIN\fB\fR

.SH PINS
.TP
\fBturret.\fIN\fB.position-change\fR bit in \fR
A .hal file should connect this to iocontrol.X.tool-change.
.TP
\fBturret.\fIN\fB.position-requested\fR s32 in \fR
A .hal file should connect this pin to iocontrol.X.tool-prep-number. Only position 1 through 8 will be considered valid. Multiple tools at a position may be acomodated in the tool table.
.TP
\fBturret.\fIN\fB.position-current\fR s32 in \fR
A .hal file should connect this pin to a wsum.X.sum pin. wsum.X.bit.0.in through wsum.X.bit.3.in should be connected to A through C from the turret encoder board. The HNC turret encoder board will output a 0 (zero) between valid positions.
.TP
\fBturret.\fIN\fB.position-changed\fR bit out \fR
A .hal file should connect this to iocontrol.X.tool-changed to indicate to EMC when the position change is complete.
.TP
\fBturret.\fIN\fB.seek\fR bit out \fR
Connect this pin via .hal file to the turret rotate solenoid signal.
.TP
\fBturret.\fIN\fB.stop\fR bit out \fR
Connect this pin via .hal file to the turret stop solenoid signal.
.SH PARAMETERS
.TP
\fBturret.\fIN\fB.state-turret\fR s32 rw \fR
This parameter holds the value of the current state of the turret change process; idle, seeking, stopping, parking.
.TP
\fBturret.\fIN\fB.settle\fR s32 rw \fR
This parameter holds the initial value and then the count down of servo periods to allow settling of the turret mechanism before invoking next state proceedure.
.TP
\fBturret.\fIN\fB.settle-stop\fR s32 rw \fR
This is the initial settle time in servo periods between activating the stop solenoid and when the turret comes to rest.
.TP
\fBturret.\fIN\fB.settle-park\fR s32 rw \fR
This is the initial settle time in servo periods between deactivating the turret rotate solenoid and when the turret descends to the park position.