This documentation refers to emc2 version 2.3.2~pre.

Getting Started

• Introduction to EMC2 (fr)
• System Requirements (fr)
• Getting EMC2 Guide (fr)
• Installing EMC2 (fr
• Stepper Diagnostics (fr)
• Linux FAQ (fr)

Configuration

• Configuration Wizard for Stepper-Based Machines (fr)
• Basic Configuration (fr)
• Homing Configuration (fr)
• EMC2's interface to HAL (fr)

G Code

• Important User Concepts (fr)
• G Code Overview
• The EMC2 G Code Language (fr)
• Coordinate Systems (fr)
• Canned Cycles (fr)
• Tool Shape Compensation (fr)
• G Code quick reference (fr)
• G Code Examples (fr)

User Interfaces

• MINI (fr)
• AXIS (fr)
• halui (fr)
• TkEmc (fr)
• KeyStick (fr)
• Image-to-gcode (fr)

User Concepts

• Important User Concepts (fr)
• Lathe User Information (fr)

HAL

• Introduction (fr)
• Basic HAL Info (fr)
• General Reference (fr)
• HAL Examples (fr)
• Tools (fr)
• Halshow (fr)
• Python Virtual Control Panels (pyVCP) (fr)
• pyVCP Examples
• Hardware Drivers (fr)
• Realtime Components (fr)
• Comp: a tool for creating HAL components (fr)
• Creating Userspace Python Components with the 'hal' module (fr)

Ladder Logic

• Ladder Introduction (fr)
• ClassicLadder
• ClassicLadder Examples

Code

• Code Notes
• Style Guide

Advanced Topics

• HAL Advanced Tutorial (fr)
• Compiling EMC2 (fr)
• Kinematics (fr)
• PID theory (fr)

Hardware Drivers

• Tweaking Steppers (fr)
• AX5214H Driver
• GS2 Driver
• HostMot2 Driver
• m5i20 Driver
• Motenc Driver
• Opto22 Driver
• Pico PPMC Driver
• Pluto-P Driver
• Servo-To-Go Driver

Hardware Examples

• PCI Parallel Port (fr)
• GS2 Example
• MPG Example (fr)
• Spindle Example (fr)

Other Info

• General Machining Center Info

Appendix

• Glossary
• Documentation License
• Cross Reference Index (fr)

Commands and userspace components

• axis-remote.1
• axis.1
• bfload.1
• comp.1
• emc.1
• gs2.1
• hal_input.1
• hal_joystick.1
• halcmd.1
• halmeter.1
• halrun.1
• halsampler.1
• halstreamer.1
• halui.1
• io.1
• iocontrol.1
• pyvcp.1

Realtime components and kernel modules

• abs.9
• and2.9
• at_pid.9
• axis.9
• biquad.9
• blend.9
• charge_pump.9
• clarke2.9
• clarke3.9
• clarkeinv.9
• classicladder.9
• comp.9
• constant.9
• conv_bit_s32.9
• conv_bit_u32.9
• conv_float_s32.9
• conv_float_u32.9
• conv_s32_bit.9
• conv_s32_float.9
• conv_s32_u32.9
• conv_u32_bit.9
• conv_u32_float.9
• conv_u32_s32.9
• counter.9
• ddt.9
• deadzone.9
• debounce.9
• edge.9
• encoder.9
• encoder_ratio.9
• estop_latch.9
• flipflop.9
• freqgen.9
• gearchange.9
• genhexkins.9
• hm2_7i43.9
• hm2_pci.9
• hostmot2.9
• hypot.9
• ilowpass.9
• integ.9
• invert.9
• kins.9
• knob2float.9
• limit1.9
• limit2.9
• limit3.9
• logic.9
• lowpass.9
• lut5.9
• maj3.9
• match8.9
• minmax.9
• motion.9
• mult2.9
• mux2.9
• mux4.9
• mux8.9
• near.9
• not.9
• offset.9
• oneshot.9
• opto_ac5.9
• or2.9
• pid.9
• pluto_servo.9
• pluto_step.9
• pwmgen.9
• rotatekins.9
• sample_hold.9
• sampler.9
• scale.9
• select8.9
• serport.9
• siggen.9
• sim_encoder.9
• stepgen.9
• steptest.9
• streamer.9
• sum2.9
• supply.9
• threads.9
• threadtest.9
• timedelay.9
• timedelta.9
• toggle.9
• toggle2nist.9
• tripodkins.9
• tristate_bit.9
• tristate_float.9
• trivkins.9
• updown.9
• wcomp.9
• weighted_sum.9
• xor2.9

HAL API calls

• hal_add_funct_to_thread.3hal
• hal_bit_t.3hal
• hal_create_thread.3hal
• hal_del_funct_from_thread.3hal
• hal_exit.3hal
• hal_export_funct.3hal
• hal_float_t.3hal
• hal_get_lock.3hal
• hal_init.3hal
• hal_link.3hal
• hal_malloc.3hal
• hal_param_bit_new.3hal
• hal_param_bit_newf.3hal
• hal_param_float_new.3hal
• hal_param_float_newf.3hal
• hal_param_new.3hal
• hal_param_s32_new.3hal
• hal_param_s32_newf.3hal
• hal_param_u32_new.3hal
• hal_param_u32_newf.3hal
• hal_pin_bit_new.3hal
• hal_pin_bit_newf.3hal
• hal_pin_float_new.3hal
• hal_pin_float_newf.3hal
• hal_pin_new.3hal
• hal_pin_s32_new.3hal
• hal_pin_s32_newf.3hal
• hal_pin_u32_new.3hal
• hal_pin_u32_newf.3hal
• hal_ready.3hal
• hal_s32_t.3hal
• hal_set_constructor.3hal
• hal_set_lock.3hal
• hal_signal_delete.3hal
• hal_signal_new.3hal
• hal_start_threads.3hal
• hal_type_t.3hal
• hal_u32_t.3hal
• hal_unlink.3hal
• intro.3hal
• undocumented.3hal

RTAPI calls

• EXPORT_FUNCTION.3rtapi
• MODULE_AUTHOR.3rtapi
• MODULE_DESCRIPTION.3rtapi
• MODULE_LICENSE.3rtapi
• RTAPI_MP_ARRAY_INT.3rtapi
• RTAPI_MP_ARRAY_LONG.3rtapi
• RTAPI_MP_ARRAY_STRING.3rtapi
• RTAPI_MP_INT.3rtapi
• RTAPI_MP_LONG.3rtapi
• RTAPI_MP_STRING.3rtapi
• intro.3rtapi
• rtapi_app_exit.3rtapi
• rtapi_app_main.3rtapi
• rtapi_clock_set_period.3rtapi
• rtapi_delay.3rtapi
• rtapi_delay_max.3rtapi
• rtapi_exit.3rtapi
• rtapi_get_clocks.3rtapi
• rtapi_get_msg_level.3rtapi
• rtapi_get_time.3rtapi
• rtapi_inb.3rtapi
• rtapi_init.3rtapi
• rtapi_module_param.3rtapi
• rtapi_mutex.3rtapi
• rtapi_outb.3rtapi
• rtapi_print.3rtapi
• rtapi_prio.3rtapi
• rtapi_prio_highest.3rtapi
• rtapi_prio_lowest.3rtapi
• rtapi_prio_next_higher.3rtapi
• rtapi_prio_next_lower.3rtapi
• rtapi_region.3rtapi
• rtapi_release_region.3rtapi
• rtapi_request_region.3rtapi
• rtapi_set_msg_level.3rtapi
• rtapi_shmem.3rtapi
• rtapi_shmem_delete.3rtapi
• rtapi_shmem_getptr.3rtapi
• rtapi_shmem_new.3rtapi
• rtapi_snprintf.3rtapi
• rtapi_task_new.3rtapi
• rtapi_task_pause.3rtapi
• rtapi_task_resume.3rtapi
• rtapi_task_start.3rtapi
• rtapi_task_wait.3rtapi
• undocumented.3rtapi