emcrsh − text-mode interface for commanding emc2 over the network
emcrsh [OPTIONS] [-- EMC_OPTIONS]
emcrsh is a user interface for emc2. Instead of popping up a GUI window like axis(1) and touchy(1) do, it processes text-mode commands that it receives via the network. A human (or a program) can interface with emcrsh using telnet(1) or nc(1) or similar programs.
All features of emc2 are available via the emcrsh interface.
-p,--port PORT_NUMBER
Specify the port for emcrsh to listen on. Defaults to 5007 if omitted.
-n,--name SERVER_NAME
Sets the server name that emcrsh will use to identify itself during handshaking with a new client. Defaults to EMCNETSVR if omitted.
-w,--connectpw PASSWORD
Specify the connection password to use during handshaking with a new client. Note that the password is sent in the clear, so it can be read by anyone who can read packets on the network between the server and the client. Defaults to EMC if omitted.
-e,--enablepw PASSWORD
Specify the password required to enable emc2 via emcrsh. Note that the password is sent in the clear, so it can be read by anyone who can read packets on the network between the server and the client. Defaults to EMCTOO if omitted.
-s,--sessions MAX_SESSIONS
Specify the maximum number of simultaneous connections. Defaults to -1 (no limit) if not specified.
In addition to the options listed above, emcrsh accepts an optional special EMC_OPTION at the end:
-ini EMC_INI_FILE
EMC .ini file to use. The -ini option must be preceeded by two dashes: "--". Defaults to emc.ini if omitted.
To use emcrsh instead of a normal emc2 GUI like axis or touch, specify it in your .ini file like this:
[DISPLAY]
DISPLAY=emcrsh
To use emcrsh in addition to a normal emc2 GUI, you can either start it at the end of your .hal file, or run it by hand in a terminal window.
To start it from hal, add a line like this to the end of your .hal file:
loadusr emcrsh [OPTIONS] [-- EMC_OPTIONS]
To start it from the terminal, run emcrsh manually like this:
emcrsh [OPTIONS] [-- EMC_OPTIONS]
Once emc is up and emcrsh is running, you can connect to it using telnet or nc or similar:
telnet HOST PORT
HOST is the hostname or IP address of the computer running emcrsh, and PORT is the port it’s listening on (5007 if you did not give emcrsh the --port option).
emcrsh accepts TCP connections on the port specified by the --port option, or 5007 if not specified.
The client sends requests, and the emcrsh server returns replies. Requests consist of a command word followed by optional command-specific parameters. Requests and most request parameters are case insensitive. The exceptions are passwords, file paths and text strings.
Requests and replies are terminated with the sequence ´\r\n´. ´\n´ alone won’t cut it.
The supported commands are as follows:
hello <password> <client> <version>
<password> must match emcrsh’s connect password, or "EMC" if no --connectpw was supplied. The three arguments may not contain whitespace. If a valid password was entered the server will respond with:
HELLO ACK <ServerName> <ServerVersion>
If an invalid password or any other syntax error occurs then the server responds with:
HELLO NAK
get <subcommand> [<parameters>]
The get command takes one of the emc sub-commands (described in the section EMC Subcommands, below) and zero or more additional subcommand-specific parameters.
set <subcommand> <parameters>
The set command takes one of the emc sub-commands (described in the section EMC Subcommands, below) and one or more additional parameters.
quit
The quit command disconnects the associated socket connection.
shutdown
The shutdown command tells EMC to shutdown and disconnect the session. This command may only be issued if the Hello has been successfully negotiated and the connection has control of the CNC (see enable subcommand in the EMC Subcommands section, below).
help
The help command will return help information in text format over the connection. If no parameters are specified, it will itemize the available commands. If a command is specified, it will provide usage information for the specified command. Help will respond regardless of whether a "Hello" has been successsfully negotiated.
Subcommands for get and set are:
echo {on|off}
With get, any on/off parameter is ignored and the current echo state is returned. With set, sets the echo state as specified. Echo defaults to on when the connection is first established. When echo is on, all commands will be echoed upon receipt. This state is local to each connection.
verbose {on|off}
With get, any on/off parameter is ignored and the current verbose state is returned. With set, sets the verbose state as specified. When verbose mode is on, all set commands return positive acknowledgement in the form SET <COMMAND> ACK, and text error messages will be issued (FIXME: I don’t know what this means). The verbose state is local to each connection, and starts out OFF on new connections.
enable {<passwd>|off}
The session’s enable state indicates whether the current connection is enabled to perform control functions. With get, any parameter is ignored, and the current enable state is returned. With set and a valid password matching emcrsh’s --enablepw (EMCTOO if not specified), the current connection is enabled for control functions. "OFF" may not be used as a password and disables control functions for this connection.
config [TBD]
Unused, ignore for now.
comm_mode {ascii|binary}
With get, any parameter is ignored and the current communications mode is returned. With set, will set the communications mode to the specified mode. The ascii mode is the text request/reply mode, the binary protocol is not currently designed or implemented.
comm_prot <version>
With get, any parameter is ignored and the current protocol version used by the server is returned. With set, sets the server to use the specified protocol version, provided it is lower than or equal to the highest version number supported by the server implementation.
inifile
Not currently implemented! With get, returns the string "emc.ini". Should return the full path and file name of the current configuration inifile. Setting this does nothing.
plat
With get, returns the string "Linux".
ini <var> <section>
Not currently implemented, do not use! Should return the string value of <var> in section <section> of the ini file.
debug <value>
With get, any parameter is ignored and the current integer value of EMC_DEBUG is returned. Note that the value of EMC_DEBUG returned is the from the UI’s ini file, which may be different than emc’s ini file. With set, sends a command to the EMC to set the new debug level, and sets the EMC_DEBUG global here to the same value. This will make the two values the same, since they really ought to be the same.
set_wait {none|received|done}
The set_wait setting controls the wait after receiving a command. It can be "none" (return right away), "received" (after the command was sent and received), or "done" (after the command was done). With get, any parameter is ignored and the current set_wait setting is returned. With set, set the set_wait setting to the specified value.
wait {received|done}
With set, force a wait for the previous command to be received, or done. This lets you wait in the event that "set_wait none" is in effect.
set_timeout <timeout>
With set, set the timeout for commands to return to <timeout> seconds. Timeout is a real number. If it’s <= 0.0, it means wait forever. Default is 0.0, wait forever.
update {none|auto}
The update mode controls whether to return fresh or stale values for "get" requests. When the update mode is "none" it returns stale values, when it’s "auto" it returns fresh values. Defaults to "auto" for new connections. Set this to "none" if you like to be confused.
error
With get, returns the current EMC error string, or "ok" if no error.
operator_display
With get, returns the current EMC operator display string, or "ok" if none.
operator_text
With get, returns the current EMC operator text string, or "ok" if none.
time
With get, returns the time, in seconds, from the start of the epoch. This starting time depends on the platform.
estop {on|off}
With get, ignores any parameters and returns the current estop setting as "on" or "off". With set, sets the estop as specified. Estop "on" means the machine is in the estop state and won’t run.
machine {on|off}
With get, ignores any parameters and returns the current machine power setting as "on" or "off". With set, sets the machine on or off as specified.
mode {manual|auto|mdi}
With get, ignores any parameters and returns the current machine mode. With set, sets the machine mode as specified.
mist {on|off}
With get, ignores any parameters and returns the current mist coolant setting. With set, sets the mist setting as specified.
flood {on|off}
With get, ignores any parameters and returns the current flood coolant setting. With set, sets the flood setting as specified.
lube {on|off}
With get, ignores any parameters and returns the current lube pump setting. With set, sets the lube pump setting as specified.
lube_level
With get, returns the lubricant level sensor reading as "ok" or "low". With set, mocks you for wishful thinking.
spindle {forward|reverse|increase|decrease|constant|off}
With get, any parameter is ignored and the current spindle state is returned as "forward", "reverse", "increase", "decrease", or "off". With set, sets the spindle as specified. Note that "increase" and "decrease" will cause a speed change in the corresponding direction until a "constant" command is sent.
brake {on|off}
With get, any parameter is ignored and the current brake setting is returned. With set, the brake is set as specified.
tool
With get, returns the id of the currently loaded tool.
tool_offset
With get, returns the currently applied tool length offset.
load_tool_table <file>
With set, loads the tool table specified by <file>.
home {0|1|2|...}
With set, homes the indicated axis.
jog_stop {0|1|2|...}
With set, stop any in-progress jog on the specified axis.
jog {0|1|2|...} <speed>
With set, jog the specified axis at <speed>; sign of speed is direction.
jog_incr {0|1|2|...} <speed> <incr>
With set, jog the indicated axis by increment <incr> at the <speed>; sign of speed is direction.
feed_override <percent>
With get, any parameter is ignored and the current feed override is returns (as a percentage of commanded feed). With set, sets the feed override as specified.
spindle_override <percent>
With get, any parameter is ignored and the current spindle override is returnd (as a percentage of commanded speed). With set, sets the spindle override as specified.
abs_cmd_pos [{0|1|...}]
With get, returns the specified axis’ commanded position in absolute coordinates. If no axis is specified, returns all axes’ commanded absolute position.
abs_act_pos [{0|1|...}]
With get, returns the specified axis’ actual position in absolute coordinates. If no axis is specified, returns all axes’ actual absolute position.
rel_cmd_pos [{0|1|...}]
With get, returns the specified axis’ commanded position in relative coordinates, including tool length offset. If no axis is specified, returns all axes’ commanded relative position.
rel_act_pos [{0|1|...}]
With get, returns the specified axis’ actual position in relative coordinates, including tool length offset. If no axis is specified, returns all axes’ actual relative position.
joint_pos [{0|1|...}]
With get, returns the specified joint’s actual position in absolute coordinates, excluding tool length offset. If no joint is specified, returns all joints’ actual absolute position.
pos_offset [{X|Y|Z|R|P|W}]
With get, returns the position offset associated with the world coordinate provided.
joint_limit [{0|1|...}]
With get, returns limit status of the specified joint as "ok", "minsoft", "minhard", "maxsoft", or "maxhard". If no joint number is specified, returns the limit status of all joints.
joint_fault [{0|1|...}]
With get, returns the fault status of the specified joint as "ok" or "fault". If no joint number is specified, returns the fault status of all joints.
joint_homed [{0|1|...}]
With get, returns the homed status of the specified joint as "homed" or "not". If no joint number is specified, returns the homed status of all joints.
mdi <string>
With set, sends <string> as an MDI command.
task_plan_init
With set, initializes the program interpreter.
open <filename>
With set, opens the named file.
run [<StartLine>]
With set, runs the opened program. If no StartLine is specified, runs from the beginning. If a StartLine is specified, start line, runs from that line. A start line of -1 runs in verify mode.
pause
With set, pause program execution.
resume
With set, resume program execution.
abort
With set, abort program or MDI execution.
step
With set, step the program one line.
program
With get, returns the name of the currently opened program, or "none".
program_line
With get, returns the currently executing line of the program.
program_status
With get, returns "idle", "running", or "paused".
program_codes
With get, returns the string for the currently active program codes.
joint_type [<joint>]
With get, returns "linear", "angular", or "custom" for the type of the specified joint (or for all joints if none is specified).
joint_units [<joint>]
With get, returns "inch", "mm", "cm", or "deg", "rad", "grad", or "custom", for the corresponding native units of the specified joint (or for all joints if none is specified). The type of the axis (linear or angular) is used to resolve which type of units are returned. The units are obtained heuristically, based on the EMC_AXIS_STAT::units numerical value of user units per mm or deg. For linear joints, something close to 0.03937 is deemed "inch", 1.000 is "mm", 0.1 is "cm", otherwise it’s "custom". For angular joints, something close to 1.000 is deemed "deg", PI/180 is "rad", 100/90 is "grad", otherwise it’s "custom".
program_units
Synonym for program_linear_units.
program_linear_units
With get, returns "inch", "mm", "cm", or "none", for the corresponding linear units that are active in the program interpreter.
program_angular_units
With get, returns "deg", "rad", "grad", or "none" for the corresponding angular units that are active in the program interpreter.
user_linear_units
With get, returns "inch", "mm", "cm", or "custom", for the corresponding native user linear units of the EMC trajectory level. This is obtained heuristically, based on the EMC_TRAJ_STAT::linearUnits numerical value of user units per mm. Something close to 0.03937 is deemed "inch", 1.000 is "mm", 0.1 is "cm", otherwise it’s "custom".
user_angular_units
Returns "deg", "rad", "grad", or "custom" for the corresponding native user angular units of the EMC trajectory level. Like with linear units, this is obtained heuristically.
display_linear_units
With get, returns "inch", "mm", "cm", or "custom", for the linear units that are active in the display. This is effectively the value of linearUnitConversion.
display_angular_units
With get, returns "deg", "rad", "grad", or "custom", for the angular units that are active in the display. This is effectively the value of angularUnitConversion.
linear_unit_conversion {inch|mm|cm|auto}
With get, any parameter is ignored and the active unit conversion is returned. With set, sets the unit to be displayed. If it’s "auto", the units to be displayed match the program units.
angular_unit_conversion {deg|rad|grad|auto}
With get, any parameter is ignored and the active unit conversion is returned. With set, sets the units to be displayed. If it’s "auto", the units to be displayed match the program units.
probe_clear
With set, clear the probe tripped flag.
probe_tripped
With get, return the probe state - has the probe tripped since the last clear?
probe_value
With get, return the current value of the probe signal.
probe
With set, move toward a certain location. If the probe is tripped on the way stop motion, record the position and raise the probe tripped flag.
teleop_enable [on|off]
With get, any parameter is ignored and the current teleop mode is returned. With set, sets the teleop mode as specified.
kinematics_type
With get, returns the type of kinematics functions used (identity=1, serial=2, parallel=3, custom=4).
override_limits {on|off}
With get, any parameter is ignored and the override_limits setting is returned. With set, the override_limits parameter is set as specified. If override_limits is on, disables end of travel hardware limits to allow jogging off of a limit. If parameters is off, then hardware limits are enabled.
optional_stop {0|1}
With get, any parameter is ignored and the current "optional stop on M1" setting is returned. With set, the setting is set as specified.
This section shows an example session. Bold items are typed by you, non-bold is machine output.
The user connects to emcrsh, handshakes with the server (hello), enables machine commanding from this session (set enable), brings the machine out of estop (set estop off) and turns it on (set machine on), homes all the axes, switches the machine to mdi mode, sends an MDI g-code command, then disconnects and shuts down emc.
> telnet
localhost 5007
Trying 127.0.0.1...
Connected to 127.0.0.1
Escape character is ’^]’.
hello EMC user-typing-at-telnet 1.0
HELLO ACK EMCNETSVR 1.1
set enable EMCTOO
set enable EMCTOO
set mode manual
set mode manual
set estop off
set estop off
set machine on
set machine on
set home 0
set home 0
set home 1
set home 1
set home 2
set home 2
set mode mdi
set mode mdi
set mdi g0x1
set mdi g0x1
shutdown
shutdown
Connection closed by foreign host.