motion/ecmc_plugin_grbl
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This commit is contained in:
Anders Sandstrom
2022-01-21 09:41:07 +01:00
parent 9c97d44b02
commit 15fc72e326
4 changed files with 60 additions and 891 deletions
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38
ecmc_plugin_grbl/ecmcGrbl.cpp
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@@ -20,6 +20,8 @@
#include "ecmcAsynPortDriver.h"
#include "ecmcAsynPortDriverUtils.h"
#include "epicsThread.h"
#include <time.h>
extern "C" {
#include "grbl.h"
@@ -316,6 +318,26 @@ void ecmcGrbl::doMainWorker() {
}
}
}
// buf needs to store 30 characters
int timespec2str(char *buf, uint len, struct timespec *ts) {
int ret;
struct tm t;
tzset();
if (localtime_r(&(ts->tv_sec), &t) == NULL)
return 1;
ret = strftime(buf, len, "%F %T", &t);
if (ret == 0)
return 2;
len -= ret - 1;
ret = snprintf(&buf[strlen(buf)], len, ".%09ld", ts->tv_nsec);
if (ret >= len)
return 3;
return 0;
}
// grb realtime thread!!!
void ecmcGrbl::grblRTexecute() {
@@ -326,8 +348,22 @@ void ecmcGrbl::grblRTexecute() {
ecmc_grbl_main_rt_thread();
}
printf("%s:%s:%d Positions(x,y,z)=%d,%d,%d..\n",__FILE__,__FUNCTION__,__LINE__,sys_position[X_AXIS], sys_position[Y_AXIS],sys_position[Z_AXIS] );
struct timespec timeAbs_;
clock_gettime(CLOCK_REALTIME, &timeAbs_);
const uint TIME_FMT = strlen("2012-12-31 12:59:59.123456789") + 1;
char timestr[TIME_FMT];
// struct timespec ts, res;
// clock_getres(clk_id, &res);
// clock_gettime(clk_id, &ts);
timespec2str(timestr, sizeof(timestr), &timeAbs_);
//IOC_TEST:ec0-s4-EL7211-Enc-PosAct 2020-12-14 13:29:18.273839 -2.587392807
//printf("%s:%s:%d Positions(x,y,z)=%d,%d,%d..\n",__FILE__,__FUNCTION__,__LINE__,sys_position[X_AXIS], sys_position[Y_AXIS],sys_position[Z_AXIS] );
printf("IOC_TEST:Axis-X-PosAct %s %d\n",timestr,sys_position[X_AXIS]);
printf("IOC_TEST:Axis-Y-PosAct %s %d\n",timestr,sys_position[Y_AXIS]);
printf("IOC_TEST:Axis-Z-PosAct %s %d\n",timestr,sys_position[Z_AXIS]);
}
// Avoid issues with std:to_string()

BIN
iocsh/ecmc_grbl_eeprom.txt
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873
iocsh/log.log
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@@ -1,873 +0,0 @@
registerChannelProviderLocal firstTime true
#
# Start at "2022-W03-Jan20-1717-24-CET"
#
# Version information:
# European Spallation Source ERIC : iocsh.bash (3.4.0-PID-12063)
#
# --->--> snip -->-->
# Please Use Version and other environment variables
# in order to report or debug this shell
#
# HOSTDISPLAY=""
# WINDOWID=""
# PWD="/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
# USER="pi"
# LOGNAME="pi"
# EPICS_HOST_ARCH="linux-arm"
# EPICS_BASE="/home/pi/epics/base-7.0.5"
# E3_REQUIRE_NAME="require"
# E3_REQUIRE_VERSION="3.4.0"
# E3_REQUIRE_LOCATION="/home/pi/epics/base-7.0.5/require/3.4.0"
# E3_REQUIRE_BIN="/home/pi/epics/base-7.0.5/require/3.4.0/bin"
# E3_REQUIRE_DB="/home/pi/epics/base-7.0.5/require/3.4.0/db"
# E3_REQUIRE_DBD="/home/pi/epics/base-7.0.5/require/3.4.0/dbd"
# E3_REQUIRE_INC="/home/pi/epics/base-7.0.5/require/3.4.0/include"
# E3_REQUIRE_LIB="/home/pi/epics/base-7.0.5/require/3.4.0/lib"
# EPICS_DRIVER_PATH="/home/pi/epics/base-7.0.5/require/3.4.0/siteMods:/home/pi/epics/base-7.0.5/require/3.4.0/siteApps"
# EPICS_CA_AUTO_ADDR_LIST=""
# EPICS_CA_ADDR_LIST=""
# PATH="/home/pi/epics/base-7.0.5/require/3.4.0/bin:/home/pi/epics/base-7.0.5/bin/linux-arm:/home/pi/berryconda3/bin:/home/pi/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games"
# --->--> snip -->-->
#
# Set REQUIRE_IOC for its internal PVs
epicsEnvSet REQUIRE_IOC "REQMOD:raspberrypi-12063"
#
# Enable an exit subroutine for sotfioc
dbLoadRecords "/home/pi/epics/base-7.0.5/db/softIocExit.db" "IOC=REQMOD:raspberrypi-12063"
#
# Set E3_IOCSH_TOP for the absolute path where iocsh.bash is executed.
epicsEnvSet E3_IOCSH_TOP "/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
#
#
# Load require module, which has the version 3.4.0
#
dlload /home/pi/epics/base-7.0.5/require/3.4.0/lib/linux-arm/librequire.so
dbLoadDatabase /home/pi/epics/base-7.0.5/require/3.4.0/dbd/require.dbd
require_registerRecordDeviceDriver
Loading module info records for require
#
# Set E3_CMD_TOP for the absolute path where test.script exists
epicsEnvSet E3_CMD_TOP "/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
#
iocshLoad 'test.script',''
##############################################################################
## Example: Demo of ecmc SocketCAN plugin
## https://github.com/anderssandstrom/e3-ecmc_plugin_socketcan
##
## The plugin exposes:
##
## Initiation:
epicsEnvSet("IOC" ,"IOC_TEST")
epicsEnvSet("ECMCCFG_INIT" ,"") #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
epicsEnvSet("SCRIPTEXEC" ,"iocshLoad")
require ecmccfg 7.0.1
Module ecmccfg version 7.0.1 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/lib/linux-arm/libecmccfg.so
Loaded ecmccfg version 7.0.1
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/dbd/ecmccfg.dbd
Calling function ecmccfg_registerRecordDeviceDriver
Loading module info records for ecmccfg
# run module startup.cmd (only needed at ESS PSI auto call at require)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/startup.cmd, "IOC=IOC_TEST,ECMC_VER=7.0.1,MASTER_ID=-1"
#==============================================================================
# startup.cmd
on error halt
require ecmc "7.0.1"
Module ecmc version 7.0.1 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/7.0.1/
Module ecmc depends on asyn 4.41.0
Module asyn version 4.41.0 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/lib/linux-arm/libasyn.so
Loaded asyn version 4.41.0
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/dbd/asyn.dbd
Calling function asyn_registerRecordDeviceDriver
Loading module info records for asyn
Module ecmc depends on exprtk 1.2.1
Module exprtk version 1.2.1 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/exprtk/1.2.1/
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/exprtk/1.2.1/lib/linux-arm/libexprtk.so
Loaded exprtk version 1.2.1
exprtk has no dbd file
Loading module info records for exprtk
Module ecmc depends on motor 7.0.6
Module motor version 7.0.6 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/7.0.6/
Module motor depends on asyn 4.41.0
Module asyn version 4.41.0 already loaded
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/7.0.6/lib/linux-arm/libmotor.so
Loaded motor version 7.0.6
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/7.0.6/dbd/motor.dbd
Calling function motor_registerRecordDeviceDriver
Loading module info records for motor
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/7.0.1/lib/linux-arm/libecmc.so
Loaded ecmc version 7.0.1
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/7.0.1/dbd/ecmc.dbd
Calling function ecmc_registerRecordDeviceDriver
Loading module info records for ecmc
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'ecmcMotorRecord'='EthercatMC'", "require EthercatMC 3.0.2 # Using EthercatMC motor record support.","# Using ecmcMotorRecord motor record support.")
# Using ecmcMotorRecord motor record support.
epicsEnvUnset(ECMC_EXE_CMD)
epicsEnvSet("ECMC_CONFIG_ROOT", "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/")
epicsEnvSet("ECMC_CONFIG_DB", "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/db")
epicsEnvSet("SCRIPTEXEC", "iocshLoad")
epicsEnvSet("SM_PREFIX", "IOC_TEST:") # colon added since IOC is _not_ PREFIX
epicsEnvSet("ECMC_PROC_HOOK", "")
epicsEnvSet(ECMC_MODE, FULL)
ecmcEpicsEnvSetCalcTernary(ECMC_SUPPORT_MOTION, "'FULL'=='FULL'","","# MODE == DAQ, DISABLING MOTION.")
epicsEnvShow(ECMC_SUPPORT_MOTION)
ECMC_SUPPORT_MOTION=
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/initAll.cmd",1)
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/initAll.cmd"
#==============================================================================
# initAll.cmd
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/init.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/init.cmd
#==============================================================================
# init.cmd
epicsEnvSet("ECMC_ASYN_TIMEOUT", 1) # Asyn timeout
epicsEnvSet("ECMC_ASYN_ADDR", 0) # Asyn Address
epicsEnvSet("ECMC_MOTOR_PORT", "NOT SET")
epicsEnvSet("ECMC_ASYN_PORT", "NOT SET")
epicsEnvSet("ECMC_PREFIX", "NOT SET")
epicsEnvSet("ECMC_GEN_EC_RECORDS", "NOT SET")
epicsEnvSet("ECMC_GEN_AX_RECORDS", "NOT SET")
epicsEnvSet("ECMC_EC_AXIS_HEALTH", "NOT SET")
epicsEnvSet("ECMC_PLC_SAMPLE_RATE_MS", "NOT SET")
epicsEnvSet("ECMC_TSE", -2)
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/initAxis.cmd",1)
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/initAxis.cmd"
#==============================================================================
# initAxis.cmd
epicsEnvSet("ECMC_MOTOR_NAME", "NOT SET")
epicsEnvSet("ECMC_R", "NOT SET")
epicsEnvSet("ECMC_AXIS_NO", "NOT SET")
epicsEnvSet("ECMC_DESC", "NOT SET")
epicsEnvSet("ECMC_EGU", "NOT SET") # Motor Record Unit
epicsEnvSet("ECMC_PREC", "NOT SET") # Motor Record Precision
epicsEnvSet("ECMC_AXISCONFIG", "NOT SET") # Extra parameters to driver
epicsEnvSet("ECMC_EC_AXIS_HEALTH", "NOT SET") # Entry for axis health output (example: ec0.s1.BO_1.0)
epicsEnvSet("ECMC_ENC_SCALE_NUM", "NOT SET")
epicsEnvSet("ECMC_ENC_SCALE_DENOM", "NOT SET")
epicsEnvSet("ECMC_ENC_BITS", "NOT SET")
epicsEnvSet("ECMC_ENC_TYPE", "NOT SET") # Type: 0=Incremental, 1=Absolute
epicsEnvSet("ECMC_EC_ENC_ACTPOS", "NOT SET") # Ethercat entry for actual position input (encoder)
epicsEnvSet("ECMC_ENC_ABS_BITS", "NOT SET") # Absolute bit count (for absolute encoders) always least significant part
epicsEnvSet("ECMC_ENC_ABS_OFFSET", "NOT SET") # Encoder offset in eng units (for absolute encoders)
epicsEnvSet("ECMC_EC_ENC_LATCHPOS", "") # Ethercat entry for latch position (only valid for home seq 11,12)
epicsEnvSet("ECMC_EC_ENC_LATCH_CONTROL", "") # Ethercat entry for latch control (only valid for home seq 11,12)
epicsEnvSet("ECMC_EC_ENC_LATCH_STATUS", "") # Ethercat entry for latch status (only valid for home seq 11,12)
epicsEnvSet("ECMC_DRV_SCALE_NUM", "NOT SET")
epicsEnvSet("ECMC_DRV_SCALE_DENOM", "NOT SET")
epicsEnvSet("ECMC_EC_DRV_CONTROL", "NOT SET") # Ethercat entry for control word or bit output
epicsEnvSet("ECMC_EC_DRV_STATUS", "NOT SET") # Ethercat entry for status word or bit input
epicsEnvSet("ECMC_EC_DRV_VELOCITY", "NOT SET") # Ethercat entry for velocity setpoint output
epicsEnvSet("ECMC_EC_DRV_BRAKE", "NOT SET") # Ethercat entry for brake output
epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "NOT SET") # Ethercat entry for reduce torque output
epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "NOT SET") # Brake timing parameter in cycles (default 1kHz)
epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "NOT SET") # Brake timing parameter in cycles (default 1kHz)
epicsEnvSet("ECMC_VELO", "NOT SET")
epicsEnvSet("ECMC_JOG_VEL", "NOT SET")
epicsEnvSet("ECMC_JAR", "NOT SET") # JAR defaults to VELO/ACCL
epicsEnvSet("ECMC_ACCL", "NOT SET")
epicsEnvSet("ECMC_EMERG_DECEL", "NOT SET") # Emergency deceleration
epicsEnvSet("ECMC_HOME_PROC", "NOT SET")
epicsEnvSet("ECMC_HOME_POS", "NOT SET")
epicsEnvSet("ECMC_HOME_VEL_TO", "NOT SET")
epicsEnvSet("ECMC_HOME_VEL_FRM", "NOT SET")
epicsEnvSet("ECMC_HOME_ACC", "NOT SET")
epicsEnvSet("ECMC_HOME_DEC", "NOT SET")
epicsEnvSet("ECMC_HOME_LATCH_COUNT_OFFSET","0")
epicsEnvSet("ECMC_CNTRL_KP", "NOT SET")
epicsEnvSet("ECMC_CNTRL_KI", "NOT SET")
epicsEnvSet("ECMC_CNTRL_KD", "NOT SET")
epicsEnvSet("ECMC_CNTRL_KFF", "NOT SET")
epicsEnvSet("ECMC_EC_MON_LOWLIM", "NOT SET") # Ethercat entry for low limit switch input
epicsEnvSet("ECMC_EC_MON_HIGHLIM", "NOT SET") # Ethercat entry for high limit switch inpuit
epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "NOT SET") # Ethercat entry for home switch input
epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "NOT SET") # Ethercat entry for external interlock input
epicsEnvSet("ECMC_SOFT_LOW_LIM", "NOT SET")
epicsEnvSet("ECMC_SOFT_HIGH_LIM", "NOT SET")
epicsEnvSet("ECMC_DXLM_ENABLE", "NOT SET")
epicsEnvSet("ECMC_MON_LAG_MON_TOL", "NOT SET")
epicsEnvSet("ECMC_MON_LAG_MON_TIME", "NOT SET")
epicsEnvSet("ECMC_MON_LAG_MON_ENA", "NOT SET")
epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "NOT SET")
epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "NOT SET")
epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "NOT SET")
epicsEnvSet("ECMC_MON_VELO_MAX", "NOT SET")
epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","NOT SET")
epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "NOT SET")
epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "NOT SET")
epicsEnvSet("ECMC_EGU", "mm")
epicsEnvSet("ECMC_PREC", 3)
epicsEnvSet("ECMC_AXISFIELDINIT", "") # Extra field init to motor record
epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver
############################################################
############# ASYN Configuration:
epicsEnvSet("ECMC_MOTOR_PORT" "MCU1")
epicsEnvSet("ECMC_ASYN_PORT" "MC_CPU1")
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
ecmcAsynPortDriverConfigure(MC_CPU1,1000,0,0,100)
ecmcAsynPortDriverConfigure: portName = MC_CPU1, paramTableSi2022/01/20 17:17:25.134
ECMC Initializes.............
2022/01/20 17:17:25.134 ESS Open Source EtherCAT Motion Control Epics Module2022/01/20 17:17:25.134
Mode: Configuration
2022/01/20 17:17:25.134 OK
2022/01/20 17:17:25.134 OK
2022/01/20 17:17:25.135 OK
2022/01/20 17:17:25.159 OK
2022/01/20 17:17:25.159 OK
2022/01/20 17:17:25.159 OK
ze = 1000, disableAutoConnect = 0, priority = 0, defaultSampleRateMS = 100.000000
asynOctetSetOutputEos(MC_CPU1, -1, ";\n")
asynOctetSetInputEos(MC_CPU1, -1, ";\n")
asynSetTraceMask(MC_CPU1, -1, 0x41)
asynSetTraceIOMask(MC_CPU1, -1, 6)
asynSetTraceInfoMask(MC_CPU1, -1, 1)
ecmcMotorRecordCreateController(MCU1, MC_CPU1, "64", 200, 1000, "")
############################################################
############# Misc settings:
# Disable function call trace printouts
ecmcConfigOrDie "Cfg.SetEnableFuncCallDiag(0)"
# Disable on change printouts from objects (enable for easy logging)
ecmcConfigOrDie "Cfg.SetTraceMaskBit(15,0)"
# Choose to generate EPICS-records for EtherCAT-entries
# (For records use ECMC_GEN_EC_RECORDS="-records" otherwise ECMC_GEN_EC_RECORDS="")
epicsEnvSet("ECMC_GEN_EC_RECORDS", "-records")
# Choose to generate EPICS-records for ax-entries (PosAct, SetPos,..)
# (For records use ECMC_GEN_AX_RECORDS="-records" otherwise ECMC_GEN_AX_RECORDS="")
epicsEnvSet("ECMC_GEN_AX_RECORDS", "-records")
# suffix for pva enabled scripts, templates and substitutions
ecmcEpicsEnvSetCalcTernary(ECMC_PVA, "0", "Pva","")
# Set EtherCAT frequency (defaults to 1000)
ecmcConfigOrDie "Cfg.SetSampleRate(1000)"
epicsEnvSet("ECMC_EC_SAMPLE_RATE" , 1000)
ecmcEpicsEnvSetCalc("ECMC_EC_SAMPLE_RATE_MS" ,1000/1000)
# Update records in 10ms (100Hz) for FULL MODE and in EC_RATE for DAQ mode
ecmcEpicsEnvSetCalcTernary(ECMC_SAMPLE_RATE_MS, "'FULL'=='DAQ'","1","10")
epicsEnvSet("ECMC_P_SCRIPT", "mXsXXX")
ecmcEpicsEnvSetCalcTernary(ECMC_MASTER_CMD, "-1>=0", "","#- ")
epicsEnvSet("ECMC_EC_MASTER_ID" ,-1)
epicsEnvSet("ECMC_TMP_DIR", "/tmp/IOC_TEST/EcMaster_-1/")
system "mkdir -p /tmp/IOC_TEST/EcMaster_-1/"
epicsEnvSet("ECMC_TMP_DIR", "/tmp/IOC_TEST/EcMaster_-1/")
system "mkdir -p /tmp/IOC_TEST/EcMaster_-1/"
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/setDiagnostics.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/setDiagnostics.cmd
#==============================================================================
# setDiagnostics.cmd
ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
epicsEnvSet("ECMCCFG_INIT" ,"#")
##############################################################################
## Configure hardware:
# No EtherCAT hardware (in this example)..
##############################################################################
## Load plugin:
epicsEnvSet("PLUGIN_VER" ,"develop")
require ecmc_plugin_grbl develop
Module ecmc_plugin_grbl version develop found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/
Module ecmc_plugin_grbl depends on asyn 4.41.0
Module asyn version 4.41.0 already loaded
Module ecmc_plugin_grbl depends on ecmc 7.0.1
Module ecmc version 7.0.1 already loaded
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so
Loaded ecmc_plugin_grbl version develop
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/dbd/ecmc_plugin_grbl.dbd
Calling function ecmc_plugin_grbl_registerRecordDeviceDriver
Loading module info records for ecmc_plugin_grbl
epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so")
epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;") # Only one option implemented in this plugin
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/7.0.1/loadPlugin.cmd, "PLUGIN_ID=0,FILE=/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so,CONFIG='DBG_PRINT=1;X_AXIS=1;', REPORT=1"
#==============================================================================
# loadPlugin.cmd
ecmcConfigOrDie "Cfg.LoadPlugin(0,/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so,DBG_PRINT=1;X_AXIS=1;2022/01/20 17:17:25.365 OK
2022/01/20 17:17:25.365 OK
)"
../ecmc_plugin_grbl/ecmcGrbl.cpp:doReadWorker:207
../ecmc_plugin_grbl/ecmcGrbl.cpp:doMainWorker:245
../grbl/grbl_serial.c:serial_init:70:
../grbl/grbl_eeprom.c:ecmc_init_file:53
../grbl/grbl_settings.c:settings_restore:132 settings_restore complete!!!..
../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_checksum:215 EEPROM simulated by file..
../grbl/grbl_stepper.c:stepper_init:625
../grbl/grbl_system.c:system_init:26:
../grbl/grbl_gcode.c:gc_init:44:
../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_checksum:215 EEPROM simulated by file..
../grbl/grbl_spindle_control.c:spindle_init:31 Not supported yet..
../grbl/grbl_coolant_control.c:coolant_init:25 Not supported yet..
../grbl/grbl_limits.c:limits_init:44 Not supported yet..
../grbl/grbl_probe.c:probe_init:31 Not supported yet..
../grbl/grbl_stepper.c:st_reset:592
../grbl/grbl_stepper.c:st_go_idle:296
Waiting for grbl init..../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:219
../grbl/grbl_stepper.c:st_generate_step_dir_invert_masks:570
../grbl/grbl_gcode.c:gc_sync_position:59:
../grbl/grbl_protocol.c:protocol_main_loop:40
../grbl/grbl_system.c:system_check_safety_door_ajar:93:
../grbl/grbl_system.c:system_execute_startup:107:
../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_checksum:215 EEPROM simulated by file..
../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_checksum:215 EEPROM simulated by file..
Grbl 1.1h ['$' for help]
.ecmcEpicsEnvSetCalcTernary("ECMC_PLUGIN_REPORT", "1>0","","#")
ecmcConfigOrDie "Cfg.ReportPlugin(0)"
Plugin info:
Index = 0
Name = ecmcPluginGrbl
Description = grbl plugin for use with ecmc.
Option description =
DBG_PRINT=<1/0> : Enables/disables printouts from plugin, default = disabled (=0).
Filename = /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so
Config string = DBG_PRINT=1;X_AXIS=1;
Version = 2
Interface version = 65536 (ecmc = 65536)
max plc funcs = 64
max plc func args = 10
max plc consts = 64
Construct func = @0xb4f20990
Enter realtime func = @0xb4f20928
Exit realtime func = @0xb4f20930
Realtime func = @0xb4f20970
Destruct func = @0xb4f20948
dlhandle = @0x2247ae0
Plc functions:
funcs[00]:
Name = "grbl_connect();"
Desc = double grbl_connect() : Connect to grbl interface (from config str).
Arg count = 0
func = @0xb4f20938
Plc constants:
epicsEnvUnset(ECMC_PLUGIN_REPORT);
epicsEnvUnset(ECMC_PLUGIN_FILNAME)
epicsEnvUnset(ECMC_PLUGIN_CONFIG)
ecmcGrblAddCommand("G0X10Y100");
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:342:
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:346: Buffer size 1
ecmcGrblAddCommand("$");
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:342:
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:346: Buffer size 2
ecmcGrblAddCommand("G0X10Y100");
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:342:
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:346: Buffer size 3
ecmcGrblAddCommand("$G");
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:342:
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:346: Buffer size 4
ecmcGrblAddCommand("G4P4");
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:342:
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:346: Buffer size 5
ecmcGrblAddCommand("G1X20Y200F20");
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:342:
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:346: Buffer size 6
ecmcGrblAddCommand("G4P4");
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:342:
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:346: Buffer size 7
ecmcGrblAddCommand("G2X40Y220R20");
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:342:
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:346: Buffer size 8
ecmcGrblAddCommand("$");
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:342:
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:346: Buffer size 9
##############################################################################
## PLC 0
# $(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_2022/01/20 17:17:25.366 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocBuild (0). Allow callbacks: true.
Starting iocInit
2022/01/20 17:17:25.366 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtBeginning (1). Allow callbacks: true.
2022/01/20 17:17:25.367 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCallbackInit (2). Allow callbacks: true.
2022/01/20 17:17:25.367 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaLinkInit (3). Allow callbacks: true.
2022/01/20 17:17:25.367 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDrvSup (4). Allow callbacks: true.
2022/01/20 17:17:25.367 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitRecSup (5). Allow callbacks: true.
2022/01/20 17:17:25.368 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDevSup (6). Allow callbacks: true.
MS=1000,FILE=./plc/can.plc")
iocInit()
############################################################################
## EPICS R7.0.5-E3-7.0.5-patch
## Rev. 2021-05-05T19:45+0200
############################################################################
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:222: Command in buffer!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:227: Command length 10!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:228: Available bytes 1024!!!
Adding G to buffer
Adding 0 to buffer G
Adding X to buffer G0
Adding 1 to buffer G0X
Adding 0 to buffer G0X1
Adding Y to buffer G0X10
Adding 1 to buffer G0X10Y
Adding 0 to buffer G0X10Y1
Adding 0 to buffer G0X10Y10
Adding
to buffer G0X10Y100
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:234: Writing!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:222: Command in buffer!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:227: Command length 2!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:228: Available bytes 1014!!!
Adding $ to buffer G0X10Y100
Adding
to buffer G0X10Y100
$
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:234: Writing!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:222: Command in buffer!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:227: Command length 10!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:228: Available bytes 1012!!!
Adding G to buffer G0X10Y100
$
Adding 0 to buffer G0X10Y100
$
G
Adding X to buffer G0X10Y100
$
G0
Adding 1 to buffer G0X10Y100
$
G0X
Adding 0 to buffer G0X10Y100
$
G0X1
Adding Y to buffer G0X10Y100
$
G0X10
Adding 1 to buffer G0X10Y100
$
G0X10Y
Adding 0 to buffer G0X10Y100
$
G0X10Y1
Adding 0 to buffer G0X10Y100
$
G0X10Y10
Adding
to buffer G0X10Y100
$
G0X10Y100
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:234: Writing!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:222: Command in buffer!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:227: Command length 3!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:228: Available bytes 1002!!!
Adding $ to buffer G0X10Y100
$
G0X10Y100
Adding G to buffer G0X10Y100
$
G0X10Y100
$
Adding
to buffer G0X10Y100
$
G0X10Y100
$G
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:234: Writing!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:222: Command in buffer!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:227: Command length 5!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:228: Available bytes 999!!!
Adding G to buffer G0X10Y100
$
G0X10Y100
$G
Adding 4 to buffer G0X10Y100
$
G0X10Y100
$G
G
Adding P to buffer G0X10Y100
$
G0X10Y100
$G
G4
Adding 4 to buffer G0X10Y100
$
G0X10Y100
$G
G4P
Adding
to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:234: Writing!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:222: Command in buffer!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:227: Command length 13!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:228: Available bytes 994!!!
Adding G to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
Adding 1 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G
Adding X to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1
Adding 2 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X
Adding 0 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X2
Adding Y to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20
Adding 2 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y
Adding 0 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y2
Adding 0 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y20
Adding F to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200
Adding 2 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F
Adding 0 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F2
Adding
to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:234: Writing!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:222: Command in buffer!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:227: Command length 5!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:228: Available bytes 981!!!
Adding G to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
Adding 4 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G
Adding P to buffer G0X10Y100
$
G02022/01/20 17:17:25.370 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDatabase (7). Allow callbacks: true.
X10Y100
$G
G4P4
G1X20Y200F20
G4
Adding 4 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P
Adding
to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:234: Writing!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:222: Command in buffer!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:227: Command length 13!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:228: Available bytes 976!!!
Adding G to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
Adding 2 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G
Adding X to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2
Adding 4 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X
Adding 0 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X4
Adding Y to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X40
Adding 2 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X40Y
Adding 2 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X40Y2
Adding 0 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X40Y22
Adding R to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X40Y220
Adding 2 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X40Y220R
Adding 0 to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X40Y220R2
Adding
to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X40Y220R20
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:234: Writing!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:222: Command in buffer!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:227: Command length 2!!!
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:228: Available bytes 963!!!
Adding $ to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X40Y220R20
Adding
to buffer G0X10Y100
$
G0X10Y100
$G
G4P4
G1X20Y200F20
G4P4
G2X40Y220R20
$
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:234: Writing!!
../grbl/grbl_gcode.c:gc_execute_line:71:G0X10Y100
1
letter=G
value=0.000000
int_value=0
mantissa=0
axis_command=2
here!!
here 2!!
here 3!!
../grbl/grbl_gcode.c:gc_execute_line:348:
1
letter=X
value=10.000000
int_value=10
mantissa=0
../grbl/grbl_gcode.c:gc_execute_line:348:
1
letter=Y
value=100.000000
int_value=100
mantissa=0
../grbl/grbl_gcode.c:gc_execute_line:348:
../grbl/grbl_gcode.c:gc_execute_line:383:axis_words=3
../grbl/grbl_gcode.c:gc_execute_line:384:axis_command=2
../grbl/grbl_gcode.c:gc_execute_line:389:axis_command=2
../grbl/grbl_gcode.c:gc_execute_line:395
../grbl/grbl_gcode.c:gc_execute_line:410:gc_parser_flags=0
../grbl/grbl_gcode.c:gc_execute_line:416:gc_block.modal.feed_rate=0
../grbl/grbl_gcode.c:gc_execute_line:443:gc_state.feed_rate=0.000000
../grbl/grbl_motion_control.c:mc_line:33
../grbl/grbl_system.c:system_execute_line:134:###################
../grbl/grbl_system.c:system_execute_line:135:$
system_execute_line switch line[1]=
../grbl/grbl_gcode.c:gc_execute_line:71:G0X10Y100
1
letter=G
value=0.000000
int_value=0
mantissa=0
axis_command=2
here!!
here 2!!
here 3!!
../grbl/grbl_gcode.c:gc_execute_line:348:
1
letter=X
value=10.000000
int_value=10
mantissa=0
../grbl/grbl_gcode.c:gc_execute_line:348:
1
letter=Y
value=100.000000
int_value=100
mantissa=0
../grbl/grbl_gcode.c:gc_execute_line:348:
../grbl/grbl_gcode.c:gc_execute_line:383:axis_words=3
../grbl/grbl_gcode.c:gc_execute_line:384:axis_command=2
../grbl/grbl_gcode.c:gc_execute_line:389:axis_command=2
../grbl/grbl_gcode.c:gc_execute_line:395
../grbl/grbl_gcode.c:gc_execute_line:410:gc_parser_flags=0
../grbl/grbl_gcode.c:gc_execute_line:416:gc_block.modal.feed_rate=0
../grbl/grbl_gcode.c:gc_execute_line:443:gc_state.feed_rate=0.000000
../grbl/grbl_motion_control.c:mc_line:33
../grbl/grbl_system.c:system_execute_line:134:###################
../grbl/grbl_system.c:system_execute_line:135:$G
system_execute_line switch line[1]=G
../grbl/grbl_gcode.c:gc_execute_line:71:G4P4
1
letter=G
value=4.000000
int_value=4
mantissa=0
here 2!!
here 3!!
../grbl/grbl_gcode.c:gc_execute_line:348:
1
letter=P
value=4.000000
int_value=4
mantissa=0
../grbl/grbl_gcode.c:gc_execute_line:348:
../2022/01/20 17:17:25.371 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterFinishDevSup (8). Allow callbacks: true.
2022/01/20 17:17:25.889 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterScanInit (9). Allow callbacks: true.
2022/01/20 17:17:25.889 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitialProcess (10). Allow callbacks: true.
2022/01/20 17:17:25.891 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (11). Allow callbacks: true.
2022/01/20 17:17:25.891 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocBuilt (12). Allow callbacks: true.
2022/01/20 17:17:26.184 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocRun (13). Allow callbacks: true.
2022/01/20 17:17:26.184 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterDatabaseRunning (14). Allow callbacks: true.
2022/01/20 17:17:26.185 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInterruptAccept (28). Allow callbacks: true.
2022/01/20 17:17:26.185 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaServerRunning (15). Allow callbacks: true.
2022/01/20 17:17:26.185 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (29). Allow callbacks: true.
iocRun: All initialization complete
2022/01/20 17:17:26.223 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocRunning (16). Allow callbacks: true.
grbl/grbl_gcode.c:gc_execute_line:383:axis_words=0
../grbl/grbl_gcode.c:gc_execute_line:384:axis_command=0
../grbl/grbl_gcode.c:gc_execute_line:389:axis_command=0
../grbl/grbl_gcode.c:gc_execute_line:395
../grbl/grbl_gcode.c:gc_execute_line:410:gc_parser_flags=0
../grbl/grbl_gcode.c:gc_execute_line:416:gc_block.modal.feed_rate=0
../grbl/grbl_gcode.c:gc_execute_line:443:gc_state.feed_rate=0.000000
../grbl/grbl_motion_control.c:mc_dwell:200
../grbl/grbl_stepper.c:st_next_block_index:672
../grbl/grbl_stepper.c:st_wake_up:265
ok
[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $SLP $C $X $H ~ ! ? ctrl-x]
ok
ok
[GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
ok
# Set the IOC Prompt String One
epicsEnvSet IOCSH_PS1 "raspberrypi-12063 > "
#
raspberrypi-12063 >

40
iocsh/test.script
View File

@@ -30,23 +30,29 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILN
epicsEnvUnset(ECMC_PLUGIN_FILNAME)
epicsEnvUnset(ECMC_PLUGIN_CONFIG)
ecmcGrblAddCommand("G0X10Y100");
ecmcGrblAddCommand("$");
ecmcGrblAddCommand("G0X10Y100");
ecmcGrblAddCommand("$G");
ecmcGrblAddCommand("G4P4");
ecmcGrblAddCommand("G1X20Y200F20");
ecmcGrblAddCommand("G4P4");
ecmcGrblAddCommand("G2X40Y220R20");
ecmcGrblAddCommand("$");
ecmcGrblAddCommand("G1X0Y20F20");
ecmcGrblAddCommand("G2X0Y-20R20");
ecmcGrblAddCommand("G0X10Y10");
ecmcGrblAddCommand("G4P1");
ecmcGrblAddCommand("G1X10Y0F20");
ecmcGrblAddCommand("G1X100Y100F20");
ecmcGrblAddCommand("G1X0Y0F20");
#
#ecmcGrblAddCommand("$");
#
#ecmcGrblAddCommand("G0X10Y100");
#
#ecmcGrblAddCommand("$G");
#
#ecmcGrblAddCommand("G4P1");
#
#ecmcGrblAddCommand("G1X20Y20F20");
#
#ecmcGrblAddCommand("G4P1");
#
#ecmcGrblAddCommand("G2X40Y40R20");
#
#ecmcGrblAddCommand("$");
##############################################################################
## PLC 0