myCNC Online Documentation

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====== Server API ======

//This article serves as the main reference point for all myCNC material related to the myCNC Server API.// 

The server API allows to control movement and machine coordinates remotely, via a series of commands.

To enable Server API functionality, first head into your Settings > Config > Network, and enable the ''Server Interface'' option, as well as set a ''Server Port'' (the server port will be used to connect to your system via the ''telnet'' command, for example ''telnet 127.0.0.1 4266''):

{{:mycnc:server-api-002-network-tab.png}}

A list of Server API commands is presented below for jog control, etc. To obtain a full list of commands, type ? while connected to the remote host:

{{:mycnc:server-api-001-commands-list.png}}

A full list of commands is provided below:

^ Parameter ^ Description ^ 
| EchoMode |  |
| ProgramFileOpen |  |
| ProgramBegin | 
| ProgramAppend |
| ProgrmaEnd |
| ProgramPlay | Starts running the program |
| ProgramPlayBack |
| ProgramPlayStep |
| ProgramPlayStepBack |
| ProgramPause |
| ProgramStop | Stops the running program |
| ProgramReset | Resets the program to the beginning | 
| GetEstimateTime |
| GetMachinePosition | Returns all of the current machine position coordinates |
| GetProcess |
| GetWorkPosition | Returns all of the current work (program) coordinates |
| GetMyCNCVersion |
| GetFVariable | Returns the value stored in a global variable (as double) |
| GetIVariable | Returns the value stored in a global variable (as int) |
| GetReady |
| LineAppend |
| GetScanData |
| GetSensors |
| GetMCC | Get Motion Control Code - read machine status, returns a number (for example, 3) |
| GetMCPtr | Get Motion Control Pointers |
| GetHW |
| GetHWDAC |
| GetHWADC |
| GetHWInputBit | Returns (reads) the state of a particular input |
| GetHWInputs | Returns (reads) the state of an input group |
| GetHWOutputs |
| GetHWPWM |
| GetPWMs |
| GetPausedLine |
| GetLastMessage |
| GetWorkState |
| PendantWidgetShow |
| PendantWidgetHide |
| PendantWidgetHidden |
| RunPLC |
| SaveConfig |
| SetG92 | Sets the current work position to the selected value (for example, ''SetG92 X0'') |
| SetHWDAC |
| SetHWOutputBit |
| SetHWPWM |
| SetPendant |
| SetRotationAngle |
| SetCNCVariable |
| SetJog |
| SetScale |
| SetGVariable |
| SinglePlay |
| ShutDown | 
| GetJobName | Get the full job name and file path |
| GetSVariable8020 | Get the full job name and file path (same as GetJobName) |
| GetSVariable8109 | Get current job (file) size, in MB | 
| GetSVariable8108 | Get the current job (file) folder path (same as GetJobName but without the actual file name) |
| GetSVariable8107 | Get the current job name without the folder path (name only) | 

====Server API, Jog control====

Command "SetJog" is used for Jog control through Sever API. Command syntax is "SetJog Parameter". Parameters listed in table below:

^ Parameter ^	Description ^
| x+ | start jog X+ direction |
| x- | start jog X- direction |
| y+ | start jog Y+ direction |
| y- | start jog Y- direction |
| z+ | start jog Z+ direction |
| z- | start jog Z- direction |
| a+ | start jog A+ direction |
| a- | start jog A- direction |
| b+ | start jog B+ direction |
| b- | start jog B- direction |
| c+ | start jog C+ direction |
| c- | start jog C- direction |
| x+y+ | start jog in 2 axes X+,Y+ directions |
| x-y- | start jog in 2 axes X-,Y- directions |
| x+y- | start jog in 2 axes X+,Y- directions |
| x-y+ | start jog in 2 axes X-,Y+ directions |
| xstop | stop jog in X axis |
| ystop | stop jog in Y axis |
| zstop | stop jog in Z axis |
| astop | stop jog in A axis |
| bstop | stop jog in B axis |
| cstop | stop jog in C axis |
| xystop | stop jog in X, Y axes |

====Server API, Pendant control emulation====

Server API has a command to simplify Pendant control emulation. This command can be used for writing third-party Pendant control device drivers.

==SetPendant==

//Command:// ''SetPendant''  
//Format:// ''SetPendant Parameter1;Parameter2''

  * ''Parameter1'' - Emulated Hand wheel position. It's supposed the handwheel has resolution of "100", such that the position range can be (0...99)
  * ''Parameter2'' - 16-bit value, high byte is Step selector, low byte is Axis selector.
  * Step selector values can be set through the following format:
    * 0 -> "x0.001" (1 wheel step = 0.001 unit)
    * 1 -> "x0.01" (1 wheel step = 0.01 unit)
    * 2 -> "x0.1" (1 wheel step = 0.1 unit)
    * 3 -> "x1" (1 wheel step = 1 unit)
  * Axis selector values:
    * 0 -> "OFF"
    * 1 -> "X"
    * 2 -> "Y"
    * 3 -> "Z"
    * 4 -> "A"
    * 5 -> "B"
    * 6 -> "C"
  
^ Example ^ Description ^
| SetPendant 50;0x0300 | Axis=OFF, Mul=1, Wheel=50 - initial position  |
| SetPendant 50;0x0301 | Axis=X, Mul=1, Wheel=50 - Turn ON X axis |
| SetPendant 55;0x0301 | Axis=X, Mul=1, Wheel=55 - Rotate wheel +5 "clicks", will move X +5*1.0=5.0 mm |
| SetPendant 55;0x0302 | Axis=Y, Mul=0.01, Wheel=55 - Switch to Y axis |
| SetPendant 65;0x0302 | Axis=Y, Mul=0.01, Wheel=65 - Rotate wheel +10 "clicks", will move Y +10*0.01=+0.1 mm |
| SetPendant 65;0x0302 | Axis=Z, Mul=0.1, Wheel=65 - Switch to Z axis |
| SetPendant 50;0x0302 | Axis=Z, Mul=0.1, Wheel=50 - Rotate wheel -15 "clicks", will move Z -15*0.1=-1.5 mm |

====Hardware outputs (binary, DAC, PWM) manipulation thourgh Server API====

There are 3 ways to manipulate myCNC control board Hardware outputs through Server API:

1) Direct manipulation through commands "SetHWBinaryOutput", "SetHWDAC", "SetHWPWM"
2) Manipulation through running PLC procedure with Hardware Outputs manipulation.
3) Manipulation though running short G/M-codes program

===Direct Manipulation===

===Set HW Binary Output===

//Command:// ''SetHWBinaryOutput'' 	

//Syntax:// ''SetHWBinaryOutput <Port number> <Port value>''

Port Number is number binary port. Its range is 0 to 159. Set Port value to "1" to turn ON binary output (relay, open collector), "0" to turn OFF the binary output.

^ Example ^ Description ^
| SetHWBinaryOutput 0 1 | Turn ON binary output #0 |
| SetHWBinaryOutput 1 1 | Turn ON binary output #1 |
| SetHWBinaryOutput 23 1 | Turn ON binary output #23 |
| SetHWBinaryOutput 0 0 | Turn OFF binary output #0 | 
| SetHWBinaryOutput 1 0 | Turn OFF binary output #1 | 
| SetHWBinaryOutput 19 0 | Turn OFF binary output #19 |
  	 

==Set HW PWM==

//Command:// ''SetHWPWM''

//Syntax:// ''SetHWPWM <PWM channel> <PWM value>''

PWM channel is the number of the PWM pin. Software range is 0 to 3, however the number of PWM channels depends on the myCNC Ethernet controller model. Controllers ET1, ET3, ET5 each contain 3 PWM pins.

^ Example ^ Description ^ 
| SetHWPWM 0 2000 | Set value "2000" to PWM#0 (PWM1). Max PWM value is 4095 |
| SetHWPWM 0 0 | Set value "0" to PWM#0 (PWM1). Max PWM value is 4095 |
| SetHWPWM 2 3500 | Set value "3500" to PWM#2 (PWM3). Max PWM value is 4095 |
| SetHWPWM 1 4095 | Set value "4095" (Maximum) to PWM#1 (PWM2). Max PWM value is 4095 |


==Set HW DAC==

//Command:// ''SetHWDAC''

//Syntax:// ''SetHWDAC <DAC channel> <DAC value>''

DAC channel is number of the DAC pin. Software range is 0 to 1, however real number of DAC channels depends on myCNC Ethernet controller model. Controllers ET1 and ET3 each contain 1 DAC pins, while the ET5 controller contains 6 DAC pins.

^ Example ^ Description ^
| SetHWDAC 0 1000 | Assign value "1000" to DAC#0 (DAC1). Max DAC value is 4095 |
| SetHWDAC 0 0 | Assign value "0" to DAC#0 (DC1). Max DAC value is 4095 |
| SetHWDAC 1 4095 | Assign value "4095" (Maximum) to DAC#1 (DAC2) |


===Manipulation through PLC procedure===

Server API command "RunPLC" loads and runs PLC procedure on the controller end with a given parameter. We can run a PLC procedure that manipulates Hardware outputs to get a similar result. Normally, every profile configuration contains PLC procedures for Hardware outputs manipulation:

==M62==

//PLC procedure:// ''M62'' 
//Syntax:// ''M62 <Parameter>''
M62 allows the user to turn ON a binary output pin with a given number (Parameter=Port number)

^ Example ^ Description ^
| M62   1  | Turn ON binary output #1 |
| M62   0  | Turn ON binary output #0 |
| M62   15  | Turn ON binary output #15 |
 
==M63==

//PLC Procedure//: ''M63'' 
//Syntax:// ''M63 <Parameter>''

M63 allows the user to turn OFF a binary output pin with a given number (Parameter=Port number)

^ Example ^ Description ^
| M63   1 | Turn OFF binary output #1 |
| M63   0 | Turn OFF binary output #0 |
| M63   15 | Turn OFF binary output #15 |
 
==DAC== 	

//Syntax:// ''DAC <Parameter>''

The low 12 bits (11...0) contain the value of DAC to be written, high bits (14..12) contain the DAC channel.

^ Example ^ Description ^
| DAC 0 | Set value "0" to DAC#0 (DAC1). Max DAC value is 4095 |
| DAC 0x0600 | Set value "0x600" (1536) to DAC#0 (DAC1). Max DAC value is 4095 |
| DAC 0x1400 | Set value "0x400" (1024) to DAC#1 (DAC2). Max DAC value is 4095 |
| DAC 0x1000 | Set value "0" to DAC#1 (DAC2). Max DAC value is 4095 |
 
==PWM==

//Syntax:// ''PWM <Parameter>''

The low 12 bits (11...0) contain the value of PWM to be written, high bits (14..12) contain the PWM channel number.

^ Example ^ Description ^
| PWM 0 | Set value "0" to PWM#0 (PWM1). Max DAC value is 4095 |
| PWM 0x0600 | Set value "0x600" (1536) to PWM#0 (PWM1). Max PWM value is 4095 |
| PWM 0x1400 | Set value "0x400" (1024) to PWM#1 (PWM2). Max PWM value is 4095 |
| PWM 0x2000 | Set value "0" to PWM#2 (PWM3). Max PWM value is 4095 |

Examples of running these PLC procedures through the Server API are shown table below:

^ Binary input manipulation ^^
^ Example ^ Description ^ 
| RunPLC   M62  1 | Turn ON output#1 |
| RunPLC   M62  0 | Turn ON output#0 |
| RunPLC   M63  3 | Turn OFF output#3 |
| RunPLC   M63  5 | Turn OFF output#5 |

^ PWM control ^^
^ Example ^ Description ^ 
| RunPLC  PWM  0x1350 | Write to PWM#1 (PWM2) a value of 0x350 |
| RunPLC  PWM  0x250 | Write to PWM#0 (PWM1) value 0x250 |
| RunPLC  PWM  0x2800 | Write to PWM#2 (PWM3) value 0x800 | 
| RunPLC  PWM  0x0 | Write to PWM#0 (PWM1) value 0 |
| RunPLC  PWM  0x1000 | Write to PWM#1 (PWM2) value 0 |
| RunPLC  PWM  0x2000 | Write to PWM#2 (PWM3) value 0 |


^ SetHWDAC ^^
^ Example ^ Description ^ 	
| RunPLC  DAC  0x1570 | Write to DAC#1 (DAC2) value 0x570 |
| RunPLC  DAC  0x800 | Write to DAC#0 (DAC1) value 0x800 |
| RunPLC  DAC  0x0 | Write to DAC#0 (DAC1) value 0 |
| RunPLC  DAC  0x1000 | Write to DAC#1 (DAC2) value 0 |


===Manipulation through running G-codes===

Server API command "SinglePlay" will run a G-code line (or a number of G-code lines separated by the ";" symbol). It's possible to control binary outputs by running M-functions "M62" and "M63" (similar to the method described above). P-parameter sets the binary output number to control.

//M-code:// ''M62''
//Syntax:// ''M62 P<number>''

This will turn ON the binary output pin with the given number. 

^ Example ^ Description ^ 
| M62   P1 | Turn ON binary output #1 |
| M62   P0  | Turn ON binary output #0 |
| M62   P15 | Turn ON binary output #15 |
  	 
//M-code:// ''M63'' 	
//Syntax:// ''M63 P<number>''

This will turn OFF the binary output pin with the given number. 

^ Example ^ Description ^ 
| M63   P1 | Turn OFF binary output #1 |
| M63   P0  | Turn OFF binary output #0 |
| M63   P15 | Turn OFF binary output #15 |


Any custom PLC function can be written and assigned to M-code, then loaded through the CNC Server API.

====Demo Videos====

The following videos show examples of using the server API to control a myCNC system (older versions of the software are used, however the principle is the same):


ProgramFileOpen and SetScale: 
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Hardware Binary Outputs:
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Set Scale and Rotation Angle:
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