= 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 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] === 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: 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] === 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 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 === 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 === 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 STA T === 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]