diff --git a/src/emc/nml_intf/emc.cc b/src/emc/nml_intf/emc.cc
index 59fdabe..cdba7ed 100644
--- a/src/emc/nml_intf/emc.cc
+++ b/src/emc/nml_intf/emc.cc
@@ -1838,6 +1838,7 @@ void EMC_TRAJ_STAT::update(CMS * cms)
     cms->update(probeval);
     cms->update(kinematics_type);
     cms->update(motion_type);
+    cms->update(motion_heartbeat);
 
 }
 
@@ -2261,4 +2262,4 @@ void EMC_MOTION_ADAPTIVE::update(CMS * cms)
 void EMC_MOTION_CMD_MSG::update(CMS * cms)
 {
 
-}
\ No newline at end of file
+}
diff --git a/src/emc/nml_intf/emc_nml.hh b/src/emc/nml_intf/emc_nml.hh
index 2d5e61e..8c713b7 100644
--- a/src/emc/nml_intf/emc_nml.hh
+++ b/src/emc/nml_intf/emc_nml.hh
@@ -834,6 +834,7 @@ class EMC_TRAJ_STAT:public EMC_TRAJ_STAT_MSG {
     //bool spindle_override_enabled; moved to SPINDLE_STAT
     bool adaptive_feed_enabled;
     bool feed_hold_enabled;
+    uint32_t motion_heartbeat; // native motion-controller servo-cycle counter
     StateTag tag;
 };
 
diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc
index 6d5ebd5..d215e2e 100644
--- a/src/emc/task/emctaskmain.cc
+++ b/src/emc/task/emctaskmain.cc
@@ -3490,6 +3490,11 @@ int main(int argc, char *argv[])
 	// since emcStatus was passed to the WM init functions, it
 	// will be updated in the _update() functions above. There's
 	// no need to call the individual functions on all WM items.
+	// EMC_TASK_STAT_MSG::heartbeat is the native task-cycle oracle used by
+	// external clients.  Keep it monotonic and publish it with this cycle's
+	// status image so a reader can identify every task tick without relying on
+	// wall-clock sampling.
+	emcStatus->task.heartbeat++;
 	emcStatusBuffer->write(emcStatus);
 
 	// wait on timer cycle, if specified, or calculate actual
diff --git a/src/emc/task/taskintf.cc b/src/emc/task/taskintf.cc
index 36fbd97..b3ae2aa 100644
--- a/src/emc/task/taskintf.cc
+++ b/src/emc/task/taskintf.cc
@@ -1612,6 +1612,7 @@ int emcTrajUpdate(EMC_TRAJ_STAT * stat)
     stat->feed_override_enabled = enables & FS_ENABLED;
     stat->adaptive_feed_enabled = enables & AF_ENABLED;
     stat->feed_hold_enabled = enables & FH_ENABLED;
+    stat->motion_heartbeat = emcmotStatus.heartbeat;
 
     if (new_config) {
 	stat->cycleTime = emcmotConfig.trajCycleTime;
diff --git a/src/emc/usr_intf/axis/extensions/emcmodule.cc b/src/emc/usr_intf/axis/extensions/emcmodule.cc
index b43f041..96f12a2 100644
--- a/src/emc/usr_intf/axis/extensions/emcmodule.cc
+++ b/src/emc/usr_intf/axis/extensions/emcmodule.cc
@@ -409,6 +409,9 @@ static PyMemberDef Stat_members[] = {
     {(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY},
     {(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY},
     {(char*)"state", T_INT, O(status), READONLY},
+    {(char*)"task_heartbeat", T_UINT, O(task.heartbeat), READONLY,
+        "Native EMC task-loop heartbeat.  This counter is incremented by the "
+        "LinuxCNC task thread and is suitable for identifying native status ticks."},
 
 // task
     {(char*)"task_mode", T_INT, O(task.mode), READONLY},
@@ -473,6 +476,8 @@ static PyMemberDef Stat_members[] = {
     {(char*)"feed_override_enabled", T_BOOL, O(motion.traj.feed_override_enabled), READONLY},
     {(char*)"adaptive_feed_enabled", T_BOOL, O(motion.traj.adaptive_feed_enabled), READONLY},
     {(char*)"feed_hold_enabled", T_BOOL, O(motion.traj.feed_hold_enabled), READONLY},
+    {(char*)"motion_heartbeat", T_UINT, O(motion.traj.motion_heartbeat), READONLY,
+        "Native motion-controller servo-cycle counter."},
     {(char*)"num_extrajoints", T_INT, O(motion.numExtraJoints), READONLY},