1. EMC OPERATOR
1.1. EMC_OPERATOR_ERROR_TYPE
Description, NML Type: textual error message to the operator, 11
Written From: emccanon.cc, iosh.cc
Read To: emctaskmain.cc, emcsh.cc
Parameter, Type: [error, char[LINELEN]]
1.2. EMC_OPERATOR_TEXT_TYPE
Description, NML Type: textual information message to the operator, 12
Written From: emctaskmain.cc
Read To: emctaskmain.cc, emcsh.cc
Parameter, Type: [text, char[LINELEN]]
1.3. EMC_OPERATOR_DISPLAY_TYPE
Description, NML Type: URL or filename of a document to display, 13
Obs: not used, only read
Written From: none
Read To: emctaskmain.cc, emcsh.cc
Parameter, Type: [display, char[LINELEN]]
2. EMC NULL, SET, DEBUG, & SYSTEM
2.1. EMC_NULL_TYPE
Description, NML Type: used to reset serial number to original, 21
Written From: thisQuit (emcsh.cc)
Read To: emctaskmain.cc
Parameter, Type: none
2.2. EMC_SET_DEBUG_TYPE
Description, NML Type: sets debug level, 22
Written From: emcIoSetDebug (iotaskintf.cc), sendDebug (emcsh.cc)
Read To: emctaskmain.cc, ioControl.cc
Parameter, Type: [debug, int]
2.3. EMC_SYSTEM_CMD_TYPE
Description, NML Type: execute a system command, 30
Written From: user_defined_add_m_code (emctask.cc)
Read To: emcSystemCmd (emctaskmain.cc)
Parameter, Type: [string, char[LINELEN]]
3. EMC AXIS
3.1. EMC_AXIS_SET_AXIS_TYPE
Description, NML Type: axis type to linear or angular, 101
Obs: not used
Written From: none
Read To: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [axisType, unsigned char]
3.2. EMC_AXIS_SET_UNITS_TYPE
Description, NML Type: units conversion factor, 102
Obs: not used
Written From: none
Read To: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [units, double]
3.3. EMC_AXIS_SET_GAINS_TYPE
Description, NML Type: Set the PID gains, 103
Obs: currently not used in EMC2, needs to go to HAL
Written From: none
Read To: emctaskmain.cc
3.4. EMC_AXIS_SET_CYCLE_TIME_TYPE
Description, NML Type: cycle time for the servo task, 104
Written From: none
Read To: emctaskmain.cc
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [cycleTime, double]
3.5. EMC_AXIS_SET_INPUT_SCALE_TYPE
Description, NML Type: scale factor and offset for the position input, 105
Obs: currently if 0’ed, used only directly from iniaxis
Written From: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [scale, double] [offset, double]
3.6. EMC_AXIS_SET_OUTPUT_SCALE_TYPE
Description, NML Type: scale factor and offset for the position output, 106
Obs: currently if 0’ed, used only directly from iniaxis
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc)
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [scale, double] [offset, double]
3.7. EMC_AXIS_SET_MIN_POSITION_LIMIT_TYPE
Description, NML Type: sets min limit, 107
Obs: also handled by iniaxis which directly calls emcAxisSetMinPositionLimit
Written From: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [limit, double]
3.8. EMC_AXIS_SET_MAX_POSITION_LIMIT_TYPE
Description, NML Type: sets max limit, 108
Obs: also handled by iniaxis which directly calls emcAxisSetMaxPositionLimit
Written From: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [limit, double]
3.9. EMC_AXIS_SET_MIN_OUTPUT_LIMIT_TYPE
Description, NML Type: -, 109
Obs: not used
Written From: none
Read To: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [limit, double]
3.10. EMC_AXIS_SET_MAX_OUTPUT_LIMIT_TYPE
Description, NML Type: -, 110
Obs: not used
Written From: none
Read To: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [limit, double]
3.11. EMC_AXIS_SET_FERROR_TYPE
Description, NML Type: sets max following error, 111
Obs: also handled by iniaxis which directly calls emcAxisSetFerror
Written From: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [ferror, double]
3.12. EMC_AXIS_SET_HOMING_VEL_TYPE
Description, NML Type: -, 112
Obs: in EMC2 those are SET_HOMING_PARAMS double home, double offset, double search_vel, double latch_vel, int use_index, int ignore_limits,
Written From: none
Read To: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [ferror, double]
3.13. EMC_AXIS_SET_HOME_TYPE
Description, NML Type: -, 113
Written From: none
Read To: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [homingVel, double]
3.14. EMC_AXIS_SET_HOME_OFFSET_TYPE
Description, NML Type: -, 114
Written From: none
Read To: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [home, double]
3.15. EMC_AXIS_SET_MIN_FERROR_TYPE
Description, NML Type: sets min following error, 115
Obs: also handled by iniaxis which directly calls emcAxisSetMinFerror
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisSetMinFerror (taskintf.cc)
which sends EMCMOT_SET_MIN_FERROR
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [offset, double]
3.16. EMC_AXIS_SET_MAX_VELOCITY_TYPE
Description, NML Type: sets max. velocity, 116
Obs: not used
Written From: none
Read To: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [vel, double]
3.17. EMC_AXIS_INIT_TYPE
Description, NML Type: -, 118
Obs: not used
Written From: none
Read To: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int]
3.18. EMC_AXIS_HALT_TYPE
Description, NML Type: -, 119
Obs: not used, only read
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisHalt (taskintf.cc)
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int]
3.19. EMC_AXIS_ABORT_TYPE
Description, NML Type: aborts motion on an axis (e.g. GUI jogs), 120
Obs: used from the GUI when stopping a manual jog
Written From: sendJogStop (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisAbort (taskintf.cc)
which sends EMCMOT_AXIS_ABORT
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int]
3.20. EMC_AXIS_ENABLE_TYPE
Description, NML Type: enables axis, 121
Obs: not used from tkemc & mini
Written From: sendAxisEnable (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisEnable (taskintf.cc)
which sends EMCMOT_ENABLE_AMPLIFIER
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int]
3.21. EMC_AXIS_DISABLE_TYPE
Description, NML Type: disable axis, 122
Obs: not used from tkemc & mini
Written From: sendAxisDisable (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisDisable (taskintf.cc)
which sends EMCMOT_DISABLE_AMPLIFIER
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int]
3.22. EMC_AXIS_HOME_TYPE
Description, NML Type: home an axis at current position, 123
Obs: used from tkemc & mini through emc_home
Written From: sendHome (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisHome (taskintf.cc)
which sends EMCMOT_HOME
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int]
3.23. EMC_AXIS_JOG_TYPE
Description, NML Type: jogs an axis continuously, 124
Obs: used on jogging
Written From: sendJogCont (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisJog (taskintf.cc)
which sends EMCMOT_JOG_CONT
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [vel, double]
3.24. EMC_AXIS_INCR_JOG_TYPE
Description, NML Type: jogs an axis with an increment, 125
Obs: used on jogging
Written From: sendJogIncr (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisIncrJog (taskintf.cc)
which sends EMCMOT_JOG_INCR
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int]
incr, double] [vel, double]
3.25. EMC_AXIS_ABS_JOG_TYPE
Description, NML Type: jogs an axis with an absolute value, 126
Obs: not used, only read
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisAbsJog (taskintf.cc)
which sends EMCMOT_JOG_ABS
3.26. EMC_AXIS_ACTIVATE_TYPE
Description, NML Type: -, 127
Obs: not used
Written From: none
Read To: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int]
3.27. EMC_AXIS_DEACTIVATE_TYPE
Description, NML Type: -, 128
Obs: not used
Written From: none
Read To: none
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int]
3.28. EMC_AXIS_OVERRIDE_LIMITS_TYPE
Description, NML Type: overrides min/max limits during homing, 129
Obs: used from tkemc & mini through emc_override_limit
Written From: sendOverrideLimits (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisOverrideLimits (taskintf.cc)
which sends EMCMOT_OVERRIDE_LIMITS
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int]
3.29. EMC_AXIS_SET_OUTPUT_TYPE
Description, NML Type: sets an DAC output value, 130
Obs: currently not used in EMC2, needs to go to HAL
Written From: sendAxisSetOutput (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisSetOutput (taskintf.cc)
which sends EMCMOT_DAC_OUT
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [output, double]
3.30. EMC_AXIS_LOAD_COMP_TYPE
Description, NML Type: loads compensation values from a file, 131
Obs: currently usrmotLoadComp if 0’ed in EMC2
Written From: sendAxisLoadComp (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisLoadComp (minimill|bridgeporttaskintf.cc)
which calls usrmotLoadComp
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [file, char[LINELEN]]
3.31. EMC_AXIS_ALTER_TYPE
Description, NML Type: loads the alter value to modify the axis position, 132
Written From: sendAxisAlter (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisAlter (taskintf.cc)
which calls usrmotAlter
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [alter, double]
3.32. EMC_AXIS_SET_STEP_PARAMS_TYPE
Description, NML Type: was used to set step related params, 133
Obs: currently not used in EMC2, needs to go to HAL
(maybe directly from the ini, not through NML)
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcAxisSetStepParams (taskintf.cc)
which sends EMCMOT_SET_STEP_PARAMS
Parameter, Type: [axis (in EMC_AXIS_CMD_MSG), int] [setup_time, double] [hold_time, double]
3.33. EMC_AXIS_STAT_TYPE
Description, NML Type: status for axis, not sent as a message but used as is, 199
Written From: none
Read To: none
Parameter, Type: [a HUGE load of params]
4. EMC TRAJ
4.1. EMC_TRAJ_SET_AXES_TYPE
Description, NML Type: -, 201
Obs: not used
Written From: none
Read To: none
Parameter, Type: [axes, int]
4.2. EMC_TRAJ_SET_UNITS_TYPE
Description, NML Type: -, 202
Obs: not used
Written From: none
Read To: none
Parameter, Type: [linearUnits, double] [angularUnits, double]
4.3. EMC_TRAJ_SET_CYCLE_TIME_TYPE
Description, NML Type: -, 203
Obs: not used
Written From: none
Read To: none
Parameter, Type: [cycleTime, double]
4.4. EMC_TRAJ_SET_MODE_TYPE
Description, NML Type: -, 204
Obs: not used
Written From: none
Read To: none
Parameter, Type: [mode, enum EMC_TRAJ_MODE_ENUM]
4.5. EMC_TRAJ_SET_VELOCITY_TYPE
Description, NML Type: sends a request to set the vel, which is in internal units/sec, 205
Written From: sendVelMsg (emccanon.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajSetVelocity (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_SET_VEL
Parameter, Type: [velocity, double]
4.6. EMC_TRAJ_SET_ACCELERATION_TYPE
Description, NML Type: -, 206
Obs: not used
Written From: none
Read To: none
Parameter, Type: [acceleration, double]
4.7. EMC_TRAJ_SET_MAX_VELOCITY_TYPE
Description, NML Type: -, 207
Obs: not used
Written From: none
Read To: none
Parameter, Type: [velocity, double]
4.8. EMC_TRAJ_SET_MAX_ACCELERATION_TYPE
Description, NML Type: -, 208
Obs: not used
Written From: none
Read To: none
Parameter, Type: [acceleration, double]
4.9. EMC_TRAJ_SET_SCALE_TYPE
Description, NML Type: set the feed override to be the percent value, 209
Obs: used for feed override messages
Written From: sendFeedOverride (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajSetScale (taskintf.cc)
which sends EMCMOT_SCALE
Parameter, Type: [scale, double]
4.10. EMC_TRAJ_SET_MOTION_ID_TYPE
Description, NML Type: -, 210
Obs: not used
Written From: none
Read To: none
Parameter, Type: [id, int]
4.11. EMC_TRAJ_INIT_TYPE
Description, NML Type: -, 211
Obs: not used
Written From: none
Read To: none
Parameter, Type:
4.12. EMC_TRAJ_HALT_TYPE
Description, NML Type: -, 212
Obs: not used
Written From: none
Read To: none
Parameter, Type:
4.13. EMC_TRAJ_ENABLE_TYPE
Description, NML Type: -, 213
Obs: not used
Written From: none
Read To: none
Parameter, Type:
4.14. EMC_TRAJ_DISABLE_TYPE
Description, NML Type: -, 214
Obs: not used
Written From: none
Read To: none
Parameter, Type:
4.15. EMC_TRAJ_ABORT_TYPE
Description, NML Type: causes traj to abort ?, 215
Obs: not used, only read
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajAbort (taskintf.cc)
which sends EMCMOT_ABORT
Parameter, Type:
4.16. EMC_TRAJ_PAUSE_TYPE
Description, NML Type: causes traj to pause ?, 216
Obs: not used, only read
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajPause (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_PAUSE
Parameter, Type:
4.17. EMC_TRAJ_STEP_TYPE
Description, NML Type: -, 217
Obs: not used
Written From: none
Read To: none
Parameter, Type:
4.18. EMC_TRAJ_RESUME_TYPE
Description, NML Type: causes traj to resume ?, 218
Obs: not used, only read
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajResume (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_RESUME
Parameter, Type:
4.19. EMC_TRAJ_DELAY_TYPE
Description, NML Type: sets a delay in the task execution, 219
Obs: used with dwelling
Written From: DWELL (emccanon.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
Parameter, Type: [delay, double]
4.20. EMC_TRAJ_LINEAR_MOVE_TYPE
Description, NML Type: sends a linear move from the interp to motion, 220
Obs: used
Written From: STRAIGHT_TRAVERSE, ARC_FEED (emccanon.cc)
Read To: checkInterpList, emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajLinearMove (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_SET_LINE
Parameter, Type: [end, EmcPose]
4.21. EMC_TRAJ_CIRCULAR_MOVE_TYPE
Description, NML Type: sends a circular move from the interp to motion, 221
Obs: used
Written From: ARC_FEED (emccanon.cc)
Read To: checkInterpList, emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajCircularMove (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_SET_CIRCLE
4.22. EMC_TRAJ_SET_TERM_COND_TYPE
Description, NML Type: chooses between blending or exact path mode, 222
Obs: used, seems the interp knows exact PATH, STOP and BLEND, motion however knows only BLEND or STOP
Written From: SET_MOTION_CONTROL_MODE (emccanon.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajSetTermCond (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_TERM_COND_STOP or EMCMOT_TERM_COND_BLEND
Parameter, Type: [cond, int]
4.23. EMC_TRAJ_SET_OFFSET_TYPE
Description, NML Type: is used for tool length offset, 223
Obs: used, the message could transport more than just Z offset used for tool length
Written From: USE_TOOL_LENGTH_OFFSET (emccanon.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
` `remembers the origin offset into emcStatus->task.origin
Parameter, Type: [offset, EmcPose]
4.24. EMC_TRAJ_SET_ORIGIN_TYPE
Description, NML Type: sets the origin coords ?, 224
Obs: used
Written From: SET_ORIGIN_OFFSETS (emccanon.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
remembers the tool length offset
Parameter, Type: [origin, EmcPose]
4.25. EMC_TRAJ_SET_HOME_TYPE
Description, NML Type: -, 225
Obs: not used
Written From: none
Read To: none
Parameter, Type: [home, EmcPose]
4.26. EMC_TRAJ_SET_PROBE_INDEX_TYPE
Description, NML Type: sends the index pin used for probing, 226
Obs: should get obsolete, probin pin should get routed by HAL
Written From: sendSetProbeIndex (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajSetProbeIndex (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_SET_PROBE_INDEX
Parameter, Type: [index, int]
4.27. EMC_TRAJ_SET_PROBE_POLARITY_TYPE
Description, NML Type: sends the polarity for the pin used for probing, 227
Obs: should get obsolete, probin pin polarity should get routed by HAL
Written From: sendSetProbePolarity (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajSetProbePolarity (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_SET_PROBE_POLARITY
Parameter, Type: [polarity, int]
4.28. EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE
Description, NML Type: clears the probe tripped, 228
Obs: used
Written From: TURN_PROBE_ON (emccanon.cc)
sendClearProbeTrippedFlag (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajClearProbeTrippedFlag (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_CLEAR_PROBE_FLAGS
Parameter, Type:
4.29. EMC_TRAJ_PROBE_TYPE
Description, NML Type: performs a straight probe move, 229
Obs: used
Written From: STRAIGHT_PROBE (emccanon.cc) sendProbe (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajProbe (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_PROBE
Parameter, Type: [pos, EmcPose]
4.30. EMC_TRAJ_SET_TELEOP_ENABLE_TYPE
Description, NML Type: sets the traj mode to teleop, 230
Obs: used
Written From: sendSetTeleopEnable (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajSetMode (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_TELEOP
Parameter, Type: [enable, int]
4.31. EMC_TRAJ_SET_TELEOP_VECTOR_TYPE
Description, NML Type: jogs in teleop mode, 231
Obs: used for jogging in teleop mode
Written From: sendJogCont (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTrajSetTeleopVector (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_SET_TELEOP_VECTOR
Parameter, Type: [vector, EmcPose]
4.32. EMC_TRAJ_STAT_TYPE
Description, NML Type: status for traj, not sent as a message but used as is, 299
Written From: none
Read To: none
Parameter, Type: [a HUGE load of params]
5. EMC MOTION
5.1. EMC_MOTION_INIT_TYPE
Description, NML Type: -, 301
Obs: not used
Written From: none
Read To: none
Parameter, Type:
5.2. EMC_MOTION_HALT_TYPE
Description, NML Type: -, 302
Obs: not used
Written From: none
Read To: none
Parameter, Type:
5.3. EMC_MOTION_ABORT_TYPE
Description, NML Type: -, 303
Obs: not used
Written From: none
Read To: none
Parameter, Type:
5.4. EMC_MOTION_SET_AOUT_TYPE
Description, NML Type: sets an analog output value coordinated with motion, 304
Obs: emccanon.cc currently lacks this in EMC2, not used in EMC2, needs to go to HAL
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcMotionSetAout (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_SET_AOUT
5.5. EMC_MOTION_SET_DOUT_TYPE
Description, NML Type: sets an digital output value coordinated with motion, 305
Obs: emccanon.cc currently lacks this in EMC2, not used in EMC2, needs to go to HAL
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcMotionSetDout (minimill | bridgeporttaskintf.cc)
which sends EMCMOT_SET_DOUT
Parameter, Type: [index, unsigned char] [start, double] [end, double]
5.6. EMC_MOTION_STAT_TYPE
Description, NML Type: status for motion, not sent as a message but used as is, 399
Written From: none
Read To: none
6. EMC TASK
6.1. EMC_TASK_INIT_TYPE
Description, NML Type: calls the Task init(), 501
Obs: not used, emcTaskInit called directly from emctask_startup()
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc) calls emcTaskInit()
Parameter, Type:
6.2. EMC_TASK_HALT_TYPE
Description, NML Type: -, 502
Written From: none
Read To: none
Parameter, Type:
6.3. EMC_TASK_ABORT_TYPE
Description, NML Type: aborts task, cleans up, 503
Obs: used on shutdown
Written From: sendAbort (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc) aborts all
Parameter, Type:
6.4. EMC_TASK_SET_MODE_TYPE
Description, NML Type: sets current TASK mode, MANUAL, MDI, AUTO, 504
Obs: used for switching the current mode
Written From: sendManual sendMdi sendAuto (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcTaskSetMode (emcTask.cc)
Parameter, Type: [mode, enum EMC_TASK_MODE_ENUM]
6.5. EMC_TASK_SET_STATE_TYPE
Description, NML Type: , 505
Written From: none
Read To: none
Parameter, Type: [state, enum EMC_TASK_STATE_ENUM]
6.6. EMC_TASK_PLAN_OPEN_TYPE
Description, NML Type: , 506
Written From: none
Read To: none
Parameter, Type: [file, char[LINELEN]]
6.7. EMC_TASK_PLAN_RUN_TYPE
Description, NML Type: , 507
Written From: none
Read To: none
Parameter, Type: [line, int]
6.8. EMC_TASK_PLAN_READ_TYPE
Description, NML Type: , 508
Written From: none
Read To: none
Parameter, Type:
6.9. EMC_TASK_PLAN_EXECUTE_TYPE
Description, NML Type: , 509
Written From: none
Read To: none
Parameter, Type: [command, char[LINELEN]]
6.10. EMC_TASK_PLAN_PAUSE_TYPE
Description, NML Type: , 510
Written From: none
Read To: none
Parameter, Type:
6.11. EMC_TASK_PLAN_STEP_TYPE
Description, NML Type: , 511
Written From: none
Read To: none
Parameter, Type:
6.12. EMC_TASK_PLAN_RESUME_TYPE
Description, NML Type: , 512
Written From: none
Read To: none
Parameter, Type:
6.13. EMC_TASK_PLAN_END_TYPE
Description, NML Type: , 513
Written From: none
Read To: none
Parameter, Type:
6.14. EMC_TASK_PLAN_CLOSE_TYPE
Description, NML Type: , 514
Written From: none
Read To: none
Parameter, Type:
6.15. EMC_TASK_PLAN_INIT_TYPE
Description, NML Type: , 515
Written From: none
Read To: none
Parameter, Type:
6.16. EMC_TASK_PLAN_SYNCH_TYPE
Description, NML Type: , 516
Written From: none
Read To: none
Parameter, Type:
6.17. EMC_TASK_STAT_TYPE
Description, NML Type: , 599
Written From: none
Read To: none
Parameter, Type: [heartbeat, unsigned long int] [a HUGE load of params]
7. EMC TOOL
7.1. EMC_TOOL_INIT_TYPE
Description, NML Type: starts TOOL init, 1101
Obs: used for initializing the IO stuff, should load the tool table too
Written From: emcIoInit (iotaskintf.cc)
Read To: main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type:
7.2. EMC_TOOL_HALT_TYPE
Description, NML Type: stops TOOL, 1102
Obs: used for stopping IO, doesn’t actually do anything so far, in EMC1 it was send to subordinates too (spindle, aux, coolant, lube)
Written From: emcIoHalt (iotaskintf.cc)
Read To: main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type:
7.3. EMC_TOOL_ABORT_TYPE
Description, NML Type: aborts TOOL, 1103
Obs: used for aborting IO, doesn’t actually do anything so far, in EMC1 it was send to subordinates too (spindle, aux, coolant, lube)
Written From: emcIoAbort (iotaskintf.cc)
Read To: main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type:
7.4. EMC_TOOL_PREPARE_TYPE
Description, NML Type: prepares a tool for tool changing, 1104
Obs: loads the prep tool in emcioStatus.tool.toolPrepped, should go to PLC and make it move the desired tool in the toolchanging position
Written From: SELECT_TOOL (emccanon.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcToolPrepare (iotaskintf.cc)
which sends it to the IO controller
Parameter, Type: [tool, int]
7.5. EMC_TOOL_LOAD_TYPE
Description, NML Type: changes the current tool with the prepared tool, 1105
Obs: loads the actual tool, makes toolprepped=0
Written From: CHANGE_TOOL (emccanon.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcToolLoad (iotaskintf.cc)
which sends it to the IO controller,
main (simIoControl.cc ioControl.cc)
Parameter, Type:
7.6. EMC_TOOL_UNLOAD_TYPE
Description, NML Type: unloads the current tool from the spindle, 1106
Obs: unloads the current tool, not written in EMC2 only read
Written From: none
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcToolUnLoad (iotaskintf.cc)
which sends it to the IO controller,
main (simIoControl.cc ioControl.cc)
Parameter, Type:
7.7. EMC_TOOL_LOAD_TOOL_TABLE_TYPE
Description, NML Type: loads the tool table, without this tool comp. can’t be made, 1107
Written From: sendLoadToolTable (emcsh.cc)
Read To: none
Parameter, Type: [file, char[LINELEN]]
7.8. EMC_TOOL_SET_OFFSET_TYPE
Description, NML Type: , 1108
Written From: none
Read To: none
Parameter, Type: [tool, int] [length, double] [diameter, double]
7.9. EMC_TOOL_STAT_TYPE
Description, NML Type: , 1199
Written From: none
Read To: none
Parameter, Type:
8. EMC AUX
8.1. EMC_AUX_INIT_TYPE
Description, NML Type: , 1201
Written From: none
Read To: none
Parameter, Type:
8.2. EMC_AUX_HALT_TYPE
Description, NML Type: , 1202
Written From: none
Read To: none
Parameter, Type:
8.3. EMC_AUX_ABORT_TYPE
Description, NML Type: , 1203
Written From: none
Read To: none
Parameter, Type:
8.4. EMC_AUX_DIO_WRITE_TYPE
Description, NML Type: , 1204
Written From: none
Read To: none
Parameter, Type: [index, int] [value, int]
8.5. EMC_AUX_AIO_WRITE_TYPE
Description, NML Type: , 1205
Written From: none
Read To: none
Parameter, Type: [index, int] [value, double]
8.6. EMC_AUX_ESTOP_ON_TYPE
Description, NML Type: , 1206
Written From: none
Read To: none
Parameter, Type:
8.7. EMC_AUX_ESTOP_OFF_TYPE
Description, NML Type: , 1207
Written From: none
Read To: none
Parameter, Type:
8.8. EMC_AUX_STAT_TYPE
Description, NML Type: , 1299
Written From: none
Read To: none
9. EMC SPINDLE
9.1. EMC_SPINDLE_INIT_TYPE
Description, NML Type: , 1301
Written From: none
Read To: none
Parameter, Type:
9.2. EMC_SPINDLE_HALT_TYPE
Description, NML Type: , 1302
Written From: none
Read To: none
Parameter, Type:
9.3. EMC_SPINDLE_ABORT_TYPE
Description, NML Type: , 1303
Written From: none
Read To: none
Parameter, Type:
9.4. EMC_SPINDLE_ON_TYPE
Description, NML Type: , 1304
Written From: none
Read To: none
Parameter, Type: [speed, double]
9.5. EMC_SPINDLE_OFF_TYPE
Description, NML Type: , 1305
Written From: none
Read To: none
Parameter, Type:
9.6. EMC_SPINDLE_FORWARD_TYPE
Description, NML Type: , 1306
Written From: none
Read To: none
Parameter, Type: [speed, double]
9.7. EMC_SPINDLE_REVERSE_TYPE
Description, NML Type: , 1307
Written From: none
Read To: none
Parameter, Type: [speed, double]
9.8. EMC_SPINDLE_STOP_TYPE
Description, NML Type: , 1308
Written From: none
Read To: none
Parameter, Type: [speed, double]
9.9. EMC_SPINDLE_INCREASE_TYPE
Description, NML Type: , 1309
Written From: none
Read To: none
Parameter, Type: [speed, double]
9.10. EMC_SPINDLE_DECREASE_TYPE
Description, NML Type: , 1310
Written From: none
Read To: none
Parameter, Type:
9.11. EMC_SPINDLE_CONSTANT_TYPE
Description, NML Type: , 1311
Written From: none
Read To: none
Parameter, Type:
9.12. EMC_SPINDLE_BRAKE_RELEASE_TYPE
Description, NML Type: , 1312
Written From: none
Read To: none
Parameter, Type:
9.13. EMC_SPINDLE_BRAKE_ENGAGE_TYPE
Description, NML Type: , 1313
Written From: none
Read To: none
Parameter, Type:
9.14. EMC_SPINDLE_ENABLE_TYPE
Description, NML Type: , 1314
Written From: none
Read To: none
Parameter, Type:
9.15. EMC_SPINDLE_DISABLE_TYPE
Description, NML Type: , 1315
Written From: none
Read To: none
Parameter, Type:
9.16. EMC_SPINDLE_STAT_TYPE
Description, NML Type: , 1399
Written From: none
Read To: none
10. EMC COOLANT
10.1. EMC_COOLANT_INIT_TYPE
Description, NML Type: initializes the COOLANT controller (currently part of the IO controller), 1401
Obs: not written in EMC2, only read, in EMC1 it was sent when TOOL_INIT was sent
Written From: none
Read To: main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type: none
10.2. EMC_COOLANT_HALT_TYPE
Description, NML Type: stops the COOLANT, 1402
Obs: not written in EMC2, only read, in EMC1 it was sent when TOOL_HALT was sent
Written From: none
Read To: main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type: none
10.3. EMC_COOLANT_ABORT_TYPE
Description, NML Type: aborts the COOLANT, 1403
Obs: not written in EMC2, only read, in EMC1 it was sent when TOOL_ABORT was sent
Written From: none
Read To: main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type: none
10.4. EMC_COOLANT_MIST_ON_TYPE
Description, NML Type: starts MIST coolant, 1404
Obs: used, written by emccanon.cc
Written From: MIST_ON (emccanon.cc) sendMistOn (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcCoolantMistOn (iotaskintf.cc)
which sends it to the IO controller,
main (simIoControl.cc ioControl.cc) iosh.cc
Parameter, Type: none
10.5. EMC_COOLANT_MIST_OFF_TYPE
Description, NML Type: stops MIST coolant, 1405
Obs: used, written by emccanon.cc
Written From: MIST_OFF (emccanon.cc) sendMistOff (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcCoolantMistOff (iotaskintf.cc)
which sends it to the IO controller,
main (simIoControl.cc ioControl.cc) iosh.cc
Parameter, Type: none
10.6. EMC_COOLANT_FLOOD_ON_TYPE
Description, NML Type: starts FLOOD coolant, 1406
Obs: used, written by emccanon.cc
Written From: FLOOD_ON (emccanon.cc) sendFloodOn (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcCoolantFloodOn (iotaskintf.cc)
which sends it to the IO controller,
main (simIoControl.cc ioControl.cc) iosh.cc
Parameter, Type: none
10.7. EMC_COOLANT_FLOOD_OFF_TYPE
Description, NML Type: stops FLOOD coolant, 1407
Obs: used, written by emccanon.cc
Written From: FLOOD_OFF (emccanon.cc) sendFloodOff (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcCoolantFloodOff (iotaskintf.cc)
which sends it to the IO controller,
main (simIoControl.cc ioControl.cc) iosh.cc
Parameter, Type: none
10.8. EMC_COOLANT_STAT_TYPE
Description, NML Type: status for coolant, not sent as a message but used as is, 1499
Written From: none
Read To: none
Parameter, Type: [mist, int] [flood, int]
11. EMC LUBE
11.1. EMC_LUBE_INIT_TYPE
Description, NML Type: initializes the LUBE controller (currently part of the IO controller), 1501
Obs: not written in EMC2, only read, in EMC1 it was sent when TOOL_INIT was sent
Written From: none
Read To: main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type: none
11.2. EMC_LUBE_HALT_TYPE
Description, NML Type: stops the LUBE, 1502
Obs: not written in EMC2, only read, in EMC1 it was sent when TOOL_HALT was sent
Written From: none
Read To: main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type: none
11.3. EMC_LUBE_ABORT_TYPE
Description, NML Type: aborts the LUBE, 1503
Obs: not written in EMC2, only read, in EMC1 it was sent when TOOL_ABORT was sent
Written From: none
Read To: main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type: none
11.4. EMC_LUBE_ON_TYPE
Description, NML Type: starts LUBE, 1504
Obs: written only by the GUIs (emcsh.cc)
Written From: sendLubeOn (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcLubeOn (iotaskintf.cc)
which sends it to the IO controller,
main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type: none
11.5. EMC_LUBE_OFF_TYPE
Description, NML Type: stops LUBE, 1505
Obs: written only by the GUIs (emcsh.cc)
Written
From: sendLubeOff (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcLubeOff (iotaskintf.cc)
which sends it to the IO controller,
main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type: none
11.6. EMC_LUBE_STAT_TYPE
Description, NML Type: status for LUBE, not sent as a message but used as is, 1599
Written From: none
Read To: none
Parameter, Type: [on, int] [level, int]
12. EMC SET
12.1. EMC_SET_DIO_INDEX_TYPE
Description, NML Type: , 5001
Obs: not used
Written From: none
Read To: none
Parameter, Type: [value, int] [index, int]
12.2. EMC_SET_AIO_INDEX_TYPE
Description, NML Type: , 5002
Obs: not used
Written From: none
Read To: none
Parameter, Type: [value, int] [index, int]
12.3. EMC_SET_POLARITY_TYPE
Description, NML Type: , 5003
Obs: not used
Written From: none
Read To: none
Parameter, Type: [value, int] [polarity, int]
13. EMC IO
13.1. EMC_IO_INIT_TYPE
Description, NML Type: , 1601
Obs: not written in EMC2, only read
Written From: none
Read To: main (ioControl.cc simIoControl.cc)
emc_io_get_command (iosh.cc)
Parameter, Type:
13.2. EMC_IO_HALT_TYPE
Description, NML Type: , 1602
Obs: not used
Written From: none
Read To: none
Parameter, Type:
13.3. EMC_IO_ABORT_TYPE
Description, NML Type: , 1603
Obs: not used
Written From: none
Read To: none
Parameter, Type:
13.4. EMC_IO_SET_CYCLE_TIME_TYPE
Description, NML Type: , 1604
Obs: not used
Written From: none
Read To: none
Parameter, Type: [cycleTime, double]
13.5. EMC_IO_STAT_TYPE
Description, NML Type: status for IO, not sent as a message but used as is, 1699
Written From: none
Read To: none
14. EMC INIT, HALT, & ABORT
14.1. EMC_INIT_TYPE
Description, NML Type: , 1901
Obs: not used
Written From: none
Read To: none
Parameter, Type:
14.2. EMC_HALT_TYPE
Description, NML Type: , 1902
Obs: not used
Written From: none
Read To: none
Parameter, Type:
14.3. EMC_ABORT_TYPE
Description, NML Type: , 1903
Obs: not used
Written From: none
Read To: none
Parameter, Type:
15. EMC LOG
15.1. EMC_LOG_OPEN_TYPE
Description, NML Type: opens the log file, 1904
Obs: not used in EMC2, it was used in EMC[1] from emclog.tcl
Written From: sendLogOpen (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcLogOpen (taskintf.cc)
which sends EMCMOT_OPEN_LOG
15.2. EMC_LOG_START_TYPE
Description, NML Type: starts logging, 1905
Obs: not used in EMC2, it was used in EMC[1] from emclog.tcl
Written From: sendLogStart (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc) calls
emcLogStart (taskintf.cc)
which sends EMCMOT_START_LOG
Parameter, Type: none
15.3. EMC_LOG_STOP_TYPE
Description, NML Type: stops logging, 1906
Obs: not used in EMC2, it was used in EMC[1] from emclog.tcl
Written From: sendLogStop (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc) calls
emcLogStop (taskintf.cc)
which sends EMCMOT_STOP_LOG
Parameter, Type: none
15.4. EMC_LOG_CLOSE_TYPE
Description, NML Type: closes the log file, 1907
Obs: not used in EMC2, it was used in EMC[1] from emclog.tcl
Written From: sendLogClose (emcsh.cc)
Read To: emcTaskIssueCommand (emctaskmain.cc)
calls emcLogClose (taskintf.cc)
which sends EMCMOT_CLOSE_LOG
Parameter, Type: none
16. EMC STA T
16.1. EMC_STAT_TYPE
Description, NML Type: aggregation of all the status messages,
not sent as a message but used as is all over the place, 1999
Written From: none
Read To: none
Parameter, Type: [task, EMC_TASK_STAT]
[motion, EMC_MOTION_STAT]
[io, EMC_IO_STAT]
[logFile, char[LINELEN]]
[logType, int]
[logSize, int]
[logSkip, int]
logOpen, int] [logStarted, int] [logPoints, int]