8679 lines
269 KiB
Plaintext
8679 lines
269 KiB
Plaintext
registerChannelProviderLocal firstTime true
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#
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# Start at "2022-W05-Jan31-1435-56-CET"
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#
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# Version information:
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# European Spallation Source ERIC : iocsh.bash (3.4.0-PID-15125)
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#
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# --->--> snip -->-->
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# Please Use Version and other environment variables
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# in order to report or debug this shell
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#
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# HOSTDISPLAY=""
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# WINDOWID=""
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# PWD="/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
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# USER="pi"
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# LOGNAME="pi"
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# EPICS_HOST_ARCH="linux-arm"
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# EPICS_BASE="/home/pi/epics/base-7.0.5"
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# E3_REQUIRE_NAME="require"
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# E3_REQUIRE_VERSION="3.4.0"
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# E3_REQUIRE_LOCATION="/home/pi/epics/base-7.0.5/require/3.4.0"
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# E3_REQUIRE_BIN="/home/pi/epics/base-7.0.5/require/3.4.0/bin"
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# E3_REQUIRE_DB="/home/pi/epics/base-7.0.5/require/3.4.0/db"
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# E3_REQUIRE_DBD="/home/pi/epics/base-7.0.5/require/3.4.0/dbd"
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# E3_REQUIRE_INC="/home/pi/epics/base-7.0.5/require/3.4.0/include"
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# E3_REQUIRE_LIB="/home/pi/epics/base-7.0.5/require/3.4.0/lib"
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# 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"
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# EPICS_CA_AUTO_ADDR_LIST=""
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# EPICS_CA_ADDR_LIST=""
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# 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"
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# --->--> snip -->-->
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#
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# Set REQUIRE_IOC for its internal PVs
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epicsEnvSet REQUIRE_IOC "REQMOD:raspberrypi-15125"
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#
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# Enable an exit subroutine for sotfioc
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dbLoadRecords "/home/pi/epics/base-7.0.5/db/softIocExit.db" "IOC=REQMOD:raspberrypi-15125"
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#
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# Set E3_IOCSH_TOP for the absolute path where iocsh.bash is executed.
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epicsEnvSet E3_IOCSH_TOP "/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
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#
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#
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# Load require module, which has the version 3.4.0
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#
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dlload /home/pi/epics/base-7.0.5/require/3.4.0/lib/linux-arm/librequire.so
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dbLoadDatabase /home/pi/epics/base-7.0.5/require/3.4.0/dbd/require.dbd
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require_registerRecordDeviceDriver
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Loading module info records for require
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#
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# Set E3_CMD_TOP for the absolute path where test.script exists
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epicsEnvSet E3_CMD_TOP "/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
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#
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iocshLoad 'test.script',''
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##############################################################################
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## Example: Demo of ecmc grbl g-code plugin
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## https://github.com/anderssandstrom/ecmc_plugin_grbl
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## https://github.com/anderssandstrom/e3-ecmc_plugin_grbl
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##
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## The plugin exposes:
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##
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## Initiation:
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epicsEnvSet("IOC" ,"IOC_TEST")
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epicsEnvSet("ECMCCFG_INIT" ,"") #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
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epicsEnvSet("SCRIPTEXEC" ,"iocshLoad")
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require ecmccfg ruckig
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Module ecmccfg version ruckig found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/lib/linux-arm/libecmccfg.so
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Loaded ecmccfg version ruckig
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/dbd/ecmccfg.dbd
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Calling function ecmccfg_registerRecordDeviceDriver
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Loading module info records for ecmccfg
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# Epics Motor record driver that will be used:
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epicsEnvShow(ECMC_MR_MODULE)
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ECMC_MR_MODULE is not an environment variable.
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# run module startup.cmd (only needed at ESS PSI auto call at require)
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iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/startup.cmd, "IOC=IOC_TEST,ECMC_VER=ruckig"
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#==============================================================================
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# startup.cmd
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on error halt
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require ecmc "ruckig"
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Module ecmc version ruckig found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/
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Module ecmc depends on asyn 4.41.0
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Module asyn version 4.41.0 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/lib/linux-arm/libasyn.so
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Loaded asyn version 4.41.0
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/dbd/asyn.dbd
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Calling function asyn_registerRecordDeviceDriver
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Loading module info records for asyn
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Module ecmc depends on exprtk 1.2.1
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Module exprtk version 1.2.1 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/exprtk/1.2.1/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/exprtk/1.2.1/lib/linux-arm/libexprtk.so
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Loaded exprtk version 1.2.1
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exprtk has no dbd file
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Loading module info records for exprtk
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Module ecmc depends on motor develop
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Module motor version develop found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/
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Module motor depends on asyn 4.41.0
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Module asyn version 4.41.0 already loaded
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/lib/linux-arm/libmotor.so
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Loaded motor version develop
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/dbd/motor.dbd
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Calling function motor_registerRecordDeviceDriver
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Loading module info records for motor
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Module ecmc depends on ruckig 1.0.0
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Module ruckig version 1.0.0 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ruckig/1.0.0/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ruckig/1.0.0/lib/linux-arm/libruckig.so
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Loaded ruckig version 1.0.0
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ruckig has no dbd file
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Loading module info records for ruckig
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/lib/linux-arm/libecmc.so
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Loaded ecmc version ruckig
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/dbd/ecmc.dbd
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Calling function ecmc_registerRecordDeviceDriver
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Loading module info records for ecmc
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ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'ecmcMotorRecord'='EthercatMC'", "require EthercatMC 3.0.2 # Using EthercatMC motor record support.","# Using ecmcMotorRecord motor record support.")
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# Using ecmcMotorRecord motor record support.
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epicsEnvUnset(ECMC_EXE_CMD)
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epicsEnvSet("ECMC_CONFIG_ROOT", "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/")
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epicsEnvSet("ECMC_CONFIG_DB", "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/db")
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epicsEnvSet("SCRIPTEXEC", "iocshLoad")
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epicsEnvSet("SM_PREFIX", "IOC_TEST:") # colon added since IOC is _not_ PREFIX
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epicsEnvSet("ECMC_PROC_HOOK", "")
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epicsEnvSet(ECMC_MODE, FULL)
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ecmcEpicsEnvSetCalcTernary(ECMC_SUPPORT_MOTION, "'FULL'!='DAQ'","","# MODE == DAQ, DISABLING MOTION.")
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epicsEnvShow(ECMC_SUPPORT_MOTION)
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ECMC_SUPPORT_MOTION=
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ecmcEpicsEnvSetCalcTernary(ECMC_USE_MOTOR_RECORD, "'FULL'=='FULL'","","# MODE != FULL, DISABLING MOTOR RECORD.")
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epicsEnvShow(ECMC_USE_MOTOR_RECORD)
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ECMC_USE_MOTOR_RECORD=
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAll.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAll.cmd"
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#==============================================================================
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# initAll.cmd
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/init.cmd",1)
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iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/init.cmd
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#==============================================================================
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# init.cmd
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epicsEnvSet("ECMC_ASYN_TIMEOUT", 1) # Asyn timeout
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epicsEnvSet("ECMC_ASYN_ADDR", 0) # Asyn Address
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epicsEnvSet("ECMC_MOTOR_PORT", "NOT SET")
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epicsEnvSet("ECMC_ASYN_PORT", "NOT SET")
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epicsEnvSet("ECMC_PREFIX", "NOT SET")
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epicsEnvSet("ECMC_GEN_EC_RECORDS", "NOT SET")
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epicsEnvSet("ECMC_GEN_AX_RECORDS", "NOT SET")
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epicsEnvSet("ECMC_EC_AXIS_HEALTH", "NOT SET")
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epicsEnvSet("ECMC_PLC_SAMPLE_RATE_MS", "NOT SET")
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epicsEnvSet("ECMC_TSE", -2)
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAxis.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAxis.cmd"
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#==============================================================================
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# initAxis.cmd
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd"
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#==============================================================================
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# ecmc_axis_unset.cmd
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epicsEnvUnset(ECMC_AXISCONFIG)
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epicsEnvUnset(ECMC_AXISFIELDINIT)
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epicsEnvUnset(ECMC_PREC)
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epicsEnvUnset(ECMC_EGU)
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epicsEnvUnset(ECMC_DESC)
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epicsEnvUnset(ECMC_R)
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epicsEnvUnset(ECMC_MOTOR_NAME)
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epicsEnvUnset(ECMC_EC_AXIS_HEALTH)
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epicsEnvUnset(ECMC_MOD_RANGE)
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epicsEnvUnset(ECMC_MOD_TYPE)
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epicsEnvUnset(ECMC_EMERG_DECEL)
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epicsEnvUnset(ECMC_VELO)
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epicsEnvUnset(ECMC_ACCL)
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epicsEnvUnset(ECMC_ACCS_EGU_PER_S2)
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epicsEnvUnset(ECMC_HOME_VEL_TO)
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epicsEnvUnset(ECMC_HOME_VEL_FRM)
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epicsEnvUnset(ECMC_CNTRL_KP)
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epicsEnvUnset(ECMC_CNTRL_KI)
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epicsEnvUnset(ECMC_CNTRL_KD)
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epicsEnvUnset(ECMC_CNTRL_KFF)
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epicsEnvUnset(ECMC_EC_ENC_ACTPOS)
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epicsEnvUnset(ECMC_EC_ENC_LATCHPOS)
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epicsEnvUnset(ECMC_EC_ENC_LATCH_CONTROL)
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epicsEnvUnset(ECMC_EC_ENC_LATCH_STATUS)
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epicsEnvUnset(ECMC_HOME_LATCH_COUNT_OFFSET)
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epicsEnvUnset(ECMC_ENC_SCALE_DENOM)
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epicsEnvUnset(ECMC_ENC_SCALE_NUM)
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epicsEnvUnset(ECMC_ENC_TYPE)
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epicsEnvUnset(ECMC_ENC_BITS)
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epicsEnvUnset(ECMC_ENC_ABS_BITS)
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epicsEnvUnset(ECMC_ENC_ABS_OFFSET)
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epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE)
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epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE)
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epicsEnvUnset(ECMC_ENC_POS_FILTER_ENABLE)
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epicsEnvUnset(ECMC_EC_ENC_RESET)
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epicsEnvUnset(ECMC_EC_ENC_ALARM_0)
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epicsEnvUnset(ECMC_EC_ENC_ALARM_1)
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epicsEnvUnset(ECMC_EC_ENC_ALARM_2)
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epicsEnvUnset(ECMC_EC_ENC_WARNING)
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epicsEnvUnset(ECMC_EC_DRV_CONTROL)
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epicsEnvUnset(ECMC_EC_DRV_STATUS)
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epicsEnvUnset(ECMC_EC_DRV_VELOCITY)
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epicsEnvUnset(ECMC_EC_DRV_BRAKE)
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epicsEnvUnset(ECMC_EC_DRV_REDUCE_TORQUE)
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epicsEnvUnset(ECMC_EC_DRV_RESET)
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epicsEnvUnset(ECMC_EC_DRV_ALARM_0)
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epicsEnvUnset(ECMC_EC_DRV_ALARM_1)
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epicsEnvUnset(ECMC_EC_DRV_ALARM_2)
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epicsEnvUnset(ECMC_EC_DRV_WARNING)
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epicsEnvUnset(ECMC_DRV_SCALE_DENOM)
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epicsEnvUnset(ECMC_DRV_SCALE_NUM)
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epicsEnvUnset(ECMC_DRV_BRAKE_OPEN_DLY_TIME)
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epicsEnvUnset(ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME)
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epicsEnvUnset(ECMC_SOFT_LOW_LIM)
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epicsEnvUnset(ECMC_DXLM_ENABLE)
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epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
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epicsEnvUnset(ECMC_DXLM_ENABLE)
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epicsEnvUnset(ECMC_EC_MON_LOWLIM)
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epicsEnvUnset(ECMC_EC_MON_HIGHLIM)
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epicsEnvUnset(ECMC_EC_MON_HOME_SWITCH)
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epicsEnvUnset(ECMC_EC_MON_EXT_INTERLOCK)
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epicsEnvUnset(ECMC_MON_AT_TARGET_TOL)
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epicsEnvUnset(ECMC_MON_AT_TARGET_TIME)
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epicsEnvUnset(ECMC_MON_AT_TARGET_ENA)
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epicsEnvUnset(ECMC_MON_LAG_MON_TOL)
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epicsEnvUnset(ECMC_MON_LAG_MON_TIME)
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epicsEnvUnset(ECMC_MON_LAG_MON_ENA)
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epicsEnvUnset(ECMC_MON_VELO_MAX)
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epicsEnvUnset(ECMC_MON_VELO_MAX_ENA)
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epicsEnvUnset(ECMC_MON_VELO_MAX_DRV_TIME)
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epicsEnvUnset(ECMC_MON_VELO_MAX_TRAJ_TIME)
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epicsEnvUnset(ECMC_JOG_VEL)
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epicsEnvUnset(ECMC_JAR)
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epicsEnvUnset(ECMC_HOME_PROC)
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epicsEnvUnset(ECMC_HOME_POS)
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epicsEnvUnset(ECMC_HOME_ACC)
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epicsEnvUnset(ECMC_HOME_DEC)
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epicsEnvUnset(ECMC_DRV_TYPE)
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epicsEnvUnset(ECMC_VELO)
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epicsEnvUnset(ECMC_SOFT_LOW_LIM)
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epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
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epicsEnvUnset(ECMC_HOME_POS_MOVE_ENA)
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epicsEnvUnset(ECMC_HOME_POS_MOVE_TARG_POS)
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epicsEnvUnset(ECMC_TRAJ_TYPE)
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epicsEnvUnset(ECMC_JERK)
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd"
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#==============================================================================
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# ecmc_axis_sync_unset.cmd
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epicsEnvUnset(ECMC_CMD_FRM_OTHER_PLC_ENABLE)
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epicsEnvUnset(ECMC_CMD_AXIS_PLC_ENABLE)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_1)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_2)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_3)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_4)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_5)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_6)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_7)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_8)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_9)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_10)
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epicsEnvUnset(ECMC_ENC_VELO_FILT_SIZE)
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epicsEnvUnset(ECMC_ENC_VELO_FILT_ENABLE)
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epicsEnvUnset(ECMC_ENC_SOURCE)
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epicsEnvUnset(ECMC_TRAJ_VELO_FILT_SIZE)
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epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE)
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epicsEnvUnset(ECMC_TRAJ_SOURCE)
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epicsEnvSet("ECMC_EGU", "mm")
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epicsEnvSet("ECMC_PREC", 3)
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epicsEnvSet("ECMC_AXISFIELDINIT", "") # Extra field ini2022/01/31 14:35:57.191
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ECMC Initializes.............
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2022/01/31 14:35:57.191 ESS Open Source EtherCAT Motion Control Epics Module2022/01/31 14:35:57.191
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Mode: Configuration
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2022/01/31 14:35:57.191 OK
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2022/01/31 14:35:57.191 OK
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2022/01/31 14:35:57.192 OK
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2022/01/31 14:35:57.194 OK
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2022/01/31 14:35:57.215 OK
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2022/01/31 14:35:57.215 OK
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2022/01/31 14:35:57.215 OK
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t to motor record
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epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver
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############################################################
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############# ASYN Configuration:
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epicsEnvSet("ECMC_MOTOR_PORT" "MCU1")
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epicsEnvSet("ECMC_ASYN_PORT" "MC_CPU1")
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epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
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ecmcAsynPortDriverConfigure(MC_CPU1,1000,0,0,100)
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ecmcAsynPortDriverConfigure: portName = MC_CPU1, paramTableSize = 1000, disableAutoConnect = 0, priority = 0, defaultSampleRateMS = 100.000000
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asynOctetSetOutputEos(MC_CPU1, -1, ";\n")
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asynOctetSetInputEos(MC_CPU1, -1, ";\n")
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asynSetTraceMask(MC_CPU1, -1, 0x41)
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asynSetTraceIOMask(MC_CPU1, -1, 6)
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asynSetTraceInfoMask(MC_CPU1, -1, 1)
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ecmcMotorRecordCreateController(MCU1, MC_CPU1, "64", 200, 1000, "")
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############################################################
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############# Misc settings:
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# Disable function call trace printouts
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ecmcConfigOrDie "Cfg.SetEnableFuncCallDiag(0)"
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# Disable on change printouts from objects (enable for easy logging)
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ecmcConfigOrDie "Cfg.SetTraceMaskBit(15,0)"
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# Choose to generate EPICS-records for EtherCAT-entries
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# (For records use ECMC_GEN_EC_RECORDS="-records" otherwise ECMC_GEN_EC_RECORDS="")
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epicsEnvSet("ECMC_GEN_EC_RECORDS", "-records")
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# Choose to generate EPICS-records for ax-entries (PosAct, SetPos,..)
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# (For records use ECMC_GEN_AX_RECORDS="-records" otherwise ECMC_GEN_AX_RECORDS="")
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epicsEnvSet("ECMC_GEN_AX_RECORDS", "-records")
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# 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" 2022/01/31 14:35:57.217 OK
|
|
2022/01/31 14:35:57.218 OK
|
|
2022/01/31 14:35:57.225 OK
|
|
2022/01/31 14:35:57.226 OK
|
|
2022/01/31 14:35:57.226 OK
|
|
2022/01/31 14:35:57.226 OK
|
|
2022/01/31 14:35:57.226 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.EcAddEn2022/01/31 14:35:57.227 OK
|
|
2022/01/31 14:35:57.227 OK
|
|
2022/01/31 14:35:57.227 OK
|
|
2022/01/31 14:35:57.227 OK
|
|
2022/01/31 14:35:57.235 OK
|
|
2022/01/31 14:35:57.237 OK
|
|
2022/01/31 14:35:57.237 OK
|
|
2022/01/31 14:35:57.237 OK
|
|
2022/01/31 14:35:57.237 OK
|
|
2022/01/31 14:35:57.237 OK
|
|
2022/01/31 14:35:57.238 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,binaryOutp2022/01/31 14:35:57.238 OK
|
|
2022/01/31 14:35:57.238 OK
|
|
2022/01/31 14:35:57.247 OK
|
|
2022/01/31 14:35:57.312 OK
|
|
2022/01/31 14:35:57.422 14385
|
|
2022/01/31 14:35:57.424 OK
|
|
2022/01/31 14:35:57.424 OK
|
|
2022/01/31 14:35:57.424 OK
|
|
2022/01/31 14:35:57.425 OK
|
|
2022/01/31 14:35:57.425 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/re2022/01/31 14:35:57.443 OK
|
|
2022/01/31 14:35:57.532 OK
|
|
2022/01/31 14:35:57.612 14385
|
|
2022/01/31 14:35:57.615 OK
|
|
2022/01/31 14:35:57.615 OK
|
|
2022/01/31 14:35:57.616 OK
|
|
2022/01/31 14:35:57.616 OK
|
|
2022/01/31 14:35:57.616 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"
|
|
#=======================================================================2022/01/31 14:35:57.636 OK
|
|
2022/01/31 14:35:57.639 OK
|
|
2022/01/31 14:35:57.639 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", "",2022/01/31 14:35:57.655 OK
|
|
2022/01/31 14:35:57.658 OK
|
|
2022/01/31 14:35:57.658 OK
|
|
2022/01/31 14:35:57.659 OK
|
|
2022/01/31 14:35:57.659 OK
|
|
2022/01/31 14:35:57.659 OK
|
|
2022/01/31 14:35:57.659 OK
|
|
2022/01/31 14:35:57.659 OK
|
|
2022/01/31 14:35:57.660 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"
|
|
#==================2022/01/31 14:35:57.683 OK
|
|
2022/01/31 14:35:57.802 OK
|
|
2022/01/31 14:35:57.882 12848
|
|
2022/01/31 14:35:57.883 OK
|
|
2022/01/31 14:35:57.883 OK
|
|
2022/01/31 14:35:57.883 OK
|
|
2022/01/31 14:35:57.883 OK
|
|
2022/01/31 14:35:57.884 OK
|
|
2022/01/31 14:35:57.884 OK
|
|
2022/01/31 14:35:57.884 OK
|
|
2022/01/31 14:35:57.884 OK
|
|
2022/01/31 14:35:57.884 OK
|
|
2022/01/31 14:35:57.884 OK
|
|
2022/01/31 14:35:57.884 OK
|
|
2022/01/31 14:35:57.884 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-")
|
|
epicsE2022/01/31 14:35:57.894 OK
|
|
2022/01/31 14:35:57.894 OK
|
|
2022/01/31 14:35:57.894 OK
|
|
2022/01/31 14:35:57.894 OK
|
|
2022/01/31 14:35:57.894 OK
|
|
2022/01/31 14:35:57.894 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"
|
|
#==============================================================2022/01/31 14:35:57.897 OK
|
|
2022/01/31 14:35:58.012 OK
|
|
2022/01/31 14:35:58.092 12848
|
|
2022/01/31 14:35:58.093 OK
|
|
2022/01/31 14:35:58.093 OK
|
|
2022/01/31 14:35:58.094 OK
|
|
2022/01/31 14:35:58.094 OK
|
|
2022/01/31 14:35:58.094 OK
|
|
2022/01/31 14:35:58.094 OK
|
|
2022/01/31 14:35:58.094 OK
|
|
2022/01/31 14:35:58.094 OK
|
|
2022/01/31 14:35:58.095 OK
|
|
2022/01/31 14:35:58.095 OK
|
|
2022/01/31 14:35:58.095 OK
|
|
2022/01/31 14:35:58.095 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}
|
|
e2022/01/31 14:35:58.104 OK
|
|
2022/01/31 14:35:58.104 OK
|
|
2022/01/31 14:35:58.105 OK
|
|
2022/01/31 14:35:58.105 OK
|
|
2022/01/31 14:35:58.105 OK
|
|
2022/01/31 14:35:58.105 OK
|
|
2022/01/31 14:35:58.105 OK
|
|
2022/01/31 14:35:58.105 OK
|
|
2022/01/31 14:35:58.105 OK
|
|
2022/01/31 14:35:58.105 OK
|
|
2022/01/31 14:35:58.105 OK
|
|
2022/01/31 14:35:58.105 OK
|
|
2022/01/31 14:35:58.106 OK
|
|
2022/01/31 14:35:58.106 OK
|
|
2022/01/31 14:35:58.106 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_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
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(600.0)<>0","# ECMC_DRV_SCALE2022/01/31 14:35:58.115 OK
|
|
2022/01/31 14:35:58.115 OK
|
|
2022/01/31 14:35:58.115 OK
|
|
2022/01/31 14:35:58.115 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.118 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.119 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
_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")"
|
|
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveControl2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.120 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.121 OK
|
|
2022/01/31 14:35:58.122 OK
|
|
2022/01/31 14:35:58.122 OK
|
|
2022/01/31 14:35:58.122 OK
|
|
2022/01/31 14:35:58.122 OK
|
|
2022/01/31 14:35:58.122 OK
|
|
2022/01/31 14:35:58.122 OK
|
|
2022/01/31 14:35:58.122 OK
|
|
2022/01/31 14:35:58.122 OK
|
|
2022/01/31 14:35:58.122 OK
|
|
2022/01/31 14:35:58.122 OK
|
|
2022/01/31 14:35:58.122 OK
|
|
2022/01/31 14:35:58.123 OK
|
|
2022/01/31 14:35:58.123 OK
|
|
2022/01/31 14:35:58.123 OK
|
|
2022/01/31 14:35:58.123 OK
|
|
2022/01/31 14:35:58.123 OK
|
|
2022/01/31 14:35:58.123 ecmcMotorRecord:: setIntegerParam(1 motorPowerAutoOnOff_)=2
|
|
2022/01/31 14:35:58.123 ecmcMotorRecord:: setDoubleParam(1 motorPowerOnDelay_)=6
|
|
2022/01/31 14:35:58.123 ecmcMotorRecord:: setDoubleParam(1 motorPowerOffDelay_=-1
|
|
2022/01/31 14:35:58.124 ecmcMotorRecord:: udateMotorLimitsRO(1) enabledHighAndLow=1 valid=1 fValueHigh=130 fValueLow=-20
|
|
2022/01/31 14:35:58.124 ecmcMotorRecord:: connected(1)
|
|
2022/01/31 14:35:58.124 ecmcMotorRecord:: initialPoll(1) status=0
|
|
01.1,"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)
|
|
epicsEnvUnset(ECMC_ACCL)
|
|
epicsEnvUnset(ECMC_ACCS_EGmacLib: 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})
|
|
U_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", "")
|
|
epicsEnvSet("ECMC_AXIS_EXPR_LINE_7", "2022/01/31 14:35:58.137 OK
|
|
2022/01/31 14:35:58.137 OK
|
|
2022/01/31 14:35:58.137 OK
|
|
2022/01/31 14:35:58.137 OK
|
|
2022/01/31 14:35:58.137 OK
|
|
2022/01/31 14:35:58.137 OK
|
|
2022/01/31 14:35:58.137 OK
|
|
2022/01/31 14:35:58.137 OK
|
|
2022/01/31 14:35:58.138 OK
|
|
2022/01/31 14:35:58.138 OK
|
|
2022/01/31 14:35:58.138 OK
|
|
2022/01/31 14:35:58.138 OK
|
|
2022/01/31 14:35:58.138 OK
|
|
2022/01/31 14:35:58.138 OK
|
|
2022/01/31 14:35:58.138 OK
|
|
2022/01/31 14:35:58.138 OK
|
|
2022/01/31 14:35:58.138 OK
|
|
2022/01/31 14:35:58.139 OK
|
|
")
|
|
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 value OK == 32768.0...", "ecmcExit Error: ECMC_DRV_SCALE_2022/01/31 14:35:58.151 OK
|
|
2022/01/31 14:35:58.151 OK
|
|
2022/01/31 14:35:58.151 OK
|
|
2022/01/31 14:35:58.151 OK
|
|
2022/01/31 14:35:58.154 OK
|
|
2022/01/31 14:35:58.154 OK
|
|
2022/01/31 14:35:58.154 OK
|
|
2022/01/31 14:35:58.154 OK
|
|
2022/01/31 14:35:58.154 OK
|
|
2022/01/31 14:35:58.154 OK
|
|
2022/01/31 14:35:58.154 OK
|
|
2022/01/31 14:35:58.154 OK
|
|
2022/01/31 14:35:58.155 OK
|
|
2022/01/31 14:35:58.155 OK
|
|
2022/01/31 14:35:58.155 OK
|
|
2022/01/31 14:35:58.155 OK
|
|
2022/01/31 14:35:58.155 OK
|
|
2022/01/31 14:35:58.155 OK
|
|
2022/01/31 14:35:58.155 OK
|
|
2022/01/31 14:35:58.155 OK
|
|
2022/01/31 14:35:58.155 OK
|
|
2022/01/31 14:35:58.155 OK
|
|
2022/01/31 14:35:58.155 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.156 OK
|
|
2022/01/31 14:35:58.157 OK
|
|
2022/01/31 14:35:58.157 OK
|
|
2022/01/31 14:35:58.157 OK
|
|
2022/01/31 14:35:58.157 OK
|
|
2022/01/31 14:35:58.157 OK
|
|
2022/01/31 14:35:58.157 OK
|
|
2022/01/31 14:35:58.157 OK
|
|
2022/01/31 14:35:58.157 OK
|
|
2022/01/31 14:35:58.157 OK
|
|
2022/01/31 14:35:58.157 OK
|
|
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.SetAxisDrvBrakeCloseAheadTime(2,0)"
|
|
ecmcConfigOrDie "Cfg.SetAxis2022/01/31 14:35:58.158 OK
|
|
2022/01/31 14:35:58.158 OK
|
|
2022/01/31 14:35:58.158 OK
|
|
2022/01/31 14:35:58.158 OK
|
|
2022/01/31 14:35:58.158 OK
|
|
2022/01/31 14:35:58.158 OK
|
|
2022/01/31 14:35:58.158 OK
|
|
2022/01/31 14:35:58.158 OK
|
|
2022/01/31 14:35:58.158 OK
|
|
2022/01/31 14:35:58.158 OK
|
|
2022/01/31 14:35:58.158 OK
|
|
2022/01/31 14:35:58.159 OK
|
|
2022/01/31 14:35:58.159 OK
|
|
2022/01/31 14:35:58.159 OK
|
|
2022/01/31 14:35:58.159 OK
|
|
2022/01/31 14:35:58.159 OK
|
|
2022/01/31 14:35:58.159 OK
|
|
2022/01/31 14:35:58.159 OK
|
|
2022/01/31 14:35:58.159 OK
|
|
2022/01/31 14:35:58.159 OK
|
|
2022/01/31 14:35:58.159 OK
|
|
2022/01/31 14:35:58.159 OK
|
|
2022/01/31 14:35:58.160 OK
|
|
2022/01/31 14:35:58.160 ecmcMotorRecord:: setIntegerParam(2 motorPowerAutoOnOff_)=2
|
|
2022/01/31 14:35:58.160 ecmcMotorRecord:: setDoubleParam(2 motorPowerOnDelay_)=6
|
|
2022/01/31 14:35:58.160 ecmcMotorRecord:: setDoubleParam(2 motorPowerOffDelay_=-1
|
|
2022/01/31 14:35:58.160 ecmcMotorRecord:: udateMotorLimitsRO(2) enabledHighAndLow=1 valid=1 fValueHigh=20 fValueLow=-130
|
|
2022/01/31 14:35:58.161 ecmcMotorRecord:: connected(2)
|
|
2022/01/31 14:35:58.161 ecmcMotorRecord:: initialPoll(2) status=0
|
|
SoftLimitPosBwd(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)
|
|
epicsEnvUnset(ECMC_ENC_ABS_OFFSET)
|
|
epicsEnvUnset(ECMC_ENmacLib: 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})
|
|
2022/01/31 14:35:58.172 OK
|
|
2022/01/31 14:35:58.172 OK
|
|
2022/01/31 14:35:58.173 OK
|
|
C_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)"
|
|
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=var a:=1|"
|
|
2022/01/31 14:35:58.173 OK
|
|
2022/01/31 14:35:58.173 OK
|
|
2022/01/31 14:35:58.173 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
2022/01/31 14:35:58.174 OK
|
|
epicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted
|
|
epicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted
|
|
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:390
|
|
../grbl/grbl_serial.c:serial_init:108:
|
|
../grbl/grbl_eeprom.c:ecmc_init_file:53
|
|
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:275
|
|
GRBL: INFO: Waiting for grbl init..../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_spindle_control.c:spindle_init:31 Not supported yet..
|
|
..2022/01/31 14:35:58.380 OK
|
|
2022/01/31 14:35:58.381 OK
|
|
/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).
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Filename = /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so
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Config string = DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;AUTO_ENABLE=1;AUTO_START=1;
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Version = 2
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Interface version = 65536 (ecmc = 65536)
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max plc funcs = 64
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max plc func args = 10
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max plc consts = 64
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Construct func = @0xb4e5ea70
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Enter realtime func = @0xb4e5e9e8
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Exit realtime func = @0xb4e5e9b4
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Realtime func = @0xb4e5e9e4
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Destruct func = @0xb4e5e9bc
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dlhandle = @0x86a808
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Plc functions:
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funcs[00]:
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Name = "grbl_set_execute(arg0);"
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Desc = double grbl_set_execute(<exe>) : Trigg execution of loaded g-code at positive edge of <exe>
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Arg count = 1
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func = @0xb4e5e9ec
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funcs[01]:
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Name = "grbl_mc_halt(arg0);"
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Desc = double grbl_mc_halt(<halt>) : Halt grbl motion at positive edge of <halt>
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Arg count = 1
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func = @0xb4e5ea08
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funcs[02]:
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Name = "grbl_mc_resume(arg0);"
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Desc = double grbl_mc_resume(<resume>) : Resume halted grbl motion at positive edge of <resume>
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Arg count = 1
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func = @0xb4e5ea24
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funcs[03]:
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Name = "grbl_mc_reset(arg0);"
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Desc = double grbl_mc_reset(<reset>) : Reset grbl at positive edge of <reset>
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Arg count = 1
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func = @0xb4e5ea40
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funcs[04]:
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Name = "grbl_get_busy();"
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Desc = double grbl_get_busy() : Get grbl system busy
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Arg count = 0
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func = @0xb4e5ea5c
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Plc constants:
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epicsEnvUnset(ECMC_PLUGIN_REPORT);
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epicsEnvUnset(ECMC_PLUGIN_FILNAME)
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epicsEnvUnset(ECMC_PLUGIN_CONFIG)
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ecmcGrblLoadFile("./cfg/test.nc",0)
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../ecmc_plugin_grbl/ecmcGrbl.cpp:loadFile:763:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 1
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 2
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 3
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 4
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 5
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 6
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 7
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 8
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 9
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 10
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 11
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 12
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 13
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 14
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 15
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 16
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 17
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 18
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 19
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 20
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 21
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 22
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 23
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 24
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 25
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 26
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 27
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 28
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 29
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 30
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 31
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 32
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 33
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 34
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 35
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:751:
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../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:758: GRBL: INFO: Buffer size 36
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#ecmcGrblAddCommand("G1X20Y20F360");
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#ecmcGrblAddCommand("G4P2");
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#ecmcGrblAddCommand("G2X0Y0R20");
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#ecmcGrblAddCommand("G4P2");
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#ecmcGrblAddCommand("G0X10Y10");
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#ecmcGrblAddCommand("G4P2");
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#ecmcGrblAddCommand("G1X0Y0");
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#ecmcGrblAddCommand("G2X0adadsdY0R20"
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#
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# Test of GRBL plugin for g-code parsing
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#
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println('GRBL busy:', grbl_get_busy());
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if(not(grbl_get_busy())) {
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println('Retrigger g-code!!');
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grbl_set_execute(0);
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grbl_set_execute(1);
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};
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2022/01/31 14:35:58.413 OK
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2022/01/31 14:35:58.413 OK
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2022/01/31 14:35:58.430 OK
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2022/01/31 14:35:58.431 OK
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2022/01/31 14:35:58.431 OK
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2022/01/31 14:35:58.432 OK
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2022/01/31 14:35:58.432 OK
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2022/01/31 14:35:58.433 OK
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2022/01/31 14:35:58.455 INFO: Locking memory
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2022/01/31 14:35:58.552 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10).
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2022/01/31 14:35:58.552 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315).
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2022/01/31 14:35:58.552 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10).
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2022/01/31 14:35:58.552 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 0: Not operational (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 1: Not operational (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 2: Not operational (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 3: Not operational (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 4: Not operational (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 5: Not operational (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 6: Not operational (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 8: Not operational (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 9: Not operational (0x24011).
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2022/01/31 14:35:58.552 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
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2022/01/31 14:35:58.591 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=0 atTarget=0 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000077
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2022/01/31 14:35:58.591 ecmcMotorRecord:: poll(1) bError=0 drvlocal.statusBinData.onChangeData.error=0x0
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2022/01/31 14:35:58.591 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=4 old=-1 ErrID=0x0 old=0x0 Warn=0 nCmd=0 old=0 txt=NULL
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2022/01/31 14:35:58.623 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=0 bExecute=0 bEnabled=0 atTarget=0 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000012
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2022/01/31 14:35:58.623 ecmcMotorRecord:: poll(2) bError=0 drvlocal.statusBinData.onChangeData.error=0x0
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2022/01/31 14:35:58.623 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=4 old=-1 ErrID=0x0 old=0x0 Warn=0 nCmd=0 old=0 txt=NULL
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2022/01/31 14:35:58.629 Starting up EtherCAT bus: 0 second(s). Max wait time 30 second(s).
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2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(1) homed=1
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2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000065
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2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(1) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315
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2022/01/31 14:35:58.824 ecmcMotorRecord:: sErrorMessage(1)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK"
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2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=1 old=4 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315)
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2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000026
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2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(2) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315
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2022/01/31 14:35:58.824 ecmcMotorRecord:: sErrorMessage(2)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK"
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2022/01/31 14:35:58.824 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=1 old=4 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315)
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2022/01/31 14:35:59.024 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000012
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2022/01/31 14:35:59.024 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000005
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2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(1) LLS=0
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2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(1) HLS=0
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2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000087
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2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(2) LLS=0
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2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(2) HLS=0
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2022/01/31 14:35:59.224 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=1.44 time=0.000037
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2022/01/31 14:35:59.424 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000012
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2022/01/31 14:35:59.424 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=1.44 time=0.000006
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2022/01/31 14:35:59.464 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 1): Drive hardware in warning state.
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2022/01/31 14:35:59.625 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000013
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2022/01/31 14:35:59.625 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=1.44 time=0.000005
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2022/01/31 14:35:59.629 Starting up EtherCAT bus: 1 second(s). Max wait time 30 second(s).
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2022/01/31 14:35:59.694 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 2): Drive hardware in warning state.
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2022/01/31 14:35:59.825 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000076
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2022/01/31 14:35:59.825 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=1.44 time=0.000006
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2022/01/31 14:36:00.025 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000011
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2022/01/31 14:36:00.025 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=1.44 time=0.000006
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2022/01/31 14:36:00.056 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
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2022/01/31 14:36:00.056 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
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2022/01/31 14:36:00.056 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
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2022/01/31 14:36:00.056 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
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2022/01/31 14:36:00.056 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
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2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000011
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2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(1) bError=0 drvlocal.statusBinData.onChangeData.error=0x0
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2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=0 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL
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2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000007
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2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(2) bError=0 drvlocal.statusBinData.onChangeData.error=0x0
|
|
2022/01/31 14:36:00.225 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=4 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL
|
|
2022/01/31 14:36:00.426 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000011
|
|
2022/01/31 14:36:00.426 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000005
|
|
2022/01/31 14:36:00.626 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000058
|
|
2022/01/31 14:36:00.626 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/31 14:36:00.826 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000019
|
|
2022/01/31 14:36:00.826 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/31 14:36:01.026 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000012
|
|
2022/01/31 14:36:01.026 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/31 14:36:01.227 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000012
|
|
2022/01/31 14:36:01.227 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/31 14:36:01.427 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000011
|
|
2022/01/31 14:36:01.427 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000007
|
|
2022/01/31 14:36:01.627 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000010
|
|
2022/01/31 14:36:01.627 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000007
|
|
2022/01/31 14:36:01.629 EtherCAT bus started!
|
|
2022/01/31 14:36:01.629 OK
|
|
2022/01/31 14:36:01.630 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocBuild (0). Allow callbacks: true.
|
|
Starting iocInit
|
|
2022/01/31 14:36:01.630 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtBeginning (1). Allow callbacks: true.
|
|
2022/01/31 14:36:01.645 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCallbackInit (2). Allow callbacks: true.
|
|
2022/01/31 14:36:01.657 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaLinkInit (3). Allow callbacks: true.
|
|
2022/01/31 14:36:01.657 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDrvSup (4). Allow callbacks: true.
|
|
2022/01/31 14:36:01.657 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitRecSup (5). Allow callbacks: true.
|
|
2022/01/31 14:36:01.666 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDevSup (6). Allow callbacks: true.
|
|
2022/01/31 14:36:01.676 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.positionActual01 linked to record (asyn reason 1).
|
|
2022/01/31 14:36:01.677 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderLatchPostion01 linked to record (asyn reason 2).
|
|
2022/01/31 14:36:01.678 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderControl01 linked to record (asyn reason 3).
|
|
2022/01/31 14:36:01.679 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderValue01 linked to record (asyn reason 4).
|
|
2022/01/31 14:36:01.680 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.positionActual01 linked to record (asyn reason 5).
|
|
2022/01/31 14:36:01.681 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderLatchPostion01 linked to record (asyn reason 6).
|
|
2022/01/31 14:36:01.682 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderControl01 linked to record (asyn reason 7).
|
|
2022/01/31 14:36:01.683 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderValue01 linked to record (asyn reason 8).
|
|
2022/01/31 14:36:01.684 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive01 linked to record (asyn reason 9).
|
|
2022/01/31 14:36:01.685 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative01 linked to record (asyn reason 10).
|
|
2022/01/31 14:36:01.685 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive02 linked to record (asyn reason 11).
|
|
2022/01/31 14:36:01.686 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative02 linked to record (asyn reason 12).
|
|
2022/01/31 14:36:01.687 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveControl01 linked to record (asyn reason 13).
|
|
2022/01/31 14:36:01.688 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.velocitySetpoint01 linked to record (asyn reason 14).
|
|
2022/01/31 14:36:01.690 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.positionActual01 linked to record (asyn reason 15).
|
|
2022/01/31 14:36:01.691 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderLatchPostion01 linked to record (asyn reason 16).
|
|
2022/01/31 14:36:01.692 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderControl01 linked to record (asyn reason 17).
|
|
2022/01/31 14:36:01.693 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderValue01 linked to record (asyn reason 18).
|
|
2022/01/31 14:36:01.694 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveControl01 linked to record (asyn reason 19).
|
|
2022/01/31 14:36:01.696 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.velocitySetpoint01 linked to record (asyn reason 20).
|
|
2022/01/31 14:36:01.697 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.positionActual01 linked to record (asyn reason 21).
|
|
2022/01/31 14:36:01.698 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderLatchPostion01 linked to record (asyn reason 22).
|
|
2022/01/31 14:36:01.699 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderControl01 linked to record (asyn reason 23).
|
|
2022/01/31 14:36:01.700 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderValue01 linked to record (asyn reason 24).
|
|
2022/01/31 14:36:01.703 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.actpos linked to record (asyn reason 25).
|
|
2022/01/31 14:36:01.708 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.setpos linked to record (asyn reason 26).
|
|
2022/01/31 14:36:01.711 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.poserr linked to record (asyn reason 27).
|
|
2022/01/31 14:36:01.713 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.error linked to record (asyn reason 28).
|
|
2022/01/31 14:36:01.716 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.actpos linked to record (asyn reason 29).
|
|
2022/01/31 14:36:01.718 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.setpos linked to record (asyn reason 30).
|
|
2022/01/31 14:36:01.721 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.poserr linked to record (asyn reason 31).
|
|
2022/01/31 14:36:01.723 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.error linked to record (asyn reason 32).
|
|
2022/01/31 14:36:01.726 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.scantime linked to record (asyn reason 33).
|
|
2022/01/31 14:36:01.729 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.error linked to record (asyn reason 34).
|
|
2022/01/31 14:36:01.731 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.appmode linked to record (asyn reason 35).
|
|
2022/01/31 14:36:01.734 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.id linked to record (asyn reason 36).
|
|
2022/01/31 14:36:01.736 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.min linked to record (asyn reason 37).
|
|
2022/01/31 14:36:01.739 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.max linked to record (asyn reason 38).
|
|
2022/01/31 14:36:01.741 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.min linked to record (asyn reason 39).
|
|
2022/01/31 14:36:01.744 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.max linked to record (asyn reason 40).
|
|
2022/01/31 14:36:01.748 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.min linked to record (asyn reason 41).
|
|
2022/01/31 14:36:01.749 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.max linked to record (asyn reason 42).
|
|
2022/01/31 14:36:01.751 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.min linked to record (asyn reason 43).
|
|
2022/01/31 14:36:01.752 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.max linked to record (asyn reason 44).
|
|
2022/01/31 14:36:01.754 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput01 linked to record (asyn reason 45).
|
|
2022/01/31 14:36:01.756 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput02 linked to record (asyn reason 46).
|
|
2022/01/31 14:36:01.758 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput03 linked to record (asyn reason 47).
|
|
2022/01/31 14:36:01.762 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput04 linked to record (asyn reason 48).
|
|
2022/01/31 14:36:01.765 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput05 linked to record (asyn reason 49).
|
|
2022/01/31 14:36:01.767 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput06 linked to record (asyn reason 50).
|
|
2022/01/31 14:36:01.769 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput07 linked to record (asyn reason 51).
|
|
2022/01/31 14:36:01.772 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput08 linked to record (asyn reason 52).
|
|
2022/01/31 14:36:01.775 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput01 linked to record (asyn reason 53).
|
|
2022/01/31 14:36:01.778 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput02 linked to record (asyn reason 54).
|
|
2022/01/31 14:36:01.780 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput03 linked to record (asyn reason 55).
|
|
2022/01/31 14:36:01.783 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput04 linked to record (asyn reason 56).
|
|
2022/01/31 14:36:01.786 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput05 linked to record (asyn reason 57).
|
|
2022/01/31 14:36:01.789 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput06 linked to record (asyn reason 58).
|
|
2022/01/31 14:36:01.792 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput07 linked to record (asyn reason 59).
|
|
2022/01/31 14:36:01.797 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput08 linked to record (asyn reason 60).
|
|
2022/01/31 14:36:01.799 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.powerOk01 linked to record (asyn reason 61).
|
|
2022/01/31 14:36:01.805 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.overload01 linked to record (asyn reason 62).
|
|
2022/01/31 14:36:01.809 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput01 linked to record (asyn reason 63).
|
|
2022/01/31 14:36:01.812 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput02 linked to record (asyn reason 64).
|
|
2022/01/31 14:36:01.816 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.enable linked to record (asyn reason 65).
|
|
2022/01/31 14:36:01.819 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax1.plc.firstscan linked to record (asyn reason 66).
|
|
2022/01/31 14:36:01.824 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.enable linked to record (asyn reason 67).
|
|
2022/01/31 14:36:01.827 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000018
|
|
2022/01/31 14:36:01.827 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000008
|
|
2022/01/31 14:36:01.828 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.firstscan linked to record (asyn reason 68).
|
|
2022/01/31 14:36:01.831 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.ok linked to record (asyn reason 69).
|
|
2022/01/31 14:36:01.835 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.diagnostic linked to record (asyn reason 70).
|
|
2022/01/31 14:36:01.837 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.plc.expression linked to record (asyn reason 71).
|
|
2022/01/31 14:36:01.839 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.diagnostic linked to record (asyn reason 72).
|
|
2022/01/31 14:36:01.842 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.plc.expression linked to record (asyn reason 73).
|
|
2022/01/31 14:36:01.844 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.msg linked to record (asyn reason 74).
|
|
2022/01/31 14:36:01.846 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.updated linked to record (asyn reason 75).
|
|
2022/01/31 14:36:01.849 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.command linked to record (asyn reason 76).
|
|
2022/01/31 14:36:01.854 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.command linked to record (asyn reason 77).
|
|
);
|
|
#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
|
|
2022/01/31 14:36:01.859 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ONE linked to record (asyn reason 78).
|
|
2022/01/31 14:36:01.863 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ZERO linked to record (asyn reason 79).
|
|
2022/01/31 14:36:01.866 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ONE linked to record (asyn reason 80).
|
|
2022/01/31 14:36:01.869 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ZERO linked to record (asyn reason 81).
|
|
2022/01/31 14:36:01.871 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ONE linked to record (asyn reason 82).
|
|
2022/01/31 14:36:01.875 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ZERO linked to record (asyn reason 83).
|
|
2022/01/31 14:36:01.880 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ONE linked to record (asyn reason 84).
|
|
2022/01/31 14:36:01.884 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ZERO linked to record (asyn reason 85).
|
|
2022/01/31 14:36:01.888 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ONE linked to record (asyn reason 86).
|
|
2022/01/31 14:36:01.891 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ZERO linked to record (asyn reason 87).
|
|
2022/01/31 14:36:01.894 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ONE linked to record (asyn reason 88).
|
|
2022/01/31 14:36:01.896 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ZERO linked to record (asyn reason 89).
|
|
2022/01/31 14:36:01.899 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ONE linked to record (asyn reason 90).
|
|
2022/01/31 14:36:01.903 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ZERO linked to record (asyn reason 91).
|
|
2022/01/31 14:36:01.906 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ONE linked to record (asyn reason 92).
|
|
2022/01/31 14:36:01.910 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ZERO linked to record (asyn reason 93).
|
|
2022/01/31 14:36:01.916 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ONE linked to record (asyn reason 94).
|
|
2022/01/31 14:36:01.921 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ZERO linked to record (asyn reason 95).
|
|
2022/01/31 14:36:01.926 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.cmddata linked to record (asyn reason 96).
|
|
2022/01/31 14:36:01.929 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.cmddata linked to record (asyn reason 97).
|
|
2022/01/31 14:36:01.932 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.slavestatus linked to record (asyn reason 98).
|
|
2022/01/31 14:36:01.935 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.slavestatus linked to record (asyn reason 99).
|
|
2022/01/31 14:36:01.939 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.slavestatus linked to record (asyn reason 100).
|
|
2022/01/31 14:36:01.943 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.slavestatus linked to record (asyn reason 101).
|
|
2022/01/31 14:36:01.946 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.slavestatus linked to record (asyn reason 102).
|
|
2022/01/31 14:36:01.951 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.slavestatus linked to record (asyn reason 103).
|
|
2022/01/31 14:36:01.954 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.slavestatus linked to record (asyn reason 104).
|
|
2022/01/31 14:36:01.958 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.slavestatus linked to record (asyn reason 105).
|
|
2022/01/31 14:36:01.961 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.slavestatus linked to record (asyn reason 106).
|
|
2022/01/31 14:36:01.965 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.status linked to record (asyn reason 107).
|
|
2022/01/31 14:36:01.969 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.errorid linked to record (asyn reason 108).
|
|
2022/01/31 14:36:01.972 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.status linked to record (asyn reason 109).
|
|
2022/01/31 14:36:01.975 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.errorid linked to record (asyn reason 110).
|
|
2022/01/31 14:36:01.978 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.masterstatus linked to record (asyn reason 111).
|
|
2022/01/31 14:36:01.980 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.slavecounter linked to record (asyn reason 112).
|
|
2022/01/31 14:36:01.984 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.memmapcounter linked to record (asyn reason 113).
|
|
2022/01/31 14:36:01.988 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainfailcountertotal linked to record (asyn reason 114).
|
|
2022/01/31 14:36:01.992 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.entrycounter linked to record (asyn reason 115).
|
|
2022/01/31 14:36:01.995 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainstatus linked to record (asyn reason 116).
|
|
2022/01/31 14:36:01.998 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.control linked to record (asyn reason 117).
|
|
2022/01/31 14:36:02.002 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.control linked to record (asyn reason 118).
|
|
2022/01/31 14:36:02.006 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderStatus01 linked to record (asyn reason 119).
|
|
2022/01/31 14:36:02.010 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderStatus01 linked to record (asyn reason 120).
|
|
2022/01/31 14:36:02.013 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status01 linked to record (asyn reason 121).
|
|
2022/01/31 14:36:02.017 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status02 linked to record (asyn reason 122).
|
|
2022/01/31 14:36:02.020 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveStatus01 linked to record (asyn reason 123).
|
|
2022/01/31 14:36:02.024 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderStatus01 linked to record (asyn reason 124).
|
|
2022/01/31 14:36:02.027 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveStatus01 linked to record (asyn reason 125).
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2022/01/31 14:36:02.027 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000028
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2022/01/31 14:36:02.028 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000145
|
|
2022/01/31 14:36:02.031 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderStatus01 linked to record (asyn reason 126).
|
|
2022/01/31 14:36:02.069 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.targpos linked to record (asyn reason 127).
|
|
2022/01/31 14:36:02.074 ecmcAsynPortDriver:drvUserCreate: Parameter ax1.targvelo linked to record (asyn reason 128).
|
|
2022/01/31 14:36:02.080 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targpos linked to record (asyn reason 129).
|
|
2022/01/31 14:36:02.084 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targvelo linked to record (asyn reason 130).
|
|
2022/01/31 14:36:02.101 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.enable linked to record (asyn reason 131).
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|
2022/01/31 14:36:02.107 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.reset linked to record (asyn reason 132).
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2022/01/31 14:36:02.111 ecmcMotorRecord:: setIntegerParam(1 motorUpdateStatus_)=0
|
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2022/01/31 14:36:02.112 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000011
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|
2022/01/31 14:36:02.112 ecmcMotorRecord:: setIntegerParam(2 motorUpdateStatus_)=0
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2022/01/31 14:36:02.112 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000010
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2022/01/31 14:36:02.157 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDatabase (7). Allow callbacks: true.
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|
2022/01/31 14:36:02.157 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterFinishDevSup (8). Allow callbacks: true.
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|
2022/01/31 14:36:02.228 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000057
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2022/01/31 14:36:02.228 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000008
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2022/01/31 14:36:02.428 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000009
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2022/01/31 14:36:02.428 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000006
|
|
2022/01/31 14:36:02.628 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=0 fActPosition=19.05 time=0.000010
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2022/01/31 14:36:02.628 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000005
|
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2022/01/31 14:36:02.695 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterScanInit (9). Allow callbacks: true.
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2022/01/31 14:36:02.696 ecmcMotorRecord:: setIntegerParam(1 HomProc_)=3 motorNotHomedProblem=0
|
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2022/01/31 14:36:02.697 ecmcMotorRecord:: setIntegerParam(2 HomProc_)=3 motorNotHomedProblem=0
|
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2022/01/31 14:36:02.698 ecmcMotorRecord:: setDoubleParam(1 HomPos_)=0.000000
|
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2022/01/31 14:36:02.698 ecmcMotorRecord:: setDoubleParam(2 HomPos_)=0.000000
|
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2022/01/31 14:36:02.698 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitialProcess (10). Allow callbacks: true.
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|
2022/01/31 14:36:02.706 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (11). Allow callbacks: true.
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|
2022/01/31 14:36:02.706 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocBuilt (12). Allow callbacks: true.
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|
2022/01/31 14:36:02.742 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocRun (13). Allow callbacks: true.
|
|
2022/01/31 14:36:02.742 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterDatabaseRunning (14). Allow callbacks: true.
|
|
2022/01/31 14:36:02.742 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInterruptAccept (28). Allow callbacks: true.
|
|
2022/01/31 14:36:02.742 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaServerRunning (15). Allow callbacks: true.
|
|
2022/01/31 14:36:02.742 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (29). Allow callbacks: true.
|
|
iocRun: All initialization complete
|
|
2022/01/31 14:36:02.784 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocRunning (16). Allow callbacks: true.
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|
2022/01/31 14:36:02.789 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 1): Drive hardware warning state cleared.
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|
2022/01/31 14:36:02.789 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 2): Drive hardware warning state cleared.
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2022/01/31 14:36:02.828 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=19.05 fActPosition=19.05 time=0.000019
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2022/01/31 14:36:02.829 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=49 fPos=0 fActPosition=0.03 time=0.000007
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|
2022/01/31 14:36:02.111 [devMotorAsyn.c:439 IOC_TEST:Axis1] init_record IOC_TEST:Axis1 position=19.050000 encoderPos=19.050000 velocity=0.000000 MSTAstatus=0x4d00 flagsValue=0x3f flagsWritten=0x3f pmr->mflg=0x0
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2022/01/31 14:36:02.111 [devMotorAsyn.c:185 IOC_TEST:Axis1] init_controller IOC_TEST:Axis1 set encoder ratio=1.000000 status=0
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2022/01/31 14:36:02.111 [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
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2022/01/31 14:36:02.111 [motorDevSup.c:327 IOC_TEST:Axis1] PositionRestoreNeeded IOC_TEST:Axis1 rstm=2 dval=0.000000 drbv=19.050000 pmr->rdbd=0.100000 rdbd=0.100000 pmr->mres=0.030000 pmr->mflg=0x3f dval_non_zero_pos_near_zero=0 ret=0
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2022/01/31 14:36:02.111 [motorRecord.cc:782 IOC_TEST:Axis1] init_re_init start neverPolled=0 stat=17 nsta=0
|
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2022/01/31 14:36:02.111 [motorRecord.cc:720 IOC_TEST:Axis1] enforceMinRetryDeadband spdb=0.100000 rdbd=0.100000 mres=0.030000
|
|
2022/01/31 14:36:02.111 [motorRecord.cc:4484 IOC_TEST:Axis1] pmr->dhlm=130 softLimitRO=130
|
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2022/01/31 14:36:02.111 [motorRecord.cc:4545 IOC_TEST:Axis1] pmr->dllm=-20 softLimitRO=-20
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2022/01/31 14:36:02.111 [motorRecord.cc:833 IOC_TEST:Axis1] init_re_init end dval=19.050000 drbv=19.050000 rdbd=0.100000 spdb=0.100000
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2022/01/31 14:36:02.111 [motorRecord.cc:968 IOC_TEST:Axis1] init_record process_reason="callbackdata + soft limits" dval=19.050000 drbv=19.050000 rdbd=0.100000 spdb=0.100000 stat=0 msta=0x4d00 neverPolled=0
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2022/01/31 14:36:02.112 [devMotorAsyn.c:439 IOC_TEST:Axis2] init_record IOC_TEST:Axis2 position=0.000000 encoderPos=0.000000 velocity=0.000000 MSTAstatus=0x0f08 flagsValue=0x3f flagsWritten=0x3f pmr->mflg=0x0
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2022/01/31 14:36:02.112 [devMotorAsyn.c:185 IOC_TEST:Axis2] init_controller IOC_TEST:Axis2 set encoder ratio=1.000000 status=0
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2022/01/31 14:36:02.112 [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
|
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2022/01/31 14:36:02.112 [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
|
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2022/01/31 14:36:02.112 [motorRecord.cc:782 IOC_TEST:Axis2] init_re_init start neverPolled=0 stat=17 nsta=0
|
|
2022/01/31 14:36:02.112 [motorRecord.cc:720 IOC_TEST:Axis2] enforceMinRetryDeadband spdb=0.100000 rdbd=0.100000 mres=0.030000
|
|
2022/01/31 14:36:02.112 [motorRecord.cc:4484 IOC_TEST:Axis2] pmr->dhlm=20 softLimitRO=20
|
|
2022/01/31 14:36:02.112 [motorRecord.cc:4545 IOC_TEST:Axis2] pmr->dllm=-130 softLimitRO=-130
|
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2022/01/31 14:36:02.112 [motorRecord.cc:833 IOC_TEST:Axis2] init_re_init end dval=0.000000 drbv=0.000000 rdbd=0.100000 spdb=0.100000
|
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2022/01/31 14:36:02.112 [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=0xf08 neverPolled=0
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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-15125 > "
|
|
#
|
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DIFF 18759
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DIFF 7667
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raspberrypi-15125 > 2022/01/31 14:36:03.029 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=64900 fPos=19.05 fActPosition=19.05 time=0.000076
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2022/01/31 14:36:03.029 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=49 fPos=0 fActPosition=0.03 time=0.000006
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2022/01/31 14:36:03.229 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64899 fPos=19.048 fActPosition=19.08 time=0.000018
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2022/01/31 14:36:03.229 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=50 fPos=0.028 fActPosition=0.06 time=0.000012
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2022/01/31 14:36:03.430 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64900 fPos=19.048 fActPosition=19.05 time=0.000015
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2022/01/31 14:36:03.430 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=49 fPos=0.028 fActPosition=0.03 time=0.000010
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2022/01/31 14:36:03.630 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64900 fPos=19.048 fActPosition=19.05 time=0.000018
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2022/01/31 14:36:03.630 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=49 fPos=0.056 fActPosition=0.03 time=0.000009
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2022/01/31 14:36:03.830 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64900 fPos=19.064 fActPosition=19.05 time=0.000011
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2022/01/31 14:36:03.831 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=61 fPos=0.392 fActPosition=0.39 time=0.000006
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2022/01/31 14:36:04.031 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64899 fPos=19.1 fActPosition=19.08 time=0.000011
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2022/01/31 14:36:04.031 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=85 fPos=1.096 fActPosition=1.11 time=0.000007
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2022/01/31 14:36:04.231 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64897 fPos=19.152 fActPosition=19.14 time=0.000011
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2022/01/31 14:36:04.231 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=121 fPos=2.172 fActPosition=2.19 time=0.000007
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2022/01/31 14:36:04.431 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64895 fPos=19.208 fActPosition=19.2 time=0.000010
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2022/01/31 14:36:04.432 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=161 fPos=3.372 fActPosition=3.39 time=0.000006
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DIFF 5574
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DIFF 5981
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DIFF 7129
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DIFF 6722
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DIFF 5148
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DIFF 5129
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DIFF 5277
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DIFF 5167
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DIFF 5037
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DIFF 5204
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DIFF 5315
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DIFF 5055
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DIFF 6092
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DIFF 5703
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DIFF 5296
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DIFF 5056
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DIFF 6092
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DIFF 5630
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DIFF 6000
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DIFF 5981
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DIFF 5518
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DIFF 5518
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DIFF 6982
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DIFF 6130
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DIFF 5444
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DIFF 6056
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DIFF 5037
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DIFF 7741
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DIFF 6185
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DIFF 6037
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DIFF 7185
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DIFF 9852
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DIFF 8556
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DIFF 8407
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DIFF 7055
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DIFF 7667
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DIFF 7222
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DIFF 7130
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DIFF 8037
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DIFF 9093
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DIFF 8777
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DIFF 5981
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DIFF 5777
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DIFF 9741
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DIFF 7186
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DIFF 7333
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DIFF 10592
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DIFF 7018
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DIFF 5759
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DIFF 5277
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DIFF 5278
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DIFF 6741
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DIFF 10333
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DIFF 5482
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DIFF 9130
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DIFF 5371
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DIFF 5185
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DIFF 7334
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DIFF 5889
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DIFF 5648
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DIFF 6445
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DIFF 6019
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DIFF 10592
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DIFF 9666
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DIFF 8111
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DIFF 7648
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DIFF 6945
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DIFF 6259
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DIFF 5537
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DIFF 9981
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DIFF 13796
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DIFF 7833
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DIFF 11425
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DIFF 10537
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DIFF 7444
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DIFF 11871
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DIFF 6870
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DIFF 5908
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DIFF 9981
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DIFF 10574
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DIFF 7444
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DIFF 15870
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DIFF 9426
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DIFF 5093
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DIFF 9982
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DIFF 5092
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DIFF 5870
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DIFF 5648
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DIFF 8685
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DIFF 5204
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DIFF 5982
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DIFF 6407
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DIFF 5611
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DIFF 5166
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DIFF 8686
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DIFF 5111
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DIFF 5056
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DIFF 5055
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DIFF 5907
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DIFF 6944
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DIFF 7203
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DIFF 5277
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DIFF 5445
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DIFF 6982
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DIFF 9796
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DIFF 7111
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DIFF 5185
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DIFF 6704
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DIFF 6500
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DIFF 5111
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DIFF 5185
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DIFF 5686
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DIFF 5278
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DIFF 5759
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DIFF 6907
|
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DIFF 5130
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DIFF 10815
|
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DIFF 7592
|
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DIFF 6185
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DIFF 5666
|
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DIFF 5370
|
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DIFF 5388
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DIFF 8593
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DIFF 8352
|
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DIFF 6148
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DIFF 6370
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DIFF 5666
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DIFF 5500
|
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DIFF 5167
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DIFF 6370
|
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DIFF 6148
|
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DIFF 5167
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DIFF 5407
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DIFF 5241
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DIFF 5148
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DIFF 5833
|
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DIFF 5037
|
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DIFF 5778
|
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DIFF 5018
|
|
GRBL busy: 0.00000
|
|
Retrigger g-code!!
|
|
GRBL: INFO: Write command (command[0] = G1X20Y20F360)
|
|
Added: G1X20Y20F360DIFF 5722
|
|
DIFF 5056
|
|
../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: INFO: Reply OK (command[0] = G1X20Y20F360)
|
|
GRBL: INFO: Write command (command[1] = G4P2)
|
|
Added: G4P2../grbl/grbl_stepper.c:st_wake_up:228:
|
|
../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_dwell:200:
|
|
DIFF 5148
|
|
DIFF 5741
|
|
DIFF 5352
|
|
DIFF 6000
|
|
DIFF 5056
|
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DIFF 5315
|
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DIFF 5204
|
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DIFF 5315
|
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DIFF 5241
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DIFF 5574
|
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DIFF 5352
|
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DIFF 5185
|
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DIFF 5148
|
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DIFF 6241
|
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DIFF 7537
|
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DIFF 5074
|
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DIFF 6463
|
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DIFF 5333
|
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DIFF 7574
|
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DIFF 8148
|
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DIFF 9167
|
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DIFF 9444
|
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DIFF 6574
|
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DIFF 6334
|
|
DIFF 9296
|
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DIFF 10260
|
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DIFF 7852
|
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DIFF 32185
|
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DIFF 5111
|
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DIFF 5741
|
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DIFF 7352
|
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DIFF 5203
|
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DIFF 6407
|
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DIFF 7963
|
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DIFF 11722
|
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DIFF 9277
|
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DIFF 7574
|
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DIFF 8222
|
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DIFF 6926
|
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DIFF 10296
|
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DIFF 10981
|
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DIFF 10111
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DIFF 10408
|
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DIFF 9648
|
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DIFF 12425
|
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DIFF 10129
|
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DIFF 12389
|
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DIFF 12148
|
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DIFF 10037
|
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DIFF 12963
|
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DIFF 7611
|
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DIFF 9796
|
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DIFF 19852
|
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DIFF 22314
|
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DIFF 23129
|
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DIFF 12926
|
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DIFF 13351
|
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DIFF 7036
|
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DIFF 23241
|
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DIFF 15055
|
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DIFF 18833
|
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DIFF 9852
|
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DIFF 19074
|
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DIFF 17685
|
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DIFF 18796
|
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DIFF 14129
|
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DIFF 10222
|
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DIFF 9037
|
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DIFF 6241
|
|
DIFF 8574
|
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DIFF 8537
|
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DIFF 9981
|
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DIFF 10352
|
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DIFF 8407
|
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DIFF 8814
|
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DIFF 11129
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DIFF 7223
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DIFF 5518
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DIFF 10741
|
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DIFF 9425
|
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DIFF 8445
|
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DIFF 9111
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DIFF 7870
|
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DIFF 7926
|
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DIFF 9555
|
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DIFF 9259
|
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DIFF 9371
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DIFF 12074
|
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DIFF 8796
|
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DIFF 6093
|
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DIFF 9408
|
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DIFF 5351
|
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DIFF 7425
|
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DIFF 13296
|
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DIFF 13833
|
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DIFF 10796
|
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DIFF 10222
|
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DIFF 12833
|
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DIFF 11074
|
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DIFF 12260
|
|
DIFF 10129
|
|
DIFF 13314
|
|
DIFF 11740
|
|
DIFF 9000
|
|
DIFF 12518
|
|
DIFF 17278
|
|
DIFF 7334
|
|
DIFF 6148
|
|
DIFF 5574
|
|
DIFF 6092
|
|
DIFF 5926
|
|
DIFF 6426
|
|
DIFF 6167
|
|
DIFF 7056
|
|
DIFF 5945
|
|
DIFF 11389
|
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DIFF 5296
|
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DIFF 5815
|
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DIFF 5963
|
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DIFF 5130
|
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DIFF 5018
|
|
DIFF 6777
|
|
DIFF 5778
|
|
DIFF 7093
|
|
DIFF 5963
|
|
DIFF 7093
|
|
DIFF 10703
|
|
DIFF 7926
|
|
DIFF 5611
|
|
DIFF 9463
|
|
DIFF 5092
|
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DIFF 6408
|
|
DIFF 7185
|
|
DIFF 7185
|
|
DIFF 6352
|
|
DIFF 5889
|
|
DIFF 6777
|
|
DIFF 5907
|
|
DIFF 6056
|
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DIFF 7685
|
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DIFF 7222
|
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DIFF 6333
|
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DIFF 7444
|
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DIFF 6685
|
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DIFF 5593
|
|
DIFF 6371
|
|
DIFF 7314
|
|
DIFF 6536
|
|
DIFF 12056
|
|
DIFF 5278
|
|
DIFF 6111
|
|
DIFF 5389
|
|
DIFF 6407
|
|
DIFF 5444
|
|
DIFF 5222
|
|
DIFF 5278
|
|
DIFF 5222
|
|
DIFF 5056
|
|
DIFF 5166
|
|
DIFF 5277
|
|
DIFF 5370
|
|
DIFF 5185
|
|
DIFF 5796
|
|
DIFF 5241
|
|
DIFF 7500
|
|
DIFF 7760
|
|
DIFF 6407
|
|
DIFF 6166
|
|
DIFF 11000
|
|
DIFF 7537
|
|
DIFF 8074
|
|
DIFF 6111
|
|
DIFF 7518
|
|
DIFF 6556
|
|
DIFF 9426
|
|
DIFF2022/01/31 14:36:04.632 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64893 fPos=19.264 fActPosition=19.26 time=0.000142
|
|
2022/01/31 14:36:04.632 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=201 fPos=4.576 fActPosition=4.59 time=0.000011
|
|
2022/01/31 14:36:04.832 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64891 fPos=19.32 fActPosition=19.32 time=0.000017
|
|
2022/01/31 14:36:04.833 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=241 fPos=5.78 fActPosition=5.79 time=0.000490
|
|
10333
|
|
DIFF 8556
|
|
DIFF 17407
|
|
DIFF 6148
|
|
DIFF 5371
|
|
DIFF 5630
|
|
DIFF 5666
|
|
DIFF 11907
|
|
DIFF 8277
|
|
DIFF 11981
|
|
DIFF 10518
|
|
DIFF 12055
|
|
DIFF 13445
|
|
DIFF 8833
|
|
DIFF 6907
|
|
DIFF 16018
|
|
DIFF 8796
|
|
DIFF 16630
|
|
DIFF 9093
|
|
DIFF 14667
|
|
DIFF 11018
|
|
DIFF 10111
|
|
DIFF 5148
|
|
DIFF 6000
|
|
DIFF 5333
|
|
DIFF 6555
|
|
DIFF 5963
|
|
DIFF 9037
|
|
DIFF 9259
|
|
DIFF 7352
|
|
DIFF 5333
|
|
DIFF 5018
|
|
DIFF 5463
|
|
DIFF 5093
|
|
DIFF 5240
|
|
DIFF 5778
|
|
DIFF 5296
|
|
DIFF 6481
|
|
DIFF 5574
|
|
DIFF 5982
|
|
DIFF 5260
|
|
DIFF 5445
|
|
DIFF 5555
|
|
DIFF 5185
|
|
DIFF 5370
|
|
DIFF 7407
|
|
DIFF 5537
|
|
DIFF 8055
|
|
DIFF 5074
|
|
DIFF 5111
|
|
DIFF 5370
|
|
DIFF 5185
|
|
DIFF 5185
|
|
DIFF 5204
|
|
DIFF 5259
|
|
DIFF 5778
|
|
DIFF 5185
|
|
DIFF 5907
|
|
DIFF 5297
|
|
DIFF 5296
|
|
DIFF 5278
|
|
DIFF 5203
|
|
DIFF 5351
|
|
DIFF 5574
|
|
DIFF 5093
|
|
GRBL busy: 1.00000
|
|
DIFF 6370
|
|
DIFF 5148
|
|
DIFF 8129
|
|
DIFF 5741
|
|
DIFF 5148
|
|
DIFF 5111
|
|
DIFF 5462
|
|
DIFF 5204
|
|
DIFF 5129
|
|
DIFF 5445
|
|
DIFF 5259
|
|
DIFF 6556
|
|
DIFF 6092
|
|
DIFF 5149
|
|
DIFF 5111
|
|
DIFF 5222
|
|
DIFF 5074
|
|
DIFF 5056
|
|
DIFF 5388
|
|
DIFF 5796
|
|
DIFF 5111
|
|
DIFF 6648
|
|
DIFF 6908
|
|
DIFF 5203
|
|
DIFF 5278
|
|
DIFF 5370
|
|
DIFF 5352
|
|
DIFF 5259
|
|
DIFF 5352
|
|
DIFF 5574
|
|
DIFF 5166
|
|
DIFF 8055
|
|
DIFF 5945
|
|
DIFF 5111
|
|
DIFF 5148
|
|
DIFF 5055
|
|
DIFF 5296
|
|
DIFF 5129
|
|
DIFF 5481
|
|
DIFF 6092
|
|
DIFF 5407
|
|
DIFF 6536
|
|
DIFF 5870
|
|
DIFF 5074
|
|
DIFF 5074
|
|
DIFF 5259
|
|
DIFF 5129
|
|
DIFF 5259
|
|
DIFF 5648
|
|
DIFF 5166
|
|
DIFF 6463
|
|
DIFF 5851
|
|
DIFF 5222
|
|
DIFF 5148
|
|
DIFF 5241
|
|
DIFF 5148
|
|
DIFF 5240
|
|
DIFF 5167
|
|
DIFF 5389
|
|
DIFF 5241
|
|
DIFF 7111
|
|
DIFF 5796
|
|
DIFF 5463
|
|
DIFF 5185
|
|
DIFF 5130
|
|
DIFF 5148
|
|
DIFF 5296
|
|
DIFF 5222
|
|
DIFF 5408
|
|
DIFF 5185
|
|
DIFF 6204
|
|
DIFF 5944
|
|
DIFF 6129
|
|
DIFF 5241
|
|
DIFF 6148
|
|
DIFF 5555
|
|
DIFF 5093
|
|
DIFF 5296
|
|
DIFF 6019
|
|
DIFF 7574
|
|
DIFF 7889
|
|
DIFF 6037
|
|
DIFF 5092
|
|
DIFF 5463
|
|
DIFF 5278
|
|
DIFF 5186
|
|
DIFF 5074
|
|
DIFF 5167
|
|
DIFF 6944
|
|
DIFF 5037
|
|
DIFF 10870
|
|
DIFF 9592
|
|
DIFF 9111
|
|
DIFF 10462
|
|
DIFF 8277
|
|
DIFF 6889
|
|
DIFF 6926
|
|
DIFF 9629
|
|
DIFF 9648
|
|
DIFF 12129
|
|
DIFF 8667
|
|
DIFF 5814
|
|
DIFF 5167
|
|
DIFF 5111
|
|
DIFF 5204
|
|
DIFF 8648
|
|
DIFF 5481
|
|
DIFF 5833
|
|
DIFF 5852
|
|
DIFF 5203
|
|
DIFF 8185
|
|
DIFF 6314
|
|
DIFF 5111
|
|
DIFF 5148
|
|
DIFF 5370
|
|
DIFF 5241
|
|
DIFF 5148
|
|
DIFF 5278
|
|
DIFF 5759
|
|
DIFF 5222
|
|
DIFF 7499
|
|
DIFF 6407
|
|
DIFF 5352
|
|
DIFF 8777
|
|
DIFF 6907
|
|
DIFF 10351
|
|
DIFF 8000
|
|
DIFF 12259
|
|
DIFF 9278
|
|
DIFF 5537
|
|
DIFF 7889
|
|
DIFF 5463
|
|
DIFF 5314
|
|
DIFF 5148
|
|
DIFF 5222
|
|
DIFF 5167
|
|
DIFF 6074
|
|
DIFF 5870
|
|
DIFF 5851
|
|
DIFF 5167
|
|
DIFF 7481
|
|
DIFF 5870
|
|
DIFF 5259
|
|
DIFF 5186
|
|
DIFF 5537
|
|
DIFF 5389
|
|
DIFF 5389
|
|
DIFF 5241
|
|
DIFF 6407
|
|
DIFF 5370
|
|
DIFF 6370
|
|
DIFF 5278
|
|
DIFF 5259
|
|
DIFF 5259
|
|
DIFF 5982
|
|
DIFF 5371
|
|
DIFF 5074
|
|
DIFF 5167
|
|
DIFF 5592
|
|
DIFF 5203
|
|
DIFF 5759
|
|
DIFF 5296
|
|
DIFF 5222
|
|
DIFF 5222
|
|
DIFF 5185
|
|
DIFF 5148
|
|
DIFF 5203
|
|
DIFF 5389
|
|
DIFF 5185
|
|
DIFF 6519
|
|
DIFF 5889
|
|
DIFF 5296
|
|
DIFF 5407
|
|
DIFF 5074
|
|
DIFF 5166
|
|
DIFF 5167
|
|
DIFF 5315
|
|
DIFF 5703
|
|
DIFF 5204
|
|
DIFF 6351
|
|
DIFF 5777
|
|
DIFF 5111
|
|
DIFF 5111
|
|
DIFF 5222
|
|
DIFF 5296
|
|
DIFF 5130
|
|
DIFF 5093
|
|
DIFF 5556
|
|
DIFF 5129
|
|
DIFF 6426
|
|
DIFF 5778
|
|
DIFF 5203
|
|
DIFF 5111
|
|
DIFF 5148
|
|
DIFF 5278
|
|
DIFF 5463
|
|
DIFF 5166
|
|
DIFF 5500
|
|
DIFF 5148
|
|
DIFF 6389
|
|
DIFF 5982
|
|
DIFF 5574
|
|
DIFF 5093
|
|
DIFF 5037
|
|
DIFF 5148
|
|
DIFF 5259
|
|
DIFF 5666
|
|
DIFF 5185
|
|
DIFF 6389
|
|
DIFF 5851
|
|
DIFF 5278
|
|
DIFF 5167
|
|
DIFF 5296
|
|
DIFF 5297
|
|
DIFF 5130
|
|
DIFF 5296
|
|
DIFF 6370
|
|
DIFF 5185
|
|
DIFF 6611
|
|
DIFF 6204
|
|
DIFF 5037
|
|
DIFF 5148
|
|
DIFF 5111
|
|
DIFF 5074
|
|
DIFF 5055
|
|
DIFF 5129
|
|
DIFF 5519
|
|
DIFF 5037
|
|
DIFF 7630
|
|
DIFF 5796
|
|
DIFF 5130
|
|
DIFF 5278
|
|
DIFF 5111
|
|
DIFF 5370
|
|
DIFF 5129
|
|
DIFF 5166
|
|
DIFF 7074
|
|
DIFF 9759
|
|
DIFF 11259
|
|
DIFF 7370
|
|
DIFF 5370
|
|
DIFF 5203
|
|
DIFF 5130
|
|
DIFF 5259
|
|
DIFF 5241
|
|
DIFF 5203
|
|
DIFF 5648
|
|
DIFF 5297
|
|
DIFF 7555
|
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DIFF 9259
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DIFF 8037
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DIFF 9833
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DIFF 9481
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DIFF 10499
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DIFF 10185
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DIFF 9648
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DIFF 9037
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DIFF 9815
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DIFF 7518
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DIFF 5944
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DIFF 5167
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DIFF 5166
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DIFF 5074
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DIFF 5204
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DIFF 5111
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DIFF 7648
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DIFF 5482
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DIFF 5092
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DIFF 8296
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DIFF 5870
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DIFF 5222
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DIFF 5407
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DIFF 5296
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DIFF 5333
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DIFF 5851
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DIFF 5111
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DIFF 5407
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DIFF 9074
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DIFF 8296
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DIFF 5871
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DIFF 5093
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DIFF 5092
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DIFF 5333
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DIFF 6926
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DIFF 5537
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DIFF 8833
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DIFF 9870
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DIFF 6666
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DIFF 8204
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DIFF 7148
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DIFF 6426
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DIFF 7944
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DIFF 7000
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DIFF 8797
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DIFF 8037
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DIFF 7759
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DIFF 12685
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DIFF 11259
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DIFF 15555
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DIFF 7555
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DIFF 10222
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DIFF 8741
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DIFF 6462
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DIFF 6277
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DIFF 9611
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DIFF 8944
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DIFF 6166
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DIFF 5555
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DIFF 8000
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DIFF 7130
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DIFF 7444
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DIFF 6444
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DIFF 6259
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DIFF 5018
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DIFF 5166
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DIFF 5148
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DIFF 8426
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DIFF 5593
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DIFF 5740
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DIFF 5759
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DIFF 7222
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DIFF 5741
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DIFF 5203
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DIFF 5796
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DIFF 5167
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DIFF 5055
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DIFF 5259
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DIFF 5389
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DIFF 5926
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DIFF 5371
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DIFF 8852
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DIFF 6018
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DIFF 5129
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DIFF 5166
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DIFF 5130
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DIFF 5518
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DIFF 5314
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DIFF 5204
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DIFF 5611
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DIFF 5111
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DIFF 2022/01/31 14:36:05.034 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64889 fPos=19.38 fActPosition=19.38 time=0.000035
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2022/01/31 14:36:05.034 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=281 fPos=6.984 fActPosition=6.99 time=0.000304
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2022/01/31 14:36:05.235 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64887 fPos=19.436 fActPosition=19.44 time=0.000010
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2022/01/31 14:36:05.235 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=321 fPos=8.192 fActPosition=8.19 time=0.000007
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2022/01/31 14:36:05.435 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64885 fPos=19.496 fActPosition=19.5 time=0.000011
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|
2022/01/31 14:36:05.435 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=361 fPos=9.388 fActPosition=9.39 time=0.000006
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2022/01/31 14:36:05.636 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64883 fPos=19.552 fActPosition=19.56 time=0.000011
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|
2022/01/31 14:36:05.636 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=401 fPos=10.588 fActPosition=10.59 time=0.000006
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|
2022/01/31 14:36:05.836 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64881 fPos=19.608 fActPosition=19.62 time=0.000078
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|
2022/01/31 14:36:05.836 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=441 fPos=11.792 fActPosition=11.79 time=0.000012
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2022/01/31 14:36:06.037 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64879 fPos=19.664 fActPosition=19.68 time=0.000011
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|
2022/01/31 14:36:06.037 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=481 fPos=12.988 fActPosition=12.99 time=0.000006
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2022/01/31 14:36:06.237 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64878 fPos=19.724 fActPosition=19.71 time=0.000015
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2022/01/31 14:36:06.237 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=521 fPos=14.196 fActPosition=14.19 time=0.000006
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|
2022/01/31 14:36:06.437 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64876 fPos=19.78 fActPosition=19.77 time=0.000009
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2022/01/31 14:36:06.437 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=561 fPos=15.396 fActPosition=15.39 time=0.000006
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2022/01/31 14:36:06.637 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64874 fPos=19.836 fActPosition=19.83 time=0.000017
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2022/01/31 14:36:06.638 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=602 fPos=16.596 fActPosition=16.62 time=0.000244
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6222
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DIFF 8907
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DIFF 5462
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DIFF 7148
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DIFF 5352
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DIFF 6351
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DIFF 5296
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DIFF 5056
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DIFF 6018
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DIFF 5222
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DIFF 6500
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DIFF 5259
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DIFF 5277
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DIFF 7519
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DIFF 6648
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DIFF 7759
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DIFF 5407
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DIFF 6463
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DIFF 7111
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DIFF 7611
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DIFF 9000
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DIFF 6167
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DIFF 5926
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DIFF 6130
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DIFF 7537
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DIFF 5926
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DIFF 6018
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DIFF 5722
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DIFF 6333
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DIFF 7611
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DIFF 9277
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DIFF 7519
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DIFF 10944
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DIFF 7426
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DIFF 7741
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DIFF 11148
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DIFF 6500
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DIFF 6963
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DIFF 6981
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DIFF 5371
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DIFF 9796
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DIFF 10425
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DIFF 14000
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DIFF 7759
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DIFF 5352
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DIFF 5407
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DIFF 5351
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DIFF 5389
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DIFF 11037
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DIFF 5148
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DIFF 14463
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DIFF 16074
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DIFF 7685
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DIFF 5500
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DIFF 5315
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DIFF 5204
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DIFF 5092
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DIFF 5333
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DIFF 5648
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DIFF 6148
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DIFF 7945
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DIFF 6334
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DIFF 6370
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DIFF 7741
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DIFF 7463
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DIFF 9851
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DIFF 8241
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DIFF 6574
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DIFF 8889
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DIFF 13222
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DIFF 9926
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DIFF 8981
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DIFF 6574
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DIFF 9537
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DIFF 11500
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DIFF 9203
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DIFF 5352
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DIFF 5222
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DIFF 6388
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DIFF 5852
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DIFF 5797
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DIFF 6519
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DIFF 6685
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DIFF 5759
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DIFF 8611
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DIFF 5333
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DIFF 8722
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DIFF 5815
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DIFF 5185
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DIFF 6148
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DIFF 7167
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DIFF 6333
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DIFF 7574
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DIFF 5593
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DIFF 7722
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DIFF 5129
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DIFF 6871
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DIFF 6648
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GRBL busy: 1.00000
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DIFF 6036
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DIFF 6981
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DIFF 6630
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DIFF 7389
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DIFF 8092
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DIFF 7167
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DIFF 7481
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DIFF 7740
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DIFF 5130
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DIFF 5130
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DIFF 5130
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DIFF 5351
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DIFF 5148
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DIFF 5315
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DIFF 5444
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DIFF 5185
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DIFF 6203
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DIFF 5444
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DIFF 5223
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DIFF 5130
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DIFF 5629
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DIFF 8982
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DIFF 5611
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DIFF 5556
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DIFF 6962
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DIFF 5741
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DIFF 7426
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DIFF 6425
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DIFF 5444
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DIFF 5611
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DIFF 6945
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DIFF 5389
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DIFF 5629
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DIFF 5611
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DIFF 7481
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DIFF 5666
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DIFF 9148
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DIFF 7203
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DIFF 5574
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DIFF 6093
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DIFF 5833
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DIFF 5500
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DIFF 5833
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DIFF 7444
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DIFF 7666
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DIFF 5333
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DIFF 9463
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DIFF 6870
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DIFF 5870
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DIFF 5759
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DIFF 5815
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DIFF 5407
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DIFF 5778
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DIFF 5981
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DIFF 5889
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DIFF 6259
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DIFF 7352
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DIFF 7648
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DIFF 5555
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DIFF 5537
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DIFF 5222
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DIFF 5907
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DIFF 5889
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DIFF 5407
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DIFF 6685
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DIFF 5926
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DIFF 8092
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DIFF 6111
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DIFF 5426
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DIFF 5555
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DIFF 14277
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DIFF 5796
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DIFF 5888
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DIFF 5481
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DIFF 6445
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DIFF 5407
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DIFF 9018
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DIFF 7500
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DIFF 5371
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DIFF 9629
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DIFF 9185
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DIFF 6389
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DIFF 5667
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DIFF 5888
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DIFF 6537
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DIFF 6185
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DIFF 8759
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DIFF 7630
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DIFF 5815
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DIFF 5944
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DIFF 8167
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DIFF 9000
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DIFF 9593
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DIFF 9778
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DIFF 10907
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DIFF 9611
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DIFF 10204
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DIFF 9093
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DIFF 12704
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DIFF 8851
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DIFF 7241
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DIFF 6130
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DIFF 13370
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DIFF 12204
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DIFF 11518
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DIFF 12277
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DIFF 17703
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DIFF 5926
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DIFF 5518
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DIFF 5426
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DIFF 5019
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DIFF 6240
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DIFF 5389
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DIFF 5315
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DIFF 6851
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DIFF 10833
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DIFF 9777
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DIFF 5518
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DIFF 5352
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DIFF 6371
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DIFF 7537
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DIFF 9703
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DIFF 6111
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DIFF 7888
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DIFF 6926
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DIFF 5760
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DIFF 11093
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DIFF 10036
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DIFF 5037
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DIFF 6185
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DIFF 5241
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DIFF 60758
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DIFF 5056
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DIFF 6611
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DIFF 5833
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DIFF 8556
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DIFF 5241
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DIFF 5722
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DIFF 6333
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DIFF 6426
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DIFF 5037
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DIFF 8796
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DIFF 5333
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DIFF 5611
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DIFF 6222
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DIFF 6981
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DIFF 5871
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DIFF 6277
|
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DIFF 5407
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DIFF 5889
|
|
DIFF 6222
|
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DIFF 9518
|
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DIFF 5759
|
|
DIFF 5056
|
|
GRBL busy: 1.00000
|
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DIFF 6333
|
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DIFF 5463
|
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DIFF 5407
|
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DIFF 7463
|
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DIFF 6167
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DIFF 5277
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DIFF 5222
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DIFF 5259
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DIFF 5389
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DIFF 5352
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DIFF 5278
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DIFF 5593
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DIFF 5204
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DIFF 5852
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DIFF 5222
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DIFF 5240
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DIFF 5222
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DIFF 5259
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DIFF 5111
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DIFF 5297
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DIFF 5556
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DIFF 5056
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DIFF 6296
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DIFF 5740
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DIFF 5333
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DIFF 5388
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DIFF 5111
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DIFF 5093
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DIFF 5222
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DIFF 5166
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DIFF 5500
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DIFF 5148
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DIFF 6407
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DIFF 6425
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DIFF 5185
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DIFF 5315
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DIFF 5203
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DIFF 5333
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DIFF 5241
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DIFF 5352
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DIFF 5611
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DIFF 5296
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DIFF 6315
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DIFF 5797
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DIFF 5222
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DIFF 5093
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DIFF 5296
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DIFF 5296
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DIFF 5185
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DIFF 5426
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DIFF 5722
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DIFF 5296
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DIFF 5685
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DIFF 5315
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DIFF 5259
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DIFF 5426
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DIFF 5537
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DIFF 5351
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DIFF 5593
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DIFF 5204
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DIFF 5426
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DIFF 5056
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DIFF 7130
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DIFF 5778
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DIFF 5148
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DIFF 5260
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DIFF 6833
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DIFF 6778
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DIFF 5351
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DIFF 5166
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DIFF 6907
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DIFF 5426
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DIFF 7315
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DIFF 6592
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DIFF 5167
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DIFF 5296
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DIFF 5148
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DIFF 5389
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DIFF 5666
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DIFF 5352
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DIFF 7463
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DIFF 5871
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DIFF 8630
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DIFF 7629
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DIFF 7037
|
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DIFF 8889
|
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DIFF 8500
|
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DIFF 5222
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DIFF 5371
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DIFF 11074
|
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DIFF 10814
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DIFF 14704
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DIFF 13945
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DIFF 7574
|
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DIFF 6037
|
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DIFF 5111
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|
DIFF 6019
|
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DIFF 5519
|
|
DIFF 5241
|
|
DIFF 5259
|
|
DIFF 5611
|
|
DIFF 5166
|
|
DIFF 7259
|
|
DIFF 5907
|
|
DIFF 5222
|
|
DIFF 5259
|
|
DIFF 5185
|
|
DIFF 5241
|
|
DIFF 5222
|
|
DIFF 5204
|
|
DIFF 5796
|
|
DIFF 9018
|
|
DIFF 8259
|
|
DIFF 6130
|
|
DIFF 7648
|
|
DIFF 10555
|
|
DIFF 7037
|
|
DIFF 6315
|
|
DIFF 6167
|
|
DIFF 6611
|
|
DIFF 9519
|
|
DIFF 9074
|
|
DIFF 12056
|
|
DIFF 5333
|
|
DIFF 6111
|
|
DIFF 5204
|
|
DIFF 5278
|
|
DIFF 5703
|
|
DIFF 6500
|
|
DIFF 5129
|
|
DIFF 7074
|
|
DIFF 5167
|
|
DIFF 12537
|
|
DIFF 5167
|
|
DIFF 5333
|
|
DIFF 5129
|
|
DIFF 5037
|
|
DIFF 11296
|
|
DIFF 5907
|
|
DIFF 5222
|
|
DIFF 6389
|
|
DIFF 5351
|
|
DIFF 7611
|
|
DIFF 5814
|
|
DIFF 7314
|
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DIFF 5167
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DIFF 5296
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DIFF 5204
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DIFF 5389
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DIFF 5519
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DIFF 51852022/01/31 14:36:06.838 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64872 fPos=19.896 fActPosition=19.89 time=0.000014
|
|
2022/01/31 14:36:06.839 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=642 fPos=17.796 fActPosition=17.82 time=0.000009
|
|
2022/01/31 14:36:07.039 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64870 fPos=19.948 fActPosition=19.95 time=0.000015
|
|
2022/01/31 14:36:07.039 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=678 fPos=18.9 fActPosition=18.9 time=0.000011
|
|
2022/01/31 14:36:07.239 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.98 fActPosition=19.98 time=0.000016
|
|
2022/01/31 14:36:07.240 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=702 fPos=19.616 fActPosition=19.62 time=0.000012
|
|
2022/01/31 14:36:07.440 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000159
|
|
2022/01/31 14:36:07.440 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=714 fPos=19.968 fActPosition=19.98 time=0.000011
|
|
|
|
DIFF 7852
|
|
DIFF 5925
|
|
DIFF 5333
|
|
DIFF 5518
|
|
DIFF 5130
|
|
DIFF 5149
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DIFF 62022/01/31 14:36:07.640 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000014
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|
2022/01/31 14:36:07.641 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=714 fPos=20 fActPosition=19.98 time=0.000009
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|
2022/01/31 14:36:07.841 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000137
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|
2022/01/31 14:36:07.841 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000010
|
|
2022/01/31 14:36:08.041 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
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|
2022/01/31 14:36:08.042 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=714 fPos=20 fActPosition=19.98 time=0.000011
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|
2022/01/31 14:36:08.242 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000018
|
|
2022/01/31 14:36:08.242 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000011
|
|
2022/01/31 14:36:08.443 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000015
|
|
2022/01/31 14:36:08.443 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000384
|
|
2022/01/31 14:36:08.643 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000014
|
|
2022/01/31 14:36:08.644 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=714 fPos=20 fActPosition=19.98 time=0.000010
|
|
2022/01/31 14:36:08.844 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000170
|
|
2022/01/31 14:36:08.844 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000011
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|
074
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DIFF 7037
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../grbl/grbl_stepper.c:st_go_idle:259:
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DIFF 27999
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GRBL busy: 1.00000
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DIFF 5055
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GRBL busy: 1.00000
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2022/01/31 14:36:09.044 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
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2022/01/31 14:36:09.045 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000005
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2022/01/31 14:36:09.245 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000073
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|
2022/01/31 14:36:09.245 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=714 fPos=20 fActPosition=19.98 time=0.000007
|
|
2022/01/31 14:36:09.445 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000009
|
|
2022/01/31 14:36:09.445 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=715 fPos=20 fActPosition=20.01 time=0.000006
|
|
2022/01/31 14:36:09.645 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
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|
2022/01/31 14:36:09.646 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=713 fPos=19.912 fActPosition=19.95 time=0.000006
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|
2022/01/31 14:36:09.846 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.992 fActPosition=19.98 time=0.000057
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|
2022/01/31 14:36:09.846 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=696 fPos=19.464 fActPosition=19.44 time=0.000006
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|
2022/01/31 14:36:10.046 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.952 fActPosition=19.98 time=0.000010
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2022/01/31 14:36:10.046 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=670 fPos=18.652 fActPosition=18.66 time=0.000006
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|
2022/01/31 14:36:10.246 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64874 fPos=19.84 fActPosition=19.83 time=0.000011
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|
2022/01/31 14:36:10.247 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=632 fPos=17.516 fActPosition=17.52 time=0.000006
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|
2022/01/31 14:36:10.447 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64880 fPos=19.668 fActPosition=19.65 time=0.000053
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|
2022/01/31 14:36:10.447 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=594 fPos=16.384 fActPosition=16.38 time=0.000006
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2022/01/31 14:36:10.647 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64887 fPos=19.432 fActPosition=19.44 time=0.000010
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|
2022/01/31 14:36:10.647 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=557 fPos=15.284 fActPosition=15.27 time=0.000006
|
|
DIFF 10722
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DIFF 13667
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DIFF 10018
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DIFF 12130
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DIFF 9796
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GRBL: INFO: Reply OK (command[1] = G4P2)
|
|
GRBL: INFO: Write command (command[2] = G2X0Y0R20)
|
|
Added: G2X0Y0R20../grbl/grbl_gcode.c:gc_execute_line:71:
|
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../grbl/grbl_motion_control.c:mc_arc:91:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_stepper.c:st_update_plan_block_parameters:639:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_stepper.c:st_update_plan_block_parameters:639:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../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 busy: 1.00000
|
|
DIFF 5796
|
|
DIFF 6204
|
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DIFF 6426
|
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DIFF 7592
|
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DIFF 5981
|
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|
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../grbl/grbl_motion_control.c:mc_line:33:
|
|
DIFF 5204
|
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DIFF 5074
|
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|
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|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
DIFF 5241
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
DIFF 5944
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../grbl/grbl_motion_control.c:mc_line:33:
|
|
DIFF 5648
|
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../grbl/grbl_stepper.c:st_next_block_index:652:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_stepper.c:st_next_block_index:652:
|
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DIFF 5056
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../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:
|
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../grbl/grbl_stepper.c:st_next_block_index:652:
|
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DIFF 5351
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|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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DIFF 6130
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../grbl/grbl_stepper.c:st_next_block_index:652:
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../grbl/grbl_stepper.c:st_next_block_index:652:
|
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DIFF 5389
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DIFF 7389
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|
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../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:
|
|
DIFF 5093
|
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DIFF 6592
|
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DIFF 6278
|
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DIFF 6426
|
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|
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|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
DIFF 7296
|
|
DIFF2022/01/31 14:36:10.848 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64898 fPos=19.132 fActPosition=19.11 time=0.000010
|
|
2022/01/31 14:36:10.848 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=520 fPos=14.18 fActPosition=14.16 time=0.000006
|
|
2022/01/31 14:36:11.048 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64910 fPos=18.756 fActPosition=18.75 time=0.000011
|
|
2022/01/31 14:36:11.048 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=483 fPos=13.06 fActPosition=13.05 time=0.000006
|
|
2022/01/31 14:36:11.248 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64924 fPos=18.312 fActPosition=18.33 time=0.000010
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2022/01/31 14:36:11.248 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=447 fPos=11.968 fActPosition=11.97 time=0.000006
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2022/01/31 14:36:11.449 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64941 fPos=17.828 fActPosition=17.82 time=0.000011
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2022/01/31 14:36:11.449 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=412 fPos=10.944 fActPosition=10.92 time=0.000006
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2022/01/31 14:36:11.649 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64960 fPos=17.268 fActPosition=17.25 time=0.000011
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2022/01/31 14:36:11.649 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=378 fPos=9.908 fActPosition=9.9 time=0.000006
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2022/01/31 14:36:11.849 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64980 fPos=16.66 fActPosition=16.65 time=0.000010
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2022/01/31 14:36:11.849 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=346 fPos=8.94 fActPosition=8.94 time=0.000006
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2022/01/31 14:36:12.050 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65002 fPos=15.988 fActPosition=15.99 time=0.000012
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2022/01/31 14:36:12.050 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=314 fPos=7.98 fActPosition=7.98 time=0.000126
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2022/01/31 14:36:12.250 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65026 fPos=15.268 fActPosition=15.27 time=0.000010
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2022/01/31 14:36:12.250 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=284 fPos=7.084 fActPosition=7.08 time=0.000006
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2022/01/31 14:36:12.450 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65052 fPos=14.492 fActPosition=14.49 time=0.000011
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2022/01/31 14:36:12.451 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=255 fPos=6.216 fActPosition=6.21 time=0.000006
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2022/01/31 14:36:12.651 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65080 fPos=13.664 fActPosition=13.65 time=0.000073
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2022/01/31 14:36:12.651 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=228 fPos=5.396 fActPosition=5.4 time=0.000007
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2022/01/31 14:36:12.851 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65109 fPos=12.788 fActPosition=12.78 time=0.000011
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2022/01/31 14:36:12.851 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=202 fPos=4.624 fActPosition=4.62 time=0.000007
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2022/01/31 14:36:13.052 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65139 fPos=11.884 fActPosition=11.88 time=0.000011
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2022/01/31 14:36:13.052 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=178 fPos=3.916 fActPosition=3.9 time=0.000006
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../grbl/grbl_motion_control.c:mc_line:33:
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../grbl/grbl_motion_control.c:mc_line:33:
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../grbl/grbl_motio2022/01/31 14:36:13.252 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65171 fPos=10.924 fActPosition=10.92 time=0.000011
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2022/01/31 14:36:13.252 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=156 fPos=3.252 fActPosition=3.24 time=0.000007
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2022/01/31 14:36:13.452 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65203 fPos=9.948 fActPosition=9.96 time=0.000012
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2022/01/31 14:36:13.452 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=136 fPos=2.648 fActPosition=2.64 time=0.000007
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2022/01/31 14:36:13.653 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65238 fPos=8.912 fActPosition=8.91 time=0.000011
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2022/01/31 14:36:13.653 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=118 fPos=2.096 fActPosition=2.1 time=0.000007
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2022/01/31 14:36:13.853 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65272 fPos=7.884 fActPosition=7.89 time=0.000063
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2022/01/31 14:36:13.853 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=102 fPos=1.62 fActPosition=1.62 time=0.000006
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2022/01/31 14:36:14.053 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65309 fPos=6.78 fActPosition=6.78 time=0.000018
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2022/01/31 14:36:14.054 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=88 fPos=1.188 fActPosition=1.2 time=0.000013
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2022/01/31 14:36:14.254 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65346 fPos=5.664 fActPosition=5.67 time=0.000200
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2022/01/31 14:36:14.254 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=75 fPos=0.82 fActPosition=0.81 time=0.000012
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n_control.c:mc_line:33:
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GRBL: INFO: Reply OK (command[2] = G2X0Y0R20)
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GRBL: INFO: Write command (command[3] = G4P2)
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Added: G4P2DIFF 12759
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../grbl/grbl_stepper.c:st_next_block_index:652:
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DIFF 96852022/01/31 14:36:14.455 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65383 fPos=4.56 fActPosition=4.56 time=0.000019
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2022/01/31 14:36:14.455 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=66 fPos=0.528 fActPosition=0.54 time=0.000076
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2022/01/31 14:36:14.655 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65420 fPos=3.452 fActPosition=3.45 time=0.000019
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2022/01/31 14:36:14.656 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=58 fPos=0.3 fActPosition=0.3 time=0.000011
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GRBL busy: 1.00000
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../grbl/grbl_stepper.c:st_next_block_index:652:
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../grbl/grbl_stepper.c:st_next_block_index:652:
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DIFF 512022/01/31 14:36:14.856 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65458 fPos=2.316 fActPosition=2.31 time=0.000099
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|
2022/01/31 14:36:14.856 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=53 fPos=0.136 fActPosition=0.15 time=0.000011
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2022/01/31 14:36:15.056 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65495 fPos=1.208 fActPosition=1.2 time=0.000014
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2022/01/31 14:36:15.057 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=49 fPos=0.036 fActPosition=0.03 time=0.000008
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2022/01/31 14:36:15.257 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65521 fPos=0.448 fActPosition=0.42 time=0.000010
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2022/01/31 14:36:15.257 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=48 fPos=0.008 fActPosition=0 time=0.000006
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|
2022/01/31 14:36:15.457 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65534 fPos=0.056 fActPosition=0.03 time=0.000010
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|
2022/01/31 14:36:15.457 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000007
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2022/01/31 14:36:15.658 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000011
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|
2022/01/31 14:36:15.658 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000007
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2022/01/31 14:36:15.858 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000104
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2022/01/31 14:36:15.858 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000009
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2022/01/31 14:36:16.058 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000019
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2022/01/31 14:36:16.058 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000011
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|
48
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DIFF 5389
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DIFF 6518
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DIFF 7556
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DIFF 7982
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DIFF 8130
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DIFF 7333
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DIFF 8574
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DIFF 12148
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DIFF 10592
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DIFF 7055
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DIFF 19314
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DIFF 8777
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DIFF 8648
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DIFF 6093
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DIFF 5130
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DIFF 6870
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DIFF 10518
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DIFF 13703
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DIFF 8352
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DIFF 13000
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DIFF 14852
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DIFF 7648
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DIFF 15889
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DIFF 6371
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DIFF 13648
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DIFF 8796
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DIFF 6463
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DIFF 5463
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DIFF 6425
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DIFF 5204
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DIFF 5277
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../grbl/grbl_stepper.c:st_next_block_index:652:
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DIFF 5351
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DIFF 5388
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DIFF 5278
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DIFF 5185
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DIFF 5296
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DIFF 6111
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DIFF 6185
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DIFF 8537
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DIFF 8148
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DIFF 5241
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DIFF 6537
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DIFF 5982
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DIFF 5334
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DIFF 6222
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DIFF 5593
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DIFF 8536
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DIFF 5815
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DIFF 5167
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DIFF 5148
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DIFF 5149
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DIFF 5093
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DIFF 5222
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DIFF 5926
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DIFF 10463
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DIFF 6574
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DIFF 7351
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DIFF 6240
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DIFF 5148
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DIFF 5092
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DIFF 5203
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DIFF 5167
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DIFF 5315
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DIFF 5130
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DIFF 5130
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DIFF 5778
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DIFF 6111
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DIFF 6056
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DIFF 5130
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DIFF 5148
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DIFF 5111
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DIFF 5408
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DIFF 5129
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DIFF 5204
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DIFF 5167
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DIFF 5203
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DIFF 5185
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DIFF 5629
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DIFF 5333
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DIFF 7925
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DIFF 5297
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DIFF 5185
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DIFF 5296
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DIFF 5352
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DIFF 5315
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DIFF 5240
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DIFF 8167
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DIFF 5296
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DIFF 5593
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DIFF 5018
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DIFF 7000
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DIFF 7278
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DIFF 9185
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DIFF 12667
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DIFF 7370
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DIFF 5185
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DIFF 9111
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DIFF 11611
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DIFF 9222
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DIFF 8074
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DIFF 7722
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DIFF 5222
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DIFF 5204
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DIFF 5704
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DIFF 5685
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DIFF 5203
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DIFF 7685
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DIFF 5482
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DIFF 5259
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DIFF 5167
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DIFF 5259
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DIFF 5130
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DIFF 5296
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DIFF 5648
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DIFF 5129
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DIFF 5166
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DIFF 6796
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DIFF 5333
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DIFF 5333
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DIFF 5889
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DIFF 5241
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DIFF 5259
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DIFF 5315
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DIFF 8499
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DIFF 6741
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DIFF 9685
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DIFF 10704
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DIFF 8148
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DIFF 14537
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DIFF 6797
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DIFF 5185
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DIFF 5333
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DIFF 5148
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../grbl/grbl_stepper.c:st_next_block_index:652:
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DIFF 5796
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DIFF 5519
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DIFF 5111
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DIFF 8222
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DIFF 9519
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DIFF 6296
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DIFF 5278
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DIFF 5333
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DIFF 5166
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DIFF 5389
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DIFF 5629
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DIFF 5278
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DIFF 12666
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DIFF 9926
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DIFF 5463
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DIFF 5408
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DIFF 5352
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DIFF 5370
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DIFF 5037
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DIFF 5278
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DIFF 5518
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DIFF 5093
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DIFF 5870
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DIFF 5167
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DIFF 5185
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DIFF 5018
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DIFF 5222
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DIFF 5241
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DIFF 5092
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DIFF 5333
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DIFF 5074
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DIFF 5334
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DIFF 6426
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DIFF 5814
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DIFF 5111
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DIFF 5148
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DIFF 5037
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DIFF 5241
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DIFF 5333
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DIFF 5297
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DIFF 5204
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DIFF 8130
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DIFF 5815
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DIFF 5129
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DIFF 5556
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DIFF 5777
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DIFF 10667
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DIFF 6648
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DIFF 5093
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DIFF 5259
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DIFF 6888
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DIFF 5815
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DIFF 5093
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DIFF 5537
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DIFF 5055
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DIFF 5037
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DIFF 5222
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DIFF 5129
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DIFF 12148
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DIFF 6704
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DIFF 6204
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DIFF 9426
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DIFF 6685
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DIFF 7111
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DIFF 5222
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DIFF 8296
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DIFF 8926
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DIFF 6778
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DIFF 7259
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DIFF 7981
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DIFF 8037
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DIFF 6130
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DIFF 6833
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DIFF 6185
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DIFF 5834
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DIFF 5463
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DIFF 5463
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DIFF 10963
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DIFF 10667
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DIFF 9611
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DIFF 7666
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DIFF 5981
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DIFF 5722
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DIFF 5074
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DIFF 7611
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DIFF 7666
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DIFF 5462
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DIFF 7426
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DIFF 5815
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DIFF 7537
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DIFF 6871
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DIFF 5926
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DIFF 6426
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DIFF 7370
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DIFF 7111
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DIFF 5148
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DIFF 7963
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DIFF 5148
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DIFF 6648
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DIFF 5389
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DIFF 6148
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DIFF 5167
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DIFF 6630
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DIFF 5351
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DIFF 5018
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DIFF 5907
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DIFF 5074
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DIFF 6074
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DIFF 5981
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DIFF 5426
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DIFF 7222
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DIFF 5574
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DIFF 6482
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DIFF 5074
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DIFF 5648
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DIFF 5129
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DIFF 8425
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DIFF 6740
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DIFF 7296
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DIFF 5982
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DIFF 6000
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DIFF 5704
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DIFF 6777
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DIFF 6778
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DIFF 6722
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DIFF 8852
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DIFF 8463
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DIFF 6555
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DIFF 5166
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DIFF 5148
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DIFF 5852
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DIFF 5944
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DIFF 9778
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DIFF 13944
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DIFF 6629
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DIFF 9185
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DIFF 7241
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DIFF 9370
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DIFF 7556
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DIFF 10629
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DIFF 5611
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DIFF 5297
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DIFF 7148
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DIFF 6130
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DIFF 5444
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DIFF 5444
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DIFF 6703
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DIFF 6296
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DIFF 5871
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DIFF 12741
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DIFF 5407
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DIFF 5667
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DIFF 5111
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DIFF 5259
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DIFF 6259
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DIFF 7259
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DIFF 6259
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DIFF 6685
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DIFF 5204
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DIFF 5889
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DIFF 16352
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DIFF 5407
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DIFF 6352
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GRBL busy: 1.00000
|
|
../grbl/grbl_stepper.c:st_go_idle:259:
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DIFF 11000
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DIFF 6093
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DIFF 6092
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DIFF 6259
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DIFF 6797
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DIFF 6759
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DIFF 6426
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DIFF 5092
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DIFF 5870
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DIFF 5277
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DIFF 6111
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|
DIFF 5278
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DIFF 6130
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DIFF 6222
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DIFF 6519
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DIFF 5388
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|
DIFF 5333
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|
DIFF 5296
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|
DIFF 6518
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|
DIFF 5426
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DIFF 6444
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|
DIFF 12611
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|
DIFF 9222
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|
DIFF 5333
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|
DIFF 8259
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|
DIFF 7815
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|
DIFF 14574
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|
DIFF 5222
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|
DIFF 5241
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|
DIFF 7426
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|
DIFF 5907
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|
DIFF 5389
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|
DIFF 7518
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|
DIFF 8315
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DIFF 7241
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|
DIFF 9074
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|
DIFF 5425
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|
DIFF 5408
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|
DIFF 7704
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DIFF 10389
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|
DIFF 5908
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|
DIFF 5149
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DIFF 5648
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DIFF 5592
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DIFF 5111
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|
DIFF 5278
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|
DIFF 5019
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DIFF 5259
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DIFF 5333
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DIFF 6407
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|
DIFF 5037
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|
DIFF 5148
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|
DIFF 5481
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|
DIFF 5296
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|
DIFF 7629
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|
DIFF 5130
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|
DIFF 5667
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|
DIFF 8871
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|
DIFF 10574
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|
DIFF 7056
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|
DIFF 5463
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|
DIFF 5074
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|
DIFF 5593
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|
DIFF 5166
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DIFF 5982
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|
DIFF 5019
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|
DIFF 5462
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|
DIFF 5222
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|
DIFF 5166
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|
DIFF 5648
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|
DIFF 5056
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|
DIFF 5296
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|
DIFF 5019
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|
DIFF 6500
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|
DIFF 5759
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|
DIFF 5018
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|
DIFF 5241
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|
DIFF 5611
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|
DIFF 5426
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|
DIFF 5315
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|
DIFF 6908
|
|
DIFF 8759
|
|
DIFF 10110
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|
DIFF 5629
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|
DIFF 6296
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|
DIFF 7778
|
|
DIFF 10556
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|
DIFF 5055
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|
DIFF 6241
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|
DIFF 5982
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|
DIFF 5389
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|
DIFF 5500
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|
DIFF 7037
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DIFF 8148
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DIFF 772022/01/31 14:36:16.259 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000013
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|
2022/01/31 14:36:16.259 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000008
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|
2022/01/31 14:36:16.459 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000184
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|
2022/01/31 14:36:16.459 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000011
|
|
2022/01/31 14:36:16.659 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000016
|
|
2022/01/31 14:36:16.659 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000009
|
|
2022/01/31 14:36:16.860 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000017
|
|
2022/01/31 14:36:16.860 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000009
|
|
2022/01/31 14:36:17.060 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000161
|
|
2022/01/31 14:36:17.060 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000010
|
|
2022/01/31 14:36:17.260 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000017
|
|
2022/01/31 14:36:17.260 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000009
|
|
2022/01/31 14:36:17.461 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65535 fPos=0 fActPosition=0 time=0.000018
|
|
2022/01/31 14:36:17.461 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=48 fPos=0 fActPosition=0 time=0.000011
|
|
22
|
|
DIFF 9926
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|
DIFF 10796
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|
DIFF 5574
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|
DIFF 6315
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|
DIFF 10907
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|
DIFF 9129
|
|
DIFF 5945
|
|
DIFF 6000
|
|
DIFF 8889
|
|
DIFF 8962
|
|
DIFF 6630
|
|
DIFF 9611
|
|
DIFF 23555
|
|
DIFF 11778
|
|
DIFF 8982
|
|
DIFF 10259
|
|
DIFF 8277
|
|
DIFF 11426
|
|
DIFF 19111
|
|
DIFF 10593
|
|
DIFF 17166
|
|
DIFF 19685
|
|
DIFF 18204
|
|
DIFF 11611
|
|
DIFF 10796
|
|
DIFF 5852
|
|
DIFF 6444
|
|
DIFF 7667
|
|
DIFF 5315
|
|
DIFF 5185
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|
DIFF 5814
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|
DIFF 5389
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|
DIFF 5092
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|
DIFF 5518
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|
DIFF 6722
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|
DIFF 5426
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|
DIFF 5944
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|
DIFF 5241
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|
DIFF 5352
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|
DIFF 5444
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|
DIFF 5166
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DIFF 5462
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|
DIFF 5852
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|
DIFF 5259
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|
DIFF 5556
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|
DIFF 5537
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|
DIFF 8889
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|
DIFF 7055
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|
DIFF 6981
|
|
DIFF 6481
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|
DIFF 7370
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|
DIFF 6426
|
|
DIFF 5055
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|
DIFF 10222
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|
DIFF 5037
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|
DIFF 6630
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|
DIFF 5407
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|
DIFF 6889
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|
DIFF 6389
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|
DIFF 6148
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|
DIFF 8092
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|
DIFF 5074
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DIFF 5111
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|
DIFF 5204
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DIFF 5574
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|
DIFF 5241
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|
DIFF 5019
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|
DIFF 5407
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|
DIFF 6740
|
|
DIFF 5407
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|
DIFF 6000
|
|
DIFF 5074
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|
DIFF 5537
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|
DIFF 5222
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DIFF 5352
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DIFF 5333
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|
DIFF 5277
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|
DIFF 5148
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DIFF 5760
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|
DIFF 5871
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DIFF 5426
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DIFF 6574
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DIFF 5388
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DIFF 6000
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DIFF 6129
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DIFF 6796
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DIFF 6982
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DIFF 12426
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DIFF 8000
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DIFF 7426
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DIFF 22240
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DIFF 14518
|
|
DIFF 5944
|
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DIFF 5056
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DIFF 5462
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DIFF 5092
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DIFF 5148
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DIFF 9240
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DIFF 7945
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DIFF 9203
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DIFF 6055
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|
DIFF 7778
|
|
DIFF 6999
|
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DIFF 5351
|
|
DIFF 5130
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|
DIFF 7408
|
|
DIFF 5185
|
|
DIFF 6148
|
|
DIFF 6666
|
|
DIFF 5278
|
|
DIFF 6796
|
|
GRBL busy: 1.00000
|
|
DIFF 5407
|
|
DIFF 5389
|
|
DIFF 5463
|
|
DIFF 5426
|
|
DIFF 6592
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|
DIFF 5352
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|
DIFF 5167
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|
DIFF 5426
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|
DIFF 5277
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|
DIFF 5037
|
|
DIFF 5685
|
|
DIFF 5037
|
|
DIFF 5407
|
|
DIFF 5018
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|
DIFF 5352
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|
DIFF 6092
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|
DIFF 7889
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|
DIFF 5074
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|
DIFF 5518
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|
DIFF 7018
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|
DIFF 8296
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|
DIFF 10463
|
|
DIFF 8462
|
|
DIFF 5259
|
|
DIFF 9796
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|
DIFF 14463
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|
DIFF 5777
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|
DIFF 5055
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|
DIFF 5574
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|
DIFF 5630
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|
DIFF 7593
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|
DIFF 5888
|
|
DIFF 9167
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|
DIFF 7592
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|
DIFF 6093
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|
DIFF 6074
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|
DIFF 7018
|
|
DIFF 5018
|
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DIFF 5352
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DIFF 5611
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GRBL busy: 1.00000
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DIFF 5352
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DIFF 5074
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DIFF 5611
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|
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: INFO: Reply OK (command[4] = G0X10Y10)
|
|
GRBL: INFO: Write command (command[5] = G2X10Y-10R10)
|
|
Added: G2X10Y-10R10../grbl/grbl_s2022/01/31 14:36:17.661 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65534 fPos=0.056 fActPosition=0.03 time=0.000114
|
|
2022/01/31 14:36:17.661 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=49 fPos=0.056 fActPosition=0.03 time=0.000009
|
|
2022/01/31 14:36:17.861 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
|
|
2022/01/31 14:36:17.862 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=63 fPos=0.448 fActPosition=0.45 time=0.000006
|
|
2022/01/31 14:36:18.062 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65494 fPos=1.216 fActPosition=1.23 time=0.000013
|
|
2022/01/31 14:36:18.062 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=89 fPos=1.22 fActPosition=1.23 time=0.000009
|
|
2022/01/31 14:36:18.262 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65457 fPos=2.344 fActPosition=2.34 time=0.000011
|
|
2022/01/31 14:36:18.262 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=127 fPos=2.344 fActPosition=2.37 time=0.000006
|
|
2022/01/31 14:36:18.462 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65407 fPos=3.836 fActPosition=3.84 time=0.000011
|
|
2022/01/31 14:36:18.463 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=176 fPos=3.836 fActPosition=3.84 time=0.000007
|
|
2022/01/31 14:36:18.663 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65350 fPos=5.512 fActPosition=5.55 time=0.000160
|
|
2022/01/31 14:36:18.663 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=232 fPos=5.512 fActPosition=5.52 time=0.000007
|
|
2022/01/31 14:36:18.863 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65297 fPos=7.128 fActPosition=7.14 time=0.000010
|
|
2022/01/31 14:36:18.863 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=286 fPos=7.128 fActPosition=7.14 time=0.000006
|
|
2022/01/31 14:36:19.064 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65254 fPos=8.404 fActPosition=8.43 time=0.000011
|
|
2022/01/31 14:36:19.064 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=329 fPos=8.408 fActPosition=8.43 time=0.000201
|
|
2022/01/31 14:36:19.264 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65224 fPos=9.32 fActPosition=9.33 time=0.000011
|
|
2022/01/31 14:36:19.264 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=359 fPos=9.32 fActPosition=9.33 time=0.000007
|
|
2022/01/31 14:36:19.465 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65206 fPos=9.86 fActPosition=9.87 time=0.000011
|
|
2022/01/31 14:36:19.465 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=377 fPos=9.86 fActPosition=9.87 time=0.000006
|
|
2022/01/31 14:36:19.665 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65197 fPos=10.148 fActPosition=10.14 time=0.000011
|
|
2022/01/31 14:36:19.665 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=382 fPos=9.996 fActPosition=10.02 time=0.000006
|
|
2022/01/31 14:36:19.865 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65177 fPos=10.732 fActPosition=10.74 time=0.000011
|
|
2022/01/31 14:36:19.865 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=381 fPos=9.972 fActPosition=9.99 time=0.000006
|
|
2022/01/31 14:36:20.066 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65146 fPos=11.684 fActPosition=11.67 time=0.000010
|
|
2022/01/31 14:36:20.066 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=377 fPos=9.856 fActPosition=9.87 time=0.000006
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|
2022/01/31 14:36:20.266 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65108 fPos=12.788 fActPosition=12.81 time=0.000010
|
|
2022/01/31 14:36:20.266 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=368 fPos=9.604 fActPosition=9.6 time=0.000006
|
|
2022/01/31 14:36:20.466 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65071 fPos=13.904 fActPosition=13.92 time=0.000010
|
|
2022/01/31 14:36:20.466 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=355 fPos=9.208 fActPosition=9.21 time=0.000007
|
|
tepper.c:st_wake_up:228:
|
|
DIFF 5148
|
|
../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_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_motion_control.c:mc_line:33:
|
|
DIFF 6833
|
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GRBL busy: 1.00000
|
|
DIFF 6370
|
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DIFF 6666
|
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DIFF 5333
|
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DIFF 5944
|
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DIFF 6185
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|
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|
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../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
DIFF 5074
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|
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|
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../grbl/grbl_motion_control.c:mc_line:33:
|
|
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|
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../grbl/grbl_stepper.c:st_next_block_index:652:
|
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|
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GRBL busy: 1.00000
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
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../grbl/grbl_motion_control.c:mc_line:33:
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|
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../grbl/grbl_stepper.c:st_next_block_index:652:
|
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../grbl/grbl_motion_control.c:mc_line:33:
|
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../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:
|
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|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
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|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
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../gr2022/01/31 14:36:20.667 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65037 fPos=14.928 fActPosition=14.94 time=0.000011
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2022/01/31 14:36:20.667 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=338 fPos=8.7 fActPosition=8.7 time=0.000007
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2022/01/31 14:36:20.867 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65005 fPos=15.896 fActPosition=15.9 time=0.000012
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2022/01/31 14:36:20.867 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=317 fPos=8.076 fActPosition=8.07 time=0.000006
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2022/01/31 14:36:21.067 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64975 fPos=16.78 fActPosition=16.8 time=0.000010
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2022/01/31 14:36:21.067 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=293 fPos=7.348 fActPosition=7.35 time=0.000006
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2022/01/31 14:36:21.268 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64949 fPos=17.588 fActPosition=17.58 time=0.000011
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2022/01/31 14:36:21.268 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=265 fPos=6.508 fActPosition=6.51 time=0.000117
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2022/01/31 14:36:21.468 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64926 fPos=18.284 fActPosition=18.27 time=0.000011
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2022/01/31 14:36:21.468 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=234 fPos=5.596 fActPosition=5.58 time=0.000006
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2022/01/31 14:36:21.668 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64906 fPos=18.876 fActPosition=18.87 time=0.000010
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2022/01/31 14:36:21.669 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=202 fPos=4.612 fActPosition=4.62 time=0.000006
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2022/01/31 14:36:21.869 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64890 fPos=19.348 fActPosition=19.35 time=0.000011
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2022/01/31 14:36:21.869 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=167 fPos=3.556 fActPosition=3.57 time=0.000006
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2022/01/31 14:36:22.069 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64879 fPos=19.696 fActPosition=19.68 time=0.000011
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2022/01/31 14:36:22.069 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=130 fPos=2.444 fActPosition=2.46 time=0.000006
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2022/01/31 14:36:22.269 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64871 fPos=19.908 fActPosition=19.92 time=0.000011
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2022/01/31 14:36:22.270 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=92 fPos=1.344 fActPosition=1.32 time=0.000006
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2022/01/31 14:36:22.470 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64868 fPos=19.996 fActPosition=20.01 time=0.000010
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2022/01/31 14:36:22.470 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=53 fPos=0.172 fActPosition=0.15 time=0.000007
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../grbl/grbl_s2022/01/31 14:36:22.670 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.948 fActPosition=19.98 time=0.000011
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2022/01/31 14:36:22.670 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=14 fPos=-1.008 fActPosition=-1.02 time=0.000006
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2022/01/31 14:36:22.870 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64876 fPos=19.768 fActPosition=19.77 time=0.000011
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2022/01/31 14:36:22.871 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65512 fPos=-2.12 fActPosition=-2.13 time=0.000007
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2022/01/31 14:36:23.071 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64886 fPos=19.46 fActPosition=19.47 time=0.000048
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2022/01/31 14:36:23.071 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65475 fPos=-3.236 fActPosition=-3.24 time=0.000006
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2022/01/31 14:36:23.271 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64901 fPos=19.024 fActPosition=19.02 time=0.000011
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2022/01/31 14:36:23.271 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65439 fPos=-4.308 fActPosition=-4.32 time=0.000006
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2022/01/31 14:36:23.472 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64920 fPos=18.472 fActPosition=18.45 time=0.000029
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2022/01/31 14:36:23.472 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65406 fPos=-5.312 fActPosition=-5.31 time=0.000006
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2022/01/31 14:36:23.672 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64942 fPos=17.804 fActPosition=17.79 time=0.000010
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2022/01/31 14:36:23.672 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65374 fPos=-6.256 fActPosition=-6.27 time=0.000006
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2022/01/31 14:36:23.872 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64967 fPos=17.028 fActPosition=17.04 time=0.000010
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2022/01/31 14:36:23.872 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65346 fPos=-7.112 fActPosition=-7.11 time=0.000006
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2022/01/31 14:36:24.073 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64997 fPos=16.16 fActPosition=16.14 time=0.000014
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2022/01/31 14:36:24.073 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65320 fPos=-7.88 fActPosition=-7.89 time=0.000311
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GRBL busy: 1.00000
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../grbl/grbl_motion_control.c:mc_line:33:
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../grbl/grbl_motion_control.c:mc_line:33:
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../grbl/grbl_stepper.c:st_next_block_index:652:
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GRBL: INFO: Reply OK (command[5] = G2X10Y-10R10)
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GRBL: INFO: Write command (command[6] = G4P2)
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Added: G4P2../grbl/grbl_gcode.c:gc_execute_line:71:
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DIFF 1062022/01/31 14:36:24.273 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65028 fPos=15.212 fActPosition=15.21 time=0.000020
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2022/01/31 14:36:24.274 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65298 fPos=-8.532 fActPosition=-8.55 time=0.000007
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2022/01/31 14:36:24.474 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65062 fPos=14.192 fActPosition=14.19 time=0.000141
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2022/01/31 14:36:24.474 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65280 fPos=-9.08 fActPosition=-9.09 time=0.000006
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2022/01/31 14:36:24.674 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65098 fPos=13.112 fActPosition=13.11 time=0.000010
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2022/01/31 14:36:24.674 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65266 fPos=-9.5 fActPosition=-9.51 time=0.000006
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2022/01/31 14:36:24.874 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65135 fPos=12.004 fActPosition=12 time=0.000009
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2022/01/31 14:36:24.875 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65256 fPos=-9.796 fActPosition=-9.81 time=0.000006
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2022/01/31 14:36:25.075 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65169 fPos=10.988 fActPosition=10.98 time=0.000104
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2022/01/31 14:36:25.075 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65251 fPos=-9.948 fActPosition=-9.96 time=0.000011
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2022/01/31 14:36:25.275 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65192 fPos=10.316 fActPosition=10.29 time=0.000017
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2022/01/31 14:36:25.276 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65250 fPos=-9.992 fActPosition=-9.99 time=0.000227
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2022/01/31 14:36:25.476 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65201 fPos=10.012 fActPosition=10.02 time=0.000016
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2022/01/31 14:36:25.477 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000009
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2022/01/31 14:36:25.677 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000018
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2022/01/31 14:36:25.677 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000062
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85
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DIFF 8629
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DIFF 12889
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DIFF 8685
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DIFF 5370
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DIFF 7148
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DIFF 5037
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DIFF 7962
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DIFF 9148
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DIFF 10500
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DIFF 8185
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DIFF 5130
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DIFF 5444
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DIFF 6833
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DIFF 5741
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DIFF 10648
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DIFF 8592
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DIFF 6907
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DIFF 5203
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DIFF 5407
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DIFF 5018
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DIFF 6241
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DIFF 5185
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DIFF 5445
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DIFF 5259
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DIFF 5481
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DIFF 5185
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DIFF 5055
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DIFF 5611
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DIFF 5111
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DIFF 5278
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DIFF 5111
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DIFF 5555
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DIFF 512022/01/31 14:36:25.877 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000018
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2022/01/31 14:36:25.877 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000011
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2022/01/31 14:36:26.077 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000019
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2022/01/31 14:36:26.078 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65249 fPos=-10 fActPosition=-10.02 time=0.000012
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2022/01/31 14:36:26.278 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10 fActPosition=10.02 time=0.000017
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2022/01/31 14:36:26.278 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000011
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2022/01/31 14:36:26.478 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
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2022/01/31 14:36:26.479 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000011
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2022/01/31 14:36:26.679 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000127
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2022/01/31 14:36:26.679 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65249 fPos=-10 fActPosition=-10.02 time=0.000010
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2022/01/31 14:36:26.879 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000015
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2022/01/31 14:36:26.879 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000011
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2022/01/31 14:36:27.080 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65202 fPos=10 fActPosition=9.99 time=0.000133
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2022/01/31 14:36:27.080 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000010
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85
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DIFF 5667
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DIFF 6148
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DIFF 5481
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DIFF 7500
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DIFF 8852
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DIFF 8019
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DIFF 7426
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DIFF 10981
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DIFF 7593
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DIFF 12500
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DIFF 5611
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DIFF 6592
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DIFF 5037
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DIFF 7963
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DIFF 8445
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DIFF 8260
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DIFF 8778
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DIFF 7167
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DIFF 11944
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DIFF 5371
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DIFF 5389
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DIFF 5870
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DIFF 8037
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DIFF 6962
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DIFF 7537
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DIFF 10314
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DIFF 5834
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DIFF 7907
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DIFF 9611
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DIFF 7926
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DIFF 5407
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DIFF 9482
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DIFF 5463
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DIFF 6277
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DIFF 5704
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DIFF 8018
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DIFF 12463
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DIFF 9315
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DIFF 7759
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DIFF 6481
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DIFF 8019
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DIFF 6352
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DIFF 5222
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DIFF 5407
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DIFF 6074
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DIFF 5907
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DIFF 5297
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DIFF 5425
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DIFF 5334
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DIFF 5685
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DIFF 5704
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DIFF 5722
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DIFF 6611
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DIFF 5093
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DIFF 6166
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DIFF 5833
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DIFF 5629
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DIFF 7740
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DIFF 5537
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DIFF 5370
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DIFF 5870
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DIFF 6833
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DIFF 6148
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DIFF 5741
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DIFF 6833
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DIFF 7574
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DIFF 10185
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DIFF 8537
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DIFF 7203
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DIFF 6944
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DIFF 12722
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DIFF 5074
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DIFF 7037
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DIFF 6185
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DIFF 5204
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DIFF 7037
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DIFF 5907
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DIFF 6778
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DIFF 10648
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DIFF 7166
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DIFF 5926
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DIFF 5018
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DIFF 9648
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DIFF 7611
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DIFF 5759
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DIFF 9982
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DIFF 5925
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DIFF 8982
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DIFF 5500
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DIFF 6667
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DIFF 5019
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DIFF 5333
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DIFF 6093
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DIFF 5315
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DIFF 5018
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DIFF 5796
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DIFF 5408
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DIFF 9667
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DIFF 12167
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DIFF 9000
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DIFF 11352
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DIFF 9555
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DIFF 11388
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DIFF 6166
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DIFF 6074
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DIFF 5426
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DIFF 8074
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DIFF 7814
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DIFF 10056
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DIFF 7371
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DIFF 6018
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DIFF 11315
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DIFF 5981
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DIFF 6889
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DIFF 5222
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DIFF 6407
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DIFF 5666
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DIFF 5074
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GRBL busy: 1.00000
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DIFF 6241
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DIFF 5056
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DIFF 5944
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DIFF 5074
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DIFF 6778
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DIFF 5241
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DIFF 5222
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DIFF 5037
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DIFF 5760
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DIFF 5037
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DIFF 5926
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DIFF 5092
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DIFF 6556
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DIFF 5777
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DIFF 5111
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DIFF 6037
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DIFF 5462
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DIFF 5111
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DIFF 6222
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DIFF 6666
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DIFF 6759
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DIFF 6425
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DIFF 7537
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DIFF 7204
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DIFF 6908
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DIFF 10130
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DIFF 10704
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DIFF 6241
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DIFF 5296
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DIFF 7222
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DIFF 7518
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DIFF 8722
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DIFF 9500
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DIFF 9685
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DIFF 5907
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DIFF 10371
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DIFF 9574
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DIFF 6333
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DIFF 5389
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DIFF 6000
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DIFF 5315
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DIFF 5130
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DIFF 5092
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DIFF 6222
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DIFF 5093
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DIFF 5537
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DIFF 5908
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DIFF 5666
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DIFF 5814
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DIFF 6389
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DIFF 5148
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DIFF 5444
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DIFF 5760
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DIFF 6482
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DIFF 7278
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DIFF 5037
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DIFF 6704
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DIFF 5907
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DIFF 6055
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DIFF 12389
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DIFF 7019
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DIFF 10536
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DIFF 5203
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DIFF 11073
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DIFF 11592
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DIFF 5778
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DIFF 5944
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DIFF 8703
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DIFF 5555
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DIFF 10074
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DIFF 6982
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DIFF 5611
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DIFF 8704
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DIFF 6241
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DIFF 7222
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DIFF 6148
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DIFF 7852
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DIFF 7370
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DIFF 5574
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DIFF 5574
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DIFF 5778
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DIFF 5148
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DIFF 5111
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DIFF 5130
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DIFF 5148
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DIFF 5204
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DIFF 5204
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DIFF 5963
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DIFF 5056
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DIFF 5462
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DIFF 5777
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DIFF 5111
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DIFF 5518
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DIFF 5555
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DIFF 5240
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DIFF 6277
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DIFF 5426
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DIFF 5370
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DIFF 5129
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DIFF 5482
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DIFF 5092
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DIFF 5778
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DIFF 5278
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DIFF 5370
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DIFF 8037
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DIFF 6111
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DIFF 5333
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DIFF 6500
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DIFF 8444
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DIFF 9777
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DIFF 9222
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DIFF 6370
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DIFF 5944
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DIFF 24277
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DIFF 14388
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DIFF 7000
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DIFF 5277
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DIFF 5500
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DIFF 5852
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DIFF 7185
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DIFF 7240
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DIFF 5852
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DIFF 5111
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DIFF 5204
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DIFF 6481
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DIFF 5481
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DIFF 7907
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DIFF 10389
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DIFF 9093
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DIFF 6389
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DIFF 12852
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DIFF 11148
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DIFF 6092
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DIFF 7741
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DIFF 5685
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DIFF 6649
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DIFF 5815
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DIFF 9537
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DIFF 5982
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DIFF 5556
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DIFF 6000
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DIFF 5592
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DIFF 5056
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DIFF 5407
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DIFF 5648
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DIFF 6611
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DIFF 8277
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DIFF 5389
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DIFF 6408
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DIFF 5074
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DIFF 5574
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DIFF 7537
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DIFF 6907
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DIFF 5537
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DIFF 5259
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DIFF 5667
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DIFF 6092
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DIFF 5907
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DIFF 6315
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DIFF 5556
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DIFF 7000
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DIFF 5981
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DIFF 5074
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DIFF 5462
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DIFF 5370
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DIFF 5426
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DIFF 5148
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DIFF 5815
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DIFF 5093
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DIFF 8463
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DIFF 6741
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DIFF 5185
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DIFF 5685
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DIFF 5314
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DIFF 6389
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DIFF 5648
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DIFF 5999
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DIFF2022/01/31 14:36:27.280 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
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2022/01/31 14:36:27.280 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65250 fPos=-10 fActPosition=-9.99 time=0.000006
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2022/01/31 14:36:27.480 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
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2022/01/31 14:36:27.481 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65249 fPos=-10 fActPosition=-10.02 time=0.000006
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2022/01/31 14:36:27.681 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65205 fPos=9.876 fActPosition=9.9 time=0.000011
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|
2022/01/31 14:36:27.681 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65253 fPos=-9.876 fActPosition=-9.9 time=0.000006
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2022/01/31 14:36:27.881 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65222 fPos=9.38 fActPosition=9.39 time=0.000011
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|
2022/01/31 14:36:27.881 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65270 fPos=-9.38 fActPosition=-9.39 time=0.000007
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|
2022/01/31 14:36:28.081 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65248 fPos=8.596 fActPosition=8.61 time=0.000015
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|
2022/01/31 14:36:28.082 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65297 fPos=-8.596 fActPosition=-8.58 time=0.000008
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|
2022/01/31 14:36:28.282 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65276 fPos=7.792 fActPosition=7.77 time=0.000021
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|
2022/01/31 14:36:28.282 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65324 fPos=-7.792 fActPosition=-7.77 time=0.000006
|
|
2022/01/31 14:36:28.482 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65302 fPos=6.992 fActPosition=6.99 time=0.000010
|
|
2022/01/31 14:36:28.482 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65350 fPos=-6.992 fActPosition=-6.99 time=0.000007
|
|
2022/01/31 14:36:28.683 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65329 fPos=6.192 fActPosition=6.18 time=0.000011
|
|
2022/01/31 14:36:28.683 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65377 fPos=-6.192 fActPosition=-6.18 time=0.000007
|
|
2022/01/31 14:36:28.883 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65356 fPos=5.388 fActPosition=5.37 time=0.000487
|
|
2022/01/31 14:36:28.884 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65404 fPos=-5.388 fActPosition=-5.37 time=0.000013
|
|
6315
|
|
DIFF 5851
|
|
DIFF 8352
|
|
DIFF 5203
|
|
DIFF 7667
|
|
DIFF 5685
|
|
DIFF 6093
|
|
DIFF 6278
|
|
DIFF 5519
|
|
DIFF 8518
|
|
DIFF 10685
|
|
DIFF 12611
|
|
DIFF 8370
|
|
DIFF 13370
|
|
DIFF 5592
|
|
DIFF 6574
|
|
DIFF 6056
|
|
DIFF 5888
|
|
DIFF 5685
|
|
DIFF 5778
|
|
DIFF 5963
|
|
DIFF 10185
|
|
DIFF 6685
|
|
DIFF 7574
|
|
DIFF 5185
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DIFF 6000
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DIFF 7518
|
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DIFF 8648
|
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DIFF 7425
|
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DIFF 5926
|
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DIFF 14425
|
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DIFF 7185
|
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DIFF 6315
|
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DIFF 6037
|
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DIFF 5444
|
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DIFF 5648
|
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DIFF 7556
|
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DIFF 6222
|
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DIFF 5111
|
|
GRBL: INFO: Reply OK (command[6] = G4P2)
|
|
GRBL: INFO: Write command (command[7] = G1X0Y0)
|
|
Added: G1X0Y0../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
GRBL: INFO: Reply OK (command[7] = G1X0Y0)
|
|
GRBL: INFO: Write command (command[8] = G1X20Y20F360)
|
|
Added: G1X20Y20F360../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_line:33:
|
|
../grbl/grbl_stepper.c:st_update_plan_block_parameters:639:
|
|
DIFF 5037
|
|
../grbl/grbl_stepper.c:st_next_block_index:652:
|
|
GRBL: INFO: Reply OK (command[8] = G1X20Y20F360)
|
|
GRBL: INFO: Write command (command[9] = G4P2)
|
|
Added: G4P2DIFF 6611
|
|
../grbl/grbl_stepper.c:st_wake_up:228:
|
|
../grbl/grbl_gcode.c:gc_execute_line:71:
|
|
../grbl/grbl_motion_control.c:mc_dwell:200:
|
|
DIFF 5074
|
|
GRBL busy: 1.00000
|
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DIFF 6426
|
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DIFF 5426
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DIFF 6518
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DIFF 5499
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DIFF 6574
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DIFF 5240
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DIFF 5759
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DIFF 6240
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DIFF 6555
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DIFF 6223
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DIFF 6611
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DIFF 5999
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DIFF 6130
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DIFF 5481
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DIFF 5537
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DIFF 6833
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DIFF 9129
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DIFF 6241
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DIFF 5518
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DIFF 5037
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DIFF 7723
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DIFF 9148
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DIFF 13925
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DIFF 9463
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DIFF 8129
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DIFF 10667
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DIFF 6500
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DIFF 6741
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DIFF 5148
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DIFF 5686
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DIFF 6833
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DIFF 7370
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DIFF 6315
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DIFF 5241
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DIFF 6129
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DIFF 5592
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DIFF 6000
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DIFF 5926
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DIFF 8130
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DIFF 6222
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DIFF 5592
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DIFF 8574
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DIFF 8593
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DIFF 5592
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DIFF 9204
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DIFF 10388
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DIFF 6759
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DIFF 5815
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DIFF 5870
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DIFF 5981
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DIFF 5166
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DIFF 6537
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DIFF 9518
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DIFF 6037
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DIFF 8314
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DIFF 8092
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DIFF 5703
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DIFF 9297
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DIFF 7037
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DIFF 5463
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DIFF 7889
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DIFF 5963
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DIFF 9629
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DIFF 7555
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DIFF 5482
|
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DIFF 6314
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DIFF 6241
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DIFF 5055
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DIFF 8704
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DIFF 10889
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DIFF 12407
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DIFF 11500
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DIFF 14908
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DIFF 6518
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DIFF 6760
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DIFF 6833
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DIFF 10148
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DIFF 6111
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DIFF 11426
|
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DIFF 11389
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DIFF 6056
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DIFF 5056
|
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DIFF 5019
|
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DIFF 5056
|
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DIFF 5203
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DIFF 9352
|
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DIFF 11000
|
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DIFF 5500
|
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DIFF 5018
|
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DIFF 7370
|
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DIFF 5982
|
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DIFF 6000
|
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DIFF 7722
|
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DIFF 5130
|
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DIFF 5056
|
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DIFF 5278
|
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DIFF 5499
|
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DIFF 6518
|
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DIFF 6019
|
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DIFF 8703
|
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DIFF 7889
|
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DIFF 5426
|
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DIFF 5148
|
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DIFF 5074
|
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DIFF 5278
|
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DIFF 5074
|
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DIFF 5629
|
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DIFF 12740
|
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DIFF 5314
|
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DIFF 5333
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DIFF 5703
|
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DIFF 7204
|
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DIFF 8537
|
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DIFF 5407
|
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DIFF 7481
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DIFF 6518
|
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DIFF 5185
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DIFF 7500
|
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DIFF 6111
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DIFF 7073
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DIFF 9463
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DIFF 6074
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DIFF 5667
|
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DIFF 5889
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DIFF 6537
|
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DIFF 5611
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DIFF 5630
|
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DIFF 6148
|
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DIFF 5536
|
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DIFF 6148
|
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DIFF 5685
|
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DIFF 5426
|
|
DIFF 6389
|
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DIFF 5315
|
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DIFF 5574
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DIFF 7889
|
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DIFF 7592
|
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DIFF 5815
|
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DIFF 6371
|
|
DIFF 7055
|
|
DIFF 5129
|
|
DIFF 8555
|
|
DIFF 5407
|
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DIFF 7019
|
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DIFF 5944
|
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DIFF 5425
|
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DIFF 5167
|
|
DIFF 5371
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DIFF 5926
|
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DIFF 5796
|
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DIFF 5648
|
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DIFF 6037
|
|
DIFF 5593
|
|
DIFF 7241
|
|
DIFF 6185
|
|
DIFF 5629
|
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DIFF 8037
|
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DIFF 13018
|
|
DIFF 6499
|
|
DIFF 6574
|
|
DIFF 6148
|
|
DIFF 5889
|
|
GRBL busy: 1.00000
|
|
DIFF 6240
|
|
DIFF 5500
|
|
DIFF 8333
|
|
DIFF 5278
|
|
DIFF 5556
|
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DIFF 6296
|
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DIFF 6204
|
|
DIFF 5760
|
|
DIFF 6889
|
|
DIFF 6203
|
|
DIFF 5759
|
|
DIFF 11203
|
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DIFF 5611
|
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DIFF 6981
|
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DIFF 6833
|
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DIFF 5833
|
|
DIFF 5240
|
|
DIFF 7537
|
|
DIFF 7667
|
|
DIFF 5926
|
|
DIFF 5926
|
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DIFF 5056
|
|
DIFF 5019
|
|
DIFF 6093
|
|
DIFF 6222
|
|
DIFF 9981
|
|
DIFF 7499
|
|
DIFF 5037
|
|
DIFF 5185
|
|
DIFF 7222
|
|
DIFF 5833
|
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DIFF 6185
|
|
DIFF 5796
|
|
DIFF 5408
|
|
DIFF 5055
|
|
DIFF 6315
|
|
DIFF 5648
|
|
DIFF 5630
|
|
DIFF 5944
|
|
DIFF 5592
|
|
DIFF 5167
|
|
DIFF 5648
|
|
DIFF 5056
|
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DIFF 5130
|
|
DIFF 5130
|
|
DIFF 6241
|
|
DIFF 5685
|
|
DIFF 5018
|
|
DIFF 5130
|
|
DIFF 5019
|
|
DIFF 5759
|
|
DIFF 5593
|
|
DIFF 5074
|
|
DIFF 5259
|
|
DIFF 6259
|
|
DIFF 5741
|
|
DIFF 5018
|
|
DIFF 5278
|
|
DIFF 5130
|
|
DIFF 5167
|
|
DIFF 5852
|
|
DIFF 5611
|
|
DIFF 5333
|
|
DIFF 6426
|
|
DIFF 6240
|
|
DIFF 5611
|
|
DIFF 5111
|
|
DIFF 5278
|
|
DIFF 5555
|
|
DIFF 6297
|
|
DIFF 5611
|
|
DIFF 5018
|
|
DIFF 7297
|
|
DIFF 8260
|
|
DIFF 10296
|
|
DIFF 12352
|
|
DIFF 11648
|
|
DIFF 6907
|
|
DIFF 5019
|
|
DIFF 5333
|
|
DIFF 13611
|
|
DIFF 18222
|
|
DIFF 14796
|
|
DIFF 10796
|
|
DIFF 12203
|
|
DIFF 12944
|
|
DIFF 10815
|
|
DIFF 9871
|
|
DIFF 11778
|
|
DIFF 10481
|
|
DIFF 14055
|
|
DIFF 6556
|
|
DIFF 6352
|
|
DIFF 6926
|
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DIFF 9278
|
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DIFF 8055
|
|
DIFF 7445
|
|
DIFF 10056
|
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DIFF 8019
|
|
DIFF 11240
|
|
DIFF 12759
|
|
DIFF 9444
|
|
DIFF 9222
|
|
DIFF 23093
|
|
DIFF 13278
|
|
DIFF 10592
|
|
DIFF 12629
|
|
DIFF 13870
|
|
DIFF 12278
|
|
DIFF 10222
|
|
DIFF 16074
|
|
DIFF 10962
|
|
DIFF 8944
|
|
DIFF 7833
|
|
DIFF 9907
|
|
DIFF 10648
|
|
DIFF 12333
|
|
DIFF 10592
|
|
DIFF 12018
|
|
DIFF 15037
|
|
DIFF 22370
|
|
DIFF 17148
|
|
DIFF 9278
|
|
DIFF 10963
|
|
DIFF2022/01/31 14:36:29.084 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65382 fPos=4.58 fActPosition=4.59 time=0.000011
|
|
2022/01/31 14:36:29.084 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65430 fPos=-4.58 fActPosition=-4.59 time=0.000007
|
|
2022/01/31 14:36:29.284 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65409 fPos=3.784 fActPosition=3.78 time=0.000010
|
|
2022/01/31 14:36:29.284 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65457 fPos=-3.784 fActPosition=-3.78 time=0.000006
|