HAL Interface

HAL Interface

Pokeys Pin

Count: 55

Parameters

• pokeys.[DevID].Pin.[PinID].PinFunction int PinFunction to be set for corresponding pin see ePK_PinCap

the PinFunction can be set using followin enumeration. Note that e.g. digitalInput or digitalOutput could be directly inverted on pokeys by adding value 128 (PK_PinCap_digitalOutput+PK_PinCap_invertPin or 2 + 128 = 130):

add. Note: for PK_PinCap_analogOutput has not been used so far currently only PWM functionality has been used instead that is what is being used for (pins 18, 20, 21 and 22)

      enum ePK_PinCap
      {
          PK_PinCap_pinRestricted  = 0,           // Pin is not used
          PK_PinCap_reserved       = 1,           // --
          PK_PinCap_digitalInput   = 2,           // Digital input
          PK_PinCap_digitalOutput  = 4,           // Digital output
          PK_PinCap_analogInput    = 8,           // Analog input (only on selected pins)
          PK_PinCap_analogOutput   = 16,          // Analog output (only on selected pins)
          PK_PinCap_triggeredInput = 32,          // Triggered input
          PK_PinCap_digitalCounter = 64,          // Digital counter (only on selected pins)
          PK_PinCap_invertPin      = 128          // Invert digital pin polarity (set together with digital input, output or triggered input)
      };

Digital Input

Count: 55

Pins

• pokeys.[DevID].digin.[PinID].in bit State of the hardware input
• pokeys.[DevID].digin.[PinID].in-not bit Inverted state of the input.

Parameters

• pokeys.[DevID].digin.[PinID].invert bit invert Pin on pokeys using PK_PinCap_invertPin on PinFunction

Digital Output

Count: 55

Pins

• pokeys.[DevID].digout.[PinID].out bit Value to be written (possibly inverted) to the hardware output

Parameters

• pokeys.[DevID].digout.[PinID].invert bit invert Pin on pokeys using PK_PinCap_invertPin on PinFunction

Analog Input

Count: 7

Pins

• pokeys.[DevID].adcin.[AdcId].value-raw float The hardware reading
• pokeys.[DevID].adcin.[AdcId].value float The hardware reading, scaled according to the scale and offset parameters

Parameters

• pokeys.[DevID].adcin.[AdcId].scale float The input voltage (or current) will be multiplied by scale before being output to value
• pokeys.[DevID].adcin.[AdcId].offset float This will be subtracted from the hardware input voltage (or current) after the scale multiplier has been applied

Analog Output (PWM)

Count: 6

Pins

• pokeys.[DevID].adcout.[AdcId].value: The value to be written. The actual value output to the hardware will depend on the scale and offset parameters
• pokeys.[DevID].adcout.[AdcId].enable: If false, then output 0 to the hardware, regardless of the value pin

Parameters

• pokeys.[DevID].adcout.[AdcId].offset: This will be added to the value before the hardware is updated
• pokeys.[DevID].adcout.[AdcId].scale: This should be set so that an input of 1 on the value pin will cause 1V
• pokeys.[DevID].adcout.[AdcId].high_limit: When calculating the value to output to the hardware, if value + offset is greater than high_limit, then high_limit will be used instead
• pokeys.[DevID].adcout.[AdcId].low_limit: When calculating the value to output to the hardware, if value + offset is less than low_limit, then low_limit will be used instead
• pokeys.[DevID].adcout.[AdcId].max_v: Max output voltage
• pokeys.[DevID].adcout.pwm.period: PWM period, shared among all channels

Encoder

Count: 29

Pins

• pokeys.[DevID].encoder.[EncId].count; S32 Encoder value in counts.
• pokeys.[DevID].encoder.[EncId].position; FLOAT Encoder value in position units (see parameter “scale”).
• pokeys.[DevID].encoder.[EncId].velocity; FLOAT Velocity in position units per second
• pokeys.[DevID].encoder.[EncId].reset; BIT When True, force counter to zero
• pokeys.[DevID].encoder.[EncId].index-enable; BIT (bidirectional) When True, reset to zero on next index pulse, and set pin False.

Parameters

• pokeys.[DevID]. encoder.[EncId].scale FLOAT "The scale factor used to convert counts to position units. It is in “counts per position unit”";

Real-Time Clock

Pins

• pokeys.[DevID].rtc.sec: Second
• pokeys.[DevID].rtc.min: Minute
• pokeys.[DevID].rtc.hour: Hour
• pokeys.[DevID].rtc.dow: Day of week
• pokeys.[DevID].rtc.dom: Day of month
• pokeys.[DevID].rtc.doy: Day of year
• pokeys.[DevID].rtc.month: Month
• pokeys.[DevID].rtc.year: Year
• pokeys.[DevID].rtc.loop_frequ: Actual loop frequency of pokeys.comp updated after rtc.sec changed
• pokeys.[DevID].rtc.loop_frequ_demand: Demand value for loop frequency (if 0, default of 10Hz will be used)

Pulse Engine

Pulse Generator options

Motion Parameters

Emergency Pin

Limit Switches

Home/Ref switch

Axis enable output pin

Aux. outputs

This section provides access to external Relay and Open-Collector (OC) outputs available on PoKeys devices that support Pulse Engine v2 (PEv2).

HAL Pins

The following HAL output pins are exposed by the component:

Relay Outputs

pokeys.[DevID].PEv2.digout.ExternalRelay-0.out pokeys.[DevID].PEv2.digout.ExternalRelay-1.out pokeys.[DevID].PEv2.digout.ExternalRelay-2.out pokeys.[DevID].PEv2.digout.ExternalRelay-3.out

OC Outputs

pokeys.[DevID].PEv2.digout.ExternalOC-0.out pokeys.[DevID].PEv2.digout.ExternalOC-1.out pokeys.[DevID].PEv2.digout.ExternalOC-2.out pokeys.[DevID].PEv2.digout.ExternalOC-3.out

These pins correspond to the checkboxes shown in the Aux. outputs section of the PoKeys configuration utility:

Relay Outputs

UI Label	HAL Pin	PoKeys57CNC	PoKeys57CNCpro4x25	PoKeysCNCaddon
0	pokeys.[DevID].PEv2.digout.ExternalRelay-0.out	SSR1	FAN Control	Relay1
1	pokeys.[DevID].PEv2.digout.ExternalRelay-1.out	SSR2	Plasma Relay	Relay2
2	pokeys.[DevID].PEv2.digout.ExternalRelay-2.out	Relay1	Relay1	Relay3
3	pokeys.[DevID].PEv2.digout.ExternalRelay-3.out	Relay2	Relay2	Relay4

Open-Collector (OC) Outputs

UI Label	HAL Pin	PoKeys57CNC	PoKeys57CNCpro4x25	PoKeysCNCaddon
0	pokeys.[DevID].PEv2.digout.ExternalOC-0.out	OC1	OC1	OC1
1	pokeys.[DevID].PEv2.digout.ExternalOC-1.out	OC2	OC2	OC2
2	pokeys.[DevID].PEv2.digout.ExternalOC-2.out	OC3	OC3	OC3
3	pokeys.[DevID].PEv2.digout.ExternalOC-3.out	OC4	OC4	OC4

ℹ️ Note: These mappings are automatically applied at runtime based on the detected device type. You don't need to change your HAL file — the component ensures correct hardware control behind the scenes.

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Example Usage

You can assign a logical signal to control a relay like this:

net floodlight-control => pokeys.0.PEv2_digout_ExternalRelay_out[2]

MPG jog setup

Pulse Engine State

Parameters