NML Messages

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{]}{]}

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{]}{]}

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{]}{]}

Description, NML Type: used to reset serial number to original, 21

Written From: thisQuit (emcsh.cc)

Read To: emctaskmain.cc

Parameter, Type: none

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{]}

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{]}{]}

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{]}

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{]}

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

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]} {[}p, double{]} {[}i, double{]} {[}d, double{]} {[}ff0, double{]} {[}ff1, double{]} {[}ff2, double{]} {[}backlash, double{]} {[}bias, double{]} {[}maxError, double{]}

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{]}

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

Read To: emcTaskIssueCommand (emctaskmain.cc) calls emcAxisSetInputScale (minimill\|bridgeporttaskintf.cc) which sends EMCMOT\_SET\_INPUT\_SCALE

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]} {[}scale, double{]} {[}offset, double{]}

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{]}

Description, NML Type: sets min limit, 107

Obs: also handled by iniaxis which directly calls emcAxisSetMinPositionLimit

Written From: none

Read To: emcTaskIssueCommand (emctaskmain.cc) calls emcAxisSetMinPositionLimit (taskintf.cc) which sends EMCMOT\_SET\_POSITION\_LIMITS

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]} {[}limit, double{]}

Description, NML Type: sets max limit, 108

Obs: also handled by iniaxis which directly calls emcAxisSetMaxPositionLimit

Written From: none

Read To: emcTaskIssueCommand (emctaskmain.cc) calls emcAxisSetMaxPositionLimit (taskintf.cc) which sends EMCMOT\_SET\_POSITION\_LIMITS

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]} {[}limit, double{]}

Description, NML Type: -, 109

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]} {[}limit, double{]}

Description, NML Type: -, 110

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]} {[}limit, double{]}

Description, NML Type: sets max following error, 111

Obs: also handled by iniaxis which directly calls emcAxisSetFerror

Written From: none

Read To: emcTaskIssueCommand (emctaskmain.cc) calls emcAxisSetFerror (taskintf.cc) which sends EMCMOT\_SET\_MAX\_FERROR

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]} {[}ferror, double{]}

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{]}

Description, NML Type: -, 113

Written From: none

Read To: none

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]} {[}homingVel, double{]}

Description, NML Type: -, 114

Written From: none

Read To: none

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]} {[}home, double{]}

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{]}

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{]}

Description, NML Type: -, 118

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]}

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{]}

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{]}

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{]}

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{]}

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{]}

Description, NML Type: jogs an axis continuosly, 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{]}

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{]}

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

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]} {[}pos, double{]} {[}vel, double{]}

Description, NML Type: -, 127

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]}

Description, NML Type: -, 128

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]}

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{]}

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{]}

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{]}{]}

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{]}

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{]}

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{]}

Description, NML Type: -, 201

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}axes, int{]}

Description, NML Type: -, 202

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}linearUnits, double{]} {[}angularUnits, double{]}

Description, NML Type: -, 203

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}cycleTime, double{]}

Description, NML Type: -, 204

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}mode, enum EMC\_TRAJ\_MODE\_ENUM{]}

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{]}

Description, NML Type: -, 206

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}acceleration, double{]}

Description, NML Type: -, 207

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}velocity, double{]}

Description, NML Type: -, 208

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}acceleration, double{]}

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{]}

Description, NML Type: -, 210

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}id, int{]}

Description, NML Type: -, 211

Obs: not used

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: -, 212

Obs: not used

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: -, 213

Obs: not used

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: -, 214

Obs: not used

Written From: none

Read To: none

Parameter, 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:

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:

Description, NML Type: -, 217

Obs: not used

Written From: none

Read To: none

Parameter, 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:

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{]}

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{]}

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

Parameter, Type: {[}end, EmcPose{]} {[}center, PM\_CARTESIAN{]} {[}normal, PM\_CARTESIAN{]} {[}turn, int{]}

Description, NML Type: choses 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{]}

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{]}

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{]}

Description, NML Type: -, 225

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}home, EmcPose{]}

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{]}

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{]}

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:

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{]}

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{]}

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{]}

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

Description, NML Type: -, 301

Obs: not used

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: -, 302

Obs: not used

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: -, 303

Obs: not used

Written From: none

Read To: none

Parameter, 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

Parameter, Type: {[}index, unsigned char{]} {[}start, double{]} {[}end, double{]} {[}now, unsigned char{]}

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{]}

Description, NML Type: status for motion, not sent as a message but used as is, 399

Written From: none

Read To: none

Parameter, Type: {[}heartbeat, unsigned long int{]} {[}traj, EMC\_TRAJ\_STAT{]} {[}axis{[}EMC\_AXIS\_MAX{]}, EMC\_AXIS\_STAT{]}

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:

Description, NML Type: -, 502

Written From: none

Read To: none

Parameter, 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:

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{]}

Description, NML Type: , 505

Written From: none

Read To: none

Parameter, Type: {[}state, enum EMC\_TASK\_STATE\_ENUM{]}

Description, NML Type: , 506

Written From: none

Read To: none

Parameter, Type: {[}file, char{[}LINELEN{]}{]}

Description, NML Type: , 507

Written From: none

Read To: none

Parameter, Type: {[}line, int{]}

Description, NML Type: , 508

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 509

Written From: none

Read To: none

Parameter, Type: {[}command, char{[}LINELEN{]}{]}

Description, NML Type: , 510

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 511

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 512

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 513

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 514

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 515

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 516

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 599

Written From: none

Read To: none

Parameter, Type: {[}heartbeat, unsigned long int{]} {[}a HUGE load of params

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:

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:

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:

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{]}

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:

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:

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{]}{]}

Description, NML Type: , 1108

Written From: none

Read To: none

Parameter, Type: {[}tool, int{]} {[}length, double{]} {[}diameter, double{]}

Description, NML Type: , 1199

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1201

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1202

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1203

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1204

Written From: none

Read To: none

Parameter, Type: {[}index, int{]} {[}value, int{]}

Description, NML Type: , 1205

Written From: none

Read To: none

Parameter, Type: {[}index, int{]} {[}value, double{]}

Description, NML Type: , 1206

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1207

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1299

Written From: none

Read To: none

Parameter, Type: {[}estop, int{]} {[}estopIn, int{]} {[}dout, unsigned char{[}EMC\_AUX\_MAX\_DOUT{]}{]} {[}din, unsigned char{[}EMC\_AUX\_MAX\_DIN{]}{]} {[}aout, double{[}EMC\_AUX\_MAX\_AOUT{]}{]} {[}ain, double{[}EMC\_AUX\_MAX\_AIN{]}{]}

Description, NML Type: , 1301

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1302

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1303

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1304

Written From: none

Read To: none

Parameter, Type: {[}speed, double{]}

Description, NML Type: , 1305

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1306

Written From: none

Read To: none

Parameter, Type: {[}speed, double{]}

Description, NML Type: , 1307

Written From: none

Read To: none

Parameter, Type: {[}speed, double{]}

Description, NML Type: , 1308

Written From: none

Read To: none

Parameter, Type: {[}speed, double{]}

Description, NML Type: , 1309

Written From: none

Read To: none

Parameter, Type: {[}speed, double{]}

Description, NML Type: , 1310

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1311

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1312

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1313

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1314

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1315

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1399

Written From: none

Read To: none

Parameter, Type: {[}speed, double{]} {[}direction, int{]} {[}brake, int{]} {[}increasing, int{]} {[}enabled, int{]}

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

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

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

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

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

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

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

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{]}

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

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

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

Description, NML Type: starts LUBE, 1504

Obs: written only by the GUI’s (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

Description, NML Type: stops LUBE, 1505

Obs: written only by the GUI’s (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

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{]}

Description, NML Type: , 5001

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}value, int{]} {[}index, int{]}

Description, NML Type: , 5002

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}value, int{]} {[}index, int{]}

Description, NML Type: , 5003

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}value, int{]} {[}polarity, int{]}

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:

Description, NML Type: , 1602

Obs: not used

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1603

Obs: not used

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1604

Obs: not used

Written From: none

Read To: none

Parameter, Type: {[}cycleTime, double{]}

Description, NML Type: status for IO, not sent as a message but used as is, 1699

Written From: none

Read To: none

Parameter, Type: {[}heartbeat, unsigned long int{]} {[}tool, EMC\_TOOL\_STAT{]} {[}spindle, EMC\_SPINDLE\_STAT{]} {[}coolant, EMC\_COOLANT\_STAT{]} {[}aux, EMC\_AUX\_STAT{]} {[}lube, EMC\_LUBE\_STAT{]}

Description, NML Type: , 1901

Obs: not used

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1902

Obs: not used

Written From: none

Read To: none

Parameter, Type:

Description, NML Type: , 1903

Obs: not used

Written From: none

Read To: none

Parameter, 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

Parameter, Type: {[}file, char{[}LINELEN{]}{]} {[}type, int{]} {[}size, int{]} {[}skip, int{]} {[}which, int{]} {[}triggerType, int{]} {[}triggerVar, int{]} {[}triggerThreshold, double{]}

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

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

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

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{]}