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This guide is for the person wiring, configuring, and commissioning a machine with Ctrl. It documents the available integration surfaces, their expected behavior, and what to check when the machine does not respond as expected.

HAL pin directions

HAL pin references are colored by direction:

Example	Direction	Meaning
component.input-pin	Input	The component reads the value; connect a signal source to this pin.
component.output-pin	Output	The component produces the value; use it as a signal source or inspect it.
component.io-pin	Bidirectional	The component can both read and write the shared value. Follow the page’s ownership guidance before connecting it.

The color describes the pin from the named component’s point of view. It is not an instruction to recreate connections already supplied by shipped scaffolding.

Safety comes first

The examples in this guide describe functional control, not safety functions. Emergency stop, safe torque off, guards, enabling devices, and safe motion must remain in the machine’s safety-rated system.

Before testing motion, verify the machine’s risk assessment, safety circuits, travel limits, axis directions, and a reliable way to stop movement.

Documentation versions

The version in the header tells you which Ctrl release the page describes. A release build uses its release tag, such as v0.3.0. The next version follows work in progress and may change before release.