= NML Messages == EMC OPERATOR === 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{]}{]} === 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{]}{]} === 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{]}{]} == EMC NULL, SET, DEBUG, & SYSTEM === 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 === 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{]} === 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{]}{]} == EMC AXIS === 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{]} === 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{]} === 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 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{]} === 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{]} === 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 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{]} === 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{]} === 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 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{]} === 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 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{]} === 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{]} === 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{]} === 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 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{]} === 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{]} === 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{]} === 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{]} === 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{]} === 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{]} === 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{]} === 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{]} === 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{]} === 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{]} === 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{]} === 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{]} === EMC\_AXIS\_JOG\_TYPE 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{]} === 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{]} === 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 Parameter, Type: {[}axis (in EMC\_AXIS\_CMD\_MSG), int{]} {[}pos, double{]} {[}vel, double{]} === 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{]} === 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{]} === 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{]} === 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{]} === 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{]}{]} === 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{]} === 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{]} === 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{]} == EMC TRAJ === EMC\_TRAJ\_SET\_AXES\_TYPE Description, NML Type: -, 201 Obs: not used Written From: none Read To: none Parameter, Type: {[}axes, int{]} === EMC\_TRAJ\_SET\_UNITS\_TYPE Description, NML Type: -, 202 Obs: not used Written From: none Read To: none Parameter, Type: {[}linearUnits, double{]} {[}angularUnits, double{]} === EMC\_TRAJ\_SET\_CYCLE\_TIME\_TYPE Description, NML Type: -, 203 Obs: not used Written From: none Read To: none Parameter, Type: {[}cycleTime, double{]} === 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{]} === 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{]} === EMC\_TRAJ\_SET\_ACCELERATION\_TYPE Description, NML Type: -, 206 Obs: not used Written From: none Read To: none Parameter, Type: {[}acceleration, double{]} === EMC\_TRAJ\_SET\_MAX\_VELOCITY\_TYPE Description, NML Type: -, 207 Obs: not used Written From: none Read To: none Parameter, Type: {[}velocity, double{]} === EMC\_TRAJ\_SET\_MAX\_ACCELERATION\_TYPE Description, NML Type: -, 208 Obs: not used Written From: none Read To: none Parameter, Type: {[}acceleration, double{]} === 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{]} === EMC\_TRAJ\_SET\_MOTION\_ID\_TYPE Description, NML Type: -, 210 Obs: not used Written From: none Read To: none Parameter, Type: {[}id, int{]} === EMC\_TRAJ\_INIT\_TYPE Description, NML Type: -, 211 Obs: not used Written From: none Read To: none Parameter, Type: === EMC\_TRAJ\_HALT\_TYPE Description, NML Type: -, 212 Obs: not used Written From: none Read To: none Parameter, Type: === EMC\_TRAJ\_ENABLE\_TYPE Description, NML Type: -, 213 Obs: not used Written From: none Read To: none Parameter, Type: === EMC\_TRAJ\_DISABLE\_TYPE Description, NML Type: -, 214 Obs: not used Written From: none Read To: none Parameter, Type: === 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: === 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: === EMC\_TRAJ\_STEP\_TYPE Description, NML Type: -, 217 Obs: not used Written From: none Read To: none Parameter, Type: === 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: === 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{]} === 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{]} === 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 Parameter, Type: {[}end, EmcPose{]} {[}center, PM\_CARTESIAN{]} {[}normal, PM\_CARTESIAN{]} {[}turn, int{]} === EMC\_TRAJ\_SET\_TERM\_COND\_TYPE 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{]} === 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{]} === 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{]} === EMC\_TRAJ\_SET\_HOME\_TYPE Description, NML Type: -, 225 Obs: not used Written From: none Read To: none Parameter, Type: {[}home, EmcPose{]} === 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{]} === 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{]} === 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: === 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{]} === 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{]} === 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{]} === 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 == EMC MOTION === EMC\_MOTION\_INIT\_TYPE Description, NML Type: -, 301 Obs: not used Written From: none Read To: none Parameter, Type: === EMC\_MOTION\_HALT\_TYPE Description, NML Type: -, 302 Obs: not used Written From: none Read To: none Parameter, Type: === EMC\_MOTION\_ABORT\_TYPE Description, NML Type: -, 303 Obs: not used Written From: none Read To: none Parameter, Type: === 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 Parameter, Type: {[}index, unsigned char{]} {[}start, double{]} {[}end, double{]} {[}now, unsigned char{]} === 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{]} === 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 Parameter, Type: {[}heartbeat, unsigned long int{]} {[}traj, EMC\_TRAJ\_STAT{]} {[}axis{[}EMC\_AXIS\_MAX{]}, EMC\_AXIS\_STAT{]} == EMC TASK === 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: === EMC\_TASK\_HALT\_TYPE Description, NML Type: -, 502 Written From: none Read To: none Parameter, Type: === 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: === 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{]} === EMC\_TASK\_SET\_STATE\_TYPE Description, NML Type: , 505 Written From: none Read To: none Parameter, Type: {[}state, enum EMC\_TASK\_STATE\_ENUM{]} === EMC\_TASK\_PLAN\_OPEN\_TYPE Description, NML Type: , 506 Written From: none Read To: none Parameter, Type: {[}file, char{[}LINELEN{]}{]} === EMC\_TASK\_PLAN\_RUN\_TYPE Description, NML Type: , 507 Written From: none Read To: none Parameter, Type: {[}line, int{]} === EMC\_TASK\_PLAN\_READ\_TYPE Description, NML Type: , 508 Written From: none Read To: none Parameter, Type: === EMC\_TASK\_PLAN\_EXECUTE\_TYPE Description, NML Type: , 509 Written From: none Read To: none Parameter, Type: {[}command, char{[}LINELEN{]}{]} === EMC\_TASK\_PLAN\_PAUSE\_TYPE Description, NML Type: , 510 Written From: none Read To: none Parameter, Type: === EMC\_TASK\_PLAN\_STEP\_TYPE Description, NML Type: , 511 Written From: none Read To: none Parameter, Type: === EMC\_TASK\_PLAN\_RESUME\_TYPE Description, NML Type: , 512 Written From: none Read To: none Parameter, Type: === EMC\_TASK\_PLAN\_END\_TYPE Description, NML Type: , 513 Written From: none Read To: none Parameter, Type: === EMC\_TASK\_PLAN\_CLOSE\_TYPE Description, NML Type: , 514 Written From: none Read To: none Parameter, Type: === EMC\_TASK\_PLAN\_INIT\_TYPE Description, NML Type: , 515 Written From: none Read To: none Parameter, Type: === EMC\_TASK\_PLAN\_SYNCH\_TYPE Description, NML Type: , 516 Written From: none Read To: none Parameter, Type: === 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 == EMC TOOL === 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: === 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: === 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: === 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{]} === 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: === 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: === 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{]}{]} === EMC\_TOOL\_SET\_OFFSET\_TYPE Description, NML Type: , 1108 Written From: none Read To: none Parameter, Type: {[}tool, int{]} {[}length, double{]} {[}diameter, double{]} === EMC\_TOOL\_STAT\_TYPE Description, NML Type: , 1199 Written From: none Read To: none Parameter, Type: == EMC AUX === EMC\_AUX\_INIT\_TYPE Description, NML Type: , 1201 Written From: none Read To: none Parameter, Type: === EMC\_AUX\_HALT\_TYPE Description, NML Type: , 1202 Written From: none Read To: none Parameter, Type: === EMC\_AUX\_ABORT\_TYPE Description, NML Type: , 1203 Written From: none Read To: none Parameter, Type: === EMC\_AUX\_DIO\_WRITE\_TYPE Description, NML Type: , 1204 Written From: none Read To: none Parameter, Type: {[}index, int{]} {[}value, int{]} === EMC\_AUX\_AIO\_WRITE\_TYPE Description, NML Type: , 1205 Written From: none Read To: none Parameter, Type: {[}index, int{]} {[}value, double{]} === EMC\_AUX\_ESTOP\_ON\_TYPE Description, NML Type: , 1206 Written From: none Read To: none Parameter, Type: === EMC\_AUX\_ESTOP\_OFF\_TYPE Description, NML Type: , 1207 Written From: none Read To: none Parameter, Type: === EMC\_AUX\_STAT\_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{]}{]} == EMC SPINDLE === EMC\_SPINDLE\_INIT\_TYPE Description, NML Type: , 1301 Written From: none Read To: none Parameter, Type: === EMC\_SPINDLE\_HALT\_TYPE Description, NML Type: , 1302 Written From: none Read To: none Parameter, Type: === EMC\_SPINDLE\_ABORT\_TYPE Description, NML Type: , 1303 Written From: none Read To: none Parameter, Type: === EMC\_SPINDLE\_ON\_TYPE Description, NML Type: , 1304 Written From: none Read To: none Parameter, Type: {[}speed, double{]} === EMC\_SPINDLE\_OFF\_TYPE Description, NML Type: , 1305 Written From: none Read To: none Parameter, Type: === EMC\_SPINDLE\_FORWARD\_TYPE Description, NML Type: , 1306 Written From: none Read To: none Parameter, Type: {[}speed, double{]} === EMC\_SPINDLE\_REVERSE\_TYPE Description, NML Type: , 1307 Written From: none Read To: none Parameter, Type: {[}speed, double{]} === EMC\_SPINDLE\_STOP\_TYPE Description, NML Type: , 1308 Written From: none Read To: none Parameter, Type: {[}speed, double{]} === EMC\_SPINDLE\_INCREASE\_TYPE Description, NML Type: , 1309 Written From: none Read To: none Parameter, Type: {[}speed, double{]} === EMC\_SPINDLE\_DECREASE\_TYPE Description, NML Type: , 1310 Written From: none Read To: none Parameter, Type: === EMC\_SPINDLE\_CONSTANT\_TYPE Description, NML Type: , 1311 Written From: none Read To: none Parameter, Type: === EMC\_SPINDLE\_BRAKE\_RELEASE\_TYPE Description, NML Type: , 1312 Written From: none Read To: none Parameter, Type: === EMC\_SPINDLE\_BRAKE\_ENGAGE\_TYPE Description, NML Type: , 1313 Written From: none Read To: none Parameter, Type: === EMC\_SPINDLE\_ENABLE\_TYPE Description, NML Type: , 1314 Written From: none Read To: none Parameter, Type: === EMC\_SPINDLE\_DISABLE\_TYPE Description, NML Type: , 1315 Written From: none Read To: none Parameter, Type: === EMC\_SPINDLE\_STAT\_TYPE Description, NML Type: , 1399 Written From: none Read To: none Parameter, Type: {[}speed, double{]} {[}direction, int{]} {[}brake, int{]} {[}increasing, int{]} {[}enabled, int{]} == EMC COOLANT === 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 === 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 === 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 === 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 === 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 === 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 === 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 === 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{]} == EMC LUBE === 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 === 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 === 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 === EMC\_LUBE\_ON\_TYPE 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 === EMC\_LUBE\_OFF\_TYPE 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 === 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{]} == EMC SET === EMC\_SET\_DIO\_INDEX\_TYPE Description, NML Type: , 5001 Obs: not used Written From: none Read To: none Parameter, Type: {[}value, int{]} {[}index, int{]} === EMC\_SET\_AIO\_INDEX\_TYPE Description, NML Type: , 5002 Obs: not used Written From: none Read To: none Parameter, Type: {[}value, int{]} {[}index, int{]} === EMC\_SET\_POLARITY\_TYPE Description, NML Type: , 5003 Obs: not used Written From: none Read To: none Parameter, Type: {[}value, int{]} {[}polarity, int{]} == EMC IO === 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: === EMC\_IO\_HALT\_TYPE Description, NML Type: , 1602 Obs: not used Written From: none Read To: none Parameter, Type: === EMC\_IO\_ABORT\_TYPE Description, NML Type: , 1603 Obs: not used Written From: none Read To: none Parameter, Type: === EMC\_IO\_SET\_CYCLE\_TIME\_TYPE Description, NML Type: , 1604 Obs: not used Written From: none Read To: none Parameter, Type: {[}cycleTime, double{]} === 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 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{]} == EMC INIT, HALT, & ABORT === EMC\_INIT\_TYPE Description, NML Type: , 1901 Obs: not used Written From: none Read To: none Parameter, Type: === EMC\_HALT\_TYPE Description, NML Type: , 1902 Obs: not used Written From: none Read To: none Parameter, Type: === EMC\_ABORT\_TYPE Description, NML Type: , 1903 Obs: not used Written From: none Read To: none Parameter, Type: == EMC LOG === 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 Parameter, Type: {[}file, char{[}LINELEN{]}{]} {[}type, int{]} {[}size, int{]} {[}skip, int{]} {[}which, int{]} {[}triggerType, int{]} {[}triggerVar, int{]} {[}triggerThreshold, double{]} === 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 === 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 === 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 == EMC STAT === 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{]}