Provided by: linuxcnc-uspace_2.9.0~pre0+git20220402.2500863908-4build1_amd64 
NAME
linuxcncrsh - text-mode interface for commanding LinuxCNC over the network
SYNOPSIS
linuxcncrsh [OPTIONS] [-- LINUXCNC_OPTIONS]
DESCRIPTION
linuxcncrsh is a user interface for LinuxCNC. Instead of popping up a GUI window like
axis(1) and touchy(1) do, it processes text-mode commands that it receives via the
network. A human (or a program) can interface with linuxcncrsh using telnet(1) or nc(1)
or similar programs.
All features of LinuxCNC are available via the linuxcncrsh interface.
OPTIONS
-p,--port PORT_NUMBER
Specify the port for linuxcncrsh to listen on. Defaults to 5007 if omitted.
-n,--name SERVER_NAME
Sets the server name that linuxcncrsh will use to identify itself during
handshaking with a new client. Defaults to EMCNETSVR if omitted.
-w,--connectpw PASSWORD
Specify the connection password to use during handshaking with a new client. Note
that the password is sent in the clear, so it can be read by anyone who can read
packets on the network between the server and the client. Defaults to EMC if
omitted.
-e,--enablepw PASSWORD
Specify the password required to enable LinuxCNC via linuxcncrsh. Note that the
password is sent in the clear, so it can be read by anyone who can read packets on
the network between the server and the client. Defaults to EMCTOO if omitted.
-s,--sessions MAX_SESSIONS
Specify the maximum number of simultaneous connections. Defaults to -1 (no limit)
if not specified.
In addition to the options listed above, linuxcncrsh accepts an optional special
LINUXCNC_OPTION at the end:
-ini LINUXCNC_INI_FILE
LinuxCNC .ini file to use. The -ini option must be preceded by two dashes: "--".
Defaults to emc.ini if omitted.
Starting linuxcncrsh
To use linuxcncrsh instead of a normal LinuxCNC GUI like axis or touch, specify it in your
.ini file like this:
[DISPLAY]
DISPLAY=linuxcncrsh
To use linuxcncrsh in addition to a normal GUI, you can either start it at the end of your
.hal file, or run it by hand in a terminal window.
To start it from hal, add a line like this to the end of your .hal file:
loadusr linuxcncrsh [OPTIONS] [-- LINUXCNC_OPTIONS]
To start it from the terminal, run linuxcncrsh manually like this:
linuxcncrsh [OPTIONS] [-- LINUXCNC_OPTIONS]
Connecting
Once LinuxCNC is up and linuxcncrsh is running, you can connect to it using telnet or nc
or similar:
telnet HOST PORT
HOST is the hostname or IP address of the computer running linuxcncrsh, and
PORT is the port it's listening on (5007 if you did not give linuxcncrsh the
--port option).
Network protocol
linuxcncrsh accepts TCP connections on the port specified by the --port option, or 5007 if
not specified.
The client sends requests, and the linuxcncrsh server returns replies. Requests consist
of a command word followed by optional command-specific parameters. Requests and most
request parameters are case insensitive. The exceptions are passwords, file paths and text
strings.
Requests to linuxcncrsh are terminated with line endings, any combination of one or more
'\r' and '\n' characters. Replies from linuxcncrsh are terminated with the sequence
'\r\n'.
The supported commands are as follows:
hello <password> <client> <version>
<password> must match linuxcncrsh's connect password, or "EMC" if no --connectpw
was supplied. The three arguments may not contain whitespace. If a valid password
was entered the server will respond with:
HELLO ACK <ServerName> <ServerVersion>
If an invalid password or any other syntax error occurs then the server responds
with:
HELLO NAK
get <subcommand> [<parameters>]
The get command takes one of the LinuxCNC sub-commands (described in the section
LinuxCNC Subcommands, below) and zero or more additional subcommand-specific
parameters.
set <subcommand> <parameters>
The set command takes one of the LinuxCNC sub-commands (described in the section
LinuxCNC Subcommands, below) and one or more additional parameters.
quit
The quit command disconnects the associated socket connection.
shutdown
The shutdown command tells LinuxCNC to shutdown and disconnect the session. This
command may only be issued if the Hello has been successfully negotiated and the
connection has control of the CNC (see enable subcommand in the LinuxCNC
Subcommands section, below).
help
The help command will return help information in text format over the connection.
If no parameters are specified, it will itemize the available commands. If a
command is specified, it will provide usage information for the specified command.
Help will respond regardless of whether a "Hello" has been successfully negotiated.
LinuxCNC Subcommands
Subcommands for get and set are:
echo {on|off}
With get, any on/off parameter is ignored and the current echo state is returned.
With set, sets the echo state as specified. Echo defaults to on when the
connection is first established. When echo is on, all commands will be echoed upon
receipt. This state is local to each connection.
verbose {on|off}
With get, any on/off parameter is ignored and the current verbose state is
returned. With set, sets the verbose state as specified. When verbose mode is on,
all set commands return positive acknowledgement in the form SET <COMMAND> ACK, and
text error messages will be issued (FIXME: I don't know what this means). The
verbose state is local to each connection, and starts out OFF on new connections.
enable {<passwd>|off}
The session's enable state indicates whether the current connection is enabled to
perform control functions. With get, any parameter is ignored, and the current
enable state is returned. With set and a valid password matching linuxcncrsh's
--enablepw (EMCTOO if not specified), the current connection is enabled for control
functions. "OFF" may not be used as a password and disables control functions for
this connection.
config [TBD]
Unused, ignore for now.
comm_mode {ascii|binary}
With get, any parameter is ignored and the current communications mode is returned.
With set, will set the communications mode to the specified mode. The ascii mode
is the text request/reply mode, the binary protocol is not currently designed or
implemented.
comm_prot <version>
With get, any parameter is ignored and the current protocol version used by the
server is returned. With set, sets the server to use the specified protocol
version, provided it is lower than or equal to the highest version number supported
by the server implementation.
inifile
Not currently implemented! With get, returns the string "emc.ini". Should return
the full path and file name of the current configuration inifile. Setting this
does nothing.
plat
With get, returns the string "Linux".
ini <var> <section>
Not currently implemented, do not use! Should return the string value of <var> in
section <section> of the ini file.
debug <value>
With get, any parameter is ignored and the current integer value of EMC_DEBUG is
returned. Note that the value of EMC_DEBUG returned is the from the UI's ini file,
which may be different than emc's ini file. With set, sends a command to the EMC
to set the new debug level, and sets the EMC_DEBUG global here to the same value.
This will make the two values the same, since they really ought to be the same.
set_wait {received|done}
The set_wait setting controls the wait after receiving a command. It can be
"received" (after the command was sent and received) or "done" (after the command
was done). With get, any parameter is ignored and the current set_wait setting is
returned. With set, set the set_wait setting to the specified value.
wait {received|done}
With set, force a wait for the previous command to be received, or done.
set_timeout <timeout>
With set, set the timeout for commands to return to <timeout> seconds. Timeout is a
real number. If it's <= 0.0, it means wait forever. Default is 0.0, wait forever.
update {none|auto}
The update mode controls whether to return fresh or stale values for "get"
requests. When the update mode is "none" it returns stale values, when it's "auto"
it returns fresh values. Defaults to "auto" for new connections. Set this to
"none" if you like to be confused.
error
With get, returns the current error string, or "ok" if no error.
operator_display
With get, returns the current operator display string, or "ok" if none.
operator_text
With get, returns the current operator text string, or "ok" if none.
time
With get, returns the time, in seconds, from the start of the epoch. This starting
time depends on the platform.
estop {on|off}
With get, ignores any parameters and returns the current estop setting as "on" or
"off". With set, sets the estop as specified. Estop "on" means the machine is in
the estop state and won't run.
machine {on|off}
With get, ignores any parameters and returns the current machine power setting as
"on" or "off". With set, sets the machine on or off as specified.
mode {manual|auto|mdi}
With get, ignores any parameters and returns the current machine mode. With set,
sets the machine mode as specified.
mist {on|off}
With get, ignores any parameters and returns the current mist coolant setting.
With set, sets the mist setting as specified.
flood {on|off}
With get, ignores any parameters and returns the current flood coolant setting.
With set, sets the flood setting as specified.
lube {on|off}
With get, ignores any parameters and returns the current lube pump setting. With
set, sets the lube pump setting as specified.
lube_level
With get, returns the lubricant level sensor reading as "ok" or "low". With set,
mocks you for wishful thinking.
spindle {forward|reverse|increase|decrease|constant|off}
With get, any parameter is ignored and the current spindle state is returned as
"forward", "reverse", "increase", "decrease", or "off". With set, sets the spindle
as specified. Note that "increase" and "decrease" will cause a speed change in the
corresponding direction until a "constant" command is sent.
brake {on|off}
With get, any parameter is ignored and the current brake setting is returned. With
set, the brake is set as specified.
tool
With get, returns the id of the currently loaded tool.
tool_offset
With get, returns the currently applied tool length offset.
load_tool_table <file>
With set, loads the tool table specified by <file>.
home {0|1|2|...} | -1
With set, homes the indicated joint or if -1, Home All joints
jog_stop joint_number|axis_letter
With set, stop any in-progress jog on the specified joint or axis. If
TELEOP_ENABLE is NO, use joint_number; If TELEOP_ENABLE is YES, use axis_letter.
jog joint_number|axis_letter <speed>
With set, jog the specified joint or axis at <speed>; sign of speed is direction.
If TELEOP_ENABLE is NO, use joint_number; If TELEOP_ENABLE is YES, use
axis_letter.
jog_incr jog_number|axis_letter <speed> <incr>
With set, jog the indicated joint or axis by increment <incr> at the <speed>; sign
of speed is direction. If TELEOP_ENABLE is NO, use joint_number; If TELEOP_ENABLE
is YES, use axis_letter.
feed_override <percent>
With get, any parameter is ignored and the current feed override is returns (as a
percentage of commanded feed). With set, sets the feed override as specified.
spindle_override <percent>
With get, any parameter is ignored and the current spindle override is returned (as
a percentage of commanded speed). With set, sets the spindle override as
specified.
abs_cmd_pos [{0|1|...}]
With get, returns the specified axis' commanded position in absolute coordinates.
If no axis is specified, returns all axes' commanded absolute position.
abs_act_pos [{0|1|...}]
With get, returns the specified axis' actual position in absolute coordinates. If
no axis is specified, returns all axes' actual absolute position.
rel_cmd_pos [{0|1|...}]
With get, returns the specified axis' commanded position in relative coordinates,
including tool length offset. If no axis is specified, returns all axes' commanded
relative position.
rel_act_pos [{0|1|...}]
With get, returns the specified axis' actual position in relative coordinates,
including tool length offset. If no axis is specified, returns all axes' actual
relative position.
joint_pos [{0|1|...}]
With get, returns the specified joint's actual position in absolute coordinates,
excluding tool length offset. If no joint is specified, returns all joints' actual
absolute position.
pos_offset [{X|Y|Z|R|P|W}]
With get, returns the position offset associated with the world coordinate
provided.
joint_limit [{0|1|...}]
With get, returns limit status of the specified joint as "ok", "minsoft",
"minhard", "maxsoft", or "maxhard". If no joint number is specified, returns the
limit status of all joints.
joint_fault [{0|1|...}]
With get, returns the fault status of the specified joint as "ok" or "fault". If
no joint number is specified, returns the fault status of all joints.
joint_homed [{0|1|...}]
With get, returns the homed status of the specified joint as "homed" or "not". If
no joint number is specified, returns the homed status of all joints.
mdi <string>
With set, sends <string> as an MDI command.
task_plan_init
With set, initializes the program interpreter.
open <filename>
With set, opens the named file. The <filename> is opened by linuxcnc, so it should
either be an absolute path or a relative path starting in the linuxcnc working
directory (the directory of the active .ini file).
run [<StartLine>]
With set, runs the opened program. If no StartLine is specified, runs from the
beginning. If a StartLine is specified, start line, runs from that line. A start
line of -1 runs in verify mode.
pause
With set, pause program execution.
resume
With set, resume program execution.
abort
With set, abort program or MDI execution.
step
With set, step the program one line.
program
With get, returns the name of the currently opened program, or "none".
program_line
With get, returns the currently executing line of the program.
program_status
With get, returns "idle", "running", or "paused".
program_codes
With get, returns the string for the currently active program codes.
joint_type [<joint>]
With get, returns "linear", "angular", or "custom" for the type of the specified
joint (or for all joints if none is specified).
joint_units [<joint>]
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".
program_units
Synonym for program_linear_units.
program_linear_units
With get, returns "inch", "mm", "cm", or "none", for the corresponding linear units
that are active in the program interpreter.
program_angular_units
With get, returns "deg", "rad", "grad", or "none" for the corresponding angular
units that are active in the program interpreter.
user_linear_units
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".
user_angular_units
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.
display_linear_units
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.
display_angular_units
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.
linear_unit_conversion {inch|mm|cm|auto}
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.
angular_unit_conversion {deg|rad|grad|auto}
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.
probe_clear
With set, clear the probe tripped flag.
probe_tripped
With get, return the probe state - has the probe tripped since the last clear?
probe_value
With get, return the current value of the probe signal.
probe
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.
teleop_enable [on|off]
With get, any parameter is ignored and the current teleop mode is returned. With
set, sets the teleop mode as specified.
kinematics_type
With get, returns the type of kinematics functions used (identity=1, serial=2,
parallel=3, custom=4).
override_limits {on|off}
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.
optional_stop {0|1}
With get, any parameter is ignored and the current "optional stop on M1" setting is
returned. With set, the setting is set as specified.
Example Session
This section shows an example session to the local machine (localhost). Bold items are
typed by you, non-bold is machine output. Default values are shown for --port
PORT_NUMBER (5007), --conectpw PASSWORD (EMC), and --enablepw PASSWORD (EMCTOO).
The user connects to linuxcncrsh, handshakes with the server (hello), enables machine
commanding from this session (set enable), brings the machine out of estop (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.
> telnet localhost 5007
Trying 127.0.0.1...
Connected to 127.0.0.1
Escape character is '^]'.
hello EMC user-typing-at-telnet 1.0
HELLO ACK EMCNETSVR 1.1
set enable EMCTOO
set enable EMCTOO
set mode manual
set mode manual
set estop off
set estop off
set machine on
set machine on
set home 0
set home 0
set home 1
set home 1
set home 2
set home 2
set mode mdi
set mode mdi
set mdi g0x1
set mdi g0x1
help
help
Available commands:
Hello <password> <client name> <protocol version>
Get <emc command>
Set <emc command>
Shutdown
Help <command>
help get
help get
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
...
shutdown
shutdown
Connection closed by foreign host.
May 31, 2011 linuxcncrsh(1)