757 lines
21 KiB
Groff
757 lines
21 KiB
Groff
.TH linuxcncrsh 1 "May 31, 2011" "" "The Enhanced Machine Controller"
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.SH NAME
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linuxcncrsh \- text-mode interface for commanding LinuxCNC over the network
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.SH SYNOPSIS
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.B
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linuxcncrsh [OPTIONS] [\-\- LINUXCNC_OPTIONS]
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.br
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.SH DESCRIPTION
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\fBlinuxcncrsh\fP is a user interface for LinuxCNC. Instead of popping up a GUI
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window like AXIS(1) and Touchy(1) do, it processes text-mode commands
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that it receives via the network. A human (or a program) can interface
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with \fBlinuxcncrsh\fP using telnet(1) or nc(1) or similar programs.
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.P
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All features of LinuxCNC are available via the \fBlinuxcncrsh\fP interface.
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.SH OPTIONS
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.P
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.B
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\-p,\-\-port PORT_NUMBER
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.RS
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Specify the port for linuxcncrsh to listen on. Defaults to 5007 if omitted.
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.RE
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.P
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.B
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\-n,\-\-name SERVER_NAME
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.RS
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Sets the server name that linuxcncrsh will use to identify itself during
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handshaking with a new client. Defaults to EMCNETSVR if omitted.
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.RE
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.P
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.B
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\-w,\-\-connectpw PASSWORD
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.RS
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Specify the connection password to use during handshaking with a new
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client. Note that the password is sent in the clear, so it can be read
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by anyone who can read packets on the network between the server and
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the client. Defaults to EMC if omitted.
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.RE
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.P
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.B
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\-e,\-\-enablepw PASSWORD
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.RS
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Specify the password required to enable LinuxCNC via linuxcncrsh. Note that the
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password is sent in the clear, so it can be read by anyone who can read
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packets on the network between the server and the client. Defaults to
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EMCTOO if omitted.
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.RE
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.P
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.B
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\-s,\-\-sessions MAX_SESSIONS
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.RS
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Specify the maximum number of simultaneous connections. Defaults to \-1
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(no limit) if not specified.
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.RE
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.P
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In addition to the options listed above, linuxcncrsh accepts an optional
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special LINUXCNC_OPTION at the end:
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.P
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.B
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\-ini LINUXCNC_INI_FILE
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.RS
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LinuxCNC INI file to use. The \-ini option \fBmust\fP be preceded by two
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dashes: "\-\-". Defaults to emc.ini if omitted.
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.RE
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.SH Starting linuxcncrsh
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.P
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To use linuxcncrsh instead of a normal LinuxCNC GUI like AXIS or Touchy, specify
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it in your INI file like this:
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.RS
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.P
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.B [DISPLAY]
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.P
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.B DISPLAY=linuxcncrsh
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.RE
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.P
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To use linuxcncrsh in addition to a normal GUI, you can either start it
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at the end of your HAL file, or run it by hand in a terminal window.
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.P
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To start it from hal, add a line like this to the end of your HAL file:
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.RS
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.P
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.B loadusr linuxcncrsh [OPTIONS] [\-\- LINUXCNC_OPTIONS]
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.RE
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.P
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To start it from the terminal, run linuxcncrsh manually like this:
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.RS
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.P
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.B linuxcncrsh [OPTIONS] [\-\- LINUXCNC_OPTIONS]
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.RE
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.SH Connecting
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.P
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Once LinuxCNC is up and linuxcncrsh is running, you can connect to it using
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\fBtelnet\fP or \fBnc\fP or similar:
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.RS
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.P
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.B telnet HOST PORT
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.RS
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HOST is the hostname or IP address of the computer running linuxcncrsh, and
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PORT is the port it's listening on (5007 if you did not give linuxcncrsh the
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\-\-port option).
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.RE
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.SH Network protocol
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.P
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linuxcncrsh accepts TCP connections on the port specified by the \-\-port option,
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or 5007 if not specified.
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.P
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The client sends requests, and the linuxcncrsh server returns replies.
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Requests consist of a command word followed by optional command-specific
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parameters. Requests and most request parameters are case
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insensitive. The exceptions are passwords, file paths and text strings.
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.P
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Requests to linuxcncrsh are terminated with line endings, any combination of
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one or more '\\r' and '\\n' characters. Replies from linuxcncrsh are terminated
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with the sequence '\\r\\n'.
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.P
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The supported commands are as follows:
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.P
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\fBhello <password> <client> <version>\fR
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.RS
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<password> must match linuxcncrsh's connect password, or "EMC" if no
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\-\-connectpw was supplied. The three arguments may not contain whitespace.
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If a valid password was entered the server will respond with:
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.RS
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\fIHELLO ACK <ServerName> <ServerVersion>\fR
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.RE
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.P
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If an invalid password or any other syntax error occurs then the server
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responds with:
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.RS
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\fIHELLO NAK\fR
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.RE
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.RE
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.P
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\fBget <subcommand> [<parameters>]\fR
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.RS
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The get command takes one of the LinuxCNC sub-commands (described in the
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section \fBLinuxCNC Subcommands\fR, below) and zero or more additional
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subcommand-specific parameters.
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.RE
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.P
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\fBset <subcommand> <parameters>\fR
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.RS
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The set command takes one of the LinuxCNC sub-commands (described in the
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section \fBLinuxCNC Subcommands\fR, below) and one or more additional
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parameters.
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.RE
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.P
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\fBquit\fR
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.RS
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The quit command disconnects the associated socket connection.
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.RE
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.P
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\fBshutdown\fR
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.RS
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The shutdown command tells LinuxCNC to shutdown and disconnect the
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session. This command may only be issued if the Hello has been
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successfully negotiated and the connection has control of the CNC (see
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\fBenable\fR subcommand in the \fBLinuxCNC Subcommands\fR section, below).
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.RE
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.P
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\fBhelp\fR
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.RS
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The help command will return help information in text format over the
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connection. If no parameters are specified, it will itemize the available
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commands. If a command is specified, it will provide usage information
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for the specified command. Help will respond regardless of whether a
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"Hello" has been successfully negotiated.
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.RE
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.SH "LinuxCNC Subcommands"
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.P
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Subcommands for \fBget\fR and \fBset\fR are:
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.P
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\fBecho {on|off}\fR
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.RS
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With get, any on/off parameter is ignored and the current echo state is
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returned. With set, sets the echo state as specified. Echo defaults to
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on when the connection is first established. When echo is on, all commands
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will be echoed upon receipt. This state is local to each connection.
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.RE
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.P
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\fBverbose {on|off}\fR
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.RS
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With get, any on/off parameter is ignored and the current verbose state
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is returned. With set, sets the verbose state as specified. When verbose
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mode is on, all set commands return positive acknowledgement in the form
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SET <COMMAND> ACK, and text error messages will be issued (FIXME: I don't
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know what this means). The verbose state is local to each connection,
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and starts out OFF on new connections.
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.RE
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.P
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\fBenable {<passwd>|off}\fR
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.RS
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The session's enable state indicates whether the current connection is
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enabled to perform control functions. With get, any parameter is ignored,
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and the current enable state is returned. With set and a valid password
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matching linuxcncrsh's \-\-enablepw (EMCTOO if not specified), the current
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connection is enabled for control functions. "OFF" may not be used as
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a password and disables control functions for this connection.
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.RE
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.P
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\fBconfig [TBD]\fR
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.RS
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Unused, ignore for now.
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.RE
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.P
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\fBcomm_mode {ascii|binary}\fR
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.RS
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With get, any parameter is ignored and the current communications
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mode is returned. With set, will set the communications mode to the
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specified mode. The ascii mode is the text request/reply mode, the
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binary protocol is not currently designed or implemented.
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.RE
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.P
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\fBcomm_prot <version>\fR
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.RS
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With get, any parameter is ignored and the current protocol version
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used by the server is returned. With set, sets the server to use the
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specified protocol version, provided it is lower than or equal to the
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highest version number supported by the server implementation.
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.RE
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.P
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\fBinifile\fR
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.RS
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Not currently implemented! With get, returns the string "emc.ini".
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Should return the full path and file name of the current configuration
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inifile. Setting this does nothing.
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.RE
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.P
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\fBplat\fR
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.RS
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With get, returns the string "Linux".
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.RE
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.P
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\fBini <var> <section>\fR
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.RS
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Not currently implemented, do not use! Should return the string value
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of <var> in section <section> of the INI file.
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.RE
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.P
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\fBdebug <value>\fR
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.RS
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With get, any parameter is ignored and the current integer value of
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EMC_DEBUG is returned. Note that the value of EMC_DEBUG returned is
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the from the UI's ini file, which may be different than emc's ini file.
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With set, sends a command to the EMC to set the new debug level, and
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sets the EMC_DEBUG global here to the same value. This will make the
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two values the same, since they really ought to be the same.
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.RE
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.P
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\fBset_wait {received|done}\fR
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.RS
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The set_wait setting controls the wait after receiving a command.
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It can be "received" (after the command was sent and received) or "done"
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(after the command was done). With get, any parameter is ignored and the
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current set_wait setting is returned. With set, set the set_wait setting
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to the specified value.
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.RE
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.P
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\fBwait {received|done}\fR
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.RS
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With set, force a wait for the previous command to be received, or
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done.
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.RE
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.P
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\fBset_timeout <timeout>\fR
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.RS
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With set, set the timeout for commands to return to <timeout>
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seconds. Timeout is a real number. If it's <= 0.0, it means wait forever.
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Default is 0.0, wait forever.
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.RE
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.P
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\fBupdate {none|auto}\fR
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.RS
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The update mode controls whether to return fresh or stale values for
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"get" requests. When the update mode is "none" it returns stale values,
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when it's "auto" it returns fresh values. Defaults to "auto" for new
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connections. Set this to "none" if you like to be confused.
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.RE
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.P
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\fBerror\fR
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.RS
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With get, returns the current error string, or "ok" if no error.
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.RE
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.P
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\fBoperator_display\fR
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.RS
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With get, returns the current operator display string, or "ok" if none.
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.RE
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.P
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\fBoperator_text\fR
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.RS
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With get, returns the current operator text string, or "ok" if none.
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.RE
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.P
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\fBtime\fR
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.RS
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With get, returns the time, in seconds, from the start of the epoch. This
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starting time depends on the platform.
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.RE
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.P
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\fBestop {on|off}\fR
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.RS
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With get, ignores any parameters and returns the current estop setting
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as "on" or "off". With set, sets the estop as specified. E-stop "on"
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means the machine is in the estop state and won't run.
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.RE
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.P
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\fBmachine {on|off}\fR
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.RS
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With get, ignores any parameters and returns the current machine power
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setting as "on" or "off". With set, sets the machine on or off as
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specified.
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.RE
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.P
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\fBmode {manual|auto|mdi}\fR
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.RS
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With get, ignores any parameters and returns the current machine mode.
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With set, sets the machine mode as specified.
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.RE
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.P
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\fBmist {on|off}\fR
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.RS
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With get, ignores any parameters and returns the current mist coolant
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setting. With set, sets the mist setting as specified.
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.RE
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.P
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\fBflood {on|off}\fR
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.RS
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With get, ignores any parameters and returns the current flood coolant
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setting. With set, sets the flood setting as specified.
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.RE
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.P
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\fBlube {on|off}\fR
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.RS
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With get, ignores any parameters and returns the current lube pump
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setting. With set, sets the lube pump setting as specified.
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.RE
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.P
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\fBlube_level\fR
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.RS
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With get, returns the lubricant level sensor reading as "ok" or "low".
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With set, mocks you for wishful thinking.
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.RE
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.P
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\fBspindle {forward|reverse|increase|decrease|constant|off}\fR
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.RS
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With get, any parameter is ignored and the current spindle state is
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returned as "forward", "reverse", "increase", "decrease", or "off". With
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set, sets the spindle as specified. Note that "increase" and "decrease"
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will cause a speed change in the corresponding direction until a
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"constant" command is sent.
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.RE
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.P
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\fBbrake {on|off}\fR
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.RS
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With get, any parameter is ignored and the current brake setting is
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returned. With set, the brake is set as specified.
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.RE
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.P
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\fBtool\fR
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.RS
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With get, returns the id of the currently loaded tool.
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.RE
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.P
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\fBtool_offset\fR
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.RS
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With get, returns the currently applied tool length offset.
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.RE
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.P
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\fBload_tool_table <file>\fR
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.RS
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With set, loads the tool table specified by <file>.
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.RE
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.P
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\fBhome {0|1|2|...} | -1\fR
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.RS
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With set, homes the indicated joint or if -1, Home All joints
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.RE
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.P
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\fBjog_stop joint_number|axis_letter\fR
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.RS
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With set, stop any in-progress jog on the specified joint or axis.
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If TELEOP_ENABLE is NO, use joint_number;
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If TELEOP_ENABLE is YES, use axis_letter.
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.RE
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.P
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\fBjog joint_number|axis_letter <speed>\fR
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.RS
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With set, jog the specified joint or axis at <speed>; sign of speed is direction.
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If TELEOP_ENABLE is NO, use joint_number;
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If TELEOP_ENABLE is YES, use axis_letter.
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.RE
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.P
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\fBjog_incr jog_number|axis_letter <speed> <incr>\fR
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.RS
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With set, jog the indicated joint or axis by increment <incr> at the <speed>; sign of
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speed is direction.
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If TELEOP_ENABLE is NO, use joint_number;
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If TELEOP_ENABLE is YES, use axis_letter.
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.RE
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.P
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\fBfeed_override <percent>\fR
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.RS
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With get, any parameter is ignored and the current feed override is
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returns (as a percentage of commanded feed). With set, sets the feed
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override as specified.
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.RE
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.P
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\fBspindle_override <percent>\fR
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.RS
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With get, any parameter is ignored and the current spindle override
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is returned (as a percentage of commanded speed). With set, sets the
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spindle override as specified.
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.RE
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.P
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\fBabs_cmd_pos [{0|1|...}]\fR
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.RS
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With get, returns the specified axis' commanded position in absolute
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coordinates. If no axis is specified, returns all axes' commanded
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absolute position.
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.RE
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.P
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\fBabs_act_pos [{0|1|...}]\fR
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.RS
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With get, returns the specified axis' actual position in absolute
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coordinates. If no axis is specified, returns all axes' actual absolute
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position.
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.RE
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.P
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\fBrel_cmd_pos [{0|1|...}]\fR
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.RS
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With get, returns the specified axis' commanded position in relative
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coordinates, including tool length offset. If no axis is specified,
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returns all axes' commanded relative position.
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.RE
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.P
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\fBrel_act_pos [{0|1|...}]\fR
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.RS
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With get, returns the specified axis' actual position in relative
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coordinates, including tool length offset. If no axis is specified,
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returns all axes' actual relative position.
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.RE
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.P
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\fBjoint_pos [{0|1|...}]\fR
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.RS
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With get, returns the specified joint's actual position in absolute
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coordinates, excluding tool length offset. If no joint is specified,
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returns all joints' actual absolute position.
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.RE
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.P
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\fBpos_offset [{X|Y|Z|R|P|W}]\fR
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.RS
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With get, returns the position offset associated with the world coordinate
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provided.
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.RE
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.P
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\fBjoint_limit [{0|1|...}]\fR
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.RS
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With get, returns limit status of the specified joint as "ok", "minsoft",
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"minhard", "maxsoft", or "maxhard". If no joint number is specified,
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returns the limit status of all joints.
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.RE
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.P
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\fBjoint_fault [{0|1|...}]\fR
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.RS
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With get, returns the fault status of the specified joint as "ok" or
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"fault". If no joint number is specified, returns the fault status of
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all joints.
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.RE
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.P
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\fBjoint_homed [{0|1|...}]\fR
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.RS
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With get, returns the homed status of the specified joint as "homed"
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or "not". If no joint number is specified, returns the homed status of
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all joints.
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.RE
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.P
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\fBmdi <string>\fR
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.RS
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With set, sends <string> as an MDI command.
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.RE
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.P
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\fBtask_plan_init\fR
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.RS
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With set, initializes the program interpreter.
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.RE
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.P
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\fBopen <filename>\fR
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.RS
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With set, opens the named file. The <filename> is opened by linuxcnc,
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so it should either be an absolute path or a relative path starting in
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the LinuxCNC working directory (the directory of the active INI file).
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.RE
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.P
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\fBrun [<StartLine>]\fR
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.RS
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With set, runs the opened program. If no StartLine is specified, runs
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from the beginning. If a StartLine is specified, start line, runs from
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that line. A start line of \-1 runs in verify mode.
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.RE
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.P
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\fBpause\fR
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.RS
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With set, pause program execution.
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.RE
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.P
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\fBresume\fR
|
|
.RS
|
|
With set, resume program execution.
|
|
.RE
|
|
.P
|
|
\fBabort\fR
|
|
.RS
|
|
With set, abort program or MDI execution.
|
|
.RE
|
|
.P
|
|
\fBstep\fR
|
|
.RS
|
|
With set, step the program one line.
|
|
.RE
|
|
.P
|
|
\fBprogram\fR
|
|
.RS
|
|
With get, returns the name of the currently opened program, or "none".
|
|
.RE
|
|
.P
|
|
\fBprogram_line\fR
|
|
.RS
|
|
With get, returns the currently executing line of the program.
|
|
.RE
|
|
.P
|
|
\fBprogram_status\fR
|
|
.RS
|
|
With get, returns "idle", "running", or "paused".
|
|
.RE
|
|
.P
|
|
\fBprogram_codes\fR
|
|
.RS
|
|
With get, returns the string for the currently active program codes.
|
|
.RE
|
|
.P
|
|
\fBjoint_type [<joint>]\fR
|
|
.RS
|
|
With get, returns "linear", "angular", or "custom" for the type of the
|
|
specified joint (or for all joints if none is specified).
|
|
.RE
|
|
.P
|
|
\fBjoint_units [<joint>]\fR
|
|
.RS
|
|
With get, returns "inch", "mm", "cm", or "deg", "rad", "grad", or
|
|
"custom", for the corresponding native units of the specified joint (or
|
|
for all joints if none is specified). The type of the axis (linear or
|
|
angular) is used to resolve which type of units are returned. The units
|
|
are obtained heuristically, based on the EMC_AXIS_STAT::units numerical
|
|
value of user units per mm or deg. For linear joints, something close
|
|
to 0.03937 is deemed "inch", 1.000 is "mm", 0.1 is "cm", otherwise it's
|
|
"custom". For angular joints, something close to 1.000 is deemed "deg",
|
|
PI/180 is "rad", 100/90 is "grad", otherwise it's "custom".
|
|
.RE
|
|
.P
|
|
\fBprogram_units\fR
|
|
.RS
|
|
Synonym for program_linear_units.
|
|
.RE
|
|
.P
|
|
\fBprogram_linear_units\fR
|
|
.RS
|
|
With get, returns "inch", "mm", "cm", or "none", for the corresponding
|
|
linear units that are active in the program interpreter.
|
|
.RE
|
|
.P
|
|
\fBprogram_angular_units\fR
|
|
.RS
|
|
With get, returns "deg", "rad", "grad", or "none" for the corresponding
|
|
angular units that are active in the program interpreter.
|
|
.RE
|
|
.P
|
|
\fBuser_linear_units\fR
|
|
.RS
|
|
With get, returns "inch", "mm", "cm", or "custom", for the corresponding
|
|
native user linear units of the LinuxCNC trajectory level. This is obtained
|
|
heuristically, based on the EMC_TRAJ_STAT::linearUnits numerical value
|
|
of user units per mm. Something close to 0.03937 is deemed "inch",
|
|
1.000 is "mm", 0.1 is "cm", otherwise it's "custom".
|
|
.RE
|
|
.P
|
|
\fBuser_angular_units\fR
|
|
.RS
|
|
Returns "deg", "rad", "grad", or "custom" for the corresponding native
|
|
user angular units of the LinuxCNC trajectory level. Like with linear units,
|
|
this is obtained heuristically.
|
|
.RE
|
|
.P
|
|
\fBdisplay_linear_units\fR
|
|
.RS
|
|
With get, returns "inch", "mm", "cm", or "custom", for the linear
|
|
units that are active in the display. This is effectively the value
|
|
of linearUnitConversion.
|
|
.RE
|
|
\fBdisplay_angular_units\fR
|
|
.RS
|
|
With get, returns "deg", "rad", "grad", or "custom", for the angular
|
|
units that are active in the display. This is effectively the value
|
|
of angularUnitConversion.
|
|
.RE
|
|
.P
|
|
\fBlinear_unit_conversion {inch|mm|cm|auto}\fR
|
|
.RS
|
|
With get, any parameter is ignored and the active unit conversion is
|
|
returned. With set, sets the unit to be displayed. If it's "auto",
|
|
the units to be displayed match the program units.
|
|
.RE
|
|
.P
|
|
\fBangular_unit_conversion {deg|rad|grad|auto}\fR
|
|
.RS
|
|
With get, any parameter is ignored and the active unit conversion is
|
|
returned. With set, sets the units to be displayed. If it's "auto",
|
|
the units to be displayed match the program units.
|
|
.RE
|
|
.P
|
|
\fBprobe_clear\fR
|
|
.RS
|
|
With set, clear the probe tripped flag.
|
|
.RE
|
|
.P
|
|
\fBprobe_tripped\fR
|
|
.RS
|
|
With get, return the probe state - has the probe tripped since the last clear?
|
|
.RE
|
|
.P
|
|
\fBprobe_value\fR
|
|
.RS
|
|
With get, return the current value of the probe signal.
|
|
.RE
|
|
.P
|
|
\fBprobe\fR
|
|
.RS
|
|
With set, move toward a certain location. If the probe is tripped on
|
|
the way stop motion, record the position and raise the probe tripped flag.
|
|
.RE
|
|
.P
|
|
\fBteleop_enable [on|off]\fR
|
|
.RS
|
|
With get, any parameter is ignored and the current teleop mode is
|
|
returned. With set, sets the teleop mode as specified.
|
|
.RE
|
|
.P
|
|
\fBkinematics_type\fR
|
|
.RS
|
|
With get, returns the type of kinematics functions used (identity=1,
|
|
serial=2, parallel=3, custom=4).
|
|
.RE
|
|
.P
|
|
\fBoverride_limits {on|off}\fR
|
|
.RS
|
|
With get, any parameter is ignored and the override_limits setting is
|
|
returned. With set, the override_limits parameter is set as specified.
|
|
If override_limits is on, disables end of travel hardware limits to
|
|
allow jogging off of a limit. If parameters is off, then hardware limits
|
|
are enabled.
|
|
.RE
|
|
.P
|
|
\fBoptional_stop {0|1}\fR
|
|
.RS
|
|
With get, any parameter is ignored and the current "optional stop on M1"
|
|
setting is returned. With set, the setting is set as specified.
|
|
.RE
|
|
.SH Example Session
|
|
.P
|
|
This section shows an example session to the local machine (\fBlocalhost\fR).
|
|
Bold items are typed by you, non-bold is machine output. Default values are shown for
|
|
--port PORT_NUMBER (\fB5007\fR), --conectpw PASSWORD (\fBEMC\fR), and
|
|
--enablepw PASSWORD (\fBEMCTOO\fR).
|
|
.P
|
|
The user connects to linuxcncrsh, handshakes with the server (hello), enables
|
|
machine commanding from this session (set enable), brings the machine
|
|
out of E-stop (set estop off) and turns it on (set machine on), homes all
|
|
the axes, switches the machine to mdi mode, sends an MDI G-code command,
|
|
then disconnects and shuts down LinuxCNC.
|
|
.P
|
|
> \fBtelnet localhost 5007\fR
|
|
.br
|
|
Trying 127.0.0.1...
|
|
.br
|
|
Connected to 127.0.0.1
|
|
.br
|
|
Escape character is '^]'.
|
|
.br
|
|
\fBhello EMC user\-typing\-at\-telnet 1.0\fR
|
|
.br
|
|
HELLO ACK EMCNETSVR 1.1
|
|
.br
|
|
\fBset enable EMCTOO\fR
|
|
.br
|
|
set enable EMCTOO
|
|
.br
|
|
\fBset mode manual\fR
|
|
.br
|
|
set mode manual
|
|
.br
|
|
\fBset estop off\fR
|
|
.br
|
|
set estop off
|
|
.br
|
|
\fBset machine on\fR
|
|
.br
|
|
set machine on
|
|
.br
|
|
\fBset home 0\fR
|
|
.br
|
|
set home 0
|
|
.br
|
|
\fBset home 1\fR
|
|
.br
|
|
set home 1
|
|
.br
|
|
\fBset home 2\fR
|
|
.br
|
|
set home 2
|
|
.br
|
|
\fBset mode mdi\fR
|
|
.br
|
|
set mode mdi
|
|
.br
|
|
\fBset mdi g0x1\fR
|
|
.br
|
|
set mdi g0x1
|
|
.br
|
|
\fBhelp\fR
|
|
.br
|
|
help
|
|
.br
|
|
Available commands:
|
|
Hello <password> <client name> <protocol version>
|
|
Get <emc command>
|
|
Set <emc command>
|
|
Shutdown
|
|
Help <command>
|
|
.br
|
|
\fBhelp get\fR
|
|
.br
|
|
help get
|
|
.br
|
|
Usage:
|
|
Get <emc command>
|
|
Get commands require that a hello has been successfully negotiated.
|
|
Emc command may be one of:
|
|
Abs_act_pos
|
|
Abs_cmd_pos
|
|
.br
|
|
\fB ... \fR
|
|
.br
|
|
\fBshutdown\fR
|
|
.br
|
|
shutdown
|
|
.br
|
|
Connection closed by foreign host.
|