EMC(1) TheEnhanced Machine Controller EMC(1) emc − EMC ... EMC(1) TheEnhanced Machine Controller EMC(1)

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  • EMC(1) TheEnhanced Machine Controller EMC(1)

    NAME emc − EMC (The Enhanced Machine Controller)

    SYNOPSIS emc[-v] [ -d] [ INIFILE]

    DESCRIPTION emc is used to start EMC (The Enhanced Machine Controller). It starts the realtime system and then initial- izes a number of EMC components (IO, Motion, GUI, HAL, etc). The most important parameter is INIFILE, which specifies the configuration name you would like to run. If INIFILE is not specified, theemc script presents a graphical wizard to let you choose one.

    OPTIONS −v Be a little bit verbose. This causes the script to print information as it works.

    −d Print lots of debug information. All executed commands are echoed to the screen. This mode is useful when something is not working as it should.

    INIFILE The ini file is the main piece of an EMC configuration. It is not the entire configuration; there are various other files that go with it (NML files, HAL files, TBL files, VAR files). It is, however, the most important one, because it is the file that holds the configuration together. It can adjust a lot of parameters itself, but it also tellsemcwhich other files to load and use.

    There are several ways to specify which config to use:

    Specify the absolute path to an ini, e.g. emc/usr/local/emc2/configs/sim/sim.ini

    Specify a relative path from the current directory, e.g. emcconfigs/sim/sim.ini

    Otherwise, in the case where theINIFILE is not specified, the behavior will depend on whether you configured emc with--enable-run-in-place. If so, the emc config chooser will search only the configs directory in your source tree. If not (or if you are using a packaged version of emc), it may search several directories. The config chooser is currently set to search the path:

    ˜/emc2/configs:/usr/src/emc2.2-docbuild/configs

    EXAMPLES emc

    emcconfigs/sim/sim.ini

    emc/etc/emc2/sample-configs/stepper/stepper_mm.ini

    SEE ALSO halcmd(1)

    Much more information about EMC2 and HAL is available in the EMC2 and HAL User Manuals, found at /usr/share/doc/emc2/.

    HISTORY BUGS

    None known at this time.

    EMC Documentation 2006-02-20 1

  • EMC(1) TheEnhanced Machine Controller EMC(1)

    AUTHOR This man page written by Alex Joni, as part of the Enhanced Machine Controller (EMC) project.

    REPORTING BUGS Report bugs to alex_joni AT users DOT sourceforge DOT net

    COPYRIGHT Copyright © 2006 Alex Joni. This is free software; see the source for copying conditions. There is NO warranty; not even for MER- CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

    2 2006-02-20 EMCDocumentation

  • axis-remote(1) TheEnhanced Machine Controller axis-remote(1)

    NAME axis-remote − AXIS Remote Interface

    SYNOPSIS axis-remote

    DESCRIPTION axis-remoteis a small script to control a running AXIS GUI.Useaxis-remote --helpfor further informa- tion.

    OPTIONS --ping Check whether AXIS is running.

    --reload Make AXIS reload the currently loaded file.

    --quit Make AXIS quit.

    --help Display a list of valid parameters foraxis-remote.

    SEE ALSO axis(1)

    Much more information about EMC2 and HAL is available in the EMC2 and HAL User Manuals, found at /usr/share/doc/emc2/.

    HISTORY BUGS

    None known at this time.

    AUTHOR This man page written by Alex Joni, as part of the Enhanced Machine Controller (EMC) project.

    REPORTING BUGS Report bugs to alex_joni AT users DOT sourceforge DOT net

    COPYRIGHT Copyright © 2007 Alex Joni. This is free software; see the source for copying conditions.There is NO warranty; not even for MER- CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

    EMC Documentation 2007-04-01 3

  • AXIS(1) TheEnhanced Machine Controller AXIS(1)

    NAME axis − AXIS EMC (The Enhanced Machine Controller) Graphical User Interface

    SYNOPSIS axis -ini INIFILE

    DESCRIPTION axis is one of the Graphical User Interfaces (GUI) for EMC (The Enhanced Machine Controller). It gets run by the runscript usually.

    OPTIONS INIFILE

    The ini file is the main piece of an EMC configuration. It is not the entire configuration; there are various other files that go with it (NML files, HAL files, TBL files, VAR files). It is, however, the most important one, because it is the file that holds the configuration together. It can adjust a lot of parameters itself, but it also tellsemcwhich other files to load and use.

    SEE ALSO emc(1)

    Much more information about EMC2 and HAL is available in the EMC2 and HAL User Manuals, found at /usr/share/doc/emc2/.

    HISTORY BUGS

    None known at this time.

    AUTHOR This man page written by Alex Joni, as part of the Enhanced Machine Controller (EMC) project.

    REPORTING BUGS Report bugs to alex_joni AT users DOT sourceforge DOT net

    COPYRIGHT Copyright © 2007 Alex Joni. This is free software; see the source for copying conditions.There is NO warranty; not even for MER- CHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

    4 2007-04-01 EMCDocumentation

  • bfload(1) TheEnhanced Machine Controller bfload(1)

    NAME bfload − A program for loading a Xilinx Bitfile program into the FPGA of an Anything I/O board from Mesa Electronics.

    SYNOPSIS bfload help

    bfload list

    bfload BoardType[:BoardIdentifier]=BitFile

    bfload []

    DESCRIPTION This program loads a Xilinx bitfile-format FPGA program into the FPGA of an Anything I/O board from Mesa Electronics. Currently supported boards:

    5i20

    7i43 (both the 200K and 400K FPGA models)

    OPTIONS The first two command-line forms do not program an FPGA.

    help Prints terse usage info.

    list Lists all the supported PCI Anything I/O boards in the system.

    The last two command-line forms try to program the FPGA of an Anything I/O board.

    The new, prefered command-line syntax is: BoardType[:BoardIdentifier]=BitFile

    BoardType specifies the model name of a supported Anything I/O board (see the DESCRIPTION section above).

    BoardIdentifier is optional. Its format depends on the board type.For PCI boards, BoardIdenti- fier is an integer specifying the n’th discovered PCI board of that type.For EPP boards, BoardI- dentifier is the I/O address of the parallel port to use, in the format "IOAddr[,IOAddrHigh]". If IOAddrHigh is omitted, it defaults to IOAddr + 0x400.If BoardIdentifier is omitted, it defaults to "0" for PCI boards and "0x378" for EPP boards.

    BitFile is the name of the FPGA program file to send.

    The old, deprecated command-line syntax is: []

    Only the 5i20 board is supported with this syntax.Support for this syntax will be removed in a future ver- sion of EMC.

    is the name of the FPGA program file to send.

    (optional, defaults to 0) is the index of the board to send it to.

    EXAMPLE # send the file SV12.BIT to the first 5i20 board in the system bfload 5i20=SV12.BIT

    # send the file SV8B.BIT to the 7i43 at the specified address bfload 7i43:0xdc48,0xdc50=SV8B.BIT

    # send the file SVST8_4.BIT to the first 5i20 (old deprecated syntax) bfload SVST8_4.BIT

    # send the file SVST8_4.BIT to the second 5i20 (old deprecated syntax) bfload SVST8_4.BIT 1

    EMC Documentation 2008 April 9 5

  • comp(1) TheEnhanced Machine Controller comp(1)

    NAME comp − Build, compile and install EMC HAL components

    SYNOPSIS comp [--compile|--preprocess|--document|--view-doc] compfile...

    sudocomp [--install|--install-doc] compfile... comp --compile --userspacecfile...

    sudocomp --install --userspacecfile... sudocomp --install --userspacepyfile...

    DESCRIPTION compperforms many different functions:

    • Compile.compand.c files into.soor .ko HAL realtime components (the--compileflag)

    • Compile.compand.c files into HAL userspace components (the--compile --userspaceflag)

    • Preprocess.compfiles into.c files (the--preprocessflag)

    • Extract documentation from.compfiles into.9 manpage files (the--documentflag)

    • Display documentation from.compfiles onscreen (the--view-docflag)

    • Compile and install.comp and .c files into the proper directory for HAL realtime components (the --install flag), which may requiresudoto write to system directories.

    • Install .c and .py files into the proper directory for HAL userspace components (the--install --userspaceflag), which may requiresudoto write to system directories.

    • Extract documentation from.comp files into .9 manpage files in the proper system directory (the --install flag), which may requiresudoto write to system directories.

    • Preprocess.compfiles into.c files (the--preprocessflag)

    SEE ALSO Comp: A tool for creating HAL componentsin the emc2 documentation for a full descrition of the.comp syntax, along with examples

    pydoc hal and Creating Userspace Python Components with the ’hal’ modulefor documentation on the Python interface to HAL components

    comp(9) for documentation on the "two input comparator with hysteresis", a HAL realtime compoent with the same name as this program

    6 2007-10-17 EMCDocumentation

  • HAL_INPUT(1) HAL User’s Manual HAL_INPUT(1)

    NAME hal_input − control HAL pins with any Linux input device, including USB HID devices

    SYNOPSIS loadusrhal_input [-KRAL] inputspec ...

    DESCRIPTION hal_input is an interface between HAL and any Linux input device, including USB HID devices. For each device named,hal_input creates pins corresponding to its keys, absolute axes, and LEDs.At a fixed rate of approximatel