3494 lines
255 KiB
Plaintext
3494 lines
255 KiB
Plaintext
registerChannelProviderLocal firstTime true
|
|
#
|
|
# Start at "2022-W04-Jan28-1004-19-CET"
|
|
#
|
|
# Version information:
|
|
# European Spallation Source ERIC : iocsh.bash (3.4.0-PID-11532)
|
|
#
|
|
# --->--> 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-11532"
|
|
#
|
|
# Enable an exit subroutine for sotfioc
|
|
dbLoadRecords "/home/pi/epics/base-7.0.5/db/softIocExit.db" "IOC=REQMOD:raspberrypi-11532"
|
|
#
|
|
# 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 grbl g-code plugin
|
|
## https://github.com/anderssandstrom/ecmc_plugin_grbl
|
|
## https://github.com/anderssandstrom/e3-ecmc_plugin_grbl
|
|
##
|
|
## 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 ruckig
|
|
Module ecmccfg version ruckig found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/
|
|
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/lib/linux-arm/libecmccfg.so
|
|
Loaded ecmccfg version ruckig
|
|
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/dbd/ecmccfg.dbd
|
|
Calling function ecmccfg_registerRecordDeviceDriver
|
|
Loading module info records for ecmccfg
|
|
# Epics Motor record driver that will be used:
|
|
epicsEnvShow(ECMC_MR_MODULE)
|
|
ECMC_MR_MODULE is not an environment variable.
|
|
# 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/ruckig/startup.cmd, "IOC=IOC_TEST,ECMC_VER=ruckig"
|
|
#==============================================================================
|
|
# startup.cmd
|
|
on error halt
|
|
require ecmc "ruckig"
|
|
Module ecmc version ruckig found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/
|
|
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 develop
|
|
Module motor version develop found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/
|
|
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/develop/lib/linux-arm/libmotor.so
|
|
Loaded motor version develop
|
|
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/dbd/motor.dbd
|
|
Calling function motor_registerRecordDeviceDriver
|
|
Loading module info records for motor
|
|
Module ecmc depends on ruckig 1.0.0
|
|
Module ruckig version 1.0.0 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ruckig/1.0.0/
|
|
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ruckig/1.0.0/lib/linux-arm/libruckig.so
|
|
Loaded ruckig version 1.0.0
|
|
ruckig has no dbd file
|
|
Loading module info records for ruckig
|
|
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/lib/linux-arm/libecmc.so
|
|
Loaded ecmc version ruckig
|
|
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/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/ruckig/")
|
|
epicsEnvSet("ECMC_CONFIG_DB", "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/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'!='DAQ'","","# MODE == DAQ, DISABLING MOTION.")
|
|
epicsEnvShow(ECMC_SUPPORT_MOTION)
|
|
ECMC_SUPPORT_MOTION=
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_USE_MOTOR_RECORD, "'FULL'=='FULL'","","# MODE != FULL, DISABLING MOTOR RECORD.")
|
|
epicsEnvShow(ECMC_USE_MOTOR_RECORD)
|
|
ECMC_USE_MOTOR_RECORD=
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAll.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAll.cmd"
|
|
#==============================================================================
|
|
# initAll.cmd
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/init.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/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/ruckig/initAxis.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAxis.cmd"
|
|
#==============================================================================
|
|
# initAxis.cmd
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd"
|
|
#==============================================================================
|
|
# ecmc_axis_unset.cmd
|
|
epicsEnvUnset(ECMC_AXISCONFIG)
|
|
epicsEnvUnset(ECMC_AXISFIELDINIT)
|
|
epicsEnvUnset(ECMC_PREC)
|
|
epicsEnvUnset(ECMC_EGU)
|
|
epicsEnvUnset(ECMC_DESC)
|
|
epicsEnvUnset(ECMC_R)
|
|
epicsEnvUnset(ECMC_MOTOR_NAME)
|
|
epicsEnvUnset(ECMC_EC_AXIS_HEALTH)
|
|
epicsEnvUnset(ECMC_MOD_RANGE)
|
|
epicsEnvUnset(ECMC_MOD_TYPE)
|
|
epicsEnvUnset(ECMC_EMERG_DECEL)
|
|
epicsEnvUnset(ECMC_VELO)
|
|
epicsEnvUnset(ECMC_ACCL)
|
|
epicsEnvUnset(ECMC_ACCS_EGU_PER_S2)
|
|
epicsEnvUnset(ECMC_HOME_VEL_TO)
|
|
epicsEnvUnset(ECMC_HOME_VEL_FRM)
|
|
epicsEnvUnset(ECMC_CNTRL_KP)
|
|
epicsEnvUnset(ECMC_CNTRL_KI)
|
|
epicsEnvUnset(ECMC_CNTRL_KD)
|
|
epicsEnvUnset(ECMC_CNTRL_KFF)
|
|
epicsEnvUnset(ECMC_EC_ENC_ACTPOS)
|
|
epicsEnvUnset(ECMC_EC_ENC_LATCHPOS)
|
|
epicsEnvUnset(ECMC_EC_ENC_LATCH_CONTROL)
|
|
epicsEnvUnset(ECMC_EC_ENC_LATCH_STATUS)
|
|
epicsEnvUnset(ECMC_HOME_LATCH_COUNT_OFFSET)
|
|
epicsEnvUnset(ECMC_ENC_SCALE_DENOM)
|
|
epicsEnvUnset(ECMC_ENC_SCALE_NUM)
|
|
epicsEnvUnset(ECMC_ENC_TYPE)
|
|
epicsEnvUnset(ECMC_ENC_BITS)
|
|
epicsEnvUnset(ECMC_ENC_ABS_BITS)
|
|
epicsEnvUnset(ECMC_ENC_ABS_OFFSET)
|
|
epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE)
|
|
epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE)
|
|
epicsEnvUnset(ECMC_ENC_POS_FILTER_ENABLE)
|
|
epicsEnvUnset(ECMC_EC_ENC_RESET)
|
|
epicsEnvUnset(ECMC_EC_ENC_ALARM_0)
|
|
epicsEnvUnset(ECMC_EC_ENC_ALARM_1)
|
|
epicsEnvUnset(ECMC_EC_ENC_ALARM_2)
|
|
epicsEnvUnset(ECMC_EC_ENC_WARNING)
|
|
epicsEnvUnset(ECMC_EC_DRV_CONTROL)
|
|
epicsEnvUnset(ECMC_EC_DRV_STATUS)
|
|
epicsEnvUnset(ECMC_EC_DRV_VELOCITY)
|
|
epicsEnvUnset(ECMC_EC_DRV_BRAKE)
|
|
epicsEnvUnset(ECMC_EC_DRV_REDUCE_TORQUE)
|
|
epicsEnvUnset(ECMC_EC_DRV_RESET)
|
|
epicsEnvUnset(ECMC_EC_DRV_ALARM_0)
|
|
epicsEnvUnset(ECMC_EC_DRV_ALARM_1)
|
|
epicsEnvUnset(ECMC_EC_DRV_ALARM_2)
|
|
epicsEnvUnset(ECMC_EC_DRV_WARNING)
|
|
epicsEnvUnset(ECMC_DRV_SCALE_DENOM)
|
|
epicsEnvUnset(ECMC_DRV_SCALE_NUM)
|
|
epicsEnvUnset(ECMC_DRV_BRAKE_OPEN_DLY_TIME)
|
|
epicsEnvUnset(ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME)
|
|
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
|
|
epicsEnvUnset(ECMC_DXLM_ENABLE)
|
|
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
|
|
epicsEnvUnset(ECMC_DXLM_ENABLE)
|
|
epicsEnvUnset(ECMC_EC_MON_LOWLIM)
|
|
epicsEnvUnset(ECMC_EC_MON_HIGHLIM)
|
|
epicsEnvUnset(ECMC_EC_MON_HOME_SWITCH)
|
|
epicsEnvUnset(ECMC_EC_MON_EXT_INTERLOCK)
|
|
epicsEnvUnset(ECMC_MON_AT_TARGET_TOL)
|
|
epicsEnvUnset(ECMC_MON_AT_TARGET_TIME)
|
|
epicsEnvUnset(ECMC_MON_AT_TARGET_ENA)
|
|
epicsEnvUnset(ECMC_MON_LAG_MON_TOL)
|
|
epicsEnvUnset(ECMC_MON_LAG_MON_TIME)
|
|
epicsEnvUnset(ECMC_MON_LAG_MON_ENA)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX_ENA)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX_DRV_TIME)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX_TRAJ_TIME)
|
|
epicsEnvUnset(ECMC_JOG_VEL)
|
|
epicsEnvUnset(ECMC_JAR)
|
|
epicsEnvUnset(ECMC_HOME_PROC)
|
|
epicsEnvUnset(ECMC_HOME_POS)
|
|
epicsEnvUnset(ECMC_HOME_ACC)
|
|
epicsEnvUnset(ECMC_HOME_DEC)
|
|
epicsEnvUnset(ECMC_DRV_TYPE)
|
|
epicsEnvUnset(ECMC_VELO)
|
|
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
|
|
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
|
|
epicsEnvUnset(ECMC_HOME_POS_MOVE_ENA)
|
|
epicsEnvUnset(ECMC_HOME_POS_MOVE_TARG_POS)
|
|
epicsEnvUnset(ECMC_TRAJ_TYPE)
|
|
epicsEnvUnset(ECMC_JERK)
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd"
|
|
#==============================================================================
|
|
# ecmc_axis_sync_unset.cmd
|
|
epicsEnvUnset(ECMC_CMD_FRM_OTHER_PLC_ENABLE)
|
|
epicsEnvUnset(ECMC_CMD_AXIS_PLC_ENABLE)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_1)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_2)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_3)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_4)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_5)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_6)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_7)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_8)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_9)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_10)
|
|
epicsEnvUnset(ECMC_ENC_VELO_FILT_SIZE)
|
|
epicsEnvUnset(ECMC_ENC_VELO_FILT_ENABLE)
|
|
epicsEnvUnset(ECMC_ENC_SOURCE)
|
|
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_SIZE)
|
|
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE)
|
|
epicsEnvUnset(ECMC_TRAJ_SOURCE)
|
|
epicsEnvSet("ECMC_EGU", "mm")
|
|
epicsEnvSet("ECMC_PREC", 3)
|
|
epicsEnvSet("ECMC_AXISFIELDINIT", "") # Extra field ini2022/01/28 10:04:20.199
|
|
ECMC Initializes.............
|
|
2022/01/28 10:04:20.199 ESS Open Source EtherCAT Motion Control Epics Module2022/01/28 10:04:20.199
|
|
Mode: Configuration
|
|
2022/01/28 10:04:20.200 OK
|
|
2022/01/28 10:04:20.200 OK
|
|
2022/01/28 10:04:20.201 OK
|
|
2022/01/28 10:04:20.203 OK
|
|
2022/01/28 10:04:20.223 OK
|
|
2022/01/28 10:04:20.223 OK
|
|
2022/01/28 10:04:20.223 OK
|
|
t 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, paramTableSize = 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, "0>=0", "","#- ")
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addMaster.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addMaster.cmd", "MASTER_ID=0"
|
|
#===============================================================================
|
|
# addMaster.cfg
|
|
epicsEnvSet("ECMC_EC_MASTER_ID" "0")
|
|
# Claim master
|
|
ecmcConfigOrDie "Cfg.EcSetMaster(0)"
|
|
epicsEnvSet("ECMC_EC_MASTER_ID" ,0)
|
|
epicsEnvSet("ECMC_TMP_DIR", "/tmp/IOC_TEST/EcMaster_0/")
|
|
system "mkdir -p /tmp/IOC_TEST/EcMaster_0/"
|
|
epicsEnvSet("ECMC_TMP_DIR", "/tmp/IOC_TEST/EcMaster_0/")
|
|
system "mkdir -p /tmp/IOC_TEST/EcMaster_0/"
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/setDiagnostics.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/setDiagnostics.cmd
|
|
#==============================================================================
|
|
# setDiagnostics.cmd
|
|
ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
|
|
ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
|
|
ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
|
|
epicsEnvSet("ECMCCFG_INIT" ,"#")
|
|
##############################################################################
|
|
## Configure hardware:
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcMCU1021_coupler.cmd
|
|
############################################################
|
|
############# MCU1021:
|
|
#Configure EK1100 coupler terminal
|
|
epicsEnvSet(ECMC_EC_SLAVE_NUM,0)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=0, HW_DESC=EK1100"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "0")
|
|
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" 2022/01/28 10:04:20.225 OK
|
|
2022/01/28 10:04:20.226 OK
|
|
2022/01/28 10:04:20.233 OK
|
|
2022/01/28 10:04:20.235 OK
|
|
2022/01/28 10:04:20.235 OK
|
|
2022/01/28 10:04:20.235 OK
|
|
2022/01/28 10:04:20.235 OK
|
|
"NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EK1100")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x044c2c52")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,0,0x2,0x044c2c52)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
ecmcConfigOrDie "Cfg.EcAddSlave(0,0,0x2,0x044c2c52)"
|
|
# 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=0,HWTYPE=EK1100"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "0","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s000")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s000-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEK1100.substitutions,ECMC_P=IOC_TEST:m0s000-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEK1100.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEK1100.substitutions,"ECMC_P=IOC_TEST:m0s000-,ECMC_G=IOC_TEST:m0s000,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=0,HWTYPE=EK1100,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
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:m0s000-,ECMC_G=IOC_TEST:m0s000"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s000-,ECMC_G=IOC_TEST:m0s000,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=0,HWTYPE=EK1100,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "0+1","%d")
|
|
#Configure EL1018 digital input terminal
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "0+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=1, HW_DESC=EL1018"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "1")
|
|
epicsEnvSet("HW_DESC", "EL1018")
|
|
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/ecmcEL1018.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL1018.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL1018")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x03fa3052")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,1,0x2,0x03fa3052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX1008.cmd
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a00,0x6000,0x1,B1,binaryInput01)"
|
|
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.EcAddEn2022/01/28 10:04:20.235 OK
|
|
2022/01/28 10:04:20.235 OK
|
|
2022/01/28 10:04:20.236 OK
|
|
2022/01/28 10:04:20.236 OK
|
|
2022/01/28 10:04:20.244 OK
|
|
2022/01/28 10:04:20.245 OK
|
|
2022/01/28 10:04:20.245 OK
|
|
2022/01/28 10:04:20.246 OK
|
|
2022/01/28 10:04:20.246 OK
|
|
2022/01/28 10:04:20.246 OK
|
|
2022/01/28 10:04:20.246 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)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a07,0x6070,0x1,B1,binaryInput08)"
|
|
# 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=1,HWTYPE=EL1018"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "1","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s001")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s001-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL1018.substitutions,ECMC_P=IOC_TEST:m0s001-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL1018.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL1018.substitutions,"ECMC_P=IOC_TEST:m0s001-,ECMC_G=IOC_TEST:m0s001,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=1,HWTYPE=EL1018,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
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:m0s001-,ECMC_G=IOC_TEST:m0s001"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s001-,ECMC_G=IOC_TEST:m0s001,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=1,HWTYPE=EL1018,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "1+1","%d")
|
|
#Configure EL2808 digital output terminal
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "1+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=2, HW_DESC=EL2808"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "2")
|
|
epicsEnvSet("HW_DESC", "EL2808")
|
|
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/ecmcEL2808.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL2808.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL2808")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x0af83052")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,2,0x2,0x0af83052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX2008.cmd
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1600,0x7000,0x1,B1,binaryOutput01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1601,0x7010,0x1,B1,binaryOutput02)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1602,0x7020,0x1,B1,binaryOutput03)"
|
|
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,binaryOutp2022/01/28 10:04:20.246 OK
|
|
2022/01/28 10:04:20.246 OK
|
|
2022/01/28 10:04:20.256 OK
|
|
2022/01/28 10:04:20.352 OK
|
|
2022/01/28 10:04:20.432 14385
|
|
2022/01/28 10:04:20.433 OK
|
|
2022/01/28 10:04:20.433 OK
|
|
2022/01/28 10:04:20.433 OK
|
|
2022/01/28 10:04:20.433 OK
|
|
2022/01/28 10:04:20.433 OK
|
|
ut07)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1607,0x7070,0x1,B1,binaryOutput08)"
|
|
# 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=2,HWTYPE=EL2808"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "2","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s002")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s002-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL2808.substitutions,ECMC_P=IOC_TEST:m0s002-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL2808.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL2808.substitutions,"ECMC_P=IOC_TEST:m0s002-,ECMC_G=IOC_TEST:m0s002,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=2,HWTYPE=EL2808,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
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:m0s002-,ECMC_G=IOC_TEST:m0s002"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s002-,ECMC_G=IOC_TEST:m0s002,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=2,HWTYPE=EL2808,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "2+1","%d")
|
|
# Save the slave number for later
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM_DIG_OUT", "2")
|
|
#Configure EL5101 Incremental Encoder Interface
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "2+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=3, HW_DESC=EL5101"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "3")
|
|
epicsEnvSet("HW_DESC", "EL5101")
|
|
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/ecmcEL5101.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL5101.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL5101")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x13ed3052")
|
|
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd,1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd "RESET=true"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,3,0x2,0x13ed3052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcWriteSdo(3,0x1011,0x1,1684107116,4)"
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
ecmcConfig "EcReadSdo(3,0x100a,0x0,2)"
|
|
ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "14385", "0x%04x")
|
|
# Firmware version: 0x3831
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,1,2,0x1600,0x7000,0x01,8,encoderControl01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,1,2,0x1600,0x7000,0x02,16,encoderValue01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x00,16,encoderStatus01)"
|
|
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/re2022/01/28 10:04:20.441 OK
|
|
2022/01/28 10:04:20.532 OK
|
|
2022/01/28 10:04:20.612 14385
|
|
2022/01/28 10:04:20.613 OK
|
|
2022/01/28 10:04:20.613 OK
|
|
2022/01/28 10:04:20.613 OK
|
|
2022/01/28 10:04:20.613 OK
|
|
2022/01/28 10:04:20.613 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"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "3","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s003")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s003-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL5101.substitutions,ECMC_P=IOC_TEST:m0s003-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL5101.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL5101.substitutions,"ECMC_P=IOC_TEST:m0s003-,ECMC_G=IOC_TEST:m0s003,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=3,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
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:m0s003-,ECMC_G=IOC_TEST:m0s003"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s003-,ECMC_G=IOC_TEST:m0s003,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=3,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "3+1","%d")
|
|
#Configure EL5101 Incremental Encoder Interface
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "3+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=4, HW_DESC=EL5101"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "4")
|
|
epicsEnvSet("HW_DESC", "EL5101")
|
|
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/ecmcEL5101.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL5101.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL5101")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x13ed3052")
|
|
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd,1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd "RESET=true"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,4,0x2,0x13ed3052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcWriteSdo(4,0x1011,0x1,1684107116,4)"
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
ecmcConfig "EcReadSdo(4,0x100a,0x0,2)"
|
|
ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "14385", "0x%04x")
|
|
# Firmware version: 0x3831
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,1,2,0x1600,0x7000,0x01,8,encoderControl01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,1,2,0x1600,0x7000,0x02,16,encoderValue01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x00,16,encoderStatus01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x10,16,positionActual01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x20,16,encoderLatchPostion01)"
|
|
# 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"
|
|
#=======================================================================2022/01/28 10:04:20.623 OK
|
|
2022/01/28 10:04:20.624 OK
|
|
2022/01/28 10:04:20.625 OK
|
|
=======
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "4","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s004")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s004-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL5101.substitutions,ECMC_P=IOC_TEST:m0s004-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL5101.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL5101.substitutions,"ECMC_P=IOC_TEST:m0s004-,ECMC_G=IOC_TEST:m0s004,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=4,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
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:m0s004-,ECMC_G=IOC_TEST:m0s004"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s004-,ECMC_G=IOC_TEST:m0s004,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=4,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "4+1","%d")
|
|
# Configure EL9505 Power supply terminal 5V
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "4+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=5, HW_DESC=EL9505"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "5")
|
|
epicsEnvSet("HW_DESC", "EL9505")
|
|
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/ecmcEL9505.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL9505.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL9505")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x25213052")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,5,0x2,0x25213052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(5,0x2,0x25213052,2,0,0x1a00,0x6000,0x1,1,powerOk01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(5,0x2,0x25213052,2,0,0x1a00,0x6000,0x2,1,overload01)"
|
|
# 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=5,HWTYPE=EL9505"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "5","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s005")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s005-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL9505.substitutions,ECMC_P=IOC_TEST:m0s005-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
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", "",2022/01/28 10:04:20.635 OK
|
|
2022/01/28 10:04:20.637 OK
|
|
2022/01/28 10:04:20.638 OK
|
|
2022/01/28 10:04:20.638 OK
|
|
2022/01/28 10:04:20.638 OK
|
|
2022/01/28 10:04:20.638 OK
|
|
2022/01/28 10:04:20.638 OK
|
|
2022/01/28 10:04:20.639 OK
|
|
2022/01/28 10:04:20.639 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"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "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,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "5+1","%d")
|
|
# Configure EL1252 digital input terminal
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "5+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=6, HW_DESC=EL1252"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "6")
|
|
epicsEnvSet("HW_DESC", "EL1252")
|
|
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/ecmcEL1252.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL1252.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL1252")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x04e43052")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,6,0x2,0x04e43052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX1002.cmd
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,0,0x1a00,0x6000,0x1,B1,binaryInput01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,0,0x1a01,0x6010,0x1,B1,binaryInput02)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xae,U8,status01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xaf,U8,status02)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xb0,U64,timestampLatchPositive01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xb8,U64,timestampLatchNegative01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xc0,U64,timestampLatchPositive02)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xc8,U64,timestampLatchNegative02)"
|
|
# 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=6,HWTYPE=EL1252"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "6","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s006")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s006-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL1252.substitutions,ECMC_P=IOC_TEST:m0s006-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL1252.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL1252.substitutions,"ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST:m0s006,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=6,HWTYPE=EL1252,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
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"
|
|
#==================2022/01/28 10:04:20.655 OK
|
|
2022/01/28 10:04:20.782 OK
|
|
2022/01/28 10:04:20.862 12848
|
|
2022/01/28 10:04:20.863 OK
|
|
2022/01/28 10:04:20.863 OK
|
|
2022/01/28 10:04:20.863 OK
|
|
2022/01/28 10:04:20.864 OK
|
|
2022/01/28 10:04:20.864 OK
|
|
2022/01/28 10:04:20.864 OK
|
|
2022/01/28 10:04:20.864 OK
|
|
2022/01/28 10:04:20.864 OK
|
|
2022/01/28 10:04:20.864 OK
|
|
2022/01/28 10:04:20.864 OK
|
|
2022/01/28 10:04:20.864 OK
|
|
2022/01/28 10:04:20.864 OK
|
|
============================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST:m0s006,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=6,HWTYPE=EL1252,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "6+1","%d")
|
|
# Configure EL9410 Power supply with refresh of E-Bus.
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "6+1")
|
|
#${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=${ECMC_EC_SLAVE_NUM}, HW_DESC=EL9410"
|
|
#Configure EL7037 stepper drive terminal, motor 1
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "7+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureSlave.cmd, "SLAVE_ID=8, HW_DESC=EL7037, CONFIG=-Motor-Nanotec-ST4118L1804-B"
|
|
#==============================================================================
|
|
# configureSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "8")
|
|
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=8, HW_DESC=EL7037, NELM=1"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "8")
|
|
epicsEnvSet("HW_DESC", "EL7037")
|
|
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/ecmcEL7037.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL7037")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x1b7d3052")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd "RESET=true"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,8,0x2,0x1b7d3052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcWriteSdo(8,0x1011,0x1,1684107116,4)"
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
ecmcConfig "EcReadSdo(8,0x100a,0x0,2)"
|
|
ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "12848", "0x%04x")
|
|
# Firmware version: 0x3230
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX70XX.cmd
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1600,0x7000,0x01,16,encoderControl01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1600,0x7000,0x11,16,encoderValue01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1602,0x7010,0x1,16,driveControl01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1604,0x7010,0x21,16,1,velocitySetpoint01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x0,16,encoderStatus01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x11,16,positionActual01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x12,16,encoderLatchPostion01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a03,0x6010,0x1,16,driveStatus01)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0x5,1,1)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0xA,1,1)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0x8,1,1)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0x9,0,1)"
|
|
# 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=8,HWTYPE=EL7037"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "8","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s008")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s008-")
|
|
epicsE2022/01/28 10:04:20.874 OK
|
|
2022/01/28 10:04:20.874 OK
|
|
2022/01/28 10:04:20.874 OK
|
|
2022/01/28 10:04:20.874 OK
|
|
2022/01/28 10:04:20.874 OK
|
|
2022/01/28 10:04:20.874 OK
|
|
nvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL7037.substitutions,ECMC_P=IOC_TEST:m0s008-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL7037.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL7037.substitutions,"ECMC_P=IOC_TEST:m0s008-,ECMC_G=IOC_TEST:m0s008,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=8,HWTYPE=EL7037,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
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:m0s008-,ECMC_G=IOC_TEST:m0s008"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s008-,ECMC_G=IOC_TEST:m0s008,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=8,HWTYPE=EL7037,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "8+1","%d")
|
|
# apply config ${CONFIG} for ${HW_DESC}
|
|
ecmcFileExist("/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")
|
|
epicsEnvSet(I_RUN_MA_LOCAL,1000)
|
|
epicsEnvSet(I_STDBY_MA_LOCAL,500)
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/chkValidCurrentSetOrDie.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/chkValidCurrentSetOrDie.cmd "I_RUN_MA=1000,I_STDBY_MA=500,I_MAX_MA=1500"
|
|
#==============================================================================
|
|
# chkValidCurrentSetOrDie.cmd
|
|
# Ensure running current is below max current otherwise exit
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "1000>1500 or 1000<=0", "ecmcExit Error: Run current setpoint to high or negative...","# Run current setting OK (1000)...")
|
|
# Result:
|
|
# Run current setting OK (1000)...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
# Ensure standby current is below max current otherwise exit
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "500>1500 or 500<0", "ecmcExit Error: Standby current setpoint to high or negative...","# Standby current setting OK (500)...")
|
|
# Result:
|
|
# Standby current setting OK (500)...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
# Ensure standby current is below run current otherwise exit
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "500>1000", "ecmcExit Error: Standby current higher than run current...","# Standby current and run current setting OK (500<1000)...")
|
|
# Result:
|
|
# Standby current and run current setting OK (500<1000)...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x1,1000,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x2,500,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x3,2400,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x4,175,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x6,200,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0xA,330,2)"
|
|
epicsEnvUnset("I_RUN_MA_LOCAL")
|
|
epicsEnvUnset("I_STDBY_MA_LOCAL")
|
|
epicsEnvUnset("I_MAX_MA_LOCAL")
|
|
#Configure EL7037 stepper drive terminal, motor 2
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "8+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureSlave.cmd, "SLAVE_ID=9, HW_DESC=EL7037, CONFIG=-Motor-Nanotec-ST4118L1804-B"
|
|
#==============================================================================
|
|
# configureSlave.cmd
|
|
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"
|
|
#==============================================================2022/01/28 10:04:20.877 OK
|
|
2022/01/28 10:04:20.992 OK
|
|
2022/01/28 10:04:21.072 12848
|
|
2022/01/28 10:04:21.073 OK
|
|
2022/01/28 10:04:21.073 OK
|
|
2022/01/28 10:04:21.073 OK
|
|
2022/01/28 10:04:21.074 OK
|
|
2022/01/28 10:04:21.074 OK
|
|
2022/01/28 10:04:21.074 OK
|
|
2022/01/28 10:04:21.074 OK
|
|
2022/01/28 10:04:21.074 OK
|
|
2022/01/28 10:04:21.074 OK
|
|
2022/01/28 10:04:21.074 OK
|
|
2022/01/28 10:04:21.074 OK
|
|
2022/01/28 10:04:21.074 OK
|
|
================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "9")
|
|
epicsEnvSet("HW_DESC", "EL7037")
|
|
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/ecmcEL7037.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL7037")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x1b7d3052")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd "RESET=true"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,9,0x2,0x1b7d3052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcWriteSdo(9,0x1011,0x1,1684107116,4)"
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
ecmcConfig "EcReadSdo(9,0x100a,0x0,2)"
|
|
ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "12848", "0x%04x")
|
|
# Firmware version: 0x3230
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX70XX.cmd
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,1,2,0x1600,0x7000,0x01,16,encoderControl01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,1,2,0x1600,0x7000,0x11,16,encoderValue01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,1,2,0x1602,0x7010,0x1,16,driveControl01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,1,2,0x1604,0x7010,0x21,16,1,velocitySetpoint01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x0,16,encoderStatus01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x11,16,positionActual01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x12,16,encoderLatchPostion01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,2,3,0x1a03,0x6010,0x1,16,driveStatus01)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8012,0x5,1,1)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8012,0xA,1,1)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8012,0x8,1,1)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8012,0x9,0,1)"
|
|
# 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=9,HWTYPE=EL7037"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "9","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s009")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s009-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL7037.substitutions,ECMC_P=IOC_TEST:m0s009-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL7037.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL7037.substitutions,"ECMC_P=IOC_TEST:m0s009-,ECMC_G=IOC_TEST:m0s009,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=9,HWTYPE=EL7037,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
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:m0s009-,ECMC_G=IOC_TEST:m0s009"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s009-,ECMC_G=IOC_TEST:m0s009,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=9,HWTYPE=EL7037,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "9+1","%d")
|
|
# apply config ${CONFIG} for ${HW_DESC}
|
|
e2022/01/28 10:04:21.084 OK
|
|
2022/01/28 10:04:21.084 OK
|
|
2022/01/28 10:04:21.084 OK
|
|
2022/01/28 10:04:21.084 OK
|
|
2022/01/28 10:04:21.084 OK
|
|
2022/01/28 10:04:21.084 OK
|
|
2022/01/28 10:04:21.085 OK
|
|
2022/01/28 10:04:21.085 OK
|
|
2022/01/28 10:04:21.085 OK
|
|
2022/01/28 10:04:21.085 OK
|
|
2022/01/28 10:04:21.085 OK
|
|
2022/01/28 10:04:21.085 OK
|
|
2022/01/28 10:04:21.085 OK
|
|
2022/01/28 10:04:21.085 OK
|
|
2022/01/28 10:04:21.085 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")
|
|
epicsEnvSet(I_RUN_MA_LOCAL,1000)
|
|
epicsEnvSet(I_STDBY_MA_LOCAL,500)
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/chkValidCurrentSetOrDie.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/chkValidCurrentSetOrDie.cmd "I_RUN_MA=1000,I_STDBY_MA=500,I_MAX_MA=1500"
|
|
#==============================================================================
|
|
# chkValidCurrentSetOrDie.cmd
|
|
# Ensure running current is below max current otherwise exit
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "1000>1500 or 1000<=0", "ecmcExit Error: Run current setpoint to high or negative...","# Run current setting OK (1000)...")
|
|
# Result:
|
|
# Run current setting OK (1000)...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
# Ensure standby current is below max current otherwise exit
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "500>1500 or 500<0", "ecmcExit Error: Standby current setpoint to high or negative...","# Standby current setting OK (500)...")
|
|
# Result:
|
|
# Standby current setting OK (500)...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
# Ensure standby current is below run current otherwise exit
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "500>1000", "ecmcExit Error: Standby current higher than run current...","# Standby current and run current setting OK (500<1000)...")
|
|
# Result:
|
|
# Standby current and run current setting OK (500<1000)...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8010,0x1,1000,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8010,0x2,500,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8010,0x3,2400,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8010,0x4,175,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8010,0x6,200,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8010,0xA,330,2)"
|
|
epicsEnvUnset("I_RUN_MA_LOCAL")
|
|
epicsEnvUnset("I_STDBY_MA_LOCAL")
|
|
epicsEnvUnset("I_MAX_MA_LOCAL")
|
|
#Apply hardware configuration
|
|
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
|
|
# ADDITIONAL SETUP
|
|
# Set all outputs to feed switches
|
|
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput01,1)"
|
|
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput02,1)"
|
|
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput03,1)"
|
|
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput04,1)"
|
|
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput05,1)"
|
|
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput06,1)"
|
|
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput07,1)"
|
|
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput08,1)"
|
|
# END of ADDITIONAL SETUP
|
|
##############################################################################
|
|
## AXIS 1
|
|
#
|
|
epicsEnvSet("DEV", "IOC_TEST")
|
|
iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureAxis.cmd, CONFIG=./cfg/linear_1.ax)
|
|
#==============================================================================
|
|
# configureAxis.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
|
|
ecmcFileExist("./cfg/linear_1.ax",1)
|
|
iocshLoad ./cfg/linear_1.ax ""
|
|
#General
|
|
epicsEnvSet("ECMC_MOTOR_NAME", "Axis1")
|
|
epicsEnvSet("ECMC_R", "Axis1-")
|
|
epicsEnvSet("ECMC_AXIS_NO", "1")
|
|
epicsEnvSet("ECMC_DESC", "MCU1021 Lower Axis (1)")
|
|
epicsEnvSet("ECMC_EGU", "mm") # Motor Record Unit
|
|
epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision
|
|
epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver
|
|
epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0)
|
|
epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE)
|
|
epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE>0: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance
|
|
#Encoder
|
|
epicsEnvSet("ECMC_ENC_SCALE_NUM" "-60")
|
|
epicsEnvSet("ECMC_ENC_SCALE_DENOM" "2000")
|
|
epicsEnvSet("ECMC_ENC_TYPE" "1") # Type: 0=Incremental, 1=Absolute
|
|
epicsEnvSet("ECMC_ENC_BITS" "16") # Total bit count of encoder raw data
|
|
epicsEnvSet("ECMC_ENC_ABS_BITS", "0") # Absolute bit count (for absolute encoders) always least significant part of ECMC_ENC_BITS
|
|
epicsEnvSet("ECMC_ENC_ABS_OFFSET" "0") # Encoder offset in eng units (for absolute encoders)
|
|
epicsEnvSet("ECMC_EC_ENC_ACTPOS", "ec0.s3.positionActual01") # Ethercat entry for actual position input (encoder)
|
|
epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset (if no encoder reset bit then leave empty)
|
|
epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 (if no encoder error bit then leave empty)
|
|
epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 (if no encoder error bit then leave empty)
|
|
epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 (if no encoder error bit then leave empty)
|
|
epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning (if no encoder warning bit then leave empty)
|
|
#Drive
|
|
epicsEnvSet("ECMC_DRV_TYPE" "0") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
|
|
epicsEnvSet("ECMC_DRV_SCALE_NUM" "600.0") # Fastest speed in engineering units
|
|
epicsEnvSet("ECMC_DRV_SCALE_DENOM" "32768.0") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
|
|
epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s8.driveControl01.0") # Ethercat entry for control word or bit output
|
|
epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s8.driveStatus01.1") # Ethercat entry for status word or bit input
|
|
epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s8.velocitySetpoint01") # Ethercat entry for velocity setpoint output
|
|
epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "ec0.s8.driveControl01.2") # Ethercat entry for reduce torque output
|
|
epicsEnvSet("ECMC_EC_DRV_BRAKE", "") # Ethercat entry for brake output
|
|
epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "0") # Brake timing parameter in cycles (default 1kHz)
|
|
epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "0") # Brake timing parameter in cycles (default 1kHz)
|
|
epicsEnvSet("ECMC_EC_DRV_RESET", "ec0.s8.driveControl01.1") # Reset
|
|
epicsEnvSet("ECMC_EC_DRV_ALARM_0", "ec0.s8.driveStatus01.3") # Error
|
|
epicsEnvSet("ECMC_EC_DRV_ALARM_1", "ec0.s8.driveStatus01.7") # Stall
|
|
epicsEnvSet("ECMC_EC_DRV_ALARM_2", "ec0.s8.driveStatus01.14") # Sync error
|
|
epicsEnvSet("ECMC_EC_DRV_WARNING", "ec0.s8.driveStatus01.2") # Warning
|
|
#Trajectory
|
|
epicsEnvSet("ECMC_TRAJ_TYPE" "1") # Trapetz: 0. S-Curve: 1
|
|
epicsEnvSet("ECMC_VELO", "10.0")
|
|
epicsEnvSet("ECMC_JOG_VEL", "5")
|
|
epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL
|
|
epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "10")
|
|
epicsEnvSet("ECMC_EMERG_DECEL", "100") # Emergency deceleration
|
|
epicsEnvSet("ECMC_JERK", "10.0") # Only valid for ECMC_TRAJ_TYPE==1
|
|
#Homing
|
|
epicsEnvSet("ECMC_HOME_PROC", "3")
|
|
epicsEnvSet("ECMC_HOME_POS", "0.0")
|
|
epicsEnvSet("ECMC_HOME_VEL_TO", "5")
|
|
epicsEnvSet("ECMC_HOME_VEL_FRM", "4")
|
|
epicsEnvSet("ECMC_HOME_ACC", "21")
|
|
epicsEnvSet("ECMC_HOME_DEC", "100")
|
|
epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "0") # Enable move to position after successfull homing
|
|
epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","0") # Target position to go to after successfull homing
|
|
#Controller
|
|
epicsEnvSet("ECMC_CNTRL_KP", "15.0")
|
|
epicsEnvSet("ECMC_CNTRL_KI", "0.02")
|
|
epicsEnvSet("ECMC_CNTRL_KD", "0.0")
|
|
epicsEnvSet("ECMC_CNTRL_KFF", "1.0")
|
|
#Monitoring
|
|
# Switches
|
|
epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s1.binaryInput02.0") # Ethercat entry for low limit switch input
|
|
epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s1.binaryInput01.0") # Ethercat entry for high limit switch inpuit
|
|
epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s1.binaryInput03.0") # Ethercat entry for home switch input
|
|
epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s1.ONE.0") # Ethercat entry for external interlock input
|
|
# Softlimits (disable with 0,0,0)
|
|
epicsEnvSet("ECMC_SOFT_LOW_LIM", "-20")
|
|
epicsEnvSet("ECMC_SOFT_HIGH_LIM", "130")
|
|
epicsEnvSet("ECMC_DXLM_ENABLE", "1")
|
|
# Position lag
|
|
epicsEnvSet("ECMC_MON_LAG_MON_TOL", "1.0")
|
|
epicsEnvSet("ECMC_MON_LAG_MON_TIME", "10")
|
|
epicsEnvSet("ECMC_MON_LAG_MON_ENA", "1")
|
|
# At target
|
|
epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "0.1")
|
|
epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100")
|
|
epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1")
|
|
# Velocity
|
|
epicsEnvSet("ECMC_MON_VELO_MAX", "100.0")
|
|
epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100")
|
|
epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200")
|
|
epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "1")
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd
|
|
#==============================================================================
|
|
# addAxis.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd
|
|
#==============================================================================
|
|
# ecmc_axis-records.cmd
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd
|
|
#==============================================================================
|
|
# ecmc_axis.cmd
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(-60)<>0',SUCCESS_STR='ECMC_ENC_SCALE_NUM value OK == -60...',ERROR_STR='ECMC_ENC_SCALE_NUM == 0...'"
|
|
#==============================================================================
|
|
# verifyOrDie.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(-60)<>0","# ECMC_ENC_SCALE_NUM value OK == -60...", "ecmcExit Error: ECMC_ENC_SCALE_NUM == 0...")
|
|
# ECMC_ENC_SCALE_NUM value OK == -60...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(2000)<>0',SUCCESS_STR='ECMC_ENC_SCALE_DENOM value OK == 2000...',ERROR_STR='ECMC_ENC_SCALE_DENOM == 0...'"
|
|
#==============================================================================
|
|
# verifyOrDie.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(2000)<>0","# ECMC_ENC_SCALE_DENOM value OK == 2000...", "ecmcExit Error: ECMC_ENC_SCALE_DENOM == 0...")
|
|
# ECMC_ENC_SCALE_DENOM value OK == 2000...
|
|
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
|
|
ecmcEpicsEnvSetCalcTe2022/01/28 10:04:21.095 OK
|
|
2022/01/28 10:04:21.096 OK
|
|
2022/01/28 10:04:21.096 OK
|
|
2022/01/28 10:04:21.096 OK
|
|
2022/01/28 10:04:21.098 OK
|
|
2022/01/28 10:04:21.098 OK
|
|
2022/01/28 10:04:21.098 OK
|
|
2022/01/28 10:04:21.098 OK
|
|
2022/01/28 10:04:21.098 OK
|
|
2022/01/28 10:04:21.098 OK
|
|
2022/01/28 10:04:21.098 OK
|
|
2022/01/28 10:04:21.099 OK
|
|
2022/01/28 10:04:21.099 OK
|
|
2022/01/28 10:04:21.099 OK
|
|
2022/01/28 10:04:21.099 OK
|
|
2022/01/28 10:04:21.099 OK
|
|
2022/01/28 10:04:21.099 OK
|
|
2022/01/28 10:04:21.099 OK
|
|
2022/01/28 10:04:21.099 OK
|
|
2022/01/28 10:04:21.099 OK
|
|
2022/01/28 10:04:21.099 OK
|
|
2022/01/28 10:04:21.099 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.100 OK
|
|
2022/01/28 10:04:21.101 OK
|
|
2022/01/28 10:04:21.101 OK
|
|
2022/01/28 10:04:21.101 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)
|
|
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 value OK == 32768.0...", "ecmcExit Error: ECMC_DRV_SCALE_DENOM == 0...")
|
|
# ECMC_DRV_SCALE_DENOM value OK == 32768.0...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_MRES setting is deprecated and will not be used. (MRES will be calulated instead: ECMC_ENC_SCALE_NUM/ECMC_ENC_SCALE_DENOM).. '"
|
|
#==============================================================================
|
|
# issueWarning.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-")
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcConfigOrDie "Cfg.CreateAxis(1,1,0,1)"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.health")"
|
|
ecmcConfigOrDie "Cfg.SetAxisModRange(1, 0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisModType(1, 0)"
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_ACCL setting is deprecated. Please use ECMC_ACCS_EGU_PER_S2 instead..'"
|
|
#==============================================================================
|
|
# issueWarning.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-")
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCL,"'EMPTY'!='EMPTY'","", "#-")
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCS,"'EMPTY'=='EMPTY'","", "#-")
|
|
ecmcConfigOrDie "Cfg.SetAxisAcc(1,10)"
|
|
ecmcConfigOrDie "Cfg.SetAxisDec(1,10)"
|
|
ecmcConfigOrDie "Cfg.SetAxisJerk(1,10.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisVel(1,10.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEmergDeceleration(1,100)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomeVelTwordsCam(1,5)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomeVelOffCam(1,4)"
|
|
ecmcConfigOrDie "Cfg.SetAxisCntrlKp(1,15.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisCntrlKi(1,0.02)"
|
|
ecmcConfigOrDie "Cfg.SetAxisCntrlKd(1,0.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisCntrlKff(1,1.0)"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s3.positionActual01,"ax1.enc.actpos")"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncScaleDenom(1,2000)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncScaleNum(1,-60)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncType(1,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncBits(1,16)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncAbsBits(1,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncOffset(1,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncVelFilterSize(1,100)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncPosFilterSize(1,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncPosFilterEnable(1,0)"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.reset")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.alarm0")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.alarm1")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.alarm2")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.warning")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.latchpos")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.latchcontrol")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.latchstatus")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveControl01.0,"ax1.drv.control")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.1,"ax1.drv.status")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.velocitySetpoint01,"ax1.drv.velocity")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.drv.position")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.drv.brake")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveControl01.2,"ax1.drv.reducetorque")"
|
|
ecmcConf2022/01/28 10:04:21.101 OK
|
|
2022/01/28 10:04:21.101 OK
|
|
2022/01/28 10:04:21.101 OK
|
|
2022/01/28 10:04:21.101 OK
|
|
2022/01/28 10:04:21.101 OK
|
|
2022/01/28 10:04:21.101 OK
|
|
2022/01/28 10:04:21.101 OK
|
|
2022/01/28 10:04:21.101 OK
|
|
2022/01/28 10:04:21.101 OK
|
|
2022/01/28 10:04:21.102 OK
|
|
2022/01/28 10:04:21.102 OK
|
|
2022/01/28 10:04:21.102 OK
|
|
2022/01/28 10:04:21.102 OK
|
|
2022/01/28 10:04:21.102 OK
|
|
2022/01/28 10:04:21.102 OK
|
|
2022/01/28 10:04:21.102 OK
|
|
2022/01/28 10:04:21.102 OK
|
|
2022/01/28 10:04:21.102 OK
|
|
2022/01/28 10:04:21.102 OK
|
|
2022/01/28 10:04:21.102 OK
|
|
2022/01/28 10:04:21.103 OK
|
|
2022/01/28 10:04:21.103 OK
|
|
2022/01/28 10:04:21.103 OK
|
|
2022/01/28 10:04:21.103 OK
|
|
2022/01/28 10:04:21.103 OK
|
|
2022/01/28 10:04:21.103 OK
|
|
2022/01/28 10:04:21.103 OK
|
|
2022/01/28 10:04:21.103 OK
|
|
2022/01/28 10:04:21.103 OK
|
|
2022/01/28 10:04:21.103 OK
|
|
2022/01/28 10:04:21.104 OK
|
|
2022/01/28 10:04:21.104 OK
|
|
2022/01/28 10:04:21.104 ecmcMotorRecord:: setIntegerParam(1 motorPowerAutoOnOff_)=2
|
|
2022/01/28 10:04:21.104 ecmcMotorRecord:: setDoubleParam(1 motorPowerOnDelay_)=6
|
|
2022/01/28 10:04:21.104 ecmcMotorRecord:: setDoubleParam(1 motorPowerOffDelay_=-1
|
|
2022/01/28 10:04:21.105 ecmcMotorRecord:: udateMotorLimitsRO(1) enabledHighAndLow=1 valid=1 fValueHigh=130 fValueLow=-20
|
|
2022/01/28 10:04:21.105 ecmcMotorRecord:: connected(1)
|
|
2022/01/28 10:04:21.105 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")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.14,"ax1.drv.alarm2")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.2,"ax1.drv.warning")"
|
|
ecmcConfigOrDie "Cfg.SetAxisDrvScaleDenom(1,32768.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisDrvScaleNum(1,600.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisDrvBrakeOpenDelayTime(1,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisDrvBrakeCloseAheadTime(1,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosBwd(1,-20)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitBwd(1,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosFwd(1,130)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitFwd(1,1)"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput02.0,"ax1.mon.lowlim")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput01.0,"ax1.mon.highlim")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput03.0,"ax1.mon.homesensor")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.ONE.0,"ax1.mon.extinterlock")"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTol(1,0.1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTime(1,100)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonEnableAtTargetMon(1,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonPosLagTol(1,1.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonPosLagTime(1,10)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonEnableLagMon(1,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonMaxVel(1,100.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonEnableMaxVel(1,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonMaxVelDriveILDelay(1,200)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonMaxVelTrajILDelay(1,100)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonHomeSwitchPolarity(1,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomeLatchCountOffset(1,0.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomePosition(1,0.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomePostMoveEnable(1, 0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomePostMoveTargetPosition(1, 0)"
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd
|
|
#==============================================================================
|
|
# ecmc_axis_mr.cmd
|
|
ecmcMotorRecordCreateAxis(MCU1, "1", "6", )
|
|
ecmcEpicsEnvSetCalc("ECMC_TEMP_SREV","if(abs(2000)>0){RESULT:=abs(2000);} else {RESULT:=1.0};","%d")
|
|
ecmcEpicsEnvSetCalc("ECMC_TEMP_UREV","if(abs(-60)>0){RESULT:=abs(-60);} else {RESULT:=1.0};","%lf")
|
|
ecmcFileExist(ecmcMotorRecord.template,1,1)
|
|
dbLoadRecords(ecmcMotorRecord.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis1, MOTOR_PORT=MCU1, AXIS_NO=1, DESC=MCU1021 Lower Axis (1), EGU=mm, PREC=3, VELO=10.0, JVEL=5, JAR=0.0, ACCS=10, RDBD=0.1, DLLM=-20, DHLM=130, HOMEPROC=3,SREV=2000,UREV=60.000000, ")
|
|
epicsEnvSet("ECMC_AXISFIELDINIT", "")
|
|
ecmcFileExist(ecmcMotorRecordhome.template,1,1)
|
|
dbLoadRecords(ecmcMotorRecordhome.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis1, MOTOR_PORT=MCU1, AXIS_NO=1,HOMEPROC=3, HOMEPOS=0.0, HVELTO=5, HVELFRM=4, HOMEACC=21, HOMEDEC=100")
|
|
epicsEnvUnset(ECMC_TEMP_SREV)
|
|
epicsEnvUnset(ECMC_TEMP_UREV)
|
|
epicsEnvUnset(ECMC_BLOCK_ACCL)
|
|
epicsEnvUnset(ECMC_BLOCK_ACCS)
|
|
ecmcFileExist("ecmcAxis.db",1,1)
|
|
dbLoadRecords("ecmcAxis.db","P=IOC_TEST:,AXIS_NAME=Axis1,AXIS_NO=1,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,T_SMP_MS=10,TSE=-2")
|
|
ecmcFileExist("ecmcAxisType.db",1,1)
|
|
dbLoadRecords("ecmcAxisType.db","P=IOC_TEST:,AXIS_NAME=Axis1,AXIS_TYPE=1")
|
|
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd,1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd
|
|
#==============================================================================
|
|
# ecmc_axis_unset.cmd
|
|
epicsEnvUnset(ECMC_AXISCONFIG)
|
|
epicsEnvUnset(ECMC_AXISFIELDINIT)
|
|
epicsEnvUnset(ECMC_PREC)
|
|
epicsEnvUnset(ECMC_EGU)
|
|
epicsEnvUnset(ECMC_DESC)
|
|
epicsEnvUnset(ECMC_R)
|
|
epicsEnvUnset(ECMC_MOTOR_NAME)
|
|
epicsEnvUnset(ECMC_EC_AXIS_HEALTH)
|
|
epicsEnvUnset(ECMC_MOD_RANGE)
|
|
epicsEnvUnset(ECMC_MOD_TYPE)
|
|
epicsEnvUnset(ECMC_EMERG_DECEL)
|
|
epicsEnvUnset(ECMC_VELO)macLib: 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})
|
|
|
|
epicsEnvUnset(ECMC_ACCL)
|
|
epicsEnvUnset(ECMC_ACCS_EGU_PER_S2)
|
|
epicsEnvUnset(ECMC_HOME_VEL_TO)
|
|
epicsEnvUnset(ECMC_HOME_VEL_FRM)
|
|
epicsEnvUnset(ECMC_CNTRL_KP)
|
|
epicsEnvUnset(ECMC_CNTRL_KI)
|
|
epicsEnvUnset(ECMC_CNTRL_KD)
|
|
epicsEnvUnset(ECMC_CNTRL_KFF)
|
|
epicsEnvUnset(ECMC_EC_ENC_ACTPOS)
|
|
epicsEnvUnset(ECMC_EC_ENC_LATCHPOS)
|
|
epicsEnvUnset(ECMC_EC_ENC_LATCH_CONTROL)
|
|
epicsEnvUnset(ECMC_EC_ENC_LATCH_STATUS)
|
|
epicsEnvUnset(ECMC_HOME_LATCH_COUNT_OFFSET)
|
|
epicsEnvUnset(ECMC_ENC_SCALE_DENOM)
|
|
epicsEnvUnset(ECMC_ENC_SCALE_NUM)
|
|
epicsEnvUnset(ECMC_ENC_TYPE)
|
|
epicsEnvUnset(ECMC_ENC_BITS)
|
|
epicsEnvUnset(ECMC_ENC_ABS_BITS)
|
|
epicsEnvUnset(ECMC_ENC_ABS_OFFSET)
|
|
epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE)
|
|
epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE)
|
|
epicsEnvUnset(ECMC_ENC_POS_FILTER_ENABLE)
|
|
epicsEnvUnset(ECMC_EC_ENC_RESET)
|
|
epicsEnvUnset(ECMC_EC_ENC_ALARM_0)
|
|
epicsEnvUnset(ECMC_EC_ENC_ALARM_1)
|
|
epicsEnvUnset(ECMC_EC_ENC_ALARM_2)
|
|
epicsEnvUnset(ECMC_EC_ENC_WARNING)
|
|
epicsEnvUnset(ECMC_EC_DRV_CONTROL)
|
|
epicsEnvUnset(ECMC_EC_DRV_STATUS)
|
|
epicsEnvUnset(ECMC_EC_DRV_VELOCITY)
|
|
epicsEnvUnset(ECMC_EC_DRV_BRAKE)
|
|
epicsEnvUnset(ECMC_EC_DRV_REDUCE_TORQUE)
|
|
epicsEnvUnset(ECMC_EC_DRV_RESET)
|
|
epicsEnvUnset(ECMC_EC_DRV_ALARM_0)
|
|
epicsEnvUnset(ECMC_EC_DRV_ALARM_1)
|
|
epicsEnvUnset(ECMC_EC_DRV_ALARM_2)
|
|
epicsEnvUnset(ECMC_EC_DRV_WARNING)
|
|
epicsEnvUnset(ECMC_DRV_SCALE_DENOM)
|
|
epicsEnvUnset(ECMC_DRV_SCALE_NUM)
|
|
epicsEnvUnset(ECMC_DRV_BRAKE_OPEN_DLY_TIME)
|
|
epicsEnvUnset(ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME)
|
|
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
|
|
epicsEnvUnset(ECMC_DXLM_ENABLE)
|
|
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
|
|
epicsEnvUnset(ECMC_DXLM_ENABLE)
|
|
epicsEnvUnset(ECMC_EC_MON_LOWLIM)
|
|
epicsEnvUnset(ECMC_EC_MON_HIGHLIM)
|
|
epicsEnvUnset(ECMC_EC_MON_HOME_SWITCH)
|
|
epicsEnvUnset(ECMC_EC_MON_EXT_INTERLOCK)
|
|
epicsEnvUnset(ECMC_MON_AT_TARGET_TOL)
|
|
epicsEnvUnset(ECMC_MON_AT_TARGET_TIME)
|
|
epicsEnvUnset(ECMC_MON_AT_TARGET_ENA)
|
|
epicsEnvUnset(ECMC_MON_LAG_MON_TOL)
|
|
epicsEnvUnset(ECMC_MON_LAG_MON_TIME)
|
|
epicsEnvUnset(ECMC_MON_LAG_MON_ENA)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX_ENA)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX_DRV_TIME)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX_TRAJ_TIME)
|
|
epicsEnvUnset(ECMC_JOG_VEL)
|
|
epicsEnvUnset(ECMC_JAR)
|
|
epicsEnvUnset(ECMC_HOME_PROC)
|
|
epicsEnvUnset(ECMC_HOME_POS)
|
|
epicsEnvUnset(ECMC_HOME_ACC)
|
|
epicsEnvUnset(ECMC_HOME_DEC)
|
|
epicsEnvUnset(ECMC_DRV_TYPE)
|
|
epicsEnvUnset(ECMC_VELO)
|
|
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
|
|
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
|
|
epicsEnvUnset(ECMC_HOME_POS_MOVE_ENA)
|
|
epicsEnvUnset(ECMC_HOME_POS_MOVE_TARG_POS)
|
|
epicsEnvUnset(ECMC_TRAJ_TYPE)
|
|
epicsEnvUnset(ECMC_JERK)
|
|
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
|
|
# Set external setpoints
|
|
iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyAxisSynchronization.cmd, CONFIG=./cfg/linear_1.sax)
|
|
#==============================================================================
|
|
# applyAxisSynchronization.cmd
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
iocshLoad ./cfg/linear_1.sax
|
|
############# Encoder
|
|
epicsEnvSet("ECMC_ENC_SOURCE", "0") # 0 Internal (from hardware), 1 from PLC
|
|
epicsEnvSet("ECMC_ENC_VELO_FILT_ENABLE", "1") # Enable velocity filter
|
|
epicsEnvSet("ECMC_ENC_VELO_FILT_SIZE", "20") # Encoder velocity Low pass filter size
|
|
############# Trajectory
|
|
epicsEnvSet("ECMC_TRAJ_SOURCE", "1") # 0 Internal (from hardware), 1 from PLC
|
|
epicsEnvSet("ECMC_TRAJ_VELO_FILT_ENABLE", "1") # Enable velocity filter
|
|
epicsEnvSet("ECMC_TRAJ_VELO_FILT_SIZE", "20") # Trajectory velocity Low pass filter size
|
|
############# Commands
|
|
epicsEnvSet("ECMC_CMD_FRM_OTHER_PLC_ENABLE", "1") # Allow commands from PLC
|
|
epicsEnvSet("ECMC_CMD_AXIS_PLC_ENABLE", "0") # Enable Axis PLC
|
|
# Each line below is appended to one single expression/source.
|
|
# Executed in sync with axis (before)
|
|
epicsEnvSet("ECMC_AXIS_EXPR_LINE_1", "var a:=1|")
|
|
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", 2022/01/28 10:04:21.115 OK
|
|
2022/01/28 10:04:21.115 OK
|
|
2022/01/28 10:04:21.115 OK
|
|
2022/01/28 10:04:21.115 OK
|
|
2022/01/28 10:04:21.115 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.116 OK
|
|
2022/01/28 10:04:21.117 OK
|
|
"")
|
|
epicsEnvSet("ECMC_AXIS_EXPR_LINE_7", "")
|
|
epicsEnvSet("ECMC_AXIS_EXPR_LINE_8", "")
|
|
epicsEnvSet("ECMC_AXIS_EXPR_LINE_9", "")
|
|
epicsEnvSet("ECMC_AXIS_EXPR_LINE_10", "")
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync.cmd
|
|
#==============================================================================
|
|
# ecmc_axis_sync.cmd
|
|
ecmcConfigOrDie "Cfg.SetAxisAllowCommandsFromPLC(1,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisPLCEnable(1,0)"
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)=var a:=1|"
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
|
|
ecmcConfigOrDie "Cfg.SetAxisPLCEncVelFilterSize(1,20)"
|
|
ecmcConfigOrDie "Cfg.SetAxisPLCEncVelFilterEnable(1,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncSourceType(1,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisPLCTrajVelFilterSize(1,20)"
|
|
ecmcConfigOrDie "Cfg.SetAxisPLCTrajVelFilterEnable(1,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisTrajSourceType(1,1)"
|
|
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd,1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd
|
|
#==============================================================================
|
|
# ecmc_axis_sync_unset.cmd
|
|
epicsEnvUnset(ECMC_CMD_FRM_OTHER_PLC_ENABLE)
|
|
epicsEnvUnset(ECMC_CMD_AXIS_PLC_ENABLE)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_1)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_2)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_3)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_4)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_5)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_6)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_7)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_8)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_9)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_10)
|
|
epicsEnvUnset(ECMC_ENC_VELO_FILT_SIZE)
|
|
epicsEnvUnset(ECMC_ENC_VELO_FILT_ENABLE)
|
|
epicsEnvUnset(ECMC_ENC_SOURCE)
|
|
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_SIZE)
|
|
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE)
|
|
epicsEnvUnset(ECMC_TRAJ_SOURCE)
|
|
##############################################################################
|
|
## AXIS 2
|
|
#
|
|
#epicsEnvSet("DEV", "$(IOC)")
|
|
iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureAxis.cmd, CONFIG=./cfg/linear_2.ax)
|
|
#==============================================================================
|
|
# configureAxis.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
|
|
ecmcFileExist("./cfg/linear_2.ax",1)
|
|
iocshLoad ./cfg/linear_2.ax ""
|
|
#General
|
|
epicsEnvSet("ECMC_MOTOR_NAME", "Axis2")
|
|
epicsEnvSet("ECMC_R", "Axis2-")
|
|
epicsEnvSet("ECMC_AXIS_NO", "2")
|
|
epicsEnvSet("ECMC_DESC", "MCU1021 Upper Axis (2)")
|
|
epicsEnvSet("ECMC_EGU", "mm") # Motor Record Unit
|
|
epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision
|
|
epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver
|
|
epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0)
|
|
epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE)
|
|
epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE>0: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance
|
|
#Encoder
|
|
epicsEnvSet("ECMC_ENC_SCALE_NUM" "60")
|
|
epicsEnvSet("ECMC_ENC_SCALE_DENOM" "2000")
|
|
epicsEnvSet("ECMC_ENC_TYPE" "0") # Type: 0=Incremental, 1=Absolute
|
|
epicsEnvSet("ECMC_ENC_BITS" "16") # Total bit count of encoder raw data
|
|
epicsEnvSet("ECMC_ENC_ABS_BITS", "0") # Absolute bit count (for absolute encoders) always least significant part of ECMC_ENC_BITS
|
|
epicsEnvSet("ECMC_ENC_ABS_OFFSET" "0") # Encoder offset in eng units (for absolute encoders)
|
|
epicsEnvSet("ECMC_EC_ENC_ACTPOS", "ec0.s4.positionActual01") # Ethercat entry for actual position input (encoder)
|
|
epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset (if no encoder reset bit then leave empty)
|
|
epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 (if no encoder error bit then leave empty)
|
|
epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 (if no encoder error bit then leave empty)
|
|
epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 (if no encoder error bit then leave empty)
|
|
epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning (if no encoder warning bit then leave empty)
|
|
#Drive
|
|
epicsEnvSet("ECMC_DRV_TYPE" "0") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
|
|
epicsEnvSet("ECMC_DRV_SCALE_NUM" "-600.0") # Fastest speed in engineering units
|
|
epicsEnvSet("ECMC_DRV_SCALE_DENOM" "32768.0") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
|
|
epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s9.driveControl01.0") # Ethercat entry for control word or bit output
|
|
epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s9.driveStatus01.1") # Ethercat entry for status word or bit input
|
|
epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s9.velocitySetpoint01") # Ethercat entry for velocity setpoint output
|
|
epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "ec0.s9.driveControl01.2") # Ethercat entry for reduce torque output
|
|
epicsEnvSet("ECMC_EC_DRV_BRAKE", "") # Ethercat entry for brake output
|
|
epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "0") # Brake timing parameter in cycles (default 1kHz)
|
|
epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "0") # Brake timing parameter in cycles (default 1kHz)
|
|
epicsEnvSet("ECMC_EC_DRV_RESET", "ec0.s9.driveControl01.1") # Reset
|
|
epicsEnvSet("ECMC_EC_DRV_ALARM_0", "ec0.s9.driveStatus01.3") # Error
|
|
epicsEnvSet("ECMC_EC_DRV_ALARM_1", "ec0.s9.driveStatus01.7") # Stall
|
|
epicsEnvSet("ECMC_EC_DRV_ALARM_2", "ec0.s9.driveStatus01.14") # Sync error
|
|
epicsEnvSet("ECMC_EC_DRV_WARNING", "ec0.s9.driveStatus01.2") # Warning
|
|
#Trajectory
|
|
epicsEnvSet("ECMC_VELO", "10.0")
|
|
epicsEnvSet("ECMC_JOG_VEL", "5")
|
|
epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL
|
|
epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "10")
|
|
epicsEnvSet("ECMC_EMERG_DECEL", "100") # Emergency deceleration
|
|
#Homing
|
|
epicsEnvSet("ECMC_HOME_PROC", "3")
|
|
epicsEnvSet("ECMC_HOME_POS", "0.0")
|
|
epicsEnvSet("ECMC_HOME_VEL_TO", "5")
|
|
epicsEnvSet("ECMC_HOME_VEL_FRM", "4")
|
|
epicsEnvSet("ECMC_HOME_ACC", "21")
|
|
epicsEnvSet("ECMC_HOME_DEC", "100")
|
|
epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "0") # Enable move to position after successfull homing
|
|
epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","0") # Target position to go to after successfull homing
|
|
#Controller
|
|
epicsEnvSet("ECMC_CNTRL_KP", "15.0")
|
|
epicsEnvSet("ECMC_CNTRL_KI", "0.02")
|
|
epicsEnvSet("ECMC_CNTRL_KD", "0.0")
|
|
epicsEnvSet("ECMC_CNTRL_KFF", "1.0")
|
|
#Monitoring
|
|
# Switches
|
|
epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s1.binaryInput06.0") # Ethercat entry for low limit switch input
|
|
epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s1.binaryInput05.0") # Ethercat entry for high limit switch inpuit
|
|
epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s1.binaryInput07.0") # Ethercat entry for home switch input
|
|
epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s0.ONE.0") # Ethercat entry for external interlock input
|
|
# Softlimits (disable with 0,0)
|
|
epicsEnvSet("ECMC_SOFT_LOW_LIM", "-130")
|
|
epicsEnvSet("ECMC_SOFT_HIGH_LIM", "20")
|
|
epicsEnvSet("ECMC_DXLM_ENABLE", "1")
|
|
# Position lag
|
|
epicsEnvSet("ECMC_MON_LAG_MON_TOL", "1.0")
|
|
epicsEnvSet("ECMC_MON_LAG_MON_TIME", "10")
|
|
epicsEnvSet("ECMC_MON_LAG_MON_ENA", "1")
|
|
# At target
|
|
epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "0.1")
|
|
epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100")
|
|
epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1")
|
|
# Velocity
|
|
epicsEnvSet("ECMC_MON_VELO_MAX", "100.0")
|
|
epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100")
|
|
epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200")
|
|
epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "1")
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd
|
|
#==============================================================================
|
|
# addAxis.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd
|
|
#==============================================================================
|
|
# ecmc_axis-records.cmd
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd
|
|
#==============================================================================
|
|
# ecmc_axis.cmd
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(60)<>0',SUCCESS_STR='ECMC_ENC_SCALE_NUM value OK == 60...',ERROR_STR='ECMC_ENC_SCALE_NUM == 0...'"
|
|
#==============================================================================
|
|
# verifyOrDie.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(60)<>0","# ECMC_ENC_SCALE_NUM value OK == 60...", "ecmcExit Error: ECMC_ENC_SCALE_NUM == 0...")
|
|
# ECMC_ENC_SCALE_NUM value OK == 60...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(2000)<>0',SUCCESS_STR='ECMC_ENC_SCALE_DENOM value OK == 2000...',ERROR_STR='ECMC_ENC_SCALE_DENOM == 0...'"
|
|
#==============================================================================
|
|
# verifyOrDie.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(2000)<>0","# ECMC_ENC_SCALE_DENOM value OK == 2000...", "ecmcExit Error: ECMC_ENC_SCALE_DENOM == 0...")
|
|
# ECMC_ENC_SCALE_DENOM value OK == 2000...
|
|
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
|
|
ecmcEpicsEnvSetCalcTernary(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)
|
|
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 value2022/01/28 10:04:21.127 OK
|
|
2022/01/28 10:04:21.127 OK
|
|
2022/01/28 10:04:21.128 OK
|
|
2022/01/28 10:04:21.128 OK
|
|
2022/01/28 10:04:21.130 OK
|
|
2022/01/28 10:04:21.130 OK
|
|
2022/01/28 10:04:21.130 OK
|
|
2022/01/28 10:04:21.130 OK
|
|
2022/01/28 10:04:21.130 OK
|
|
2022/01/28 10:04:21.130 OK
|
|
2022/01/28 10:04:21.130 OK
|
|
2022/01/28 10:04:21.130 OK
|
|
2022/01/28 10:04:21.130 OK
|
|
2022/01/28 10:04:21.131 OK
|
|
2022/01/28 10:04:21.131 OK
|
|
2022/01/28 10:04:21.131 OK
|
|
2022/01/28 10:04:21.131 OK
|
|
2022/01/28 10:04:21.131 OK
|
|
2022/01/28 10:04:21.131 OK
|
|
2022/01/28 10:04:21.131 OK
|
|
2022/01/28 10:04:21.131 OK
|
|
2022/01/28 10:04:21.131 OK
|
|
2022/01/28 10:04:21.131 OK
|
|
2022/01/28 10:04:21.131 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.132 OK
|
|
2022/01/28 10:04:21.133 OK
|
|
2022/01/28 10:04:21.133 OK
|
|
2022/01/28 10:04:21.133 OK
|
|
2022/01/28 10:04:21.133 OK
|
|
2022/01/28 10:04:21.133 OK
|
|
2022/01/28 10:04:21.133 OK
|
|
2022/01/28 10:04:21.133 OK
|
|
2022/01/28 10:04:21.133 OK
|
|
2022/01/28 10:04:21.133 OK
|
|
OK == 32768.0...", "ecmcExit Error: ECMC_DRV_SCALE_DENOM == 0...")
|
|
# ECMC_DRV_SCALE_DENOM value OK == 32768.0...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_MRES setting is deprecated and will not be used. (MRES will be calulated instead: ECMC_ENC_SCALE_NUM/ECMC_ENC_SCALE_DENOM).. '"
|
|
#==============================================================================
|
|
# issueWarning.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-")
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcConfigOrDie "Cfg.CreateAxis(2,1,0,0)"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.health")"
|
|
ecmcConfigOrDie "Cfg.SetAxisModRange(2, 0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisModType(2, 0)"
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_ACCL setting is deprecated. Please use ECMC_ACCS_EGU_PER_S2 instead..'"
|
|
#==============================================================================
|
|
# issueWarning.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-")
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCL,"'EMPTY'!='EMPTY'","", "#-")
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCS,"'EMPTY'=='EMPTY'","", "#-")
|
|
ecmcConfigOrDie "Cfg.SetAxisAcc(2,10)"
|
|
ecmcConfigOrDie "Cfg.SetAxisDec(2,10)"
|
|
ecmcConfigOrDie "Cfg.SetAxisJerk(2,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisVel(2,10.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEmergDeceleration(2,100)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomeVelTwordsCam(2,5)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomeVelOffCam(2,4)"
|
|
ecmcConfigOrDie "Cfg.SetAxisCntrlKp(2,15.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisCntrlKi(2,0.02)"
|
|
ecmcConfigOrDie "Cfg.SetAxisCntrlKd(2,0.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisCntrlKff(2,1.0)"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s4.positionActual01,"ax2.enc.actpos")"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncScaleDenom(2,2000)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncScaleNum(2,60)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncType(2,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncBits(2,16)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncAbsBits(2,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncOffset(2,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncVelFilterSize(2,100)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncPosFilterSize(2,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncPosFilterEnable(2,0)"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.reset")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.alarm0")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.alarm1")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.alarm2")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.warning")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.latchpos")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.latchcontrol")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.latchstatus")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveControl01.0,"ax2.drv.control")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveStatus01.1,"ax2.drv.status")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.velocitySetpoint01,"ax2.drv.velocity")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.drv.position")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.drv.brake")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveControl01.2,"ax2.drv.reducetorque")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveControl01.1,"ax2.drv.reset")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveStatus01.3,"ax2.drv.alarm0")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveStatus01.7,"ax2.drv.alarm1")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveStatus01.14,"ax2.drv.alarm2")"
|
|
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.SetAxisDrvBr2022/01/28 10:04:21.133 OK
|
|
2022/01/28 10:04:21.133 OK
|
|
2022/01/28 10:04:21.133 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.134 OK
|
|
2022/01/28 10:04:21.135 OK
|
|
2022/01/28 10:04:21.135 OK
|
|
2022/01/28 10:04:21.135 OK
|
|
2022/01/28 10:04:21.135 OK
|
|
2022/01/28 10:04:21.135 OK
|
|
2022/01/28 10:04:21.135 OK
|
|
2022/01/28 10:04:21.135 OK
|
|
2022/01/28 10:04:21.135 OK
|
|
2022/01/28 10:04:21.135 OK
|
|
2022/01/28 10:04:21.136 ecmcMotorRecord:: setIntegerParam(2 motorPowerAutoOnOff_)=2
|
|
2022/01/28 10:04:21.136 ecmcMotorRecord:: setDoubleParam(2 motorPowerOnDelay_)=6
|
|
2022/01/28 10:04:21.136 ecmcMotorRecord:: setDoubleParam(2 motorPowerOffDelay_=-1
|
|
2022/01/28 10:04:21.136 ecmcMotorRecord:: udateMotorLimitsRO(2) enabledHighAndLow=1 valid=1 fValueHigh=20 fValueLow=-130
|
|
2022/01/28 10:04:21.136 ecmcMotorRecord:: connected(2)
|
|
2022/01/28 10:04:21.136 ecmcMotorRecord:: initialPoll(2) status=0
|
|
akeCloseAheadTime(2,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosBwd(2,-130)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitBwd(2,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosFwd(2,20)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitFwd(2,1)"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput06.0,"ax2.mon.lowlim")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput05.0,"ax2.mon.highlim")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput07.0,"ax2.mon.homesensor")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s0.ONE.0,"ax2.mon.extinterlock")"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTol(2,0.1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTime(2,100)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonEnableAtTargetMon(2,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonPosLagTol(2,1.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonPosLagTime(2,10)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonEnableLagMon(2,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonMaxVel(2,100.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonEnableMaxVel(2,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonMaxVelDriveILDelay(2,200)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonMaxVelTrajILDelay(2,100)"
|
|
ecmcConfigOrDie "Cfg.SetAxisMonHomeSwitchPolarity(2,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomeLatchCountOffset(2,0.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomePosition(2,0.0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomePostMoveEnable(2, 0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisHomePostMoveTargetPosition(2, 0)"
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd
|
|
#==============================================================================
|
|
# ecmc_axis_mr.cmd
|
|
ecmcMotorRecordCreateAxis(MCU1, "2", "6", )
|
|
ecmcEpicsEnvSetCalc("ECMC_TEMP_SREV","if(abs(2000)>0){RESULT:=abs(2000);} else {RESULT:=1.0};","%d")
|
|
ecmcEpicsEnvSetCalc("ECMC_TEMP_UREV","if(abs(60)>0){RESULT:=abs(60);} else {RESULT:=1.0};","%lf")
|
|
ecmcFileExist(ecmcMotorRecord.template,1,1)
|
|
dbLoadRecords(ecmcMotorRecord.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis2, MOTOR_PORT=MCU1, AXIS_NO=2, DESC=MCU1021 Upper Axis (2), EGU=mm, PREC=3, VELO=10.0, JVEL=5, JAR=0.0, ACCS=10, RDBD=0.1, DLLM=-130, DHLM=20, HOMEPROC=3,SREV=2000,UREV=60.000000, ")
|
|
epicsEnvSet("ECMC_AXISFIELDINIT", "")
|
|
ecmcFileExist(ecmcMotorRecordhome.template,1,1)
|
|
dbLoadRecords(ecmcMotorRecordhome.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis2, MOTOR_PORT=MCU1, AXIS_NO=2,HOMEPROC=3, HOMEPOS=0.0, HVELTO=5, HVELFRM=4, HOMEACC=21, HOMEDEC=100")
|
|
epicsEnvUnset(ECMC_TEMP_SREV)
|
|
epicsEnvUnset(ECMC_TEMP_UREV)
|
|
epicsEnvUnset(ECMC_BLOCK_ACCL)
|
|
epicsEnvUnset(ECMC_BLOCK_ACCS)
|
|
ecmcFileExist("ecmcAxis.db",1,1)
|
|
dbLoadRecords("ecmcAxis.db","P=IOC_TEST:,AXIS_NAME=Axis2,AXIS_NO=2,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,T_SMP_MS=10,TSE=-2")
|
|
ecmcFileExist("ecmcAxisType.db",1,1)
|
|
dbLoadRecords("ecmcAxisType.db","P=IOC_TEST:,AXIS_NAME=Axis2,AXIS_TYPE=1")
|
|
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd,1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd
|
|
#==============================================================================
|
|
# ecmc_axis_unset.cmd
|
|
epicsEnvUnset(ECMC_AXISCONFIG)
|
|
epicsEnvUnset(ECMC_AXISFIELDINIT)
|
|
epicsEnvUnset(ECMC_PREC)
|
|
epicsEnvUnset(ECMC_EGU)
|
|
epicsEnvUnset(ECMC_DESC)
|
|
epicsEnvUnset(ECMC_R)
|
|
epicsEnvUnset(ECMC_MOTOR_NAME)
|
|
epicsEnvUnset(ECMC_EC_AXIS_HEALTH)
|
|
epicsEnvUnset(ECMC_MOD_RANGE)
|
|
epicsEnvUnset(ECMC_MOD_TYPE)
|
|
epicsEnvUnset(ECMC_EMERG_DECEL)
|
|
epicsEnvUnset(ECMC_VELO)
|
|
epicsEnvUnset(ECMC_ACCL)
|
|
epicsEnvUnset(ECMC_ACCS_EGU_PER_S2)
|
|
epicsEnvUnset(ECMC_HOME_VEL_TO)
|
|
epicsEnvUnset(ECMC_HOME_VEL_FRM)
|
|
epicsEnvUnset(ECMC_CNTRL_KP)
|
|
epicsEnvUnset(ECMC_CNTRL_KI)
|
|
epicsEnvUnset(ECMC_CNTRL_KD)
|
|
epicsEnvUnset(ECMC_CNTRL_KFF)
|
|
epicsEnvUnset(ECMC_EC_ENC_ACTPOS)
|
|
epicsEnvUnset(ECMC_EC_ENC_LATCHPOS)
|
|
epicsEnvUnset(ECMC_EC_ENC_LATCH_CONTROL)
|
|
epicsEnvUnset(ECMC_EC_ENC_LATCH_STATUS)
|
|
epicsEnvUnset(ECMC_HOME_LATCH_COUNT_OFFSET)
|
|
epicsEnvUnset(ECMC_ENC_SCALE_DENOM)
|
|
epicsEnvUnset(ECMC_ENC_SCALE_NUM)
|
|
epicsEnvUnset(ECMC_ENC_TYPE)
|
|
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})
|
|
2022/01/28 10:04:21.148 OK
|
|
2022/01/28 10:04:21.148 OK
|
|
sEnvUnset(ECMC_ENC_ABS_OFFSET)
|
|
epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE)
|
|
epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE)
|
|
epicsEnvUnset(ECMC_ENC_POS_FILTER_ENABLE)
|
|
epicsEnvUnset(ECMC_EC_ENC_RESET)
|
|
epicsEnvUnset(ECMC_EC_ENC_ALARM_0)
|
|
epicsEnvUnset(ECMC_EC_ENC_ALARM_1)
|
|
epicsEnvUnset(ECMC_EC_ENC_ALARM_2)
|
|
epicsEnvUnset(ECMC_EC_ENC_WARNING)
|
|
epicsEnvUnset(ECMC_EC_DRV_CONTROL)
|
|
epicsEnvUnset(ECMC_EC_DRV_STATUS)
|
|
epicsEnvUnset(ECMC_EC_DRV_VELOCITY)
|
|
epicsEnvUnset(ECMC_EC_DRV_BRAKE)
|
|
epicsEnvUnset(ECMC_EC_DRV_REDUCE_TORQUE)
|
|
epicsEnvUnset(ECMC_EC_DRV_RESET)
|
|
epicsEnvUnset(ECMC_EC_DRV_ALARM_0)
|
|
epicsEnvUnset(ECMC_EC_DRV_ALARM_1)
|
|
epicsEnvUnset(ECMC_EC_DRV_ALARM_2)
|
|
epicsEnvUnset(ECMC_EC_DRV_WARNING)
|
|
epicsEnvUnset(ECMC_DRV_SCALE_DENOM)
|
|
epicsEnvUnset(ECMC_DRV_SCALE_NUM)
|
|
epicsEnvUnset(ECMC_DRV_BRAKE_OPEN_DLY_TIME)
|
|
epicsEnvUnset(ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME)
|
|
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
|
|
epicsEnvUnset(ECMC_DXLM_ENABLE)
|
|
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
|
|
epicsEnvUnset(ECMC_DXLM_ENABLE)
|
|
epicsEnvUnset(ECMC_EC_MON_LOWLIM)
|
|
epicsEnvUnset(ECMC_EC_MON_HIGHLIM)
|
|
epicsEnvUnset(ECMC_EC_MON_HOME_SWITCH)
|
|
epicsEnvUnset(ECMC_EC_MON_EXT_INTERLOCK)
|
|
epicsEnvUnset(ECMC_MON_AT_TARGET_TOL)
|
|
epicsEnvUnset(ECMC_MON_AT_TARGET_TIME)
|
|
epicsEnvUnset(ECMC_MON_AT_TARGET_ENA)
|
|
epicsEnvUnset(ECMC_MON_LAG_MON_TOL)
|
|
epicsEnvUnset(ECMC_MON_LAG_MON_TIME)
|
|
epicsEnvUnset(ECMC_MON_LAG_MON_ENA)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX_ENA)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX_DRV_TIME)
|
|
epicsEnvUnset(ECMC_MON_VELO_MAX_TRAJ_TIME)
|
|
epicsEnvUnset(ECMC_JOG_VEL)
|
|
epicsEnvUnset(ECMC_JAR)
|
|
epicsEnvUnset(ECMC_HOME_PROC)
|
|
epicsEnvUnset(ECMC_HOME_POS)
|
|
epicsEnvUnset(ECMC_HOME_ACC)
|
|
epicsEnvUnset(ECMC_HOME_DEC)
|
|
epicsEnvUnset(ECMC_DRV_TYPE)
|
|
epicsEnvUnset(ECMC_VELO)
|
|
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
|
|
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
|
|
epicsEnvUnset(ECMC_HOME_POS_MOVE_ENA)
|
|
epicsEnvUnset(ECMC_HOME_POS_MOVE_TARG_POS)
|
|
epicsEnvUnset(ECMC_TRAJ_TYPE)
|
|
epicsEnvUnset(ECMC_JERK)
|
|
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
|
|
# Set external setpoints
|
|
iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyAxisSynchronization.cmd, CONFIG=./cfg/linear_2.sax)
|
|
#==============================================================================
|
|
# applyAxisSynchronization.cmd
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
iocshLoad ./cfg/linear_2.sax
|
|
############# Encoder
|
|
epicsEnvSet("ECMC_ENC_SOURCE", "0") # 0 Internal (from hardware), 1 from PLC
|
|
epicsEnvSet("ECMC_ENC_VELO_FILT_ENABLE", "1") # Enable velocity filter
|
|
epicsEnvSet("ECMC_ENC_VELO_FILT_SIZE", "20") # Encoder velocity Low pass filter size
|
|
############# Trajectory
|
|
epicsEnvSet("ECMC_TRAJ_SOURCE", "1") # 0 Internal (from hardware), 1 from PLC
|
|
epicsEnvSet("ECMC_TRAJ_VELO_FILT_ENABLE", "1") # Enable velocity filter
|
|
epicsEnvSet("ECMC_TRAJ_VELO_FILT_SIZE", "20") # Trajectory velocity Low pass filter size
|
|
############# Commands
|
|
epicsEnvSet("ECMC_CMD_FRM_OTHER_PLC_ENABLE", "1") # Allow commands from PLC
|
|
epicsEnvSet("ECMC_CMD_AXIS_PLC_ENABLE", "0") # Enable Axis PLC
|
|
# Each line below is appended to one single expression/source.
|
|
# Executed in sync with axis (before)
|
|
epicsEnvSet("ECMC_AXIS_EXPR_LINE_1", "var a:=1|")
|
|
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", "")
|
|
epicsEnvSet("ECMC_AXIS_EXPR_LINE_7", "")
|
|
epicsEnvSet("ECMC_AXIS_EXPR_LINE_8", "")
|
|
epicsEnvSet("ECMC_AXIS_EXPR_LINE_9", "")
|
|
epicsEnvSet("ECMC_AXIS_EXPR_LINE_10", "")
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync.cmd
|
|
#==============================================================================
|
|
# ecmc_axis_sync.cmd
|
|
ecmcConfigOrDie "Cfg.SetAxisAllowCommandsFromPLC(2,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisPLCEnable(2,0)"
|
|
e2022/01/28 10:04:21.148 OK
|
|
2022/01/28 10:04:21.148 OK
|
|
2022/01/28 10:04:21.148 OK
|
|
2022/01/28 10:04:21.148 OK
|
|
2022/01/28 10:04:21.148 OK
|
|
2022/01/28 10:04:21.148 OK
|
|
2022/01/28 10:04:21.148 OK
|
|
2022/01/28 10:04:21.149 OK
|
|
2022/01/28 10:04:21.149 OK
|
|
2022/01/28 10:04:21.149 OK
|
|
2022/01/28 10:04:21.149 OK
|
|
2022/01/28 10:04:21.149 OK
|
|
2022/01/28 10:04:21.149 OK
|
|
2022/01/28 10:04:21.149 OK
|
|
2022/01/28 10:04:21.149 OK
|
|
2022/01/28 10:04:21.149 OK
|
|
epicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted
|
|
epicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted
|
|
cmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=var a:=1|"
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
|
|
ecmcConfigOrDie "Cfg.SetAxisPLCEncVelFilterSize(2,20)"
|
|
ecmcConfigOrDie "Cfg.SetAxisPLCEncVelFilterEnable(2,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisEncSourceType(2,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxisPLCTrajVelFilterSize(2,20)"
|
|
ecmcConfigOrDie "Cfg.SetAxisPLCTrajVelFilterEnable(2,1)"
|
|
ecmcConfigOrDie "Cfg.SetAxisTrajSourceType(2,1)"
|
|
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd,1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd
|
|
#==============================================================================
|
|
# ecmc_axis_sync_unset.cmd
|
|
epicsEnvUnset(ECMC_CMD_FRM_OTHER_PLC_ENABLE)
|
|
epicsEnvUnset(ECMC_CMD_AXIS_PLC_ENABLE)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_1)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_2)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_3)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_4)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_5)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_6)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_7)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_8)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_9)
|
|
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_10)
|
|
epicsEnvUnset(ECMC_ENC_VELO_FILT_SIZE)
|
|
epicsEnvUnset(ECMC_ENC_VELO_FILT_ENABLE)
|
|
epicsEnvUnset(ECMC_ENC_SOURCE)
|
|
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_SIZE)
|
|
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE)
|
|
epicsEnvUnset(ECMC_TRAJ_SOURCE)
|
|
##############################################################################
|
|
## 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 ruckig
|
|
Module ecmc version ruckig 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;Y_AXIS=2;AUTO_ENABLE=1;AUTO_START=1;") # Only one option implemented in this plugin
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/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;Y_AXIS=2;AUTO_ENABLE=1;AUTO_START=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;Y_AXIS=2;AUTO_ENABLE=1;AUTO_START=1;)"
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:doMainWorker:389
|
|
../grbl/grbl_serial.c:serial_init:108:
|
|
../grbl/grbl_eeprom.c:ecmc_init_file:53
|
|
GRBL: INFO: Waiting for grbl init..../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:274
|
|
../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:605:
|
|
../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_spin2022/01/28 10:04:21.355 OK
|
|
2022/01/28 10:04:21.356 OK
|
|
dle_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:572:
|
|
../grbl/grbl_stepper.c:st_go_idle:259:
|
|
../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: INFO: Ready for commands:
|
|
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).
|
|
X_AXIS=<axis id>: Ecmc Axis id for use as grbl X axis, default = disabled (=-1).
|
|
Y_AXIS=<axis id>: Ecmc Axis id for use as grbl Y axis, default = disabled (=-1).
|
|
Z_AXIS=<axis id>: Ecmc Axis id for use as grbl Z axis, default = disabled (=-1).
|
|
SPINDLE_AXIS=<axis id>: Ecmc Axis id for use as grbl spindle axis, default = disabled (=-1).
|
|
AUTO_ENABLE=<1/0>: Auto enable the linked ecmc axes autmatically before start, default = disabled (=0).
|
|
AUTO_START=<1/0>: Auto start g-code at ecmc start, 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;Y_AXIS=2;AUTO_ENABLE=1;AUTO_START=1;
|
|
Version = 2
|
|
Interface version = 65536 (ecmc = 65536)
|
|
max plc funcs = 64
|
|
max plc func args = 10
|
|
max plc consts = 64
|
|
Construct func = @0xb4e5daa4
|
|
Enter realtime func = @0xb4e5da1c
|
|
Exit realtime func = @0xb4e5d9e8
|
|
Realtime func = @0xb4e5da18
|
|
Destruct func = @0xb4e5d9f0
|
|
dlhandle = @0x1fd8b10
|
|
Plc functions:
|
|
funcs[00]:
|
|
Name = "grbl_set_execute(arg0);"
|
|
Desc = double grbl_set_execute(<exe>) : Trigg execution of loaded g-code at positive edge of <exe>
|
|
Arg count = 1
|
|
func = @0xb4e5da20
|
|
funcs[01]:
|
|
Name = "grbl_mc_halt(arg0);"
|
|
Desc = double grbl_mc_halt(<halt>) : Halt grbl motion at positive edge of <halt>
|
|
Arg count = 1
|
|
func = @0xb4e5da3c
|
|
funcs[02]:
|
|
Name = "grbl_mc_resume(arg0);"
|
|
Desc = double grbl_mc_resume(<resume>) : Resume halted grbl motion at positive edge of <resume>
|
|
Arg count = 1
|
|
func = @0xb4e5da58
|
|
funcs[03]:
|
|
Name = "grbl_mc_reset(arg0);"
|
|
Desc = double grbl_mc_reset(<reset>) : Reset grbl at positive edge of <reset>
|
|
Arg count = 1
|
|
func = @0xb4e5da74
|
|
funcs[04]:
|
|
Name = "grbl_get_busy();"
|
|
Desc = double grbl_get_busy() : Get grbl system busy
|
|
Arg count = 0
|
|
func = @0xb4e5da90
|
|
Plc constants:
|
|
|
|
epicsEnvUnset(ECMC_PLUGIN_REPORT);
|
|
epicsEnvUnset(ECMC_PLUGIN_FILNAME)
|
|
epicsEnvUnset(ECMC_PLUGIN_CONFIG)
|
|
ecmcGrblAddCommand("G1X20Y20F360");
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:737:
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:744:GRBL: INFO: Buffer size 1
|
|
ecmcGrblAddCommand("G4P2");
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:737:
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:744:GRBL: INFO: Buffer size 2
|
|
ecmcGrblAddCommand("G2X0Y0R20");
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:737:
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:744:GRBL: INFO: Buffer size 3
|
|
ecmcGrblAddCommand("G4P2");
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:737:
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:744:GRBL: INFO: Buffer size 4
|
|
ecmcGrblAddCommand("G0X10Y10");
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:ad
|
|
#
|
|
# Test of GRBL plugin for g-code parsing
|
|
#
|
|
|
|
println('GRBL busy:', grbl_get_busy());
|
|
|
|
if(not(grbl_get_busy())) {
|
|
println('Retrigger g-code!!');
|
|
grbl_set_execute(0);
|
|
grbl_set_execute(1);
|
|
};
|
|
2022/01/28 10:04:21.386 OK
|
|
2022/01/28 10:04:21.386 OK
|
|
2022/01/28 10:04:21.398 OK
|
|
2022/01/28 10:04:21.398 OK
|
|
2022/01/28 10:04:21.398 OK
|
|
2022/01/28 10:04:21.398 OK
|
|
2022/01/28 10:04:21.398 OK
|
|
2022/01/28 10:04:21.398 OK
|
|
2022/01/28 10:04:21.403 INFO: Locking memory
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 0: Not operational (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 1: Not operational (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 2: Not operational (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 3: Not operational (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 4: Not operational (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 5: Not operational (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 6: Not operational (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
|
|
2022/01/28 10:04:21.504 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 8: Not operational (0x24011).
|
|
2022/01/28 10:04:21.505 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
|
|
2022/01/28 10:04:21.505 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 9: Not operational (0x24011).
|
|
2022/01/28 10:04:21.505 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
|
|
2022/01/28 10:04:21.593 Starting up EtherCAT bus: 0 second(s). Max wait time 30 second(s).
|
|
2022/01/28 10:04:21.599 ecmcMotorRecord:: poll(1) homed=1
|
|
2022/01/28 10:04:21.599 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000071
|
|
2022/01/28 10:04:21.600 ecmcMotorRecord:: poll(1) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315
|
|
2022/01/28 10:04:21.600 ecmcMotorRecord:: sErrorMessage(1)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK"
|
|
2022/01/28 10:04:21.600 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)
|
|
2022/01/28 10:04:21.600 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000014
|
|
2022/01/28 10:04:21.600 ecmcMotorRecord:: poll(2) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315
|
|
2022/01/28 10:04:21.600 ecmcMotorRecord:: sErrorMessage(2)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK"
|
|
2022/01/28 10:04:21.600 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)
|
|
2022/01/28 10:04:21.800 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000009
|
|
2022/01/28 10:04:21.800 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000005
|
|
2022/01/28 10:04:22.000 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000012
|
|
2022/01/28 10:04:22.001 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000021
|
|
2022/01/28 10:04:22.201 ecmcMotorRecord:: poll(1) LLS=0
|
|
2022/01/28 10:04:22.201 ecmcMotorRecord:: poll(1) HLS=0
|
|
2022/01/28 10:04:22.201 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000084
|
|
2022/01/28 10:04:22.201 ecmcMotorRecord:: poll(2) LLS=0
|
|
2022/01/28 10:04:22.201 ecmcMotorRecord:: poll(2) HLS=0
|
|
2022/01/28 10:04:22.201 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=6.84 time=0.000042
|
|
2022/01/28 10:04:22.401 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000012
|
|
2022/01/28 10:04:22.401 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=6.84 time=0.000006
|
|
2022/01/28 10:04:22.413 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 1): Drive hardware in warning state.
|
|
2022/01/28 10:04:22.593 Starting up EtherCAT bus: 1 second(s). Max wait time 30 second(s).
|
|
2022/01/28 10:04:22.601 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000012
|
|
2022/01/28 10:04:22.601 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=6.84 time=0.000007
|
|
2022/01/28 10:04:22.644 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 2): Drive hardware in warning state.
|
|
2022/01/28 10:04:22.801 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000011
|
|
2022/01/28 10:04:22.801 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=6.84 time=0.000006
|
|
2022/01/28 10:04:23.002 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000087
|
|
2022/01/28 10:04:23.002 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=6.84 time=0.000006
|
|
2022/01/28 10:04:23.008 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
|
|
2022/01/28 10:04:23.008 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
|
|
2022/01/28 10:04:23.008 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
|
|
2022/01/28 10:04:23.008 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
|
|
2022/01/28 10:04:23.008 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
|
|
2022/01/28 10:04:23.202 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000014
|
|
2022/01/28 10:04:23.202 ecmcMotorRecord:: poll(1) bError=0 drvlocal.statusBinData.onChangeData.error=0x0
|
|
2022/01/28 10:04:23.202 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=0 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL
|
|
2022/01/28 10:04:23.202 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000010
|
|
2022/01/28 10:04:23.202 ecmcMotorRecord:: poll(2) bError=0 drvlocal.statusBinData.onChangeData.error=0x0
|
|
2022/01/28 10:04:23.202 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=4 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL
|
|
2022/01/28 10:04:23.402 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000015
|
|
2022/01/28 10:04:23.402 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000008
|
|
2022/01/28 10:04:23.603 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000015
|
|
2022/01/28 10:04:23.603 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000008
|
|
2022/01/28 10:04:23.803 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000014
|
|
2022/01/28 10:04:23.803 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000007
|
|
2022/01/28 10:04:24.003 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000013
|
|
2022/01/28 10:04:24.003 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:04:24.203 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000013
|
|
2022/01/28 10:04:24.203 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:24.404 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000012
|
|
2022/01/28 10:04:24.404 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000007
|
|
2022/01/28 10:04:24.593 EtherCAT bus started!
|
|
2022/01/28 10:04:24.593 OK
|
|
2022/01/28 10:04:24.594 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocBuild (0). Allow callbacks: true.
|
|
Starting iocInit
|
|
2022/01/28 10:04:24.594 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtBeginning (1). Allow callbacks: true.
|
|
2022/01/28 10:04:24.604 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000015
|
|
2022/01/28 10:04:24.604 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000010
|
|
2022/01/28 10:04:24.616 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCallbackInit (2). Allow callbacks: true.
|
|
2022/01/28 10:04:24.626 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaLinkInit (3). Allow callbacks: true.
|
|
2022/01/28 10:04:24.626 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDrvSup (4). Allow callbacks: true.
|
|
2022/01/28 10:04:24.627 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitRecSup (5). Allow callbacks: true.
|
|
2022/01/28 10:04:24.634 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDevSup (6). Allow callbacks: true.
|
|
2022/01/28 10:04:24.642 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.positionActual01 linked to record (asyn reason 1).
|
|
2022/01/28 10:04:24.642 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderLatchPostion01 linked to record (asyn reason 2).
|
|
2022/01/28 10:04:24.643 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderControl01 linked to record (asyn reason 3).
|
|
2022/01/28 10:04:24.643 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderValue01 linked to record (asyn reason 4).
|
|
2022/01/28 10:04:24.644 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.positionActual01 linked to record (asyn reason 5).
|
|
2022/01/28 10:04:24.644 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderLatchPostion01 linked to record (asyn reason 6).
|
|
2022/01/28 10:04:24.645 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderControl01 linked to record (asyn reason 7).
|
|
2022/01/28 10:04:24.646 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderValue01 linked to record (asyn reason 8).
|
|
2022/01/28 10:04:24.646 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive01 linked to record (asyn reason 9).
|
|
2022/01/28 10:04:24.646 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative01 linked to record (asyn reason 10).
|
|
2022/01/28 10:04:24.647 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive02 linked to record (asyn reason 11).
|
|
2022/01/28 10:04:24.648 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative02 linked to record (asyn reason 12).
|
|
2022/01/28 10:04:24.648 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveControl01 linked to record (asyn reason 13).
|
|
2022/01/28 10:04:24.649 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.velocitySetpoint01 linked to record (asyn reason 14).
|
|
2022/01/28 10:04:24.650 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.positionActual01 linked to record (asyn reason 15).
|
|
2022/01/28 10:04:24.650 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderLatchPostion01 linked to record (asyn reason 16).
|
|
2022/01/28 10:04:24.651 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderControl01 linked to record (asyn reason 17).
|
|
2022/01/28 10:04:24.651 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderValue01 linked to record (asyn reason 18).
|
|
2022/01/28 10:04:24.652 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveControl01 linked to record (asyn reason 19).
|
|
2022/01/28 10:04:24.652 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.velocitySetpoint01 linked to record (asyn reason 20).
|
|
2022/01/28 10:04:24.653 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.positionActual01 linked to record (asyn reason 21).
|
|
2022/01/28 10:04:24.653 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderLatchPostion01 linked to record (asyn reason 22).
|
|
2022/01/28 10:04:24.654 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderControl01 linked to record (asyn reason 23).
|
|
2022/01/28 10:04:24.654 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderValue01 linked to record (asyn reason 24).
|
|
2022/01/28 10:04:24.656 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.actpos linked to record (asyn reason 25).
|
|
2022/01/28 10:04:24.657 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.setpos linked to record (asyn reason 26).
|
|
2022/01/28 10:04:24.657 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.poserr linked to record (asyn reason 27).
|
|
2022/01/28 10:04:24.658 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.error linked to record (asyn reason 28).
|
|
2022/01/28 10:04:24.660 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.actpos linked to record (asyn reason 29).
|
|
2022/01/28 10:04:24.660 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.setpos linked to record (asyn reason 30).
|
|
2022/01/28 10:04:24.661 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.poserr linked to record (asyn reason 31).
|
|
2022/01/28 10:04:24.662 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.error linked to record (asyn reason 32).
|
|
2022/01/28 10:04:24.663 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.scantime linked to record (asyn reason 33).
|
|
2022/01/28 10:04:24.664 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.error linked to record (asyn reason 34).
|
|
2022/01/28 10:04:24.666 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.appmode linked to record (asyn reason 35).
|
|
2022/01/28 10:04:24.667 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.id linked to record (asyn reason 36).
|
|
2022/01/28 10:04:24.668 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.min linked to record (asyn reason 37).
|
|
2022/01/28 10:04:24.670 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.max linked to record (asyn reason 38).
|
|
2022/01/28 10:04:24.672 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.min linked to record (asyn reason 39).
|
|
2022/01/28 10:04:24.674 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.max linked to record (asyn reason 40).
|
|
2022/01/28 10:04:24.676 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.min linked to record (asyn reason 41).
|
|
2022/01/28 10:04:24.678 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.max linked to record (asyn reason 42).
|
|
2022/01/28 10:04:24.679 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.min linked to record (asyn reason 43).
|
|
2022/01/28 10:04:24.681 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.max linked to record (asyn reason 44).
|
|
2022/01/28 10:04:24.683 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput01 linked to record (asyn reason 45).
|
|
2022/01/28 10:04:24.684 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput02 linked to record (asyn reason 46).
|
|
2022/01/28 10:04:24.686 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput03 linked to record (asyn reason 47).
|
|
2022/01/28 10:04:24.688 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput04 linked to record (asyn reason 48).
|
|
2022/01/28 10:04:24.690 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput05 linked to record (asyn reason 49).
|
|
2022/01/28 10:04:24.692 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput06 linked to record (asyn reason 50).
|
|
2022/01/28 10:04:24.694 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput07 linked to record (asyn reason 51).
|
|
2022/01/28 10:04:24.695 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput08 linked to record (asyn reason 52).
|
|
2022/01/28 10:04:24.697 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput01 linked to record (asyn reason 53).
|
|
2022/01/28 10:04:24.699 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput02 linked to record (asyn reason 54).
|
|
2022/01/28 10:04:24.703 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput03 linked to record (asyn reason 55).
|
|
2022/01/28 10:04:24.706 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput04 linked to record (asyn reason 56).
|
|
2022/01/28 10:04:24.708 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput05 linked to record (asyn reason 57).
|
|
2022/01/28 10:04:24.709 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput06 linked to record (asyn reason 58).
|
|
2022/01/28 10:04:24.711 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput07 linked to record (asyn reason 59).
|
|
2022/01/28 10:04:24.713 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput08 linked to record (asyn reason 60).
|
|
2022/01/28 10:04:24.715 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.powerOk01 linked to record (asyn reason 61).
|
|
2022/01/28 10:04:24.718 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.overload01 linked to record (asyn reason 62).
|
|
2022/01/28 10:04:24.720 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput01 linked to record (asyn reason 63).
|
|
2022/01/28 10:04:24.722 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput02 linked to record (asyn reason 64).
|
|
2022/01/28 10:04:24.725 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.enable linked to record (asyn reason 65).
|
|
2022/01/28 10:04:24.728 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.firstscan linked to record (asyn reason 66).
|
|
2022/01/28 10:04:24.731 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.enable linked to record (asyn reason 67).
|
|
2022/01/28 10:04:24.734 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.firstscan linked to record (asyn reason 68).
|
|
2022/01/28 10:04:24.738 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.ok linked to record (asyn reason 69).
|
|
2022/01/28 10:04:24.742 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.diagnostic linked to record (asyn reason 70).
|
|
2022/01/28 10:04:24.744 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.plc.expression linked to record (asyn reason 71).
|
|
2022/01/28 10:04:24.746 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.diagnostic linked to record (asyn reason 72).
|
|
2022/01/28 10:04:24.747 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.plc.expression linked to record (asyn reason 73).
|
|
2022/01/28 10:04:24.749 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.msg linked to record (asyn reason 74).
|
|
2022/01/28 10:04:24.751 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.updated linked to record (asyn reason 75).
|
|
2022/01/28 10:04:24.753 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.command linked to record (asyn reason 76).
|
|
2022/01/28 10:04:24.757 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.command linked to record (asyn reason 77).
|
|
dCommand:737:
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:744:GRBL: INFO: Buffer size 5
|
|
ecmcGrblAddCommand("G4P2");
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:737:
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:744:GRBL: INFO: Buffer size 6
|
|
ecmcGrblAddCommand("G1X0Y0");
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:737:
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:744:GRBL: INFO: Buffer size 7
|
|
#ecmcGrblAddCommand("G2X0adadsdY0R20");
|
|
#ecmcGrblAddCommand("G1X0Y20");
|
|
#ecmcGrblAddCommand("G1X10Y0F360");
|
|
#ecmcGrblAddCommand("G4P1");
|
|
#ecmcGrblAddCommand("G1X50Y50F180");
|
|
#ecmcGrblAddCommand("G1X0Y0");
|
|
##############################################################################
|
|
## PLC 0
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/grbl.plc")
|
|
#==============================================================================
|
|
# loadPLCFile.cmd
|
|
epicsEnvSet("ECMC_PLC_ID", "0")
|
|
ecmcEpicsEnvSetCalc(ECMC_PLC_RATE_, "1000/1000", "%f")
|
|
epicsEnvSet("ECMC_PLC_SAMPLE_RATE_MS", "1000")
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_PLC_SAMPLE_RATE_MS, "1000>0", "1000","1.000000")
|
|
epicsEnvUnset(ECMC_PLC_RATE_) # clean up, temp variable
|
|
epicsEnvSet("ECMC_TMP_FILE", "/tmp/PLC0.plc")
|
|
ecmcFileExist("./plc/grbl.plc",1)
|
|
system "msi -V -M 'EMPTY' -o /tmp/PLC0.plc ./plc/grbl.plc"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, 1=1,"", "#-" )
|
|
########### Parsed PLC file:
|
|
system "cat /tmp/PLC0.plc"
|
|
############ PLC file end
|
|
#
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcFileExist("/tmp/PLC0.plc",1)
|
|
ecmcConfigOrDie "Cfg.CreatePLC(0,1000)"
|
|
ecmcConfigOrDie "Cfg.LoadPLCFile(0,/tmp/PLC0.plc)"
|
|
system "rm -f /tmp/PLC0.plc"
|
|
ecmcFileExist(ecmcPlc.substitutions,1,1)
|
|
ecmcEpicsEnvSetCalc(ECMC_PLC_ID_2_CHARS, "0", "%02d")
|
|
dbLoadTemplate(ecmcPlc.substitutions, "PORT=MC_CPU1,A=0,Index=0,Name=IOC_TEST:,Index2Char=00,T_SMP_MS=10")
|
|
epicsEnvUnset(ECMC_PLC_ID_2_CHARS)
|
|
##############################################################################
|
|
############# 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 <level> or asynReport <level>
|
|
# ecmcReport 3
|
|
# ecmcGrepParam <pattern>
|
|
# 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)"
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
#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
|
|
2022/01/28 10:04:24.760 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ONE linked to record (asyn reason 78).
|
|
2022/01/28 10:04:24.763 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ZERO linked to record (asyn reason 79).
|
|
2022/01/28 10:04:24.766 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ONE linked to record (asyn reason 80).
|
|
2022/01/28 10:04:24.769 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ZERO linked to record (asyn reason 81).
|
|
2022/01/28 10:04:24.773 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ONE linked to record (asyn reason 82).
|
|
2022/01/28 10:04:24.776 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ZERO linked to record (asyn reason 83).
|
|
2022/01/28 10:04:24.779 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ONE linked to record (asyn reason 84).
|
|
2022/01/28 10:04:24.781 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ZERO linked to record (asyn reason 85).
|
|
2022/01/28 10:04:24.784 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ONE linked to record (asyn reason 86).
|
|
2022/01/28 10:04:24.787 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ZERO linked to record (asyn reason 87).
|
|
2022/01/28 10:04:24.790 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ONE linked to record (asyn reason 88).
|
|
2022/01/28 10:04:24.793 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ZERO linked to record (asyn reason 89).
|
|
2022/01/28 10:04:24.796 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ONE linked to record (asyn reason 90).
|
|
2022/01/28 10:04:24.799 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ZERO linked to record (asyn reason 91).
|
|
2022/01/28 10:04:24.802 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ONE linked to record (asyn reason 92).
|
|
2022/01/28 10:04:24.804 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000014
|
|
2022/01/28 10:04:24.804 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000008
|
|
2022/01/28 10:04:24.805 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ZERO linked to record (asyn reason 93).
|
|
2022/01/28 10:04:24.808 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ONE linked to record (asyn reason 94).
|
|
2022/01/28 10:04:24.812 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ZERO linked to record (asyn reason 95).
|
|
2022/01/28 10:04:24.816 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.cmddata linked to record (asyn reason 96).
|
|
2022/01/28 10:04:24.819 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.cmddata linked to record (asyn reason 97).
|
|
2022/01/28 10:04:24.822 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.slavestatus linked to record (asyn reason 98).
|
|
2022/01/28 10:04:24.824 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.slavestatus linked to record (asyn reason 99).
|
|
2022/01/28 10:04:24.827 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.slavestatus linked to record (asyn reason 100).
|
|
2022/01/28 10:04:24.830 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.slavestatus linked to record (asyn reason 101).
|
|
2022/01/28 10:04:24.833 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.slavestatus linked to record (asyn reason 102).
|
|
2022/01/28 10:04:24.835 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.slavestatus linked to record (asyn reason 103).
|
|
2022/01/28 10:04:24.838 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.slavestatus linked to record (asyn reason 104).
|
|
2022/01/28 10:04:24.841 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.slavestatus linked to record (asyn reason 105).
|
|
2022/01/28 10:04:24.844 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.slavestatus linked to record (asyn reason 106).
|
|
2022/01/28 10:04:24.847 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.status linked to record (asyn reason 107).
|
|
2022/01/28 10:04:24.849 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.errorid linked to record (asyn reason 108).
|
|
2022/01/28 10:04:24.853 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.status linked to record (asyn reason 109).
|
|
2022/01/28 10:04:24.855 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.errorid linked to record (asyn reason 110).
|
|
2022/01/28 10:04:24.858 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.masterstatus linked to record (asyn reason 111).
|
|
2022/01/28 10:04:24.861 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.slavecounter linked to record (asyn reason 112).
|
|
2022/01/28 10:04:24.863 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.memmapcounter linked to record (asyn reason 113).
|
|
2022/01/28 10:04:24.867 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainfailcountertotal linked to record (asyn reason 114).
|
|
2022/01/28 10:04:24.869 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.entrycounter linked to record (asyn reason 115).
|
|
2022/01/28 10:04:24.872 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainstatus linked to record (asyn reason 116).
|
|
2022/01/28 10:04:24.876 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.control linked to record (asyn reason 117).
|
|
2022/01/28 10:04:24.879 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.control linked to record (asyn reason 118).
|
|
2022/01/28 10:04:24.884 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderStatus01 linked to record (asyn reason 119).
|
|
2022/01/28 10:04:24.888 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderStatus01 linked to record (asyn reason 120).
|
|
2022/01/28 10:04:24.892 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status01 linked to record (asyn reason 121).
|
|
2022/01/28 10:04:24.896 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status02 linked to record (asyn reason 122).
|
|
2022/01/28 10:04:24.900 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveStatus01 linked to record (asyn reason 123).
|
|
2022/01/28 10:04:24.903 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderStatus01 linked to record (asyn reason 124).
|
|
2022/01/28 10:04:24.907 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveStatus01 linked to record (asyn reason 125).
|
|
2022/01/28 10:04:24.911 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderStatus01 linked to record (asyn reason 126).
|
|
2022/01/28 10:04:24.958 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.targpos linked to record (asyn reason 127).
|
|
2022/01/28 10:04:24.963 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.targvelo linked to record (asyn reason 128).
|
|
2022/01/28 10:04:24.970 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targpos linked to record (asyn reason 129).
|
|
2022/01/28 10:04:24.975 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targvelo linked to record (asyn reason 130).
|
|
2022/01/28 10:04:24.993 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.enable linked to record (asyn reason 131).
|
|
2022/01/28 10:04:24.999 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.reset linked to record (asyn reason 132).
|
|
2022/01/28 10:04:25.004 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000009
|
|
2022/01/28 10:04:25.004 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:04:25.005 ecmcMotorRecord:: setIntegerParam(1 motorUpdateStatus_)=0
|
|
2022/01/28 10:04:25.005 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000006
|
|
2022/01/28 10:04:25.005 ecmcMotorRecord:: setIntegerParam(2 motorUpdateStatus_)=0
|
|
2022/01/28 10:04:25.005 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000007
|
|
2022/01/28 10:04:25.054 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDatabase (7). Allow callbacks: true.
|
|
2022/01/28 10:04:25.055 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterFinishDevSup (8). Allow callbacks: true.
|
|
2022/01/28 10:04:25.204 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000010
|
|
2022/01/28 10:04:25.205 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000081
|
|
2022/01/28 10:04:25.405 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000010
|
|
2022/01/28 10:04:25.405 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:04:25.591 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterScanInit (9). Allow callbacks: true.
|
|
2022/01/28 10:04:25.592 ecmcMotorRecord:: setIntegerParam(1 HomProc_)=3 motorNotHomedProblem=0
|
|
2022/01/28 10:04:25.592 ecmcMotorRecord:: setIntegerParam(2 HomProc_)=3 motorNotHomedProblem=0
|
|
2022/01/28 10:04:25.593 ecmcMotorRecord:: setDoubleParam(1 HomPos_)=0.000000
|
|
2022/01/28 10:04:25.593 ecmcMotorRecord:: setDoubleParam(2 HomPos_)=0.000000
|
|
2022/01/28 10:04:25.593 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitialProcess (10). Allow callbacks: true.
|
|
2022/01/28 10:04:25.599 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (11). Allow callbacks: true.
|
|
2022/01/28 10:04:25.600 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocBuilt (12). Allow callbacks: true.
|
|
2022/01/28 10:04:25.605 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000011
|
|
2022/01/28 10:04:25.605 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:25.632 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocRun (13). Allow callbacks: true.
|
|
2022/01/28 10:04:25.632 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterDatabaseRunning (14). Allow callbacks: true.
|
|
2022/01/28 10:04:25.632 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInterruptAccept (28). Allow callbacks: true.
|
|
2022/01/28 10:04:25.632 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaServerRunning (15). Allow callbacks: true.
|
|
2022/01/28 10:04:25.634 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (29). Allow callbacks: true.
|
|
iocRun: All initialization complete
|
|
2022/01/28 10:04:25.678 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocRunning (16). Allow callbacks: true.
|
|
2022/01/28 10:04:25.682 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 1): Drive hardware warning state cleared.
|
|
2022/01/28 10:04:25.682 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 2): Drive hardware warning state cleared.
|
|
2022/01/28 10:04:25.805 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65535 fPos=0.03 fActPosition=0 time=0.000009
|
|
2022/01/28 10:04:25.805 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:04:25.004 [devMotorAsyn.c:439 IOC_TEST:Axis1] init_record IOC_TEST:Axis1 position=0.030000 encoderPos=0.030000 velocity=0.000000 MSTAstatus=0x4d00 flagsValue=0x3f flagsWritten=0x3f pmr->mflg=0x0
|
|
2022/01/28 10:04:25.005 [devMotorAsyn.c:185 IOC_TEST:Axis1] init_controller IOC_TEST:Axis1 set encoder ratio=1.000000 status=0
|
|
2022/01/28 10:04:25.005 [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
|
|
2022/01/28 10:04:25.005 [motorDevSup.c:327 IOC_TEST:Axis1] PositionRestoreNeeded IOC_TEST:Axis1 rstm=2 dval=0.000000 drbv=0.030000 pmr->rdbd=0.100000 rdbd=0.100000 pmr->mres=0.030000 pmr->mflg=0x3f dval_non_zero_pos_near_zero=0 ret=0
|
|
2022/01/28 10:04:25.005 [motorRecord.cc:782 IOC_TEST:Axis1] init_re_init start neverPolled=0 stat=17 nsta=0
|
|
2022/01/28 10:04:25.005 [motorRecord.cc:720 IOC_TEST:Axis1] enforceMinRetryDeadband spdb=0.100000 rdbd=0.100000 mres=0.030000
|
|
2022/01/28 10:04:25.005 [motorRecord.cc:4484 IOC_TEST:Axis1] pmr->dhlm=130 softLimitRO=130
|
|
2022/01/28 10:04:25.005 [motorRecord.cc:4545 IOC_TEST:Axis1] pmr->dllm=-20 softLimitRO=-20
|
|
2022/01/28 10:04:25.005 [motorRecord.cc:833 IOC_TEST:Axis1] init_re_init end dval=0.030000 drbv=0.030000 rdbd=0.100000 spdb=0.100000
|
|
2022/01/28 10:04:25.005 [motorRecord.cc:968 IOC_TEST:Axis1] init_record process_reason="callbackdata + soft limits" dval=0.030000 drbv=0.030000 rdbd=0.100000 spdb=0.100000 stat=0 msta=0x4d00 neverPolled=0
|
|
2022/01/28 10:04:25.005 [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
|
|
2022/01/28 10:04:25.005 [devMotorAsyn.c:185 IOC_TEST:Axis2] init_controller IOC_TEST:Axis2 set encoder ratio=1.000000 status=0
|
|
2022/01/28 10:04:25.005 [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
|
|
2022/01/28 10:04:25.005 [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
|
|
2022/01/28 10:04:25.005 [motorRecord.cc:782 IOC_TEST:Axis2] init_re_init start neverPolled=0 stat=17 nsta=0
|
|
2022/01/28 10:04:25.005 [motorRecord.cc:720 IOC_TEST:Axis2] enforceMinRetryDeadband spdb=0.100000 rdbd=0.100000 mres=0.030000
|
|
2022/01/28 10:04:25.005 [motorRecord.cc:4484 IOC_TEST:Axis2] pmr->dhlm=20 softLimitRO=20
|
|
2022/01/28 10:04:25.005 [motorRecord.cc:4545 IOC_TEST:Axis2] pmr->dllm=-130 softLimitRO=-130
|
|
2022/01/28 10:04:25.005 [motorRecord.cc:833 IOC_TEST:Axis2] init_re_init end dval=0.000000 drbv=0.000000 rdbd=0.100000 spdb=0.100000
|
|
2022/01/28 10:04:25.005 [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
|
|
GRBL busy: 1.00000
|
|
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-11532 > "
|
|
#
|
|
raspberrypi-11532 > 2022/01/28 10:04:26.005 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65535 fPos=0.03 fActPosition=0 time=0.000010
|
|
2022/01/28 10:04:26.006 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000050
|
|
2022/01/28 10:04:26.206 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65534 fPos=0.064 fActPosition=0.03 time=0.000020
|
|
2022/01/28 10:04:26.206 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=229 fPos=0.064 fActPosition=0.03 time=0.000012
|
|
2022/01/28 10:04:26.406 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65519 fPos=0.464 fActPosition=0.48 time=0.000019
|
|
2022/01/28 10:04:26.407 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=244 fPos=0.468 fActPosition=0.48 time=0.000143
|
|
2022/01/28 10:04:26.607 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65494 fPos=1.204 fActPosition=1.23 time=0.000016
|
|
2022/01/28 10:04:26.608 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=268 fPos=1.208 fActPosition=1.2 time=0.000178
|
|
2022/01/28 10:04:26.808 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65468 fPos=2.008 fActPosition=2.01 time=0.000018
|
|
2022/01/28 10:04:26.809 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=296 fPos=2.012 fActPosition=2.04 time=0.000018
|
|
2022/01/28 10:04:27.009 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65441 fPos=2.812 fActPosition=2.82 time=0.000010
|
|
2022/01/28 10:04:27.009 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=322 fPos=2.812 fActPosition=2.82 time=0.000007
|
|
2022/01/28 10:04:27.210 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65414 fPos=3.616 fActPosition=3.63 time=0.000010
|
|
2022/01/28 10:04:27.210 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=349 fPos=3.616 fActPosition=3.63 time=0.000007
|
|
2022/01/28 10:04:27.410 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65388 fPos=4.416 fActPosition=4.41 time=0.000011
|
|
2022/01/28 10:04:27.410 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=376 fPos=4.416 fActPosition=4.44 time=0.000006
|
|
2022/01/28 10:04:27.610 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65361 fPos=5.216 fActPosition=5.22 time=0.000016
|
|
2022/01/28 10:04:27.611 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=402 fPos=5.22 fActPosition=5.22 time=0.000016
|
|
2022/01/28 10:04:27.811 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65334 fPos=6.02 fActPosition=6.03 time=0.000019
|
|
2022/01/28 10:04:27.812 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=429 fPos=6.02 fActPosition=6.03 time=0.000014
|
|
2022/01/28 10:04:28.012 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65308 fPos=6.824 fActPosition=6.81 time=0.000020
|
|
2022/01/28 10:04:28.012 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=456 fPos=6.824 fActPosition=6.84 time=0.000015
|
|
2022/01/28 10:04:28.213 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65280 fPos=7.628 fActPosition=7.65 time=0.000335
|
|
2022/01/28 10:04:28.213 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=483 fPos=7.628 fActPosition=7.65 time=0.000013
|
|
2022/01/28 10:04:28.414 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65254 fPos=8.432 fActPosition=8.43 time=0.000021
|
|
2022/01/28 10:04:28.414 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=509 fPos=8.432 fActPosition=8.43 time=0.000014
|
|
2022/01/28 10:04:28.614 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65227 fPos=9.236 fActPosition=9.24 time=0.000012
|
|
2022/01/28 10:04:28.614 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=536 fPos=9.236 fActPosition=9.24 time=0.000007
|
|
2022/01/28 10:04:28.815 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65200 fPos=10.04 fActPosition=10.05 time=0.000085
|
|
2022/01/28 10:04:28.815 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=563 fPos=10.04 fActPosition=10.05 time=0.000008
|
|
2022/01/28 10:04:29.015 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65174 fPos=10.836 fActPosition=10.83 time=0.000012
|
|
2022/01/28 10:04:29.015 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=589 fPos=10.836 fActPosition=10.83 time=0.000008
|
|
2022/01/28 10:04:29.215 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65147 fPos=11.636 fActPosition=11.64 time=0.000018
|
|
2022/01/28 10:04:29.216 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=616 fPos=11.64 fActPosition=11.64 time=0.000063
|
|
2022/01/28 10:04:29.416 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65120 fPos=12.44 fActPosition=12.45 time=0.000019
|
|
2022/01/28 10:04:29.416 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=643 fPos=12.44 fActPosition=12.45 time=0.000012
|
|
2022/01/28 10:04:29.617 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65093 fPos=13.244 fActPosition=13.26 time=0.000205
|
|
2022/01/28 10:04:29.617 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=669 fPos=13.244 fActPosition=13.23 time=0.000013
|
|
2022/01/28 10:04:29.817 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65067 fPos=14.044 fActPosition=14.04 time=0.000021
|
|
2022/01/28 10:04:29.818 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=697 fPos=14.048 fActPosition=14.07 time=0.000014
|
|
2022/01/28 10:04:30.018 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65040 fPos=14.848 fActPosition=14.85 time=0.000011
|
|
2022/01/28 10:04:30.018 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=723 fPos=14.848 fActPosition=14.85 time=0.000008
|
|
2022/01/28 10:04:30.218 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65013 fPos=15.648 fActPosition=15.66 time=0.000009
|
|
2022/01/28 10:04:30.219 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=750 fPos=15.652 fActPosition=15.66 time=0.000115
|
|
2022/01/28 10:04:30.419 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64987 fPos=16.452 fActPosition=16.44 time=0.000011
|
|
2022/01/28 10:04:30.419 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=777 fPos=16.452 fActPosition=16.47 time=0.000006
|
|
2022/01/28 10:04:30.619 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64960 fPos=17.256 fActPosition=17.25 time=0.000009
|
|
2022/01/28 10:04:30.619 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=803 fPos=17.256 fActPosition=17.25 time=0.000006
|
|
2022/01/28 10:04:30.820 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64933 fPos=18.06 fActPosition=18.06 time=0.000143
|
|
2022/01/28 10:04:30.820 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=830 fPos=18.06 fActPosition=18.06 time=0.000011
|
|
2022/01/28 10:04:31.020 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64906 fPos=18.856 fActPosition=18.87 time=0.000018
|
|
2022/01/28 10:04:31.021 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=857 fPos=18.856 fActPosition=18.87 time=0.000012
|
|
2022/01/28 10:04:31.221 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64882 fPos=19.58 fActPosition=19.59 time=0.000019
|
|
2022/01/28 10:04:31.221 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=881 fPos=19.58 fActPosition=19.59 time=0.000012
|
|
2022/01/28 10:04:31.421 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64870 fPos=19.952 fActPosition=19.95 time=0.000013
|
|
2022/01/28 10:04:31.422 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=893 fPos=19.952 fActPosition=19.95 time=0.000009
|
|
2022/01/28 10:04:31.622 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000017
|
|
2022/01/28 10:04:31.622 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000009
|
|
2022/01/28 10:04:31.822 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000010
|
|
2022/01/28 10:04:31.822 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000007
|
|
2022/01/28 10:04:32.023 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000099
|
|
2022/01/28 10:04:32.023 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=894 fPos=20 fActPosition=19.98 time=0.000006
|
|
2022/01/28 10:04:32.223 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000011
|
|
2022/01/28 10:04:32.223 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=894 fPos=20 fActPosition=19.98 time=0.000005
|
|
2022/01/28 10:04:32.423 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000016
|
|
2022/01/28 10:04:32.423 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000010
|
|
2022/01/28 10:04:32.624 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000102
|
|
2022/01/28 10:04:32.624 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000011
|
|
2022/01/28 10:04:32.824 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000017
|
|
2022/01/28 10:04:32.824 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000010
|
|
2022/01/28 10:04:33.024 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000020
|
|
2022/01/28 10:04:33.025 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=894 fPos=20 fActPosition=19.98 time=0.000013
|
|
2022/01/28 10:04:33.225 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000010
|
|
2022/01/28 10:04:33.225 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000006
|
|
2022/01/28 10:04:33.425 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000012
|
|
2022/01/28 10:04:33.425 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000006
|
|
2022/01/28 10:04:33.625 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000011
|
|
2022/01/28 10:04:33.626 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=894 fPos=19.964 fActPosition=19.98 time=0.000007
|
|
2022/01/28 10:04:33.826 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=19.996 fActPosition=19.98 time=0.000017
|
|
2022/01/28 10:04:33.826 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=881 fPos=19.596 fActPosition=19.59 time=0.000012
|
|
2022/01/28 10:04:34.026 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.968 fActPosition=19.98 time=0.000011
|
|
2022/01/28 10:04:34.026 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=857 fPos=18.872 fActPosition=18.87 time=0.000007
|
|
2022/01/28 10:04:34.227 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64872 fPos=19.872 fActPosition=19.89 time=0.000074
|
|
2022/01/28 10:04:34.227 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=821 fPos=17.776 fActPosition=17.79 time=0.000006
|
|
2022/01/28 10:04:34.427 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64878 fPos=19.716 fActPosition=19.71 time=0.000010
|
|
2022/01/28 10:04:34.427 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=782 fPos=16.632 fActPosition=16.62 time=0.000007
|
|
2022/01/28 10:04:34.627 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64886 fPos=19.492 fActPosition=19.47 time=0.000011
|
|
2022/01/28 10:04:34.628 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=746 fPos=15.536 fActPosition=15.54 time=0.000006
|
|
2022/01/28 10:04:34.828 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64895 fPos=19.204 fActPosition=19.2 time=0.000012
|
|
2022/01/28 10:04:34.828 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=708 fPos=14.428 fActPosition=14.4 time=0.000006
|
|
2022/01/28 10:04:35.028 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64907 fPos=18.848 fActPosition=18.84 time=0.000012
|
|
2022/01/28 10:04:35.028 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=671 fPos=13.316 fActPosition=13.29 time=0.000006
|
|
2022/01/28 10:04:35.228 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64921 fPos=18.42 fActPosition=18.42 time=0.000011
|
|
2022/01/28 10:04:35.229 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=634 fPos=12.2 fActPosition=12.18 time=0.000135
|
|
2022/01/28 10:04:35.429 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64937 fPos=17.948 fActPosition=17.94 time=0.000011
|
|
2022/01/28 10:04:35.429 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=600 fPos=11.176 fActPosition=11.16 time=0.000007
|
|
2022/01/28 10:04:35.629 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64955 fPos=17.404 fActPosition=17.4 time=0.000011
|
|
2022/01/28 10:04:35.629 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=566 fPos=10.144 fActPosition=10.14 time=0.000007
|
|
2022/01/28 10:04:35.830 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64975 fPos=16.8 fActPosition=16.8 time=0.000066
|
|
2022/01/28 10:04:35.830 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=533 fPos=9.152 fActPosition=9.15 time=0.000007
|
|
2022/01/28 10:04:36.030 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64997 fPos=16.148 fActPosition=16.14 time=0.000012
|
|
2022/01/28 10:04:36.030 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=502 fPos=8.2 fActPosition=8.22 time=0.000006
|
|
GRBL: INFO: Write command (command[0] = G1X20Y20F360)
|
|
Added: 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: INFO: Reply OK (command[0] = G1X20Y20F360)
|
|
GRBL: INFO: Write command (command[1] = G4P2)
|
|
Added: G4P2../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_dwell:200:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_go_idle:259:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL: INFO: Reply OK (command[1] = G4P2)
|
|
GRBL: INFO: Write command (command[2] = G2X0Y0R20)
|
|
Added: G2X0Y0R20../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_arc:91:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_update_plan_block_parameters:639:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_update_plan_block_parameters:639:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_wake_up:228:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../g2022/01/28 10:04:36.230 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65020 fPos=15.44 fActPosition=15.45 time=0.000018
|
|
2022/01/28 10:04:36.231 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=470 fPos=7.284 fActPosition=7.26 time=0.000209
|
|
2022/01/28 10:04:36.431 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65046 fPos=14.676 fActPosition=14.67 time=0.000011
|
|
2022/01/28 10:04:36.431 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=442 fPos=6.416 fActPosition=6.42 time=0.000006
|
|
2022/01/28 10:04:36.631 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65073 fPos=13.864 fActPosition=13.86 time=0.000012
|
|
2022/01/28 10:04:36.632 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=414 fPos=5.58 fActPosition=5.58 time=0.000109
|
|
2022/01/28 10:04:36.832 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65103 fPos=12.984 fActPosition=12.96 time=0.000012
|
|
2022/01/28 10:04:36.832 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=387 fPos=4.792 fActPosition=4.77 time=0.000006
|
|
2022/01/28 10:04:37.032 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65132 fPos=12.1 fActPosition=12.09 time=0.000011
|
|
2022/01/28 10:04:37.032 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=364 fPos=4.076 fActPosition=4.08 time=0.000006
|
|
2022/01/28 10:04:37.233 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65164 fPos=11.14 fActPosition=11.13 time=0.000188
|
|
2022/01/28 10:04:37.233 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=341 fPos=3.392 fActPosition=3.39 time=0.000007
|
|
2022/01/28 10:04:37.433 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65195 fPos=10.18 fActPosition=10.2 time=0.000012
|
|
2022/01/28 10:04:37.433 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=321 fPos=2.784 fActPosition=2.79 time=0.000007
|
|
2022/01/28 10:04:37.633 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65230 fPos=9.144 fActPosition=9.15 time=0.000014
|
|
2022/01/28 10:04:37.634 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=302 fPos=2.212 fActPosition=2.22 time=0.000120
|
|
2022/01/28 10:04:37.834 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65265 fPos=8.116 fActPosition=8.1 time=0.000011
|
|
2022/01/28 10:04:37.834 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=286 fPos=1.724 fActPosition=1.74 time=0.000006
|
|
2022/01/28 10:04:38.034 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65301 fPos=7.032 fActPosition=7.02 time=0.000011
|
|
2022/01/28 10:04:38.034 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=270 fPos=1.28 fActPosition=1.26 time=0.000006
|
|
2022/01/28 10:04:38.235 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65338 fPos=5.912 fActPosition=5.91 time=0.000086
|
|
2022/01/28 10:04:38.235 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=258 fPos=0.896 fActPosition=0.9 time=0.000012
|
|
2022/01/28 10:04:38.435 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65375 fPos=4.804 fActPosition=4.8 time=0.000020
|
|
2022/01/28 10:04:38.436 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=247 fPos=0.588 fActPosition=0.57 time=0.000183
|
|
2022/01/28 10:04:38.636 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65412 fPos=3.7 fActPosition=3.69 time=0.000019
|
|
2022/01/28 10:04:38.636 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=239 fPos=0.348 fActPosition=0.33 time=0.000010
|
|
2022/01/28 10:04:38.837 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65449 fPos=2.584 fActPosition=2.58 time=0.000198
|
|
2022/01/28 10:04:38.837 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=234 fPos=0.172 fActPosition=0.18 time=0.000011
|
|
2022/01/28 10:04:39.037 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65488 fPos=1.432 fActPosition=1.41 time=0.000018
|
|
2022/01/28 10:04:39.038 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=230 fPos=0.052 fActPosition=0.06 time=0.000078
|
|
2022/01/28 10:04:39.238 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65516 fPos=0.584 fActPosition=0.57 time=0.000012
|
|
2022/01/28 10:04:39.238 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=228 fPos=0.008 fActPosition=0 time=0.000007
|
|
2022/01/28 10:04:39.438 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65531 fPos=0.112 fActPosition=0.12 time=0.000011
|
|
2022/01/28 10:04:39.439 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000007
|
|
2022/01/28 10:04:39.639 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000012
|
|
2022/01/28 10:04:39.639 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000007
|
|
2022/01/28 10:04:39.839 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:39.839 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:04:40.039 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000019
|
|
2022/01/28 10:04:40.039 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:40.240 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000111
|
|
2022/01/28 10:04:40.240 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:40.440 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000021
|
|
2022/01/28 10:04:40.440 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:40.640 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000020
|
|
2022/01/28 10:04:40.640 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000031
|
|
2022/01/28 10:04:40.841 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:40.841 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:04:41.041 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:41.041 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:04:41.241 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:41.241 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:04:41.441 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65534 fPos=0 fActPosition=0.03 time=0.000019
|
|
2022/01/28 10:04:41.442 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000209
|
|
2022/01/28 10:04:41.642 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65535 fPos=0.008 fActPosition=0 time=0.000019
|
|
2022/01/28 10:04:41.642 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=228 fPos=0.008 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:41.842 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65526 fPos=0.272 fActPosition=0.27 time=0.000018
|
|
2022/01/28 10:04:41.843 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=237 fPos=0.272 fActPosition=0.27 time=0.000214
|
|
2022/01/28 10:04:42.043 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65505 fPos=0.912 fActPosition=0.9 time=0.000018
|
|
2022/01/28 10:04:42.044 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=259 fPos=0.92 fActPosition=0.93 time=0.000260
|
|
2022/01/28 10:04:42.244 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65471 fPos=1.916 fActPosition=1.92 time=0.000020
|
|
2022/01/28 10:04:42.244 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=292 fPos=1.916 fActPosition=1.92 time=0.000014
|
|
2022/01/28 10:04:42.445 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65426 fPos=3.28 fActPosition=3.27 time=0.000011
|
|
2022/01/28 10:04:42.445 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=338 fPos=3.28 fActPosition=3.3 time=0.000006
|
|
2022/01/28 10:04:42.645 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65370 fPos=4.936 fActPosition=4.95 time=0.000010
|
|
2022/01/28 10:04:42.645 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=393 fPos=4.936 fActPosition=4.95 time=0.000006
|
|
2022/01/28 10:04:42.845 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65314 fPos=6.6 fActPosition=6.63 time=0.000010
|
|
2022/01/28 10:04:42.846 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=448 fPos=6.608 fActPosition=6.6 time=0.000007
|
|
2022/01/28 10:04:43.046 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65268 fPos=8.012 fActPosition=8.01 time=0.000018
|
|
2022/01/28 10:04:43.046 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=496 fPos=8.012 fActPosition=8.04 time=0.000012
|
|
2022/01/28 10:04:43.246 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65233 fPos=9.044 fActPosition=9.06 time=0.000018
|
|
2022/01/28 10:04:43.247 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=530 fPos=9.048 fActPosition=9.06 time=0.000091
|
|
2022/01/28 10:04:43.447 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65211 fPos=9.704 fActPosition=9.72 time=0.000020
|
|
2022/01/28 10:04:43.448 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=552 fPos=9.704 fActPosition=9.72 time=0.000012
|
|
2022/01/28 10:04:43.648 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65202 fPos=9.988 fActPosition=9.99 time=0.000021
|
|
2022/01/28 10:04:43.648 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=561 fPos=9.988 fActPosition=9.99 time=0.000010
|
|
2022/01/28 10:04:43.848 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000016
|
|
2022/01/28 10:04:43.849 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000283
|
|
2022/01/28 10:04:44.049 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000011
|
|
2022/01/28 10:04:44.049 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000007
|
|
2022/01/28 10:04:44.249 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000011
|
|
2022/01/28 10:04:44.249 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000007
|
|
2022/01/28 10:04:44.449 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000012
|
|
2022/01/28 10:04:44.450 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000070
|
|
2022/01/28 10:04:44.650 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000021
|
|
2022/01/28 10:04:44.650 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000011
|
|
2022/01/28 10:04:44.850 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000024
|
|
2022/01/28 10:04:44.850 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000012
|
|
2022/01/28 10:04:45.051 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000140
|
|
2022/01/28 10:04:45.051 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=562 fPos=10 fActPosition=10.02 time=0.000011
|
|
2022/01/28 10:04:45.251 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000018
|
|
2022/01/28 10:04:45.252 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000130
|
|
2022/01/28 10:04:45.452 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000014
|
|
2022/01/28 10:04:45.452 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000007
|
|
2022/01/28 10:04:45.652 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000011
|
|
2022/01/28 10:04:45.652 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=562 fPos=10 fActPosition=10.02 time=0.000007
|
|
2022/01/28 10:04:45.853 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65204 fPos=9.9 fActPosition=9.93 time=0.000156
|
|
2022/01/28 10:04:45.853 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=559 fPos=9.9 fActPosition=9.93 time=0.000006
|
|
2022/01/28 10:04:46.053 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65221 fPos=9.436 fActPosition=9.42 time=0.000011
|
|
2022/01/28 10:04:46.053 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=543 fPos=9.436 fActPosition=9.45 time=0.000006
|
|
2022/01/28 10:04:46.253 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65247 fPos=8.664 fActPosition=8.64 time=0.000019
|
|
2022/01/28 10:04:46.254 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=516 fPos=8.656 fActPosition=8.64 time=0.000013
|
|
2022/01/28 10:04:46.454 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65273 fPos=7.86 fActPosition=7.86 time=0.000022
|
|
2022/01/28 10:04:46.454 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=489 fPos=7.86 fActPosition=7.83 time=0.000011
|
|
2022/01/28 10:04:46.655 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65300 fPos=7.056 fActPosition=7.05 time=0.000019
|
|
2022/01/28 10:04:46.655 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=463 fPos=7.056 fActPosition=7.05 time=0.000010
|
|
2022/01/28 10:04:46.855 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65327 fPos=6.256 fActPosition=6.24 time=0.000021
|
|
2022/01/28 10:04:46.856 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=436 fPos=6.252 fActPosition=6.24 time=0.000185
|
|
2022/01/28 10:04:47.056 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65353 fPos=5.452 fActPosition=5.46 time=0.000011
|
|
2022/01/28 10:04:47.056 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=409 fPos=5.452 fActPosition=5.43 time=0.000006
|
|
2022/01/28 10:04:47.256 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65380 fPos=4.652 fActPosition=4.65 time=0.000012
|
|
2022/01/28 10:04:47.257 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=383 fPos=4.648 fActPosition=4.65 time=0.000021
|
|
2022/01/28 10:04:47.457 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65407 fPos=3.848 fActPosition=3.84 time=0.000011
|
|
2022/01/28 10:04:47.457 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=356 fPos=3.848 fActPosition=3.84 time=0.000006
|
|
2022/01/28 10:04:47.657 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65433 fPos=3.048 fActPosition=3.06 time=0.000018
|
|
2022/01/28 10:04:47.658 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=329 fPos=3.044 fActPosition=3.03 time=0.000232
|
|
2022/01/28 10:04:47.858 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65460 fPos=2.244 fActPosition=2.25 time=0.000020
|
|
2022/01/28 10:04:47.858 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=303 fPos=2.244 fActPosition=2.25 time=0.000010
|
|
2022/01/28 10:04:48.059 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65487 fPos=1.44 fActPosition=1.44 time=0.000019
|
|
2022/01/28 10:04:48.059 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=276 fPos=1.44 fActPosition=1.44 time=0.000011
|
|
2022/01/28 10:04:48.259 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65513 fPos=0.652 fActPosition=0.66 time=0.000018
|
|
2022/01/28 10:04:48.260 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=249 fPos=0.648 fActPosition=0.63 time=0.000215
|
|
2022/01/28 10:04:48.460 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65531 fPos=0.132 fActPosition=0.12 time=0.000014
|
|
2022/01/28 10:04:48.460 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=232 fPos=0.132 fActPosition=0.12 time=0.000008
|
|
2022/01/28 10:04:48.660 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:48.661 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000007
|
|
2022/01/28 10:04:48.861 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:48.861 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:04:49.061 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:49.061 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:04:49.261 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000019
|
|
2022/01/28 10:04:49.261 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000009
|
|
2022/01/28 10:04:49.462 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000164
|
|
2022/01/28 10:04:49.462 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:04:49.662 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65532 fPos=0.12 fActPosition=0.09 time=0.000019
|
|
2022/01/28 10:04:49.662 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=231 fPos=0.12 fActPosition=0.09 time=0.000012
|
|
2022/01/28 10:04:49.863 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65515 fPos=0.6 fActPosition=0.6 time=0.000341
|
|
2022/01/28 10:04:49.863 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=248 fPos=0.6 fActPosition=0.6 time=0.000011
|
|
2022/01/28 10:04:50.063 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65489 fPos=1.376 fActPosition=1.38 time=0.000013
|
|
2022/01/28 10:04:50.064 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=274 fPos=1.38 fActPosition=1.38 time=0.000008
|
|
2022/01/28 10:04:50.264 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65462 fPos=2.18 fActPosition=2.19 time=0.000011
|
|
2022/01/28 10:04:50.264 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=301 fPos=2.18 fActPosition=2.19 time=0.000007
|
|
2022/01/28 10:04:50.464 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65435 fPos=2.98 fActPosition=3 time=0.000012
|
|
2022/01/28 10:04:50.464 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=327 fPos=2.98 fActPosition=2.97 time=0.000006
|
|
2022/01/28 10:04:50.665 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65409 fPos=3.784 fActPosition=3.78 time=0.000090
|
|
2022/01/28 10:04:50.665 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=354 fPos=3.784 fActPosition=3.78 time=0.000006
|
|
2022/01/28 10:04:50.865 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65382 fPos=4.584 fActPosition=4.59 time=0.000020
|
|
2022/01/28 10:04:50.865 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=381 fPos=4.584 fActPosition=4.59 time=0.000012
|
|
2022/01/28 10:04:51.066 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65355 fPos=5.388 fActPosition=5.4 time=0.000144
|
|
2022/01/28 10:04:51.066 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=408 fPos=5.388 fActPosition=5.4 time=0.000011
|
|
2022/01/28 10:04:51.266 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65329 fPos=6.188 fActPosition=6.18 time=0.000021
|
|
2022/01/28 10:04:51.267 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=435 fPos=6.192 fActPosition=6.21 time=0.000327
|
|
2022/01/28 10:04:51.467 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65302 fPos=6.992 fActPosition=6.99 time=0.000020
|
|
2022/01/28 10:04:51.467 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=461 fPos=6.992 fActPosition=6.99 time=0.000010
|
|
2022/01/28 10:04:51.668 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65275 fPos=7.796 fActPosition=7.8 time=0.000016
|
|
2022/01/28 10:04:51.668 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=488 fPos=7.796 fActPosition=7.8 time=0.000007
|
|
2022/01/28 10:04:51.868 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65249 fPos=8.6 fActPosition=8.58 time=0.000010
|
|
2022/01/28 10:04:51.868 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=515 fPos=8.6 fActPosition=8.61 time=0.000006
|
|
2022/01/28 10:04:52.068 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65222 fPos=9.396 fActPosition=9.39 time=0.000010
|
|
2022/01/28 10:04:52.069 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=542 fPos=9.404 fActPosition=9.42 time=0.000007
|
|
2022/01/28 10:04:52.269 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65195 fPos=10.2 fActPosition=10.2 time=0.000011
|
|
2022/01/28 10:04:52.269 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=568 fPos=10.2 fActPosition=10.2 time=0.000006
|
|
2022/01/28 10:04:52.469 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65168 fPos=11 fActPosition=11.01 time=0.000018
|
|
2022/01/28 10:04:52.470 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=595 fPos=11 fActPosition=11.01 time=0.000012
|
|
2022/01/28 10:04:52.670 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65141 fPos=11.804 fActPosition=11.82 time=0.000014
|
|
2022/01/28 10:04:52.670 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=622 fPos=11.804 fActPosition=11.82 time=0.000008
|
|
2022/01/28 10:04:52.870 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65115 fPos=12.604 fActPosition=12.6 time=0.000021
|
|
2022/01/28 10:04:52.871 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=648 fPos=12.608 fActPosition=12.6 time=0.000185
|
|
2022/01/28 10:04:53.071 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65088 fPos=13.408 fActPosition=13.41 time=0.000019
|
|
2022/01/28 10:04:53.071 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=675 fPos=13.408 fActPosition=13.41 time=0.000011
|
|
2022/01/28 10:04:53.272 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65061 fPos=14.212 fActPosition=14.22 time=0.000010
|
|
2022/01/28 10:04:53.272 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=702 fPos=14.212 fActPosition=14.22 time=0.000008
|
|
2022/01/28 10:04:53.472 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65034 fPos=15.012 fActPosition=15.03 time=0.000009
|
|
2022/01/28 10:04:53.472 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=728 fPos=15.012 fActPosition=15 time=0.000006
|
|
2022/01/28 10:04:53.672 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65008 fPos=15.812 fActPosition=15.81 time=0.000010
|
|
2022/01/28 10:04:53.672 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=755 fPos=15.812 fActPosition=15.81 time=0.000013
|
|
2022/01/28 10:04:53.873 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64981 fPos=16.62 fActPosition=16.62 time=0.000275
|
|
2022/01/28 10:04:53.873 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=782 fPos=16.62 fActPosition=16.62 time=0.000011
|
|
2022/01/28 10:04:54.073 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64954 fPos=17.416 fActPosition=17.43 time=0.000017
|
|
2022/01/28 10:04:54.074 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=809 fPos=17.424 fActPosition=17.43 time=0.000013
|
|
2022/01/28 10:04:54.274 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64928 fPos=18.22 fActPosition=18.21 time=0.000017
|
|
2022/01/28 10:04:54.274 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=836 fPos=18.22 fActPosition=18.24 time=0.000011
|
|
2022/01/28 10:04:54.475 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64901 fPos=19.024 fActPosition=19.02 time=0.000057
|
|
2022/01/28 10:04:54.475 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=862 fPos=19.024 fActPosition=19.02 time=0.000010
|
|
2022/01/28 10:04:54.675 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64878 fPos=19.688 fActPosition=19.71 time=0.000023
|
|
2022/01/28 10:04:54.676 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=885 fPos=19.688 fActPosition=19.71 time=0.000293
|
|
2022/01/28 10:04:54.876 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.984 fActPosition=19.98 time=0.000011
|
|
2022/01/28 10:04:54.876 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=895 fPos=19.984 fActPosition=20.01 time=0.000007
|
|
2022/01/28 10:04:55.077 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000267
|
|
2022/01/28 10:04:55.077 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000006
|
|
2022/01/28 10:04:55.277 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000010
|
|
2022/01/28 10:04:55.277 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000007
|
|
2022/01/28 10:04:55.477 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000020
|
|
2022/01/28 10:04:55.477 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=894 fPos=20 fActPosition=19.98 time=0.000011
|
|
2022/01/28 10:04:55.678 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000019
|
|
2022/01/28 10:04:55.678 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=894 fPos=20 fActPosition=19.98 time=0.000012
|
|
2022/01/28 10:04:55.878 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000017
|
|
2022/01/28 10:04:55.878 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000012
|
|
2022/01/28 10:04:56.079 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000016
|
|
2022/01/28 10:04:56.079 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000011
|
|
2022/01/28 10:04:56.279 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000010
|
|
2022/01/28 10:04:56.279 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000005
|
|
2022/01/28 10:04:56.479 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000011
|
|
2022/01/28 10:04:56.479 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=894 fPos=20 fActPosition=19.98 time=0.000005
|
|
2022/01/28 10:04:56.679 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000010
|
|
2022/01/28 10:04:56.679 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000007
|
|
2022/01/28 10:04:56.880 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000011
|
|
2022/01/28 10:04:56.880 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000006
|
|
rbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL: INFO: Reply OK (command[2] = G2X0Y0R20)
|
|
GRBL: INFO: Write command (command[3] = G4P2)
|
|
Added: G4P2../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_dwell:200:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_go_idle:259:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL: INFO: Reply OK (command[3] = G4P2)
|
|
GRBL: INFO: Write command (command[4] = G0X10Y10)
|
|
Added: G0X10Y10../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: INFO: Reply OK (command[4] = G0X10Y10)
|
|
GRBL: INFO: Write command (command[5] = G4P2)
|
|
Added: G4P2../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_dwell:200:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_go_idle:259:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL: INFO: Reply OK (command[5] = G4P2)
|
|
GRBL: INFO: Write command (command[6] = G1X0Y0)
|
|
Added: G1X0Y0../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: INFO: Reply OK (command[6] = G1X0Y0)
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_go_idle:259:
|
|
GRBL busy: 0.00000
|
|
Retrigger g-code!!
|
|
GRBL: INFO: Write command (command[0] = G1X20Y20F360)
|
|
Added: 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: INFO: Reply OK (command[0] = G1X20Y20F360)
|
|
GRBL: INFO: Write command (command[1] = G4P2)
|
|
Added: G4P2../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_dwell:200:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_go_idle:259:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL: INFO: Reply OK (command[1] = G4P2)
|
|
GRBL: INFO: Write command (command[2] = G2X0Y0R20)
|
|
Added: G2X0Y0R20../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_arc:91:
|
|
../g2022/01/28 10:04:57.080 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000011
|
|
2022/01/28 10:04:57.080 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=893 fPos=19.92 fActPosition=19.95 time=0.000006
|
|
2022/01/28 10:04:57.280 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.992 fActPosition=19.98 time=0.000011
|
|
2022/01/28 10:04:57.280 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=877 fPos=19.48 fActPosition=19.47 time=0.000006
|
|
2022/01/28 10:04:57.481 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.956 fActPosition=19.98 time=0.000012
|
|
2022/01/28 10:04:57.481 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=850 fPos=18.668 fActPosition=18.66 time=0.000006
|
|
2022/01/28 10:04:57.681 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64873 fPos=19.844 fActPosition=19.86 time=0.000013
|
|
2022/01/28 10:04:57.681 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=812 fPos=17.54 fActPosition=17.52 time=0.000008
|
|
2022/01/28 10:04:57.881 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64879 fPos=19.676 fActPosition=19.68 time=0.000011
|
|
2022/01/28 10:04:57.882 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=774 fPos=16.412 fActPosition=16.38 time=0.000026
|
|
2022/01/28 10:04:58.082 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64887 fPos=19.44 fActPosition=19.44 time=0.000011
|
|
2022/01/28 10:04:58.082 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=738 fPos=15.304 fActPosition=15.3 time=0.000007
|
|
2022/01/28 10:04:58.282 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64897 fPos=19.136 fActPosition=19.14 time=0.000011
|
|
2022/01/28 10:04:58.282 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=701 fPos=14.2 fActPosition=14.19 time=0.000006
|
|
2022/01/28 10:04:58.482 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64910 fPos=18.764 fActPosition=18.75 time=0.000012
|
|
2022/01/28 10:04:58.483 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=664 fPos=13.084 fActPosition=13.08 time=0.000210
|
|
2022/01/28 10:04:58.683 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64925 fPos=18.324 fActPosition=18.3 time=0.000012
|
|
2022/01/28 10:04:58.683 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=627 fPos=11.988 fActPosition=11.97 time=0.000006
|
|
2022/01/28 10:04:58.883 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64941 fPos=17.84 fActPosition=17.82 time=0.000011
|
|
2022/01/28 10:04:58.883 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=593 fPos=10.964 fActPosition=10.95 time=0.000006
|
|
2022/01/28 10:04:59.084 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64959 fPos=17.28 fActPosition=17.28 time=0.000011
|
|
2022/01/28 10:04:59.084 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=559 fPos=9.928 fActPosition=9.93 time=0.000007
|
|
2022/01/28 10:04:59.284 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64979 fPos=16.672 fActPosition=16.68 time=0.000011
|
|
2022/01/28 10:04:59.284 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=526 fPos=8.956 fActPosition=8.94 time=0.000007
|
|
2022/01/28 10:04:59.484 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65002 fPos=16 fActPosition=15.99 time=0.000012
|
|
2022/01/28 10:04:59.485 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=494 fPos=8 fActPosition=7.98 time=0.000008
|
|
2022/01/28 10:04:59.685 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65026 fPos=15.284 fActPosition=15.27 time=0.000014
|
|
2022/01/28 10:04:59.685 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=465 fPos=7.104 fActPosition=7.11 time=0.000007
|
|
2022/01/28 10:04:59.885 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65051 fPos=14.508 fActPosition=14.52 time=0.000012
|
|
2022/01/28 10:04:59.885 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=436 fPos=6.232 fActPosition=6.24 time=0.000007
|
|
2022/01/28 10:05:00.086 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65079 fPos=13.68 fActPosition=13.68 time=0.000052
|
|
2022/01/28 10:05:00.086 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=408 fPos=5.412 fActPosition=5.4 time=0.000006
|
|
2022/01/28 10:05:00.286 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65108 fPos=12.804 fActPosition=12.81 time=0.000011
|
|
2022/01/28 10:05:00.286 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=383 fPos=4.64 fActPosition=4.65 time=0.000007
|
|
2022/01/28 10:05:00.486 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65138 fPos=11.904 fActPosition=11.91 time=0.000012
|
|
2022/01/28 10:05:00.486 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=359 fPos=3.932 fActPosition=3.93 time=0.000006
|
|
rbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_update_plan_block_parameters:639:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_update_plan_block_parameters:639:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_wake_up:228:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL bus2022/01/28 10:05:00.687 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65170 fPos=10.94 fActPosition=10.95 time=0.000010
|
|
2022/01/28 10:05:00.687 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=337 fPos=3.26 fActPosition=3.27 time=0.000007
|
|
2022/01/28 10:05:00.887 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65203 fPos=9.968 fActPosition=9.96 time=0.000011
|
|
2022/01/28 10:05:00.887 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=317 fPos=2.66 fActPosition=2.67 time=0.000008
|
|
2022/01/28 10:05:01.087 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65237 fPos=8.932 fActPosition=8.94 time=0.000010
|
|
2022/01/28 10:05:01.088 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=298 fPos=2.104 fActPosition=2.1 time=0.000009
|
|
2022/01/28 10:05:01.288 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65271 fPos=7.908 fActPosition=7.92 time=0.000010
|
|
2022/01/28 10:05:01.288 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=283 fPos=1.632 fActPosition=1.65 time=0.000005
|
|
2022/01/28 10:05:01.488 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65309 fPos=6.804 fActPosition=6.78 time=0.000009
|
|
2022/01/28 10:05:01.488 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=268 fPos=1.196 fActPosition=1.2 time=0.000005
|
|
2022/01/28 10:05:01.689 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65346 fPos=5.688 fActPosition=5.67 time=0.000011
|
|
2022/01/28 10:05:01.689 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=255 fPos=0.828 fActPosition=0.81 time=0.000007
|
|
2022/01/28 10:05:01.889 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65383 fPos=4.58 fActPosition=4.56 time=0.000011
|
|
2022/01/28 10:05:01.889 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=246 fPos=0.532 fActPosition=0.54 time=0.000006
|
|
2022/01/28 10:05:02.089 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65419 fPos=3.48 fActPosition=3.48 time=0.000020
|
|
2022/01/28 10:05:02.090 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=238 fPos=0.304 fActPosition=0.3 time=0.000013
|
|
2022/01/28 10:05:02.290 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65457 fPos=2.344 fActPosition=2.34 time=0.000021
|
|
2022/01/28 10:05:02.290 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=233 fPos=0.14 fActPosition=0.15 time=0.000013
|
|
2022/01/28 10:05:02.490 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65494 fPos=1.228 fActPosition=1.23 time=0.000010
|
|
2022/01/28 10:05:02.491 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=229 fPos=0.04 fActPosition=0.03 time=0.000013
|
|
2022/01/28 10:05:02.691 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65520 fPos=0.46 fActPosition=0.45 time=0.000009
|
|
2022/01/28 10:05:02.691 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=228 fPos=0.008 fActPosition=0 time=0.000006
|
|
2022/01/28 10:05:02.891 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65533 fPos=0.06 fActPosition=0.06 time=0.000010
|
|
2022/01/28 10:05:02.891 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000007
|
|
2022/01/28 10:05:03.092 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000144
|
|
2022/01/28 10:05:03.092 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000010
|
|
2022/01/28 10:05:03.292 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000018
|
|
2022/01/28 10:05:03.292 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000010
|
|
2022/01/28 10:05:03.492 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000019
|
|
2022/01/28 10:05:03.493 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000257
|
|
2022/01/28 10:05:03.693 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000015
|
|
2022/01/28 10:05:03.693 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000009
|
|
2022/01/28 10:05:03.893 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000014
|
|
2022/01/28 10:05:03.893 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000007
|
|
2022/01/28 10:05:04.094 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000087
|
|
2022/01/28 10:05:04.094 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:05:04.294 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:05:04.294 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:05:04.494 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:05:04.494 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000005
|
|
2022/01/28 10:05:04.694 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000018
|
|
2022/01/28 10:05:04.694 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:05:04.894 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000018
|
|
2022/01/28 10:05:04.895 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000079
|
|
2022/01/28 10:05:05.095 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65534 fPos=0.028 fActPosition=0.03 time=0.000021
|
|
2022/01/28 10:05:05.095 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=228 fPos=0.028 fActPosition=0 time=0.000010
|
|
2022/01/28 10:05:05.295 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65523 fPos=0.368 fActPosition=0.36 time=0.000021
|
|
2022/01/28 10:05:05.296 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=240 fPos=0.368 fActPosition=0.36 time=0.000013
|
|
2022/01/28 10:05:05.496 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65499 fPos=1.084 fActPosition=1.08 time=0.000013
|
|
2022/01/28 10:05:05.496 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=264 fPos=1.084 fActPosition=1.08 time=0.000008
|
|
2022/01/28 10:05:05.696 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65463 fPos=2.152 fActPosition=2.16 time=0.000012
|
|
2022/01/28 10:05:05.697 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=300 fPos=2.156 fActPosition=2.16 time=0.000067
|
|
2022/01/28 10:05:05.897 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65415 fPos=3.592 fActPosition=3.6 time=0.000017
|
|
2022/01/28 10:05:05.897 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=348 fPos=3.592 fActPosition=3.6 time=0.000006
|
|
2022/01/28 10:05:06.097 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65359 fPos=5.26 fActPosition=5.28 time=0.000010
|
|
2022/01/28 10:05:06.097 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=404 fPos=5.26 fActPosition=5.28 time=0.000007
|
|
2022/01/28 10:05:06.298 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65304 fPos=6.908 fActPosition=6.93 time=0.000107
|
|
2022/01/28 10:05:06.298 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=459 fPos=6.908 fActPosition=6.93 time=0.000012
|
|
2022/01/28 10:05:06.498 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65260 fPos=8.24 fActPosition=8.25 time=0.000016
|
|
2022/01/28 10:05:06.499 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=503 fPos=8.248 fActPosition=8.25 time=0.000151
|
|
2022/01/28 10:05:06.699 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65228 fPos=9.204 fActPosition=9.21 time=0.000019
|
|
2022/01/28 10:05:06.699 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=535 fPos=9.204 fActPosition=9.21 time=0.000010
|
|
2022/01/28 10:05:06.900 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65208 fPos=9.792 fActPosition=9.81 time=0.000115
|
|
2022/01/28 10:05:06.900 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=555 fPos=9.792 fActPosition=9.81 time=0.000014
|
|
2022/01/28 10:05:07.100 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000012
|
|
2022/01/28 10:05:07.126 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=562 fPos=10 fActPosition=10.02 time=0.025198
|
|
2022/01/28 10:05:07.326 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000010
|
|
2022/01/28 10:05:07.326 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000006
|
|
2022/01/28 10:05:07.526 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000009
|
|
2022/01/28 10:05:07.526 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000006
|
|
2022/01/28 10:05:07.727 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000237
|
|
2022/01/28 10:05:07.727 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000012
|
|
2022/01/28 10:05:07.927 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000018
|
|
2022/01/28 10:05:07.927 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=562 fPos=10 fActPosition=10.02 time=0.000010
|
|
2022/01/28 10:05:08.128 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000113
|
|
2022/01/28 10:05:08.128 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000012
|
|
2022/01/28 10:05:08.328 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000017
|
|
2022/01/28 10:05:08.329 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000166
|
|
2022/01/28 10:05:08.529 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000017
|
|
2022/01/28 10:05:08.529 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000011
|
|
2022/01/28 10:05:08.729 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000010
|
|
2022/01/28 10:05:08.729 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=562 fPos=10 fActPosition=10.02 time=0.000006
|
|
2022/01/28 10:05:08.930 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000072
|
|
2022/01/28 10:05:08.930 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000006
|
|
2022/01/28 10:05:09.130 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000010
|
|
2022/01/28 10:05:09.130 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=561 fPos=10 fActPosition=9.99 time=0.000005
|
|
2022/01/28 10:05:09.330 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65208 fPos=9.792 fActPosition=9.81 time=0.000017
|
|
2022/01/28 10:05:09.331 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=555 fPos=9.792 fActPosition=9.81 time=0.000010
|
|
2022/01/28 10:05:09.531 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65228 fPos=9.208 fActPosition=9.21 time=0.000019
|
|
2022/01/28 10:05:09.531 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=535 fPos=9.208 fActPosition=9.21 time=0.000010
|
|
2022/01/28 10:05:09.731 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65255 fPos=8.408 fActPosition=8.4 time=0.000020
|
|
2022/01/28 10:05:09.732 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=508 fPos=8.4 fActPosition=8.4 time=0.000012
|
|
2022/01/28 10:05:09.932 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65282 fPos=7.604 fActPosition=7.59 time=0.000020
|
|
2022/01/28 10:05:09.932 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=481 fPos=7.604 fActPosition=7.59 time=0.000012
|
|
2022/01/28 10:05:10.133 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65309 fPos=6.8 fActPosition=6.78 time=0.000237
|
|
2022/01/28 10:05:10.133 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=454 fPos=6.8 fActPosition=6.78 time=0.000007
|
|
2022/01/28 10:05:10.333 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65335 fPos=6 fActPosition=6 time=0.000012
|
|
2022/01/28 10:05:10.333 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=428 fPos=6 fActPosition=6 time=0.000007
|
|
2022/01/28 10:05:10.534 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65362 fPos=5.196 fActPosition=5.19 time=0.000012
|
|
2022/01/28 10:05:10.534 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=401 fPos=5.196 fActPosition=5.19 time=0.000006
|
|
2022/01/28 10:05:10.734 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65389 fPos=4.396 fActPosition=4.38 time=0.000011
|
|
2022/01/28 10:05:10.734 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=374 fPos=4.396 fActPosition=4.38 time=0.000006
|
|
2022/01/28 10:05:10.934 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65415 fPos=3.596 fActPosition=3.6 time=0.000021
|
|
2022/01/28 10:05:10.935 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=347 fPos=3.592 fActPosition=3.57 time=0.000014
|
|
2022/01/28 10:05:11.135 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65442 fPos=2.792 fActPosition=2.79 time=0.000020
|
|
2022/01/28 10:05:11.135 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=321 fPos=2.792 fActPosition=2.79 time=0.000011
|
|
2022/01/28 10:05:11.336 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65469 fPos=1.988 fActPosition=1.98 time=0.000108
|
|
2022/01/28 10:05:11.336 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=294 fPos=1.988 fActPosition=1.98 time=0.000012
|
|
2022/01/28 10:05:11.536 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65495 fPos=1.188 fActPosition=1.2 time=0.000019
|
|
2022/01/28 10:05:11.537 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=267 fPos=1.184 fActPosition=1.17 time=0.000393
|
|
2022/01/28 10:05:11.737 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65520 fPos=0.448 fActPosition=0.45 time=0.000011
|
|
2022/01/28 10:05:11.737 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=243 fPos=0.448 fActPosition=0.45 time=0.000006
|
|
2022/01/28 10:05:11.938 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65533 fPos=0.052 fActPosition=0.06 time=0.000011
|
|
2022/01/28 10:05:11.938 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=229 fPos=0.052 fActPosition=0.03 time=0.000006
|
|
2022/01/28 10:05:12.138 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:05:12.138 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/28 10:05:12.338 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/28 10:05:12.338 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=228 fPos=0 fActPosition=0 time=0.000005
|
|
2022/01/28 10:05:12.538 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65535 fPos=0.004 fActPosition=0 time=0.000015
|
|
2022/01/28 10:05:12.539 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=228 fPos=0.008 fActPosition=0 time=0.000009
|
|
2022/01/28 10:05:12.739 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65526 fPos=0.264 fActPosition=0.27 time=0.000016
|
|
2022/01/28 10:05:12.739 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=237 fPos=0.264 fActPosition=0.27 time=0.000008
|
|
2022/01/28 10:05:12.939 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65505 fPos=0.888 fActPosition=0.9 time=0.000020
|
|
2022/01/28 10:05:12.940 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=258 fPos=0.892 fActPosition=0.9 time=0.000164
|
|
2022/01/28 10:05:13.140 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65478 fPos=1.692 fActPosition=1.71 time=0.000023
|
|
2022/01/28 10:05:13.140 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=285 fPos=1.692 fActPosition=1.71 time=0.000013
|
|
2022/01/28 10:05:13.341 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65452 fPos=2.496 fActPosition=2.49 time=0.000011
|
|
2022/01/28 10:05:13.341 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=311 fPos=2.496 fActPosition=2.49 time=0.000006
|
|
2022/01/28 10:05:13.541 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65425 fPos=3.3 fActPosition=3.3 time=0.000012
|
|
2022/01/28 10:05:13.541 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=339 fPos=3.3 fActPosition=3.33 time=0.000007
|
|
2022/01/28 10:05:13.741 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65398 fPos=4.1 fActPosition=4.11 time=0.000012
|
|
2022/01/28 10:05:13.742 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=365 fPos=4.104 fActPosition=4.11 time=0.000008
|
|
2022/01/28 10:05:13.942 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65372 fPos=4.9 fActPosition=4.89 time=0.000020
|
|
2022/01/28 10:05:13.942 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=391 fPos=4.9 fActPosition=4.89 time=0.000012
|
|
2022/01/28 10:05:14.142 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65345 fPos=5.7 fActPosition=5.7 time=0.000019
|
|
2022/01/28 10:05:14.143 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=419 fPos=5.704 fActPosition=5.73 time=0.000131
|
|
2022/01/28 10:05:14.343 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65318 fPos=6.504 fActPosition=6.51 time=0.000020
|
|
2022/01/28 10:05:14.344 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=445 fPos=6.508 fActPosition=6.51 time=0.000014
|
|
2022/01/28 10:05:14.544 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65291 fPos=7.308 fActPosition=7.32 time=0.000020
|
|
2022/01/28 10:05:14.544 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=472 fPos=7.308 fActPosition=7.32 time=0.000012
|
|
2022/01/28 10:05:14.745 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65265 fPos=8.112 fActPosition=8.1 time=0.000012
|
|
2022/01/28 10:05:14.745 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=499 fPos=8.112 fActPosition=8.13 time=0.000007
|
|
2022/01/28 10:05:14.945 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65237 fPos=8.912 fActPosition=8.94 time=0.000011
|
|
2022/01/28 10:05:14.945 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=525 fPos=8.912 fActPosition=8.91 time=0.000006
|
|
2022/01/28 10:05:15.145 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65211 fPos=9.712 fActPosition=9.72 time=0.000011
|
|
2022/01/28 10:05:15.145 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=552 fPos=9.712 fActPosition=9.72 time=0.000007
|
|
2022/01/28 10:05:15.346 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65184 fPos=10.516 fActPosition=10.53 time=0.000011
|
|
2022/01/28 10:05:15.346 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=579 fPos=10.516 fActPosition=10.53 time=0.000008
|
|
2022/01/28 10:05:15.546 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65157 fPos=11.316 fActPosition=11.34 time=0.000030
|
|
2022/01/28 10:05:15.546 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=605 fPos=11.316 fActPosition=11.31 time=0.000012
|
|
2022/01/28 10:05:15.747 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65131 fPos=12.124 fActPosition=12.12 time=0.000253
|
|
2022/01/28 10:05:15.747 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=632 fPos=12.124 fActPosition=12.12 time=0.000013
|
|
2022/01/28 10:05:15.947 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65104 fPos=12.92 fActPosition=12.93 time=0.000018
|
|
2022/01/28 10:05:15.948 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=659 fPos=12.928 fActPosition=12.93 time=0.000013
|
|
2022/01/28 10:05:16.148 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65077 fPos=13.724 fActPosition=13.74 time=0.000019
|
|
2022/01/28 10:05:16.148 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=686 fPos=13.724 fActPosition=13.74 time=0.000011
|
|
2022/01/28 10:05:16.349 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65051 fPos=14.528 fActPosition=14.52 time=0.000049
|
|
2022/01/28 10:05:16.349 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=712 fPos=14.528 fActPosition=14.52 time=0.000007
|
|
2022/01/28 10:05:16.549 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65024 fPos=15.328 fActPosition=15.33 time=0.000010
|
|
2022/01/28 10:05:16.549 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=739 fPos=15.328 fActPosition=15.33 time=0.000006
|
|
2022/01/28 10:05:16.749 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64997 fPos=16.128 fActPosition=16.14 time=0.000010
|
|
2022/01/28 10:05:16.749 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=766 fPos=16.128 fActPosition=16.14 time=0.000006
|
|
2022/01/28 10:05:16.950 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64971 fPos=16.932 fActPosition=16.92 time=0.000010
|
|
2022/01/28 10:05:16.950 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=793 fPos=16.932 fActPosition=16.95 time=0.000006
|
|
2022/01/28 10:05:17.150 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64944 fPos=17.732 fActPosition=17.73 time=0.000018
|
|
2022/01/28 10:05:17.150 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=819 fPos=17.732 fActPosition=17.73 time=0.000010
|
|
2022/01/28 10:05:17.351 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64917 fPos=18.536 fActPosition=18.54 time=0.000154
|
|
2022/01/28 10:05:17.351 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=846 fPos=18.536 fActPosition=18.54 time=0.000011
|
|
2022/01/28 10:05:17.551 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64891 fPos=19.324 fActPosition=19.32 time=0.000013
|
|
2022/01/28 10:05:17.551 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=872 fPos=19.324 fActPosition=19.32 time=0.000008
|
|
2022/01/28 10:05:17.752 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64873 fPos=19.848 fActPosition=19.86 time=0.000125
|
|
2022/01/28 10:05:17.752 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=890 fPos=19.848 fActPosition=19.86 time=0.000015
|
|
2022/01/28 10:05:17.952 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000011
|
|
2022/01/28 10:05:17.953 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000008
|
|
2022/01/28 10:05:18.153 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000009
|
|
2022/01/28 10:05:18.153 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=894 fPos=20 fActPosition=19.98 time=0.000007
|
|
2022/01/28 10:05:18.353 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000010
|
|
2022/01/28 10:05:18.353 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000007
|
|
2022/01/28 10:05:18.554 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000016
|
|
2022/01/28 10:05:18.554 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000014
|
|
2022/01/28 10:05:18.754 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000013
|
|
2022/01/28 10:05:18.754 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000008
|
|
2022/01/28 10:05:18.954 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000016
|
|
2022/01/28 10:05:18.954 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=894 fPos=20 fActPosition=19.98 time=0.000011
|
|
2022/01/28 10:05:19.155 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000074
|
|
2022/01/28 10:05:19.155 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000010
|
|
2022/01/28 10:05:19.355 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000017
|
|
2022/01/28 10:05:19.355 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000009
|
|
2022/01/28 10:05:19.555 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000010
|
|
2022/01/28 10:05:19.555 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000006
|
|
2022/01/28 10:05:19.756 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000011
|
|
2022/01/28 10:05:19.756 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=894 fPos=20 fActPosition=19.98 time=0.000006
|
|
y: 1.00000
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL: INFO: Reply OK (command[2] = G2X0Y0R20)
|
|
GRBL: INFO: Write command (command[3] = G4P2)
|
|
Added: G4P2../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_dwell:200:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_go_idle:259:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL: INFO: Reply OK (command[3] = G4P2)
|
|
GRBL: INFO: Write command (command[4] = G0X10Y10)
|
|
Added: G0X10Y10../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: INFO: Reply OK (command[4] = G0X10Y10)
|
|
GRBL: INFO: Write command (command[5] = G4P2)
|
|
Added: G4P2../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_dwell:200:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_go_idle:259:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL: INFO: Reply OK (command[5] = G4P2)
|
|
GRBL: INFO: Write command (command[6] = G1X0Y0)
|
|
Added: G1X0Y0../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
GRBL: INFO: Reply OK (command[6] = G1X0Y0)
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
../grbl/grbl_stepper.c:st_wake_up:228:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_go_idle:259:
|
|
GRBL busy: 0.00000
|
|
Retrigger g-code!!
|
|
GRBL: INFO: Write command (command[0] = G1X20Y20F360)
|
|
Added: 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: INFO: Reply OK (command[0] = G1X20Y20F360)
|
|
GRBL: INFO: Write command (command[1] = G4P2)
|
|
Added: G4P2../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_dwell:200:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_go_idle:259:
|
|
GRBL busy: 1.00000
|
|
GRBL busy: 1.00000
|
|
GRBL: INFO: Reply OK (command[1] = G4P2)
|
|
GRBL: INFO: Write command (command[2] = G2X0Y0R20)
|
|
Added: G2X0Y0R20../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_arc:91:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_update_plan_block_parameters:639:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_update_plan_block_parameters:639:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:2022/01/28 10:05:19.956 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000012
|
|
2022/01/28 10:05:19.956 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=895 fPos=20 fActPosition=20.01 time=0.000006
|
|
2022/01/28 10:05:20.156 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64868 fPos=19.996 fActPosition=20.01 time=0.000028
|
|
2022/01/28 10:05:20.156 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=888 fPos=19.788 fActPosition=19.8 time=0.000011
|
|
2022/01/28 10:05:20.357 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.984 fActPosition=19.98 time=0.000011
|
|
2022/01/28 10:05:20.357 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=868 fPos=19.208 fActPosition=19.2 time=0.000006
|