diff --git a/grbl/grbl_protocol.c b/grbl/grbl_protocol.c index 05a1b57..cc7f3e0 100644 --- a/grbl/grbl_protocol.c +++ b/grbl/grbl_protocol.c @@ -73,9 +73,11 @@ void protocol_main_loop() uint8_t line_flags = 0; uint8_t char_counter = 0; uint8_t c; + delay_ms(1); for (;;) { // Process one line of incoming serial data, as the data becomes available. Performs an // initial filtering by removing spaces and comments and capitalizing all letters. + delay_ms(1); while((c = serial_read()) != SERIAL_NO_DATA) { if ((c == '\n') || (c == '\r')) { // End of line reached @@ -152,7 +154,7 @@ void protocol_main_loop() } delay_us(100); } - delay_ms(2); + delay_ms(1); // If there are no more characters in the serial read buffer to be processed and executed, // this indicates that g-code streaming has either filled the planner buffer or has // completed. In either case, auto-cycle start, if enabled, any queued moves. @@ -233,7 +235,7 @@ void protocol_exec_rt_system() // cycles. Hard limits typically occur while unattended or not paying attention. Gives // the user and a GUI time to do what is needed before resetting, like killing the // incoming stream. The same could be said about soft limits. While the position is not - // lost, continued streaming could cause a serious crash if by chance it gets executed. + // lost, continued streaming could cause a serious crash if by chance it gets executed. } while (bit_isfalse(sys_rt_exec_state,EXEC_RESET)); } system_clear_exec_alarm(); // Clear alarm @@ -257,7 +259,7 @@ void protocol_exec_rt_system() // NOTE: Once hold is initiated, the system immediately enters a suspend state to block all // main program processes until either reset or resumed. This ensures a hold completes safely. if (rt_exec & (EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR | EXEC_SLEEP)) { - + // State check for allowable states for hold methods. if (!(sys.state & (STATE_ALARM | STATE_CHECK_MODE))) { @@ -548,7 +550,7 @@ static void protocol_exec_rt_suspend() while (sys.suspend) { if (sys.abort) { return; } - + delay_ms(1); // Block until initial hold is complete and the machine has stopped motion. if (sys.suspend & SUSPEND_HOLD_COMPLETE) { @@ -760,8 +762,7 @@ static void protocol_exec_rt_suspend() } } - + delay_ms(1); protocol_exec_rt_system(); - } } diff --git a/iocsh/log.log b/iocsh/log.log index c59fa33..c8da600 100644 --- a/iocsh/log.log +++ b/iocsh/log.log @@ -1,9 +1,9 @@ registerChannelProviderLocal firstTime true # -# Start at "2022-W04-Jan27-1450-32-CET" +# Start at "2022-W04-Jan27-1614-56-CET" # # Version information: -# European Spallation Source ERIC : iocsh.bash (3.4.0-PID-18378) +# European Spallation Source ERIC : iocsh.bash (3.4.0-PID-28403) # # --->--> snip -->--> # Please Use Version and other environment variables @@ -31,10 +31,10 @@ registerChannelProviderLocal firstTime true # --->--> snip -->--> # # Set REQUIRE_IOC for its internal PVs -epicsEnvSet REQUIRE_IOC "REQMOD:raspberrypi-18378" +epicsEnvSet REQUIRE_IOC "REQMOD:raspberrypi-28403" # # Enable an exit subroutine for sotfioc -dbLoadRecords "/home/pi/epics/base-7.0.5/db/softIocExit.db" "IOC=REQMOD:raspberrypi-18378" +dbLoadRecords "/home/pi/epics/base-7.0.5/db/softIocExit.db" "IOC=REQMOD:raspberrypi-28403" # # 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" @@ -262,17 +262,17 @@ epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE) epicsEnvUnset(ECMC_TRAJ_SOURCE) epicsEnvSet("ECMC_EGU", "mm") epicsEnvSet("ECMC_PREC", 3) -epicsEnvSet("ECMC_AXISFIELDINIT", "") # Extra field ini2022/01/27 14:50:33.122 +epicsEnvSet("ECMC_AXISFIELDINIT", "") # Extra field ini2022/01/27 16:14:57.353 ECMC Initializes............. -2022/01/27 14:50:33.122 ESS Open Source EtherCAT Motion Control Epics Module2022/01/27 14:50:33.122 +2022/01/27 16:14:57.353 ESS Open Source EtherCAT Motion Control Epics Module2022/01/27 16:14:57.353 Mode: Configuration -2022/01/27 14:50:33.123 OK -2022/01/27 14:50:33.123 OK -2022/01/27 14:50:33.124 OK -2022/01/27 14:50:33.126 OK -2022/01/27 14:50:33.147 OK -2022/01/27 14:50:33.147 OK -2022/01/27 14:50:33.147 OK +2022/01/27 16:14:57.353 OK +2022/01/27 16:14:57.353 OK +2022/01/27 16:14:57.354 OK +2022/01/27 16:14:58.066 OK +2022/01/27 16:14:58.096 OK +2022/01/27 16:14:58.096 OK +2022/01/27 16:14:58.098 OK t to motor record epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver ############################################################ @@ -345,13 +345,13 @@ epicsEnvSet("HW_DESC", "EK1100") epicsEnvSet("P_SCRIPT", "mXsXXX") # add ${HW_DESC} to the bus at position ${SLAVE_ID} ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEK1100.cmd",1) -iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEK1100.cmd" 2022/01/27 14:50:33.149 OK -2022/01/27 14:50:33.150 OK -2022/01/27 14:50:33.157 OK -2022/01/27 14:50:33.158 OK -2022/01/27 14:50:33.158 OK -2022/01/27 14:50:33.158 OK -2022/01/27 14:50:33.158 OK +iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEK1100.cmd" 2022/01/27 16:14:58.102 OK +2022/01/27 16:14:58.104 OK +2022/01/27 16:14:58.115 OK +2022/01/27 16:14:58.117 OK +2022/01/27 16:14:58.117 OK +2022/01/27 16:14:58.117 OK +2022/01/27 16:14:58.118 OK "NELM=1" epicsEnvSet("ECMC_EC_HWTYPE" "EK1100") epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2") @@ -417,17 +417,17 @@ ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a00,0x6000,0x1,B1,bina ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a01,0x6010,0x1,B1,binaryInput02)" ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a02,0x6020,0x1,B1,binaryInput03)" ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a03,0x6030,0x1,B1,binaryInput04)" -ecmcConfigOrDie "Cfg.EcAddEn2022/01/27 14:50:33.159 OK -2022/01/27 14:50:33.159 OK -2022/01/27 14:50:33.159 OK -2022/01/27 14:50:33.159 OK -2022/01/27 14:50:33.167 OK -2022/01/27 14:50:33.168 OK -2022/01/27 14:50:33.169 OK -2022/01/27 14:50:33.169 OK -2022/01/27 14:50:33.169 OK -2022/01/27 14:50:33.169 OK -2022/01/27 14:50:33.169 OK +ecmcConfigOrDie "Cfg.EcAddEn2022/01/27 16:14:58.118 OK +2022/01/27 16:14:58.118 OK +2022/01/27 16:14:58.118 OK +2022/01/27 16:14:58.118 OK +2022/01/27 16:14:58.131 OK +2022/01/27 16:14:58.134 OK +2022/01/27 16:14:58.134 OK +2022/01/27 16:14:58.135 OK +2022/01/27 16:14:58.135 OK +2022/01/27 16:14:58.135 OK +2022/01/27 16:14:58.136 OK tryDT(1,0x2,0x03fa3052,2,0,0x1a04,0x6040,0x1,B1,binaryInput05)" ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a05,0x6050,0x1,B1,binaryInput06)" ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a06,0x6060,0x1,B1,binaryInput07)" @@ -487,16 +487,16 @@ ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1602,0x7020,0x1,B1,bina ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1603,0x7030,0x1,B1,binaryOutput04)" ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1604,0x7040,0x1,B1,binaryOutput05)" ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1605,0x7050,0x1,B1,binaryOutput06)" -ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1606,0x7060,0x1,B1,binaryOutp2022/01/27 14:50:33.170 OK -2022/01/27 14:50:33.170 OK -2022/01/27 14:50:33.179 OK -2022/01/27 14:50:33.272 OK -2022/01/27 14:50:33.372 14385 -2022/01/27 14:50:33.373 OK -2022/01/27 14:50:33.373 OK -2022/01/27 14:50:33.373 OK -2022/01/27 14:50:33.373 OK -2022/01/27 14:50:33.373 OK +ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1606,0x7060,0x1,B1,binaryOutp2022/01/27 16:14:58.136 OK +2022/01/27 16:14:58.136 OK +2022/01/27 16:14:58.150 OK +2022/01/27 16:14:58.432 OK +2022/01/27 16:14:58.512 14385 +2022/01/27 16:14:58.513 OK +2022/01/27 16:14:58.513 OK +2022/01/27 16:14:58.513 OK +2022/01/27 16:14:58.513 OK +2022/01/27 16:14:58.513 OK ut07)" ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1607,0x7070,0x1,B1,binaryOutput08)" # deduce what the prefix should be @@ -560,14 +560,14 @@ ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x00, ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x10,16,positionActual01)" ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x20,16,encoderLatchPostion01)" # deduce what the prefix should be -ecmcFileExist("/home/pi/epics/base-7.0.5/re2022/01/27 14:50:33.381 OK -2022/01/27 14:50:33.462 OK -2022/01/27 14:50:33.562 14385 -2022/01/27 14:50:33.563 OK -2022/01/27 14:50:33.564 OK -2022/01/27 14:50:33.564 OK -2022/01/27 14:50:33.564 OK -2022/01/27 14:50:33.564 OK +ecmcFileExist("/home/pi/epics/base-7.0.5/re2022/01/27 16:14:58.521 OK +2022/01/27 16:14:58.612 OK +2022/01/27 16:14:58.722 14385 +2022/01/27 16:14:58.723 OK +2022/01/27 16:14:58.723 OK +2022/01/27 16:14:58.723 OK +2022/01/27 16:14:58.723 OK +2022/01/27 16:14:58.723 OK quire/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1) iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=3,HWTYPE=EL5101" #============================================================================== @@ -628,9 +628,9 @@ ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x20, # deduce what the prefix should be ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1) iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=4,HWTYPE=EL5101" -#=======================================================================2022/01/27 14:50:33.575 OK -2022/01/27 14:50:33.577 OK -2022/01/27 14:50:33.578 OK +#=======================================================================2022/01/27 16:14:58.731 OK +2022/01/27 16:14:58.732 OK +2022/01/27 16:14:58.733 OK ======= # ecmcmXsXXX.cmd ecmcEpicsEnvSetCalc("sid", "4","%03d") @@ -696,15 +696,15 @@ iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/apply ecmcFileExist(ecmcEL9505.substitutions,1,1) dbLoadTemplate(ecmcEL9505.substitutions,"ECMC_P=IOC_TEST:m0s005-,ECMC_G=IOC_TEST:m0s005,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=5,HWTYPE=EL9505,T_SMP_MS=10,TSE=-2,NELM=1") epicsEnvUnset(DEFAULT_SUBS) -ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "",2022/01/27 14:50:33.588 OK -2022/01/27 14:50:33.590 OK -2022/01/27 14:50:33.590 OK -2022/01/27 14:50:33.591 OK -2022/01/27 14:50:33.591 OK -2022/01/27 14:50:33.591 OK -2022/01/27 14:50:33.591 OK -2022/01/27 14:50:33.591 OK -2022/01/27 14:50:33.591 OK +ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "",2022/01/27 16:14:58.741 OK +2022/01/27 16:14:58.742 OK +2022/01/27 16:14:58.742 OK +2022/01/27 16:14:58.743 OK +2022/01/27 16:14:58.743 OK +2022/01/27 16:14:58.743 OK +2022/01/27 16:14:58.743 OK +2022/01/27 16:14:58.743 OK +2022/01/27 16:14:58.743 OK "#- ") iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s005-,ECMC_G=IOC_TEST:m0s005" #============================================================================== @@ -764,21 +764,21 @@ dbLoadTemplate(ecmcEL1252.substitutions,"ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST epicsEnvUnset(DEFAULT_SUBS) ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ") iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST:m0s006" -#==================2022/01/27 14:50:33.605 OK -2022/01/27 14:50:33.742 OK -2022/01/27 14:50:33.833 12848 -2022/01/27 14:50:33.835 OK -2022/01/27 14:50:33.835 OK -2022/01/27 14:50:33.836 OK -2022/01/27 14:50:33.836 OK -2022/01/27 14:50:33.837 OK -2022/01/27 14:50:33.837 OK -2022/01/27 14:50:33.837 OK -2022/01/27 14:50:33.837 OK -2022/01/27 14:50:33.837 OK -2022/01/27 14:50:33.838 OK -2022/01/27 14:50:33.838 OK -2022/01/27 14:50:33.838 OK +#==================2022/01/27 16:14:58.753 OK +2022/01/27 16:14:58.892 OK +2022/01/27 16:14:58.972 12848 +2022/01/27 16:14:58.974 OK +2022/01/27 16:14:58.974 OK +2022/01/27 16:14:58.974 OK +2022/01/27 16:14:58.975 OK +2022/01/27 16:14:58.975 OK +2022/01/27 16:14:58.975 OK +2022/01/27 16:14:58.975 OK +2022/01/27 16:14:58.976 OK +2022/01/27 16:14:58.976 OK +2022/01/27 16:14:58.976 OK +2022/01/27 16:14:58.976 OK +2022/01/27 16:14:58.976 OK ============================================================ # applyTemplate.cmd ecmcFileExist(ecmcEcSlave.template,1,1) @@ -842,12 +842,12 @@ ecmcEpicsEnvSetCalc("sid", "8","%03d") ecmcEpicsEnvSetCalc("mid", "0","%01d") epicsEnvSet("ECMC_G", "IOC_TEST:m0s008") epicsEnvSet("ECMC_P", "IOC_TEST:m0s008-") -epicsE2022/01/27 14:50:33.857 OK -2022/01/27 14:50:33.858 OK -2022/01/27 14:50:33.858 OK -2022/01/27 14:50:33.858 OK -2022/01/27 14:50:33.858 OK -2022/01/27 14:50:33.858 OK +epicsE2022/01/27 16:14:58.991 OK +2022/01/27 16:14:58.991 OK +2022/01/27 16:14:58.991 OK +2022/01/27 16:14:58.991 OK +2022/01/27 16:14:58.991 OK +2022/01/27 16:14:58.993 OK nvUnset(sid) epicsEnvUnset(mid) ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ") @@ -909,21 +909,21 @@ epicsEnvSet("ECMC_EC_SLAVE_NUM", "9") epicsEnvSet("HW_DESC", "EL7037") ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd",1) iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd "SLAVE_ID=9, HW_DESC=EL7037, NELM=1" -#==============================================================2022/01/27 14:50:33.863 OK -2022/01/27 14:50:33.982 OK -2022/01/27 14:50:34.072 12848 -2022/01/27 14:50:34.073 OK -2022/01/27 14:50:34.073 OK -2022/01/27 14:50:34.073 OK -2022/01/27 14:50:34.073 OK -2022/01/27 14:50:34.074 OK -2022/01/27 14:50:34.074 OK -2022/01/27 14:50:34.074 OK -2022/01/27 14:50:34.074 OK -2022/01/27 14:50:34.074 OK -2022/01/27 14:50:34.074 OK -2022/01/27 14:50:34.074 OK -2022/01/27 14:50:34.074 OK +#==============================================================2022/01/27 16:14:58.997 OK +2022/01/27 16:14:59.112 OK +2022/01/27 16:14:59.192 12848 +2022/01/27 16:14:59.194 OK +2022/01/27 16:14:59.194 OK +2022/01/27 16:14:59.194 OK +2022/01/27 16:14:59.195 OK +2022/01/27 16:14:59.195 OK +2022/01/27 16:14:59.195 OK +2022/01/27 16:14:59.195 OK +2022/01/27 16:14:59.195 OK +2022/01/27 16:14:59.196 OK +2022/01/27 16:14:59.196 OK +2022/01/27 16:14:59.196 OK +2022/01/27 16:14:59.196 OK ================ # addSlave.cmd epicsEnvSet("ECMC_EC_SLAVE_NUM", "9") @@ -987,21 +987,21 @@ epicsEnvUnset(DEFAULT_SLAVE_PVS) # increment SLAVE_ID ecmcEpicsEnvSetCalc("SLAVE_ID", "9+1","%d") # apply config ${CONFIG} for ${HW_DESC} -e2022/01/27 14:50:34.083 OK -2022/01/27 14:50:34.083 OK -2022/01/27 14:50:34.083 OK -2022/01/27 14:50:34.083 OK -2022/01/27 14:50:34.083 OK -2022/01/27 14:50:34.083 OK -2022/01/27 14:50:34.084 OK -2022/01/27 14:50:34.084 OK -2022/01/27 14:50:34.084 OK -2022/01/27 14:50:34.084 OK -2022/01/27 14:50:34.084 OK -2022/01/27 14:50:34.084 OK -2022/01/27 14:50:34.084 OK -2022/01/27 14:50:34.084 OK -2022/01/27 14:50:34.084 OK +e2022/01/27 16:14:59.209 OK +2022/01/27 16:14:59.209 OK +2022/01/27 16:14:59.209 OK +2022/01/27 16:14:59.209 OK +2022/01/27 16:14:59.209 OK +2022/01/27 16:14:59.210 OK +2022/01/27 16:14:59.210 OK +2022/01/27 16:14:59.210 OK +2022/01/27 16:14:59.210 OK +2022/01/27 16:14:59.211 OK +2022/01/27 16:14:59.211 OK +2022/01/27 16:14:59.211 OK +2022/01/27 16:14:59.211 OK +2022/01/27 16:14:59.211 OK +2022/01/27 16:14:59.211 OK cmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037-Motor-Nanotec-ST4118L1804-B.cmd",1) iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037-Motor-Nanotec-ST4118L1804-B.cmd "" epicsEnvSet(I_MAX_MA_LOCAL,"1500") @@ -1175,45 +1175,45 @@ epicsEnvUnset(ECMC_EXE_CMD) iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(600.0)<>0',SUCCESS_STR='ECMC_DRV_SCALE_NUM value OK == 600.0...',ERROR_STR='ECMC_DRV_SCALE_NUM == 0...'" #============================================================================== # verifyOrDie.cmd -ecmcEpicsEnvSetCalcTe2022/01/27 14:50:34.094 OK -2022/01/27 14:50:34.095 OK -2022/01/27 14:50:34.095 OK -2022/01/27 14:50:34.095 OK -2022/01/27 14:50:34.097 OK -2022/01/27 14:50:34.097 OK -2022/01/27 14:50:34.097 OK -2022/01/27 14:50:34.097 OK -2022/01/27 14:50:34.097 OK -2022/01/27 14:50:34.097 OK -2022/01/27 14:50:34.097 OK -2022/01/27 14:50:34.097 OK -2022/01/27 14:50:34.097 OK -2022/01/27 14:50:34.097 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.098 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK +ecmcEpicsEnvSetCalcTe2022/01/27 16:14:59.225 OK +2022/01/27 16:14:59.225 OK +2022/01/27 16:14:59.225 OK +2022/01/27 16:14:59.225 OK +2022/01/27 16:14:59.228 OK +2022/01/27 16:14:59.228 OK +2022/01/27 16:14:59.228 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.229 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.230 OK +2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.231 OK rnary(ECMC_EXE_CMD,"abs(600.0)<>0","# ECMC_DRV_SCALE_NUM value OK == 600.0...", "ecmcExit Error: ECMC_DRV_SCALE_NUM == 0...") # ECMC_DRV_SCALE_NUM value OK == 600.0... epicsEnvUnset(ECMC_EXE_CMD) @@ -1276,44 +1276,44 @@ ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.velocitySetpoint01,"ax1.drv.velo ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.drv.position")" ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.drv.brake")" ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveControl01.2,"ax1.drv.reducetorque")" -ecmcConf2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.099 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.100 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.101 OK -2022/01/27 14:50:34.102 OK -2022/01/27 14:50:34.102 OK -2022/01/27 14:50:34.102 OK -2022/01/27 14:50:34.102 OK -2022/01/27 14:50:34.102 OK -2022/01/27 14:50:34.102 ecmcMotorRecord:: setIntegerParam(1 motorPowerAutoOnOff_)=2 -2022/01/27 14:50:34.102 ecmcMotorRecord:: setDoubleParam(1 motorPowerOnDelay_)=6 -2022/01/27 14:50:34.102 ecmcMotorRecord:: setDoubleParam(1 motorPowerOffDelay_=-1 -2022/01/27 14:50:34.103 ecmcMotorRecord:: udateMotorLimitsRO(1) enabledHighAndLow=1 valid=1 fValueHigh=130 fValueLow=-20 -2022/01/27 14:50:34.103 ecmcMotorRecord:: connected(1) -2022/01/27 14:50:34.103 ecmcMotorRecord:: initialPoll(1) status=0 +ecmcConf2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.231 OK +2022/01/27 16:14:59.232 OK +2022/01/27 16:14:59.232 OK +2022/01/27 16:14:59.232 OK +2022/01/27 16:14:59.232 OK +2022/01/27 16:14:59.232 OK +2022/01/27 16:14:59.232 OK +2022/01/27 16:14:59.232 OK +2022/01/27 16:14:59.232 OK +2022/01/27 16:14:59.233 OK +2022/01/27 16:14:59.233 OK +2022/01/27 16:14:59.233 OK +2022/01/27 16:14:59.233 OK +2022/01/27 16:14:59.233 OK +2022/01/27 16:14:59.233 OK +2022/01/27 16:14:59.234 OK +2022/01/27 16:14:59.234 OK +2022/01/27 16:14:59.234 OK +2022/01/27 16:14:59.234 OK +2022/01/27 16:14:59.234 OK +2022/01/27 16:14:59.234 OK +2022/01/27 16:14:59.234 OK +2022/01/27 16:14:59.234 OK +2022/01/27 16:14:59.234 OK +2022/01/27 16:14:59.234 OK +2022/01/27 16:14:59.235 OK +2022/01/27 16:14:59.235 OK +2022/01/27 16:14:59.235 OK +2022/01/27 16:14:59.235 ecmcMotorRecord:: setIntegerParam(1 motorPowerAutoOnOff_)=2 +2022/01/27 16:14:59.235 ecmcMotorRecord:: setDoubleParam(1 motorPowerOnDelay_)=6 +2022/01/27 16:14:59.235 ecmcMotorRecord:: setDoubleParam(1 motorPowerOffDelay_=-1 +2022/01/27 16:14:59.236 ecmcMotorRecord:: udateMotorLimitsRO(1) enabledHighAndLow=1 valid=1 fValueHigh=130 fValueLow=-20 +2022/01/27 16:14:59.236 ecmcMotorRecord:: connected(1) +2022/01/27 16:14:59.236 ecmcMotorRecord:: initialPoll(1) status=0 igOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveControl01.1,"ax1.drv.reset")" ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.3,"ax1.drv.alarm0")" ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.7,"ax1.drv.alarm1")" @@ -1482,24 +1482,24 @@ epicsEnvSet("ECMC_AXIS_EXPR_LINE_2", "") epicsEnvSet("ECMC_AXIS_EXPR_LINE_3", "") epicsEnvSet("ECMC_AXIS_EXPR_LINE_4", "") epicsEnvSet("ECMC_AXIS_EXPR_LINE_5", "") -epicsEnvSet("ECMC_AXIS_EXPR_LINE_6", 2022/01/27 14:50:34.113 OK -2022/01/27 14:50:34.113 OK -2022/01/27 14:50:34.113 OK -2022/01/27 14:50:34.113 OK -2022/01/27 14:50:34.113 OK -2022/01/27 14:50:34.113 OK -2022/01/27 14:50:34.113 OK -2022/01/27 14:50:34.113 OK -2022/01/27 14:50:34.113 OK -2022/01/27 14:50:34.114 OK -2022/01/27 14:50:34.114 OK -2022/01/27 14:50:34.114 OK -2022/01/27 14:50:34.114 OK -2022/01/27 14:50:34.114 OK -2022/01/27 14:50:34.114 OK -2022/01/27 14:50:34.114 OK -2022/01/27 14:50:34.114 OK -2022/01/27 14:50:34.114 OK +epicsEnvSet("ECMC_AXIS_EXPR_LINE_6", 2022/01/27 16:14:59.255 OK +2022/01/27 16:14:59.255 OK +2022/01/27 16:14:59.255 OK +2022/01/27 16:14:59.255 OK +2022/01/27 16:14:59.255 OK +2022/01/27 16:14:59.255 OK +2022/01/27 16:14:59.256 OK +2022/01/27 16:14:59.256 OK +2022/01/27 16:14:59.256 OK +2022/01/27 16:14:59.256 OK +2022/01/27 16:14:59.256 OK +2022/01/27 16:14:59.256 OK +2022/01/27 16:14:59.256 OK +2022/01/27 16:14:59.259 OK +2022/01/27 16:14:59.259 OK +2022/01/27 16:14:59.261 OK +2022/01/27 16:14:59.261 OK +2022/01/27 16:14:59.261 OK "") epicsEnvSet("ECMC_AXIS_EXPR_LINE_7", "") epicsEnvSet("ECMC_AXIS_EXPR_LINE_8", "") @@ -1680,53 +1680,53 @@ epicsEnvUnset(ECMC_EXE_CMD) iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(32768.0)<>0',SUCCESS_STR='ECMC_DRV_SCALE_DENOM value OK == 32768.0...',ERROR_STR='ECMC_DRV_SCALE_DENOM == 0...'" #============================================================================== # verifyOrDie.cmd -ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(32768.0)<>0","# ECMC_DRV_SCALE_DENOM value2022/01/27 14:50:34.124 OK -2022/01/27 14:50:34.124 OK -2022/01/27 14:50:34.125 OK -2022/01/27 14:50:34.125 OK -2022/01/27 14:50:34.127 OK -2022/01/27 14:50:34.127 OK -2022/01/27 14:50:34.127 OK -2022/01/27 14:50:34.127 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.128 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.129 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK +ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(32768.0)<>0","# ECMC_DRV_SCALE_DENOM value2022/01/27 16:14:59.283 OK +2022/01/27 16:14:59.283 OK +2022/01/27 16:14:59.283 OK +2022/01/27 16:14:59.283 OK +2022/01/27 16:14:59.288 OK +2022/01/27 16:14:59.289 OK +2022/01/27 16:14:59.289 OK +2022/01/27 16:14:59.289 OK +2022/01/27 16:14:59.289 OK +2022/01/27 16:14:59.289 OK +2022/01/27 16:14:59.289 OK +2022/01/27 16:14:59.290 OK +2022/01/27 16:14:59.290 OK +2022/01/27 16:14:59.290 OK +2022/01/27 16:14:59.290 OK +2022/01/27 16:14:59.290 OK +2022/01/27 16:14:59.291 OK +2022/01/27 16:14:59.291 OK +2022/01/27 16:14:59.291 OK +2022/01/27 16:14:59.291 OK +2022/01/27 16:14:59.291 OK +2022/01/27 16:14:59.291 OK +2022/01/27 16:14:59.291 OK +2022/01/27 16:14:59.292 OK +2022/01/27 16:14:59.292 OK +2022/01/27 16:14:59.292 OK +2022/01/27 16:14:59.293 OK +2022/01/27 16:14:59.293 OK +2022/01/27 16:14:59.293 OK +2022/01/27 16:14:59.293 OK +2022/01/27 16:14:59.293 OK +2022/01/27 16:14:59.293 OK +2022/01/27 16:14:59.293 OK +2022/01/27 16:14:59.293 OK +2022/01/27 16:14:59.294 OK +2022/01/27 16:14:59.294 OK +2022/01/27 16:14:59.294 OK +2022/01/27 16:14:59.294 OK +2022/01/27 16:14:59.295 OK +2022/01/27 16:14:59.295 OK +2022/01/27 16:14:59.297 OK +2022/01/27 16:14:59.297 OK +2022/01/27 16:14:59.298 OK +2022/01/27 16:14:59.298 OK +2022/01/27 16:14:59.298 OK +2022/01/27 16:14:59.298 OK +2022/01/27 16:14:59.298 OK OK == 32768.0...", "ecmcExit Error: ECMC_DRV_SCALE_DENOM == 0...") # ECMC_DRV_SCALE_DENOM value OK == 32768.0... epicsEnvUnset(ECMC_EXE_CMD) @@ -1791,36 +1791,36 @@ ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveStatus01.2,"ax2.drv.warning ecmcConfigOrDie "Cfg.SetAxisDrvScaleDenom(2,32768.0)" ecmcConfigOrDie "Cfg.SetAxisDrvScaleNum(2,-600.0)" ecmcConfigOrDie "Cfg.SetAxisDrvBrakeOpenDelayTime(2,0)" -ecmcConfigOrDie "Cfg.SetAxisDrvBr2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.130 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.131 OK -2022/01/27 14:50:34.132 OK -2022/01/27 14:50:34.132 OK -2022/01/27 14:50:34.132 OK -2022/01/27 14:50:34.132 OK -2022/01/27 14:50:34.132 OK -2022/01/27 14:50:34.132 OK -2022/01/27 14:50:34.132 OK -2022/01/27 14:50:34.132 OK -2022/01/27 14:50:34.132 OK -2022/01/27 14:50:34.133 ecmcMotorRecord:: setIntegerParam(2 motorPowerAutoOnOff_)=2 -2022/01/27 14:50:34.133 ecmcMotorRecord:: setDoubleParam(2 motorPowerOnDelay_)=6 -2022/01/27 14:50:34.133 ecmcMotorRecord:: setDoubleParam(2 motorPowerOffDelay_=-1 -2022/01/27 14:50:34.133 ecmcMotorRecord:: udateMotorLimitsRO(2) enabledHighAndLow=1 valid=1 fValueHigh=20 fValueLow=-130 -2022/01/27 14:50:34.133 ecmcMotorRecord:: connected(2) -2022/01/27 14:50:34.133 ecmcMotorRecord:: initialPoll(2) status=0 +ecmcConfigOrDie "Cfg.SetAxisDrvBr2022/01/27 16:14:59.298 OK +2022/01/27 16:14:59.299 OK +2022/01/27 16:14:59.299 OK +2022/01/27 16:14:59.299 OK +2022/01/27 16:14:59.299 OK +2022/01/27 16:14:59.299 OK +2022/01/27 16:14:59.299 OK +2022/01/27 16:14:59.299 OK +2022/01/27 16:14:59.300 OK +2022/01/27 16:14:59.300 OK +2022/01/27 16:14:59.300 OK +2022/01/27 16:14:59.300 OK +2022/01/27 16:14:59.300 OK +2022/01/27 16:14:59.300 OK +2022/01/27 16:14:59.301 OK +2022/01/27 16:14:59.301 OK +2022/01/27 16:14:59.301 OK +2022/01/27 16:14:59.301 OK +2022/01/27 16:14:59.301 OK +2022/01/27 16:14:59.301 OK +2022/01/27 16:14:59.301 OK +2022/01/27 16:14:59.302 OK +2022/01/27 16:14:59.302 OK +2022/01/27 16:14:59.302 OK +2022/01/27 16:14:59.303 ecmcMotorRecord:: setIntegerParam(2 motorPowerAutoOnOff_)=2 +2022/01/27 16:14:59.303 ecmcMotorRecord:: setDoubleParam(2 motorPowerOnDelay_)=6 +2022/01/27 16:14:59.303 ecmcMotorRecord:: setDoubleParam(2 motorPowerOffDelay_=-1 +2022/01/27 16:14:59.303 ecmcMotorRecord:: udateMotorLimitsRO(2) enabledHighAndLow=1 valid=1 fValueHigh=20 fValueLow=-130 +2022/01/27 16:14:59.303 ecmcMotorRecord:: connected(2) +2022/01/27 16:14:59.303 ecmcMotorRecord:: initialPoll(2) status=0 akeCloseAheadTime(2,0)" ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosBwd(2,-130)" ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitBwd(2,1)" @@ -1901,8 +1901,8 @@ epicsEnvUnset(ECMC_ENC_BITS) epicsEnvUnset(ECMC_ENC_ABS_BITS) epicmacLib: macro ECMC_EXE_CMD is undefined (expanding string ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'${ECMC_MODE=FULL}'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")${ECMC_EXE_CMD}) macLib: macro ECMC_EXE_CMD is undefined (expanding string ${ECMC_EXE_CMD}) -2022/01/27 14:50:34.144 OK -2022/01/27 14:50:34.144 OK +2022/01/27 16:14:59.324 OK +2022/01/27 16:14:59.324 OK sEnvUnset(ECMC_ENC_ABS_OFFSET) epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE) epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE) @@ -1994,22 +1994,22 @@ iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_a # ecmc_axis_sync.cmd ecmcConfigOrDie "Cfg.SetAxisAllowCommandsFromPLC(2,1)" ecmcConfigOrDie "Cfg.SetAxisPLCEnable(2,0)" -e2022/01/27 14:50:34.144 OK -2022/01/27 14:50:34.144 OK -2022/01/27 14:50:34.144 OK -2022/01/27 14:50:34.144 OK -2022/01/27 14:50:34.144 OK -2022/01/27 14:50:34.145 OK -2022/01/27 14:50:34.145 OK -2022/01/27 14:50:34.145 OK -2022/01/27 14:50:34.145 OK -2022/01/27 14:50:34.145 OK -2022/01/27 14:50:34.145 OK -2022/01/27 14:50:34.145 OK -2022/01/27 14:50:34.145 OK -2022/01/27 14:50:34.145 OK -2022/01/27 14:50:34.145 OK -2022/01/27 14:50:34.145 OK +e2022/01/27 16:14:59.324 OK +2022/01/27 16:14:59.325 OK +2022/01/27 16:14:59.325 OK +2022/01/27 16:14:59.325 OK +2022/01/27 16:14:59.325 OK +2022/01/27 16:14:59.325 OK +2022/01/27 16:14:59.325 OK +2022/01/27 16:14:59.325 OK +2022/01/27 16:14:59.325 OK +2022/01/27 16:14:59.326 OK +2022/01/27 16:14:59.326 OK +2022/01/27 16:14:59.326 OK +2022/01/27 16:14:59.326 OK +2022/01/27 16:14:59.326 OK +2022/01/27 16:14:59.326 OK +2022/01/27 16:14:59.326 OK cmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=var a:=1|" ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=" ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=" @@ -2068,7 +2068,7 @@ iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/loadPl #============================================================================== # 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;Y_AXIS=2;AUTO_ENABLE=1;AUTO_START=1;)" -../ecmc_plugin_grbl/ecmcGrbl.cpp:doMainWorker:383 +../ecmc_plugin_grbl/ecmcGrbl.cpp:doMainWorker:388 ../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!!!.. @@ -2078,21 +2078,21 @@ ecmcConfigOrDie "Cfg.LoadPlugin(0,/home/pi/epics/base-7.0.5/require/3.4.0/siteMo ../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:coolan2022/01/27 14:50:34.351 OK -2022/01/27 14:50:34.352 OK +../grbl/grbl_coolant_control.c:coolan2022/01/27 16:14:59.538 OK +2022/01/27 16:14:59.539 OK t_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:572: ../grbl/grbl_stepper.c:st_go_idle:259: -Waiting for grbl init..../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:268 +GRBL: INFO: Waiting for grbl init..../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:273 ../grbl/grbl_stepper.c:st_generate_step_dir_invert_masks:550: ../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 READY FOR COMMANDS: +GRBL: INFO: Ready for commands: Grbl 1.1h ['$' for help] .ecmcEpicsEnvSetCalcTernary("ECMC_PLUGIN_REPORT", "1>0","","#") @@ -2117,49 +2117,49 @@ Plugin info: max plc funcs = 64 max plc func args = 10 max plc consts = 64 - Construct func = @0xb511598c - Enter realtime func = @0xb5115904 - Exit realtime func = @0xb51158d0 - Realtime func = @0xb5115900 - Destruct func = @0xb51158d8 - dlhandle = @0x1b3df18 + Construct func = @0xb4e1da34 + Enter realtime func = @0xb4e1d9ac + Exit realtime func = @0xb4e1d978 + Realtime func = @0xb4e1d9a8 + Destruct func = @0xb4e1d980 + dlhandle = @0x18b01a8 Plc functions: funcs[00]: Name = "grbl_set_execute(arg0);" Desc = double grbl_set_execute() : Trigg execution of loaded g-code at positive edge of Arg count = 1 - func = @0xb5115908 + func = @0xb4e1d9b0 funcs[01]: Name = "grbl_mc_halt(arg0);" Desc = double grbl_mc_halt() : Halt grbl motion at positive edge of Arg count = 1 - func = @0xb5115924 + func = @0xb4e1d9cc funcs[02]: Name = "grbl_mc_resume(arg0);" Desc = double grbl_mc_resume() : Resume halted grbl motion at positive edge of Arg count = 1 - func = @0xb5115940 + func = @0xb4e1d9e8 funcs[03]: Name = "grbl_mc_reset(arg0);" Desc = double grbl_mc_reset() : Reset grbl at positive edge of Arg count = 1 - func = @0xb511595c + func = @0xb4e1da04 funcs[04]: Name = "grbl_get_busy();" Desc = double grbl_get_busy() : Get grbl system busy Arg count = 0 - func = @0xb5115978 + func = @0xb4e1da20 Plc constants: epicsEnvUnset(ECMC_PLUGIN_REPORT); epicsEnvUnset(ECMC_PLUGIN_FILNAME) epicsEnvUnset(ECMC_PLUGIN_CONFIG) ecmcGrblAddCommand("G1X20Y20F360"); -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:715: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:721: Buffer size 1 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:736: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:743:GRBL: INFO: Buffer size 1 ecmcGrblAddCommand("G1X0Y0F360"); -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:715: -../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:721: Buffer size 2 +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:736: +../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:743:GRBL: INFO: Buffer size 2 #ecmcGrblAddCommand("G2X0Y0R20"); #ecmcGrblAddCommand("G0X10Y10"); #ecmcGrblAddCommand("G1X0Y0"); @@ -2169,407 +2169,61 @@ ecmcGrblAddCommand("G1X0Y0F360"); #ecmcGrblAddCommand("G4P1"); #ecmcGrblAddCommand("G1X50Y50F180"); #ecmcGrblAddCommand("G1X0Y0"); -############################################################################## -## PLC 0 -#$(SCRIPTEXEC) $(ec2022/01/27 14:50:34.353 OK -2022/01/27 14:50:34.353 OK -2022/01/27 14:50:34.353 OK -2022/01/27 14:50:34.353 OK -2022/01/27 14:50:34.353 OK -2022/01/27 14:50:34.353 OK -2022/01/27 14:50:34.357 INFO: Locking memory -2022/01/27 14:50:34.457 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10). -2022/01/27 14:50:34.457 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315). -2022/01/27 14:50:34.457 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10). -2022/01/27 14:50:34.458 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 0: Not operational (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 1: Not operational (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 2: Not operational (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 3: Not operational (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 4: Not operational (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 5: Not operational (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 6: Not operational (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 8: Not operational (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 9: Not operational (0x24011). -2022/01/27 14:50:34.458 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). -2022/01/27 14:50:34.480 Starting up EtherCAT bus: 0 second(s). Max wait time 30 second(s). -2022/01/27 14:50:34.522 ecmcMotorRecord:: poll(1) homed=1 -2022/01/27 14:50:34.522 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000125 -2022/01/27 14:50:34.522 ecmcMotorRecord:: poll(1) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315 -2022/01/27 14:50:34.522 ecmcMotorRecord:: sErrorMessage(1)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK" -2022/01/27 14:50:34.522 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=1 old=-1 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315) -2022/01/27 14:50:34.523 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000010 -2022/01/27 14:50:34.523 ecmcMotorRecord:: poll(2) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315 -2022/01/27 14:50:34.523 ecmcMotorRecord:: sErrorMessage(2)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK" -2022/01/27 14:50:34.523 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=1 old=-1 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315) -2022/01/27 14:50:34.723 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000018 -2022/01/27 14:50:34.723 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000012 -2022/01/27 14:50:34.924 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000021 -2022/01/27 14:50:34.924 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000012 -2022/01/27 14:50:35.124 ecmcMotorRecord:: poll(1) LLS=0 -2022/01/27 14:50:35.124 ecmcMotorRecord:: poll(1) HLS=0 -2022/01/27 14:50:35.124 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000116 -2022/01/27 14:50:35.124 ecmcMotorRecord:: poll(2) LLS=0 -2022/01/27 14:50:35.124 ecmcMotorRecord:: poll(2) HLS=0 -2022/01/27 14:50:35.124 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=-71.58 time=0.000058 -2022/01/27 14:50:35.324 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000012 -2022/01/27 14:50:35.324 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=-71.58 time=0.000007 -2022/01/27 14:50:35.385 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 1): Drive hardware in warning state. -2022/01/27 14:50:35.481 Starting up EtherCAT bus: 1 second(s). Max wait time 30 second(s). -2022/01/27 14:50:35.524 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000012 -2022/01/27 14:50:35.525 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=-71.58 time=0.000007 -2022/01/27 14:50:35.614 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 2): Drive hardware in warning state. -2022/01/27 14:50:35.725 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000011 -2022/01/27 14:50:35.725 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=-71.58 time=0.000006 -2022/01/27 14:50:35.925 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000013 -2022/01/27 14:50:35.925 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=-71.58 time=0.000006 -2022/01/27 14:50:35.961 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). -2022/01/27 14:50:35.961 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). -2022/01/27 14:50:35.961 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). -2022/01/27 14:50:35.961 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). -2022/01/27 14:50:35.961 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0). -2022/01/27 14:50:36.125 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000012 -2022/01/27 14:50:36.125 ecmcMotorRecord:: poll(1) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 -2022/01/27 14:50:36.125 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=0 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL -2022/01/27 14:50:36.125 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000007 -2022/01/27 14:50:36.125 ecmcMotorRecord:: poll(2) bError=0 drvlocal.statusBinData.onChangeData.error=0x0 -2022/01/27 14:50:36.125 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=4 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL -2022/01/27 14:50:36.325 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000012 -2022/01/27 14:50:36.326 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000006 -2022/01/27 14:50:36.526 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000012 -2022/01/27 14:50:36.526 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000006 -2022/01/27 14:50:36.726 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000016 -2022/01/27 14:50:36.726 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000011 -2022/01/27 14:50:36.926 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000020 -2022/01/27 14:50:36.927 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000185 -2022/01/27 14:50:37.127 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000012 -2022/01/27 14:50:37.127 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000006 -2022/01/27 14:50:37.327 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000011 -2022/01/27 14:50:37.327 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000006 -2022/01/27 14:50:37.481 EtherCAT bus started! -2022/01/27 14:50:37.481 OK -2022/01/27 14:50:37.481 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocBuild (0). Allow callbacks: true. -Starting iocInit -2022/01/27 14:50:37.482 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtBeginning (1). Allow callbacks: true. -2022/01/27 14:50:37.495 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCallbackInit (2). Allow callbacks: true. -2022/01/27 14:50:37.500 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaLinkInit (3). Allow callbacks: true. -2022/01/27 14:50:37.500 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDrvSup (4). Allow callbacks: true. -2022/01/27 14:50:37.501 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitRecSup (5). Allow callbacks: true. -2022/01/27 14:50:37.504 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDevSup (6). Allow callbacks: true. -2022/01/27 14:50:37.508 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.positionActual01 linked to record (asyn reason 1). -2022/01/27 14:50:37.509 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderLatchPostion01 linked to record (asyn reason 2). -2022/01/27 14:50:37.509 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderControl01 linked to record (asyn reason 3). -2022/01/27 14:50:37.510 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderValue01 linked to record (asyn reason 4). -2022/01/27 14:50:37.510 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.positionActual01 linked to record (asyn reason 5). -2022/01/27 14:50:37.511 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderLatchPostion01 linked to record (asyn reason 6). -2022/01/27 14:50:37.511 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderControl01 linked to record (asyn reason 7). -2022/01/27 14:50:37.511 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderValue01 linked to record (asyn reason 8). -2022/01/27 14:50:37.512 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive01 linked to record (asyn reason 9). -2022/01/27 14:50:37.512 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative01 linked to record (asyn reason 10). -2022/01/27 14:50:37.512 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive02 linked to record (asyn reason 11). -2022/01/27 14:50:37.513 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative02 linked to record (asyn reason 12). -2022/01/27 14:50:37.513 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveControl01 linked to record (asyn reason 13). -2022/01/27 14:50:37.513 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.velocitySetpoint01 linked to record (asyn reason 14). -2022/01/27 14:50:37.514 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.positionActual01 linked to record (asyn reason 15). -2022/01/27 14:50:37.514 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderLatchPostion01 linked to record (asyn reason 16). -2022/01/27 14:50:37.515 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderControl01 linked to record (asyn reason 17). -2022/01/27 14:50:37.515 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderValue01 linked to record (asyn reason 18). -2022/01/27 14:50:37.516 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveControl01 linked to record (asyn reason 19). -2022/01/27 14:50:37.516 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.velocitySetpoint01 linked to record (asyn reason 20). -2022/01/27 14:50:37.517 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.positionActual01 linked to record (asyn reason 21). -2022/01/27 14:50:37.517 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderLatchPostion01 linked to record (asyn reason 22). -2022/01/27 14:50:37.518 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderControl01 linked to record (asyn reason 23). -2022/01/27 14:50:37.518 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderValue01 linked to record (asyn reason 24). -2022/01/27 14:50:37.520 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.actpos linked to record (asyn reason 25). -2022/01/27 14:50:37.520 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.setpos linked to record (asyn reason 26). -2022/01/27 14:50:37.521 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.poserr linked to record (asyn reason 27). -2022/01/27 14:50:37.521 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.error linked to record (asyn reason 28). -2022/01/27 14:50:37.522 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.actpos linked to record (asyn reason 29). -2022/01/27 14:50:37.523 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.setpos linked to record (asyn reason 30). -2022/01/27 14:50:37.524 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.poserr linked to record (asyn reason 31). -2022/01/27 14:50:37.524 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.error linked to record (asyn reason 32). -2022/01/27 14:50:37.525 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.appmode linked to record (asyn reason 33). -2022/01/27 14:50:37.526 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.id linked to record (asyn reason 34). -2022/01/27 14:50:37.527 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.min linked to record (asyn reason 35). -2022/01/27 14:50:37.527 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000011 -2022/01/27 14:50:37.527 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000006 -2022/01/27 14:50:37.528 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.max linked to record (asyn reason 36). -2022/01/27 14:50:37.529 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.min linked to record (asyn reason 37). -2022/01/27 14:50:37.529 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.max linked to record (asyn reason 38). -2022/01/27 14:50:37.536 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.min linked to record (asyn reason 39). -2022/01/27 14:50:37.538 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.max linked to record (asyn reason 40). -2022/01/27 14:50:37.539 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.min linked to record (asyn reason 41). -2022/01/27 14:50:37.539 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.max linked to record (asyn reason 42). -2022/01/27 14:50:37.540 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput01 linked to record (asyn reason 43). -2022/01/27 14:50:37.542 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput02 linked to record (asyn reason 44). -2022/01/27 14:50:37.544 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput03 linked to record (asyn reason 45). -2022/01/27 14:50:37.546 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput04 linked to record (asyn reason 46). -2022/01/27 14:50:37.550 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput05 linked to record (asyn reason 47). -2022/01/27 14:50:37.553 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput06 linked to record (asyn reason 48). -2022/01/27 14:50:37.555 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput07 linked to record (asyn reason 49). -2022/01/27 14:50:37.557 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput08 linked to record (asyn reason 50). -2022/01/27 14:50:37.559 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput01 linked to record (asyn reason 51). -2022/01/27 14:50:37.560 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput02 linked to record (asyn reason 52). -2022/01/27 14:50:37.562 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput03 linked to record (asyn reason 53). -2022/01/27 14:50:37.564 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput04 linked to record (asyn reason 54). -2022/01/27 14:50:37.565 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput05 linked to record (asyn reason 55). -2022/01/27 14:50:37.567 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput06 linked to record (asyn reason 56). -2022/01/27 14:50:37.570 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput07 linked to record (asyn reason 57). -2022/01/27 14:50:37.573 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput08 linked to record (asyn reason 58). -2022/01/27 14:50:37.579 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.powerOk01 linked to record (asyn reason 59). -2022/01/27 14:50:37.581 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.overload01 linked to record (asyn reason 60). -2022/01/27 14:50:37.584 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput01 linked to record (asyn reason 61). -2022/01/27 14:50:37.587 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput02 linked to record (asyn reason 62). -2022/01/27 14:50:37.590 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.enable linked to record (asyn reason 63). -2022/01/27 14:50:37.592 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.firstscan linked to record (asyn reason 64). -2022/01/27 14:50:37.597 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.enable linked to record (asyn reason 65). -2022/01/27 14:50:37.600 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.firstscan linked to record (asyn reason 66). -2022/01/27 14:50:37.603 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.ok linked to record (asyn reason 67). -2022/01/27 14:50:37.612 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.diagnostic linked to record (asyn reason 68). -2022/01/27 14:50:37.613 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.plc.expression linked to record (asyn reason 69). -2022/01/27 14:50:37.615 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.diagnostic linked to record (asyn reason 70). -2022/01/27 14:50:37.617 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.plc.expression linked to record (asyn reason 71). -2022/01/27 14:50:37.620 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.msg linked to record (asyn reason 72). -2022/01/27 14:50:37.622 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.updated linked to record (asyn reason 73). -2022/01/27 14:50:37.624 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.command linked to record (asyn reason 74). -2022/01/27 14:50:37.627 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.command linked to record (asyn reason 75). -mccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=100,FILE=./plc/grbl.plc") -############################################################################## -############# Configure diagnostics: -ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)" -ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)" -ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)" -ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)" -ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)" -ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)" -iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/setAppMode.cmd) -#============================================================================== -# setAppMode.cmd -ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/general.cmd",1) -iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/general.cmd -#============================================================================== -# general.cmd -ecmcFileExist("ecmcGeneral.db",1,1) -dbLoadRecords("ecmcGeneral.db","P=IOC_TEST:,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,T_SMP_MS=10,TSE=-2,ECMC_PROC_HOOK=") -# Examples of commands for info: -# ecmcReport or asynReport -# ecmcReport 3 -# ecmcGrepParam -# List all ecmc params for ethercat slave 2: -# ecmcGrepParam *s2* -# -ecmcEpicsEnvSetCalcTernary(ECMC_MASTER_CMD, "0>=0", "","#- ") - ecmcFileExist("ecmcEc.db",1,1) - dbLoadRecords("ecmcEc.db","P=IOC_TEST:,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,T_SMP_MS=10,TSE=-2") -ecmcConfigOrDie "Cfg.SetAppMode(1)" -#asynSetTraceMask(MC_CPU1, -1, 0x41) -# Note need to test 0x21 later.. -#asynSetTraceMask(MC_CPU1, -1, 0x21) -asynSetTraceMask(MC_CPU1, -1, 0x41) -iocInit() -############################################################################ -## EPICS R7.0.5-E3-7.0.5-patch -## Rev. 2021-05-05T19:45+0200 -############################################################################ -ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI01-TimeRiseTS -ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI01-TimeFallTS -ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI02-TimeRiseTS -ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI02-TimeFallTS -2022/01/27 14:50:37.631 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ONE linked to record (asyn reason 76). -2022/01/27 14:50:37.634 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ZERO linked to record (asyn reason 77). -2022/01/27 14:50:37.637 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ONE linked to record (asyn reason 78). -2022/01/27 14:50:37.639 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ZERO linked to record (asyn reason 79). -2022/01/27 14:50:37.642 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ONE linked to record (asyn reason 80). -2022/01/27 14:50:37.645 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ZERO linked to record (asyn reason 81). -2022/01/27 14:50:37.648 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ONE linked to record (asyn reason 82). -2022/01/27 14:50:37.650 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ZERO linked to record (asyn reason 83). -2022/01/27 14:50:37.654 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ONE linked to record (asyn reason 84). -2022/01/27 14:50:37.657 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ZERO linked to record (asyn reason 85). -2022/01/27 14:50:37.659 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ONE linked to record (asyn reason 86). -2022/01/27 14:50:37.662 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ZERO linked to record (asyn reason 87). -2022/01/27 14:50:37.665 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ONE linked to record (asyn reason 88). -2022/01/27 14:50:37.668 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ZERO linked to record (asyn reason 89). -2022/01/27 14:50:37.670 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ONE linked to record (asyn reason 90). -2022/01/27 14:50:37.673 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ZERO linked to record (asyn reason 91). -2022/01/27 14:50:37.676 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ONE linked to record (asyn reason 92). -2022/01/27 14:50:37.679 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ZERO linked to record (asyn reason 93). -2022/01/27 14:50:37.682 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.cmddata linked to record (asyn reason 94). -2022/01/27 14:50:37.686 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.cmddata linked to record (asyn reason 95). -2022/01/27 14:50:37.688 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.slavestatus linked to record (asyn reason 96). -2022/01/27 14:50:37.691 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.slavestatus linked to record (asyn reason 97). -2022/01/27 14:50:37.694 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.slavestatus linked to record (asyn reason 98). -2022/01/27 14:50:37.697 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.slavestatus linked to record (asyn reason 99). -2022/01/27 14:50:37.699 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.slavestatus linked to record (asyn reason 100). -2022/01/27 14:50:37.701 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.slavestatus linked to record (asyn reason 101). -2022/01/27 14:50:37.704 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.slavestatus linked to record (asyn reason 102). -2022/01/27 14:50:37.707 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.slavestatus linked to record (asyn reason 103). -2022/01/27 14:50:37.710 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.slavestatus linked to record (asyn reason 104). -2022/01/27 14:50:37.714 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.status linked to record (asyn reason 105). -2022/01/27 14:50:37.716 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.errorid linked to record (asyn reason 106). -2022/01/27 14:50:37.719 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.status linked to record (asyn reason 107). -2022/01/27 14:50:37.722 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.errorid linked to record (asyn reason 108). -2022/01/27 14:50:37.725 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.masterstatus linked to record (asyn reason 109). -2022/01/27 14:50:37.727 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000015 -2022/01/27 14:50:37.727 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000008 -2022/01/27 14:50:37.728 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.slavecounter linked to record (asyn reason 110). -2022/01/27 14:50:37.731 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.memmapcounter linked to record (asyn reason 111). -2022/01/27 14:50:37.733 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainfailcountertotal linked to record (asyn reason 112). -2022/01/27 14:50:37.736 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.entrycounter linked to record (asyn reason 113). -2022/01/27 14:50:37.739 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainstatus linked to record (asyn reason 114). -2022/01/27 14:50:37.744 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.control linked to record (asyn reason 115). -2022/01/27 14:50:37.750 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.control linked to record (asyn reason 116). -2022/01/27 14:50:37.757 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderStatus01 linked to record (asyn reason 117). -2022/01/27 14:50:37.764 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderStatus01 linked to record (asyn reason 118). -2022/01/27 14:50:37.772 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status01 linked to record (asyn reason 119). -2022/01/27 14:50:37.781 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status02 linked to record (asyn reason 120). -2022/01/27 14:50:37.790 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveStatus01 linked to record (asyn reason 121). -2022/01/27 14:50:37.797 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderStatus01 linked to record (asyn reason 122). -2022/01/27 14:50:37.804 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveStatus01 linked to record (asyn reason 123). -2022/01/27 14:50:37.811 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderStatus01 linked to record (asyn reason 124). -2022/01/27 14:50:37.868 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.targpos linked to record (asyn reason 125). -2022/01/27 14:50:37.871 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.targvelo linked to record (asyn reason 126). -2022/01/27 14:50:37.876 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targpos linked to record (asyn reason 127). -2022/01/27 14:50:37.879 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targvelo linked to record (asyn reason 128). -2022/01/27 14:50:37.897 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.reset linked to record (asyn reason 129). -2022/01/27 14:50:37.901 ecmcMotorRecord:: setIntegerParam(1 motorUpdateStatus_)=0 -2022/01/27 14:50:37.901 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000085 -2022/01/27 14:50:37.902 ecmcMotorRecord:: setIntegerParam(2 motorUpdateStatus_)=0 -2022/01/27 14:50:37.902 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000007 -2022/01/27 14:50:37.928 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000011 -2022/01/27 14:50:37.928 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000007 -2022/01/27 14:50:37.954 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDatabase (7). Allow callbacks: true. -2022/01/27 14:50:37.954 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterFinishDevSup (8). Allow callbacks: true. -2022/01/27 14:50:38.128 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000010 -2022/01/27 14:50:38.128 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000006 -2022/01/27 14:50:38.328 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000009 -2022/01/27 14:50:38.328 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000005 -2022/01/27 14:50:38.490 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterScanInit (9). Allow callbacks: true. -2022/01/27 14:50:38.491 ecmcMotorRecord:: setIntegerParam(1 HomProc_)=3 motorNotHomedProblem=0 -2022/01/27 14:50:38.491 ecmcMotorRecord:: setIntegerParam(2 HomProc_)=3 motorNotHomedProblem=0 -2022/01/27 14:50:38.492 ecmcMotorRecord:: setDoubleParam(1 HomPos_)=0.000000 -2022/01/27 14:50:38.492 ecmcMotorRecord:: setDoubleParam(2 HomPos_)=0.000000 -2022/01/27 14:50:38.492 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitialProcess (10). Allow callbacks: true. -2022/01/27 14:50:38.498 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (11). Allow callbacks: true. -2022/01/27 14:50:38.498 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocBuilt (12). Allow callbacks: true. -2022/01/27 14:50:38.528 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=804 fPos=0 fActPosition=-24.12 time=0.000011 -2022/01/27 14:50:38.528 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63149 fPos=0 fActPosition=0 time=0.000006 -2022/01/27 14:50:38.531 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocRun (13). Allow callbacks: true. -2022/01/27 14:50:38.532 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterDatabaseRunning (14). Allow callbacks: true. -2022/01/27 14:50:38.532 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInterruptAccept (28). Allow callbacks: true. -2022/01/27 14:50:38.532 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaServerRunning (15). Allow callbacks: true. -2022/01/27 14:50:38.532 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (29). Allow callbacks: true. -iocRun: All initialization complete -2022/01/27 14:50:38.602 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocRunning (16). Allow callbacks: true. -2022/01/27 14:50:38.606 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 1): Drive hardware warning state cleared. -2022/01/27 14:50:38.606 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 2): Drive hardware warning state cleared. -2022/01/27 14:50:38.728 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=808 fPos=-24.12 fActPosition=-24.24 time=0.000010 -2022/01/27 14:50:38.729 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63148 fPos=0 fActPosition=-0.03 time=0.000007 -2022/01/27 14:50:37.900 [devMotorAsyn.c:439 IOC_TEST:Axis1] init_record IOC_TEST:Axis1 position=-24.120000 encoderPos=-24.120000 velocity=0.000000 MSTAstatus=0x4d00 flagsValue=0x3f flagsWritten=0x3f pmr->mflg=0x0 -2022/01/27 14:50:37.901 [devMotorAsyn.c:185 IOC_TEST:Axis1] init_controller IOC_TEST:Axis1 set encoder ratio=1.000000 status=0 -2022/01/27 14:50:37.901 [devMotorAsyn.c:266 IOC_TEST:Axis1] update_soft_limits IOC_TEST:Axis1 RawHLM_RO=130.000000 RawLLM_RO=-20.000000 valid=1 DHLM_RO=130.000000 DLLM_RO=-20.000000 -2022/01/27 14:50:37.901 [motorDevSup.c:327 IOC_TEST:Axis1] PositionRestoreNeeded IOC_TEST:Axis1 rstm=2 dval=0.000000 drbv=-24.120000 pmr->rdbd=0.100000 rdbd=0.100000 pmr->mres=0.030000 pmr->mflg=0x3f dval_non_zero_pos_near_zero=0 ret=0 -2022/01/27 14:50:37.901 [motorRecord.cc:782 IOC_TEST:Axis1] init_re_init start neverPolled=0 stat=17 nsta=0 -2022/01/27 14:50:37.901 [motorRecord.cc:720 IOC_TEST:Axis1] enforceMinRetryDeadband spdb=0.100000 rdbd=0.100000 mres=0.030000 -2022/01/27 14:50:37.901 [motorRecord.cc:4484 IOC_TEST:Axis1] pmr->dhlm=130 softLimitRO=130 -2022/01/27 14:50:37.901 [motorRecord.cc:4545 IOC_TEST:Axis1] pmr->dllm=-20 softLimitRO=-20 -2022/01/27 14:50:37.901 [motorRecord.cc:833 IOC_TEST:Axis1] init_re_init end dval=-24.120000 drbv=-24.120000 rdbd=0.100000 spdb=0.100000 -2022/01/27 14:50:37.901 [motorRecord.cc:968 IOC_TEST:Axis1] init_record process_reason="callbackdata + soft limits" dval=-24.120000 drbv=-24.120000 rdbd=0.100000 spdb=0.100000 stat=0 msta=0x4d00 neverPolled=0 -2022/01/27 14:50:37.901 [devMotorAsyn.c:439 IOC_TEST:Axis2] init_record IOC_TEST:Axis2 position=0.000000 encoderPos=0.000000 velocity=0.000000 MSTAstatus=0x0f00 flagsValue=0x3f flagsWritten=0x3f pmr->mflg=0x0 -2022/01/27 14:50:37.902 [devMotorAsyn.c:185 IOC_TEST:Axis2] init_controller IOC_TEST:Axis2 set encoder ratio=1.000000 status=0 -2022/01/27 14:50:37.902 [devMotorAsyn.c:266 IOC_TEST:Axis2] update_soft_limits IOC_TEST:Axis2 RawHLM_RO=20.000000 RawLLM_RO=-130.000000 valid=1 DHLM_RO=20.000000 DLLM_RO=-130.000000 -2022/01/27 14:50:37.902 [motorDevSup.c:327 IOC_TEST:Axis2] PositionRestoreNeeded IOC_TEST:Axis2 rstm=2 dval=0.000000 drbv=0.000000 pmr->rdbd=0.100000 rdbd=0.100000 pmr->mres=0.030000 pmr->mflg=0x3f dval_non_zero_pos_near_zero=0 ret=0 -2022/01/27 14:50:37.902 [motorRecord.cc:782 IOC_TEST:Axis2] init_re_init start neverPolled=0 stat=17 nsta=0 -2022/01/27 14:50:37.902 [motorRecord.cc:720 IOC_TEST:Axis2] enforceMinRetryDeadband spdb=0.100000 rdbd=0.100000 mres=0.030000 -2022/01/27 14:50:37.902 [motorRecord.cc:4484 IOC_TEST:Axis2] pmr->dhlm=20 softLimitRO=20 -2022/01/27 14:50:37.902 [motorRecord.cc:4545 IOC_TEST:Axis2] pmr->dllm=-130 softLimitRO=-130 -2022/01/27 14:50:37.902 [motorRecord.cc:833 IOC_TEST:Axis2] init_re_init end dval=0.000000 drbv=0.000000 rdbd=0.100000 spdb=0.100000 -2022/01/27 14:50:37.902 [motorRecord.cc:968 IOC_TEST:Axis2] init_record process_reason="callbackdata + soft limits" dval=0.000000 drbv=0.000000 rdbd=0.100000 spdb=0.100000 stat=0 msta=0xf00 neverPolled=0 -dbpf IOC_TEST:Axis1.SPAM 0 -DBF_SHORT: 0 = 0x0 -dbpf IOC_TEST:Axis2.SPAM 0 -DBF_SHORT: 0 = 0x0 -# Set the IOC Prompt String One -epicsEnvSet IOCSH_PS1 "raspberrypi-18378 > " -# -raspberrypi-18378 > 2022/01/27 14:50:38.929 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=808 fPos=-24.12 fActPosition=-24.24 time=0.000010 -2022/01/27 14:50:38.929 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63148 fPos=0 fActPosition=-0.03 time=0.000007 -2022/01/27 14:50:39.129 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=807 fPos=-24.18 fActPosition=-24.21 time=0.000010 -2022/01/27 14:50:39.129 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63145 fPos=0 fActPosition=-0.12 time=0.000007 -2022/01/27 14:50:39.329 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=792 fPos=-23.772 fActPosition=-23.76 time=0.000009 -2022/01/27 14:50:39.330 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63156 fPos=0.184 fActPosition=0.21 time=0.000007 -2022/01/27 14:50:39.530 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=766 fPos=-22.996 fActPosition=-22.98 time=0.000015 -2022/01/27 14:50:39.530 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63168 fPos=0.536 fActPosition=0.57 time=0.000009 -2022/01/27 14:50:39.730 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=732 fPos=-21.972 fActPosition=-21.96 time=0.000018 -2022/01/27 14:50:39.731 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63183 fPos=1 fActPosition=1.02 time=0.000011 -2022/01/27 14:50:39.931 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=698 fPos=-20.94 fActPosition=-20.94 time=0.000015 -2022/01/27 14:50:39.931 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63198 fPos=1.464 fActPosition=1.47 time=0.000009 -2022/01/27 14:50:40.131 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=663 fPos=-19.92 fActPosition=-19.89 time=0.000018 -2022/01/27 14:50:40.132 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63214 fPos=1.932 fActPosition=1.95 time=0.000291 -2022/01/27 14:50:40.332 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=629 fPos=-18.888 fActPosition=-18.87 time=0.000009 -2022/01/27 14:50:40.332 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63229 fPos=2.396 fActPosition=2.4 time=0.000006 -2022/01/27 14:50:40.532 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=595 fPos=-17.86 fActPosition=-17.85 time=0.000157 -2022/01/27 14:50:40.533 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63245 fPos=2.86 fActPosition=2.88 time=0.000006 -2022/01/27 14:50:40.733 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=561 fPos=-16.832 fActPosition=-16.83 time=0.000009 -2022/01/27 14:50:40.733 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63260 fPos=3.328 fActPosition=3.33 time=0.000006 -2022/01/27 14:50:40.933 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=527 fPos=-15.804 fActPosition=-15.81 time=0.000018 -2022/01/27 14:50:40.934 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63275 fPos=3.792 fActPosition=3.78 time=0.000136 -2022/01/27 14:50:41.134 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=493 fPos=-14.776 fActPosition=-14.79 time=0.000016 -2022/01/27 14:50:41.134 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63291 fPos=4.256 fActPosition=4.26 time=0.000011 -2022/01/27 14:50:41.335 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=458 fPos=-13.748 fActPosition=-13.74 time=0.000167 -2022/01/27 14:50:41.335 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63307 fPos=4.724 fActPosition=4.74 time=0.000011 -2022/01/27 14:50:41.535 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=424 fPos=-12.724 fActPosition=-12.72 time=0.000018 -2022/01/27 14:50:41.536 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63322 fPos=5.188 fActPosition=5.19 time=0.000247 -2022/01/27 14:50:41.736 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=389 fPos=-11.688 fActPosition=-11.67 time=0.000018 -2022/01/27 14:50:41.736 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63337 fPos=5.652 fActPosition=5.64 time=0.000011 -2022/01/27 14:50:41.937 ecmcMotorRecord:: poll(1) HLS=1 -2022/01/27 14:50:41.937 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=356 fPos=-10.6767 fActPosition=-10.68 time=0.000183 -2022/01/27 14:50:41.937 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63351 fPos=0 fActPosition=6.06 time=0.000013 -2022/01/27 14:50:42.137 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=323 fPos=-9.7008 fActPosition=-9.69 time=0.000018 -2022/01/27 14:50:42.138 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63355 fPos=6.1668 fActPosition=6.18 time=0.000235 -2022/01/27 14:50:42.338 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=295 fPos=-8.8419 fActPosition=-8.85 time=0.000016 -2022/01/27 14:50:42.338 ecmcMotorRecord:: poll(2) mvnNRdy=0 bBusy=0 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=63354 fPos=6.1668 fActPosition=6.15 time=0.000010 -2022/01/27 14:50:42.539 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=273 fPos=-8.18622 fActPosition=-8.19 time=0.000068 -2022/01/27 14:50:42.739 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=260 fPos=-7.81003 fActPosition=-7.8 time=0.000097 -2022/01/27 14:50:42.939 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=254 fPos=-7.60928 fActPosition=-7.62 time=0.000009 -2022/01/27 14:50:43.140 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=252 fPos=-7.55609 fActPosition=-7.56 time=0.000012 -2022/01/27 14:50:43.340 ecmcMotorRecord:: poll(1) HLS=0 -2022/01/27 14:50:43.340 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=252 fPos=-7.55297 fActPosition=-7.56 time=0.000063 -2022/01/27 14:50:43.540 ecmcMotorRecord:: poll(1) mvnNRdy=0 bBusy=0 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=252 fPos=-7.55297 fActPosition=-7.56 time=0.000010 -Write command to grbl (command[0] = G1X20Y20F360) -Added: G1X20Y20F360to buffer: G1X20Y20F360 - -../grbl/grbl_gcode.c:gc_execute_line:71: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_next_block_index:652: -../grbl/grbl_stepper.c:st_wake_up:228: -GRBL Reply: OK (command[0] = G1X20Y20F360) -Write command to grbl (command[1] = G1X0Y0F360) -Added: G1X0Y0F360to buffer: G1X20Y20F360 -G1X0Y0F360 - -../grbl/grbl_gcode.c:gc_execute_line:71: -../grbl/grbl_motion_control.c:mc_line:33: -../grbl/grbl_stepper.c:st_update_plan_block_parameters:639: -GRBL Reply: OK (command[1] = G1X0Y0F360) -####################### ECMC IN CONTROL -Error encountered: ecmc 0x104, plugin 0x104 -../grbl/grbl_stepper.c:st_update_plan_block_parameters:639: -../grbl/grbl_stepper.c:st_go_idle:259: -../grbl/grbl_stepper.c:st_update_plan_block_parameters:639: -../grbl/grbl_stepper.c:st_update_plan_block_parameters:639: -../grbl/grbl_coolant_control.c:coolant_get_state:37 Not supported yet.. - -raspberrypi-18378 > -raspberrypi-18378 > -raspberrypi-18378 > -raspberrypi-18378 > -raspberrypi-18378 > -raspberrypi-18378 > \ No newline at end of file +##################################################################2022/01/27 16:14:59.539 OK +2022/01/27 16:14:59.539 OK +2022/01/27 16:14:59.540 OK +2022/01/27 16:14:59.540 OK +2022/01/27 16:14:59.540 OK +2022/01/27 16:14:59.540 OK +2022/01/27 16:14:59.546 INFO: Locking memory +2022/01/27 16:14:59.645 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10). +2022/01/27 16:14:59.646 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315). +2022/01/27 16:14:59.646 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10). +2022/01/27 16:14:59.646 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 0: Not operational (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 1: Not operational (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 2: Not operational (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 3: Not operational (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 4: Not operational (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 5: Not operational (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 6: Not operational (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 8: Not operational (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 9: Not operational (0x24011). +2022/01/27 16:14:59.646 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011). +2022/01/27 16:14:59.704 Starting up EtherCAT bus: 0 second(s). Max wait time 30 second(s). +2022/01/27 16:14:59.753 ecmcMotorRecord:: poll(1) homed=1 +2022/01/27 16:14:59.753 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000119 +2022/01/27 16:14:59.753 ecmcMotorRecord:: poll(1) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315 +2022/01/27 16:14:59.753 ecmcMotorRecord:: sErrorMessage(1)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK" +2022/01/27 16:14:59.753 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=1 old=-1 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315) +2022/01/27 16:14:59.754 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000026 +2022/01/27 16:14:59.754 ecmcMotorRecord:: poll(2) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315 +2022/01/27 16:14:59.754 ecmcMotorRecord:: sErrorMessage(2)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK" +2022/01/27 16:14:59.754 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=1 old=-1 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315) +2022/01/27 16:14:59.954 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000063 +2022/01/27 16:14:59.954 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000006 +2022/01/27 16:15:00.155 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000021 +2022/01/27 16:15:00.155 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000018 +2022/01/27 16:15:00.355 ecmcMotorRecord:: poll(1) LLS=0 +2022/01/27 16:15:00.355 ecmcMotorRecord:: poll(1) HLS=0 +2022/01/27 16:15:00.355 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000082 +2022/01/27 16:15:00.355 ecmcMotorRecord:: poll(2) LLS=0 +2022/01/27 16:15:00.355 ecmcMotorRecord:: poll(2) HLS=0 +2022/01/27 16:15:00.355 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000071 +2022/01/27 16:15:00.555 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000012 +2022/01/27 16:15:00.555 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63758 fPos=0 fActPosition=-53.31 time=0.000008 +2022/01/27 16:15:00.705 Starting up EtherCAT bus: 1 second(s). Max wait time 30 second(s). +2022/01/27 16:15:00.750 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 1): Drive hardware in warning state. +2022/01/27 16:15:00.755 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011 +2022/01/27 16:15:00.755 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63758 fPos=0 fActPosition=-53.31 time=0.000008 +2022/01/27 16:15:00.956 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000009 +2022/01/27 16:15:00.956 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=63758 fPos=0 fActPosition=-53.31 time=0.000005 +2022/01/27 16:15:01.053 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 2): Drive hardware in warning state.