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8 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
| 68210c6e40 | |||
| c7a147b219 | |||
| 7f28d95db4 | |||
| 0d22b4f935 | |||
| 19a46aa738 | |||
| added6a7cd | |||
| 611dce9c7a | |||
| 72c4bf0697 |
602
README.md
602
README.md
@@ -18,6 +18,7 @@ The plugin supports stopping axes according to a concept described as SS1-t, see
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Basically the safey system is interfaced with two binary signals (ethercat I/O):
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* Ramp down command (from safety system to ecmc)
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* Axis stand still status (to safety system from ecmc)
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If, for instance, an safety event is triggerd by the safety system, it will immediately command this plugin to rampdown velocity of all axes (that a configured to stop). When all axes, that are configured to rampdown, have stopped then this plugin will disable the axes and set an ethercat output informing the safety system that the axes are standstill. After a certain timout the safety system will make sure power is removed from the motion axes by triggering an STO or removing power. The removal of power or triggering of STO will made regardless if the axes are at rest or not. A reset of the safety system, allowing power to the drives, will only be possible once the safety system gets a confirmation that all axes are at rest.
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The configuration is made by two commands:
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@@ -77,3 +78,604 @@ ${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=2,VE
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=3,VELO_LIM=1"
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....
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```
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# Test data:
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[sandst_a@pc15846 ~]$ camon -time c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct c6025a:Axis1-VelAct
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11:44:41.998324 c6025a:m0s006-BI08 "True"
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11:44:30.378340 c6025a:m0s005-BO07 "One"
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11:44:42.008324 c6025a:Axis1-EnaAct "Disabled"
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11:44:30.388326 c6025a:Axis1-VelAct 0.000 mm/s
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11:44:55.428324 c6025a:Axis1-EnaAct "Enabled"
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11:45:00.958339 c6025a:Axis1-VelAct 0.281 mm/s
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11:45:00.958365 c6025a:m0s005-BO07 "Zero"
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11:45:00.978335 c6025a:Axis1-VelAct 0.844 mm/s
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11:45:00.988344 c6025a:Axis1-VelAct 1.406 mm/s
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11:45:00.998338 c6025a:Axis1-VelAct 2.250 mm/s
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11:45:01.008337 c6025a:Axis1-VelAct 3.375 mm/s
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11:45:01.018341 c6025a:Axis1-VelAct 4.500 mm/s
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11:45:01.028338 c6025a:Axis1-VelAct 5.906 mm/s
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11:45:01.038340 c6025a:Axis1-VelAct 7.594 mm/s
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11:45:01.048338 c6025a:Axis1-VelAct 9.562 mm/s
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11:45:01.058340 c6025a:Axis1-VelAct 11.250 mm/s
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11:45:01.068337 c6025a:Axis1-VelAct 13.500 mm/s
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11:45:01.078336 c6025a:Axis1-VelAct 15.469 mm/s
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11:45:01.088338 c6025a:Axis1-VelAct 17.438 mm/s
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11:45:01.098339 c6025a:Axis1-VelAct 19.406 mm/s
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11:45:01.108341 c6025a:Axis1-VelAct 21.375 mm/s
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11:45:01.118338 c6025a:Axis1-VelAct 23.625 mm/s
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11:45:01.128339 c6025a:Axis1-VelAct 25.594 mm/s
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11:45:01.138339 c6025a:Axis1-VelAct 27.562 mm/s
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11:45:01.148337 c6025a:Axis1-VelAct 29.531 mm/s
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11:45:01.158345 c6025a:Axis1-VelAct 31.500 mm/s
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11:45:01.168338 c6025a:Axis1-VelAct 33.469 mm/s
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11:45:01.178339 c6025a:Axis1-VelAct 35.437 mm/s
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11:45:01.188338 c6025a:Axis1-VelAct 37.687 mm/s
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11:45:01.198337 c6025a:Axis1-VelAct 39.656 mm/s
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11:45:01.208338 c6025a:Axis1-VelAct 41.625 mm/s
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11:45:01.218334 c6025a:Axis1-VelAct 43.594 mm/s
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11:45:01.228342 c6025a:Axis1-VelAct 45.844 mm/s
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11:45:01.238335 c6025a:Axis1-VelAct 47.812 mm/s
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11:45:01.248352 c6025a:Axis1-VelAct 49.781 mm/s
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11:45:01.258338 c6025a:Axis1-VelAct 51.750 mm/s
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11:45:01.268342 c6025a:Axis1-VelAct 54.000 mm/s
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11:45:01.278336 c6025a:Axis1-VelAct 55.969 mm/s
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11:45:01.288340 c6025a:Axis1-VelAct 57.938 mm/s
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11:45:01.298338 c6025a:Axis1-VelAct 59.906 mm/s
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11:45:01.308337 c6025a:Axis1-VelAct 62.156 mm/s
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11:45:01.318335 c6025a:Axis1-VelAct 63.844 mm/s
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11:45:01.328344 c6025a:Axis1-VelAct 65.812 mm/s
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11:45:01.338346 c6025a:Axis1-VelAct 68.063 mm/s
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11:45:01.348341 c6025a:Axis1-VelAct 70.031 mm/s
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11:45:01.358338 c6025a:Axis1-VelAct 72.281 mm/s
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11:45:01.368343 c6025a:Axis1-VelAct 74.250 mm/s
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11:45:01.378345 c6025a:Axis1-VelAct 76.219 mm/s
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11:45:01.388342 c6025a:Axis1-VelAct 78.187 mm/s
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11:45:01.398341 c6025a:Axis1-VelAct 80.438 mm/s
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11:45:01.408339 c6025a:Axis1-VelAct 82.125 mm/s
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11:45:01.418338 c6025a:Axis1-VelAct 84.375 mm/s
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11:45:01.428338 c6025a:Axis1-VelAct 86.344 mm/s
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11:45:01.438337 c6025a:Axis1-VelAct 88.312 mm/s
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11:45:01.448338 c6025a:Axis1-VelAct 90.281 mm/s
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11:45:01.458339 c6025a:Axis1-VelAct 92.250 mm/s
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11:45:01.468344 c6025a:Axis1-VelAct 94.219 mm/s
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11:45:01.478343 c6025a:Axis1-VelAct 96.469 mm/s
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11:45:01.488347 c6025a:Axis1-VelAct 98.438 mm/s
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11:45:01.498339 c6025a:Axis1-VelAct 100.406 mm/s
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11:45:01.508340 c6025a:Axis1-VelAct 102.656 mm/s
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11:45:01.518340 c6025a:Axis1-VelAct 104.625 mm/s
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11:45:01.528338 c6025a:Axis1-VelAct 106.594 mm/s
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11:45:01.538341 c6025a:Axis1-VelAct 108.563 mm/s
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11:45:01.548337 c6025a:Axis1-VelAct 110.813 mm/s
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11:45:01.558339 c6025a:Axis1-VelAct 112.781 mm/s
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11:45:01.568337 c6025a:Axis1-VelAct 114.750 mm/s
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11:45:01.578338 c6025a:Axis1-VelAct 116.437 mm/s
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11:45:01.588338 c6025a:Axis1-VelAct 118.688 mm/s
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11:45:01.598336 c6025a:Axis1-VelAct 120.656 mm/s
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11:45:01.608339 c6025a:Axis1-VelAct 122.625 mm/s
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11:45:01.618339 c6025a:Axis1-VelAct 124.594 mm/s
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11:45:01.628337 c6025a:Axis1-VelAct 126.562 mm/s
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11:45:01.638348 c6025a:Axis1-VelAct 128.531 mm/s
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11:45:01.648346 c6025a:Axis1-VelAct 130.500 mm/s
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11:45:01.658339 c6025a:Axis1-VelAct 132.469 mm/s
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11:45:01.668338 c6025a:Axis1-VelAct 134.437 mm/s
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11:45:01.678341 c6025a:Axis1-VelAct 136.688 mm/s
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11:45:01.688346 c6025a:Axis1-VelAct 138.656 mm/s
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11:45:01.698339 c6025a:Axis1-VelAct 140.625 mm/s
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11:45:01.708350 c6025a:Axis1-VelAct 142.594 mm/s
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11:45:01.718339 c6025a:Axis1-VelAct 144.844 mm/s
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11:45:01.728339 c6025a:Axis1-VelAct 146.813 mm/s
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11:45:01.738342 c6025a:Axis1-VelAct 148.781 mm/s
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11:45:01.748340 c6025a:Axis1-VelAct 150.469 mm/s
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11:45:01.758342 c6025a:Axis1-VelAct 152.719 mm/s
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11:45:01.768344 c6025a:Axis1-VelAct 154.688 mm/s
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11:45:01.778338 c6025a:Axis1-VelAct 156.656 mm/s
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11:45:01.788341 c6025a:Axis1-VelAct 158.625 mm/s
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11:45:01.798339 c6025a:Axis1-VelAct 160.594 mm/s
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11:45:01.808344 c6025a:Axis1-VelAct 162.562 mm/s
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11:45:01.818340 c6025a:Axis1-VelAct 164.531 mm/s
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11:45:01.828337 c6025a:Axis1-VelAct 166.500 mm/s
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11:45:01.838341 c6025a:Axis1-VelAct 168.187 mm/s
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11:45:01.848342 c6025a:Axis1-VelAct 170.438 mm/s
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11:45:01.858343 c6025a:Axis1-VelAct 172.406 mm/s
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11:45:01.868336 c6025a:Axis1-VelAct 174.375 mm/s
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11:45:01.878344 c6025a:Axis1-VelAct 176.344 mm/s
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11:45:01.888347 c6025a:Axis1-VelAct 178.313 mm/s
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11:45:01.898343 c6025a:Axis1-VelAct 180.281 mm/s
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11:45:01.908343 c6025a:Axis1-VelAct 182.250 mm/s
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11:45:01.918337 c6025a:Axis1-VelAct 183.937 mm/s
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11:45:01.928340 c6025a:Axis1-VelAct 186.188 mm/s
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11:45:01.938341 c6025a:Axis1-VelAct 188.438 mm/s
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11:45:01.948339 c6025a:Axis1-VelAct 190.406 mm/s
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11:45:01.958338 c6025a:Axis1-VelAct 192.094 mm/s
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11:45:01.968337 c6025a:Axis1-VelAct 194.344 mm/s
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11:45:01.978338 c6025a:Axis1-VelAct 196.312 mm/s
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11:45:01.988340 c6025a:Axis1-VelAct 198.281 mm/s
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11:45:01.998339 c6025a:Axis1-VelAct 200.250 mm/s
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11:45:02.008339 c6025a:Axis1-VelAct 202.219 mm/s
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11:45:02.018339 c6025a:Axis1-VelAct 204.469 mm/s
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11:45:02.028341 c6025a:Axis1-VelAct 206.156 mm/s
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11:45:02.038341 c6025a:Axis1-VelAct 208.406 mm/s
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11:45:02.048342 c6025a:Axis1-VelAct 210.094 mm/s
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11:45:02.058338 c6025a:Axis1-VelAct 212.344 mm/s
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11:45:02.068337 c6025a:Axis1-VelAct 214.313 mm/s
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11:45:02.078341 c6025a:Axis1-VelAct 216.000 mm/s
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11:45:02.088339 c6025a:Axis1-VelAct 217.969 mm/s
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11:45:02.098339 c6025a:Axis1-VelAct 219.937 mm/s
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11:45:02.108341 c6025a:Axis1-VelAct 222.188 mm/s
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11:45:02.118345 c6025a:Axis1-VelAct 224.156 mm/s
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11:45:02.128344 c6025a:Axis1-VelAct 226.406 mm/s
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11:45:02.138340 c6025a:Axis1-VelAct 227.812 mm/s
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11:45:02.148344 c6025a:Axis1-VelAct 230.344 mm/s
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11:45:02.158337 c6025a:Axis1-VelAct 232.031 mm/s
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11:45:02.168339 c6025a:Axis1-VelAct 233.719 mm/s
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11:45:02.178349 c6025a:Axis1-VelAct 236.250 mm/s
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11:45:02.188339 c6025a:Axis1-VelAct 238.219 mm/s
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11:45:02.198337 c6025a:Axis1-VelAct 240.188 mm/s
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11:45:02.208340 c6025a:Axis1-VelAct 241.875 mm/s
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11:45:02.218339 c6025a:Axis1-VelAct 243.844 mm/s
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11:45:02.228343 c6025a:Axis1-VelAct 245.531 mm/s
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11:45:02.238338 c6025a:Axis1-VelAct 248.062 mm/s
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11:45:02.248339 c6025a:Axis1-VelAct 249.750 mm/s
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11:45:02.258338 c6025a:Axis1-VelAct 251.719 mm/s
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11:45:02.268338 c6025a:Axis1-VelAct 253.969 mm/s
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11:45:02.278338 c6025a:Axis1-VelAct 255.937 mm/s
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11:45:02.288343 c6025a:Axis1-VelAct 257.625 mm/s
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11:45:02.298343 c6025a:Axis1-VelAct 259.594 mm/s
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11:45:02.308340 c6025a:Axis1-VelAct 261.844 mm/s
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11:45:02.318337 c6025a:Axis1-VelAct 263.812 mm/s
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11:45:02.328342 c6025a:Axis1-VelAct 265.781 mm/s
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11:45:02.338352 c6025a:Axis1-VelAct 267.750 mm/s
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11:45:02.348340 c6025a:Axis1-VelAct 269.719 mm/s
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11:45:02.358341 c6025a:Axis1-VelAct 271.969 mm/s
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11:45:02.368340 c6025a:Axis1-VelAct 273.656 mm/s
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11:45:02.378341 c6025a:Axis1-VelAct 275.625 mm/s
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11:45:02.388340 c6025a:Axis1-VelAct 277.594 mm/s
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11:45:02.398344 c6025a:Axis1-VelAct 279.844 mm/s
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11:45:02.408340 c6025a:Axis1-VelAct 281.531 mm/s
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11:45:02.418341 c6025a:Axis1-VelAct 283.500 mm/s
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11:45:02.428344 c6025a:Axis1-VelAct 285.750 mm/s
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11:45:02.438351 c6025a:Axis1-VelAct 288.000 mm/s
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11:45:02.448342 c6025a:Axis1-VelAct 289.688 mm/s
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11:45:02.458345 c6025a:Axis1-VelAct 291.656 mm/s
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11:45:02.468351 c6025a:Axis1-VelAct 293.906 mm/s
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11:45:02.478339 c6025a:Axis1-VelAct 295.312 mm/s
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11:45:02.488339 c6025a:Axis1-VelAct 297.844 mm/s
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11:45:02.498340 c6025a:Axis1-VelAct 299.531 mm/s
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11:45:02.508340 c6025a:Axis1-VelAct 302.063 mm/s
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11:45:02.518351 c6025a:Axis1-VelAct 304.031 mm/s
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11:45:02.528340 c6025a:Axis1-VelAct 305.719 mm/s
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11:45:02.538344 c6025a:Axis1-VelAct 307.406 mm/s
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11:45:02.548338 c6025a:Axis1-VelAct 309.938 mm/s
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11:45:02.558343 c6025a:Axis1-VelAct 311.906 mm/s
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11:45:02.568340 c6025a:Axis1-VelAct 313.594 mm/s
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11:45:02.578338 c6025a:Axis1-VelAct 316.125 mm/s
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11:45:02.588339 c6025a:Axis1-VelAct 317.812 mm/s
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11:45:02.598336 c6025a:Axis1-VelAct 320.062 mm/s
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11:45:02.608346 c6025a:Axis1-VelAct 321.750 mm/s
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11:45:02.618339 c6025a:Axis1-VelAct 323.719 mm/s
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11:45:02.628345 c6025a:Axis1-VelAct 325.969 mm/s
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11:45:02.638337 c6025a:Axis1-VelAct 327.937 mm/s
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11:45:02.648337 c6025a:Axis1-VelAct 329.625 mm/s
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11:45:02.658338 c6025a:Axis1-VelAct 331.875 mm/s
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11:45:02.668340 c6025a:Axis1-VelAct 334.125 mm/s
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11:45:02.678340 c6025a:Axis1-VelAct 336.094 mm/s
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11:45:02.688345 c6025a:Axis1-VelAct 338.062 mm/s
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11:45:02.698340 c6025a:Axis1-VelAct 339.750 mm/s
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11:45:02.708339 c6025a:Axis1-VelAct 341.719 mm/s
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11:45:02.718338 c6025a:Axis1-VelAct 343.969 mm/s
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11:45:02.728337 c6025a:Axis1-VelAct 346.219 mm/s
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11:45:02.738337 c6025a:Axis1-VelAct 348.188 mm/s
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11:45:02.748340 c6025a:Axis1-VelAct 350.156 mm/s
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11:45:02.758339 c6025a:Axis1-VelAct 351.844 mm/s
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11:45:02.768342 c6025a:Axis1-VelAct 354.094 mm/s
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11:45:02.778337 c6025a:Axis1-VelAct 355.781 mm/s
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11:45:02.788340 c6025a:Axis1-VelAct 358.031 mm/s
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11:45:02.798344 c6025a:Axis1-VelAct 360.281 mm/s
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11:45:02.808336 c6025a:Axis1-VelAct 362.531 mm/s
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11:45:02.818336 c6025a:Axis1-VelAct 363.938 mm/s
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11:45:02.828338 c6025a:Axis1-VelAct 365.906 mm/s
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11:45:02.838336 c6025a:Axis1-VelAct 367.875 mm/s
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11:45:02.848338 c6025a:Axis1-VelAct 370.406 mm/s
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11:45:02.858342 c6025a:Axis1-VelAct 372.094 mm/s
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11:45:02.868341 c6025a:Axis1-VelAct 374.062 mm/s
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11:45:02.878344 c6025a:Axis1-VelAct 376.312 mm/s
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11:45:02.888336 c6025a:Axis1-VelAct 378.000 mm/s
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11:45:02.898336 c6025a:Axis1-VelAct 380.250 mm/s
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11:45:02.908340 c6025a:Axis1-VelAct 382.219 mm/s
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11:45:02.918340 c6025a:Axis1-VelAct 384.469 mm/s
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11:45:02.928337 c6025a:Axis1-VelAct 386.156 mm/s
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11:45:02.938341 c6025a:Axis1-VelAct 388.406 mm/s
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11:45:02.948338 c6025a:Axis1-VelAct 390.094 mm/s
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11:45:02.958344 c6025a:Axis1-VelAct 392.344 mm/s
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11:45:02.968342 c6025a:Axis1-VelAct 394.312 mm/s
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11:45:02.978339 c6025a:Axis1-VelAct 396.281 mm/s
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11:45:02.988337 c6025a:Axis1-VelAct 398.531 mm/s
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11:45:02.998338 c6025a:Axis1-VelAct 400.219 mm/s
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11:45:03.008341 c6025a:Axis1-VelAct 401.906 mm/s
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11:45:03.018337 c6025a:Axis1-VelAct 404.156 mm/s
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11:45:03.028343 c6025a:Axis1-VelAct 406.406 mm/s
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11:45:03.038338 c6025a:Axis1-VelAct 408.094 mm/s
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11:45:03.048342 c6025a:Axis1-VelAct 410.625 mm/s
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11:45:03.058336 c6025a:Axis1-VelAct 412.312 mm/s
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11:45:03.068338 c6025a:Axis1-VelAct 414.281 mm/s
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11:45:03.078344 c6025a:Axis1-VelAct 416.250 mm/s
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11:45:03.088342 c6025a:Axis1-VelAct 418.219 mm/s
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11:45:03.098337 c6025a:Axis1-VelAct 420.188 mm/s
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11:45:03.108343 c6025a:Axis1-VelAct 422.438 mm/s
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11:45:03.118338 c6025a:Axis1-VelAct 424.406 mm/s
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11:45:03.128345 c6025a:Axis1-VelAct 426.094 mm/s
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11:45:03.138337 c6025a:Axis1-VelAct 428.625 mm/s
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11:45:03.148340 c6025a:Axis1-VelAct 430.031 mm/s
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11:45:03.158348 c6025a:Axis1-VelAct 432.562 mm/s
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|
||||
11:45:06.038336 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.048341 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.058338 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.068342 c6025a:Axis1-VelAct 500.062 mm/s
|
||||
11:45:06.078339 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.088336 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.098336 c6025a:Axis1-VelAct 500.062 mm/s
|
||||
11:45:06.108335 c6025a:Axis1-VelAct 499.500 mm/s
|
||||
11:45:06.128336 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.138337 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.148340 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.158335 c6025a:Axis1-VelAct 500.625 mm/s
|
||||
11:45:06.168337 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.178335 c6025a:Axis1-VelAct 500.625 mm/s
|
||||
11:45:06.188340 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.198335 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.218335 c6025a:Axis1-VelAct 500.906 mm/s
|
||||
11:45:06.228340 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.238339 c6025a:Axis1-VelAct 500.625 mm/s
|
||||
11:45:06.248335 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.258336 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.268341 c6025a:Axis1-VelAct 500.625 mm/s
|
||||
11:45:06.278335 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.288340 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.298336 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.308334 c6025a:Axis1-VelAct 500.906 mm/s
|
||||
11:45:06.318341 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.328339 c6025a:Axis1-VelAct 500.625 mm/s
|
||||
11:45:06.338340 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.348341 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.358344 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.378342 c6025a:Axis1-VelAct 500.062 mm/s
|
||||
11:45:06.388337 c6025a:Axis1-VelAct 500.625 mm/s
|
||||
11:45:06.398346 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.418339 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.428338 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.448336 c6025a:Axis1-VelAct 500.625 mm/s
|
||||
11:45:06.458336 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.468335 c6025a:Axis1-VelAct 500.062 mm/s
|
||||
11:45:06.478338 c6025a:Axis1-VelAct 500.625 mm/s
|
||||
11:45:06.488336 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.498338 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.508341 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.518337 c6025a:Axis1-VelAct 500.625 mm/s
|
||||
11:45:06.528336 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.538337 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.548336 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.558337 c6025a:Axis1-VelAct 500.062 mm/s
|
||||
11:45:06.568338 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.578338 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.588338 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.598340 c6025a:Axis1-VelAct 500.344 mm/s
|
||||
11:45:06.608335 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.618338 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.628336 c6025a:Axis1-VelAct 500.062 mm/s
|
||||
11:45:06.638336 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.658339 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.668336 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.678342 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.688342 c6025a:Axis1-VelAct 500.063 mm/s
|
||||
11:45:06.698330 c6025a:m0s006-BI08 "False"
|
||||
11:45:06.698343 c6025a:Axis1-VelAct 499.781 mm/s
|
||||
11:45:06.708341 c6025a:Axis1-VelAct 499.500 mm/s
|
||||
11:45:06.718341 c6025a:Axis1-VelAct 497.531 mm/s
|
||||
11:45:06.728341 c6025a:Axis1-VelAct 495.563 mm/s
|
||||
11:45:06.738345 c6025a:Axis1-VelAct 492.188 mm/s
|
||||
11:45:06.748339 c6025a:Axis1-VelAct 487.969 mm/s
|
||||
11:45:06.758344 c6025a:Axis1-VelAct 482.625 mm/s
|
||||
11:45:06.768339 c6025a:Axis1-VelAct 476.156 mm/s
|
||||
11:45:06.778343 c6025a:Axis1-VelAct 468.562 mm/s
|
||||
11:45:06.788337 c6025a:Axis1-VelAct 460.125 mm/s
|
||||
11:45:06.798343 c6025a:Axis1-VelAct 450.844 mm/s
|
||||
11:45:06.808345 c6025a:Axis1-VelAct 440.719 mm/s
|
||||
11:45:06.818337 c6025a:Axis1-VelAct 430.875 mm/s
|
||||
11:45:06.828340 c6025a:Axis1-VelAct 420.750 mm/s
|
||||
11:45:06.838345 c6025a:Axis1-VelAct 410.625 mm/s
|
||||
11:45:06.848340 c6025a:Axis1-VelAct 400.500 mm/s
|
||||
11:45:06.858337 c6025a:Axis1-VelAct 390.094 mm/s
|
||||
11:45:06.868339 c6025a:Axis1-VelAct 379.969 mm/s
|
||||
11:45:06.878343 c6025a:Axis1-VelAct 370.406 mm/s
|
||||
11:45:06.888341 c6025a:Axis1-VelAct 360.000 mm/s
|
||||
11:45:06.898345 c6025a:Axis1-VelAct 349.875 mm/s
|
||||
11:45:06.908343 c6025a:Axis1-VelAct 339.750 mm/s
|
||||
11:45:06.918337 c6025a:Axis1-VelAct 329.625 mm/s
|
||||
11:45:06.928339 c6025a:Axis1-VelAct 319.219 mm/s
|
||||
11:45:06.938336 c6025a:Axis1-VelAct 309.094 mm/s
|
||||
11:45:06.948342 c6025a:Axis1-VelAct 298.969 mm/s
|
||||
11:45:06.958339 c6025a:Axis1-VelAct 289.125 mm/s
|
||||
11:45:06.968348 c6025a:Axis1-VelAct 279.000 mm/s
|
||||
11:45:06.978337 c6025a:Axis1-VelAct 268.594 mm/s
|
||||
11:45:06.988338 c6025a:Axis1-VelAct 258.750 mm/s
|
||||
11:45:06.998340 c6025a:Axis1-VelAct 248.344 mm/s
|
||||
11:45:07.008347 c6025a:Axis1-VelAct 238.219 mm/s
|
||||
11:45:07.018340 c6025a:Axis1-VelAct 228.094 mm/s
|
||||
11:45:07.028341 c6025a:Axis1-VelAct 218.250 mm/s
|
||||
11:45:07.038341 c6025a:Axis1-VelAct 207.844 mm/s
|
||||
11:45:07.048345 c6025a:Axis1-VelAct 197.719 mm/s
|
||||
11:45:07.058341 c6025a:Axis1-VelAct 187.594 mm/s
|
||||
11:45:07.068342 c6025a:Axis1-VelAct 177.469 mm/s
|
||||
11:45:07.078337 c6025a:Axis1-VelAct 167.344 mm/s
|
||||
11:45:07.088339 c6025a:Axis1-VelAct 156.937 mm/s
|
||||
11:45:07.098337 c6025a:Axis1-VelAct 146.813 mm/s
|
||||
11:45:07.108338 c6025a:Axis1-VelAct 136.969 mm/s
|
||||
11:45:07.118338 c6025a:Axis1-VelAct 126.844 mm/s
|
||||
11:45:07.128345 c6025a:Axis1-VelAct 116.438 mm/s
|
||||
11:45:07.138338 c6025a:Axis1-VelAct 106.594 mm/s
|
||||
11:45:07.148346 c6025a:Axis1-VelAct 96.469 mm/s
|
||||
11:45:07.158336 c6025a:Axis1-VelAct 86.062 mm/s
|
||||
11:45:07.168337 c6025a:Axis1-VelAct 75.938 mm/s
|
||||
11:45:07.178344 c6025a:Axis1-VelAct 66.094 mm/s
|
||||
11:45:07.188342 c6025a:Axis1-VelAct 55.969 mm/s
|
||||
11:45:07.198335 c6025a:Axis1-VelAct 45.844 mm/s
|
||||
11:45:07.208334 c6025a:Axis1-VelAct 36.000 mm/s
|
||||
11:45:07.218331 c6025a:Axis1-VelAct 27.844 mm/s
|
||||
11:45:07.228327 c6025a:Axis1-VelAct 20.813 mm/s
|
||||
11:45:07.238326 c6025a:Axis1-VelAct 14.625 mm/s
|
||||
11:45:07.248327 c6025a:Axis1-VelAct 9.563 mm/s
|
||||
11:45:07.258326 c6025a:Axis1-VelAct 5.625 mm/s
|
||||
11:45:07.268326 c6025a:Axis1-VelAct 2.531 mm/s
|
||||
11:45:07.278327 c6025a:Axis1-VelAct 0.281 mm/s
|
||||
11:45:07.278336 c6025a:Axis1-EnaAct "Disabled"
|
||||
11:45:07.278368 c6025a:m0s005-BO07 "One"
|
||||
11:45:07.288333 c6025a:Axis1-VelAct -0.562 mm/s
|
||||
11:45:07.308329 c6025a:Axis1-VelAct 0.000 mm/s
|
||||
|
||||
|
||||
425
iocsh/data_log.txt
Normal file
425
iocsh/data_log.txt
Normal file
@@ -0,0 +1,425 @@
|
||||
c6025a:m0s006-BI08 2024-02-28 12:07:05.294742 1
|
||||
c6025a:m0s005-BO07 2024-02-28 12:07:05.294742 1
|
||||
c6025a:Axis1-EnaAct 2024-02-28 12:07:05.294742 0
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:05.294742 0
|
||||
c6025a:Axis1-EnaAct 2024-02-28 12:07:05.294742 1
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.894679 0.28125
|
||||
c6025a:m0s005-BO07 2024-02-28 12:07:06.894708 0
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.904782 0.5625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.914794 1.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.924633 1.96875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.934677 2.8125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.944878 3.9375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.954778 5.34375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.964832 6.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.974675 8.4375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.984744 10.4063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.994771 12.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.004719 14.3438
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.014668 16.3125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.024860 18.2812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.034780 20.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.044877 22.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.054717 24.4688
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.064741 26.4375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.074748 28.6875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.084629 30.6563
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.094523 32.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.104632 34.5937
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.114639 36.5625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.124609 38.5313
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.134548 40.7812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.144687 42.4687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.154661 44.7187
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.164621 46.9687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.174524 48.6562
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.184630 50.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.194575 52.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.204647 54.8437
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.214532 57.0937
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.224681 59.0625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.234638 61.0313
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.244621 63
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.254531 64.9688
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.264625 66.9375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.274624 69.1875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.284604 71.1562
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.294620 73.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.304609 75.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.314694 77.0625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.324532 79.3125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.334747 81.2813
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.344719 83.5313
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.354545 85.2187
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.364593 87.4687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.374513 89.4375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.384706 91.4062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.394533 93.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.404724 95.3438
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.414536 97.5938
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.424718 99.2812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.434576 101.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.444675 103.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.454711 105.469
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.464727 107.438
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.474662 109.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.484694 111.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.494580 113.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.504554 115.594
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.514593 117.562
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.524542 119.812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.534518 121.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.544705 123.469
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.554553 125.719
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.564548 127.687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.574571 129.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.584575 131.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.594579 133.594
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.604569 135.563
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.614496 137.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.624543 139.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.634565 141.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.644578 143.719
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.654534 145.687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.664575 147.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.674540 149.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.684578 151.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.694520 153.563
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.704569 155.812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.714592 157.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.724494 159.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.734526 161.719
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.744597 163.688
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.754577 165.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.764576 167.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.774517 169.594
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.784631 171.281
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.794569 173.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.804553 175.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.814502 177.469
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.824549 179.437
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.834559 181.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.844593 183.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.854506 185.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.864635 187.312
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.874661 189.563
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.884596 191.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.894512 193.5
|
||||
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|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.234716 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.244661 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.264668 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.284644 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.294536 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.304630 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.314639 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.324658 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.334527 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.344702 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.354650 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.364544 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.384659 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.394639 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.414495 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.424640 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.434609 500.063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.444591 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.454518 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.464662 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.474641 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.484634 500.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.494591 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.524641 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.534561 500.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.544647 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.554678 500.344
|
||||
c6025a:m0s006-BI08 2024-02-28 12:07:10.574556 0
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.584617 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.594646 498.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.604644 496.687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.614528 493.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.624638 489.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.634658 484.031
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.644652 478.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.654683 470.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.664770 462.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.674767 453.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.684621 443.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.694674 433.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.704723 423
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.714780 412.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.724635 402.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.734512 392.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.744636 382.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.754596 372.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.764606 362.812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.774654 352.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.784561 342
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.794658 332.156
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.804674 322.312
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.814531 311.906
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.824686 301.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.834649 291.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.844586 281.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.854558 271.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.864770 261
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.874783 251.156
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.884754 241.031
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.894669 230.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.904844 220.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.914783 210.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.924773 200.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.934565 190.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.944765 180
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.954775 169.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.964800 159.469
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.974678 149.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.984575 138.938
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.994651 129.094
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.004591 118.969
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.014573 108.844
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.024572 98.7187
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.034612 88.5938
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.044612 78.1875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.054502 68.0625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.064659 58.2187
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.074643 48.0937
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.084611 38.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.094559 29.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.104667 21.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.114636 14.3437
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.124627 9
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.134527 4.78125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.144553 1.6875
|
||||
c6025a:Axis1-EnaAct 2024-02-28 12:07:11.154581 0
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.154623 -0.5625
|
||||
c6025a:m0s005-BO07 2024-02-28 12:07:11.154636 1
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.164637 -1.96875
|
||||
c6025a:m0s005-BO07 2024-02-28 12:07:11.164653 0
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.174543 -2.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.184536 -1.6875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.194595 -1.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.204578 -0.5625
|
||||
c6025a:m0s005-BO07 2024-02-28 12:07:11.204628 1
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.214568 0
|
||||
BIN
iocsh/digital.png
Normal file
BIN
iocsh/digital.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 141 KiB |
19
iocsh/readme.md
Normal file
19
iocsh/readme.md
Normal file
@@ -0,0 +1,19 @@
|
||||
# Start IOC
|
||||
```
|
||||
sudo iocsh test_4ax_box.script
|
||||
```
|
||||
|
||||
# Collect data
|
||||
```
|
||||
camon -d -t -nostat -nounit -int c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct c6025a:Axis1-VelAct
|
||||
|
||||
/usr/local/epics/base-7.0.7/bin/RHEL8-x86_64/camonitor -n c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct c6025a:Axis1-VelAct
|
||||
```
|
||||
# Plot
|
||||
```
|
||||
Velo:
|
||||
cat data_log.txt | grep Vel | python3 ~/myhome/sources/ecmccomgui/pyDataManip/plotCaMonitor.py
|
||||
|
||||
Digital:
|
||||
cat data_log.txt | grep -v Vel | python3 ~/myhome/sources/ecmccomgui/pyDataManip/plotCaMonitor.py
|
||||
```
|
||||
@@ -12,7 +12,7 @@
|
||||
##
|
||||
|
||||
epicsEnvSet(IOC,c6025a)
|
||||
require ecmccfg v9.0.1_RC4,"ECMC_VER=v9.0.1_RC4,ENG_MODE=1"
|
||||
require ecmccfg "ENG_MODE=1"
|
||||
|
||||
##############################################################################
|
||||
## Load components lib
|
||||
@@ -48,12 +48,12 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml,LIMIT=1
|
||||
##############################################################################
|
||||
## Load safety plugin
|
||||
#
|
||||
require ecmc_plugin_safety v9.0.1_RC4
|
||||
require ecmc_plugin_safety
|
||||
|
||||
# Create SS1 group
|
||||
epicsEnvSet(RAMP_DOWN_CMD,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0")
|
||||
epicsEnvSet(STANDSTILL_STAT,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1")
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${RAMP_DOWN_CMD},EC_STANDSTILL_STAT=${STANDSTILL_STAT},DELAY_MS=500"
|
||||
epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0")
|
||||
epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1")
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_STANDSTILL=${EC_AXES_STANDSTILL},DELAY_MS=500"
|
||||
|
||||
#- Add axis
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
|
||||
|
||||
78
iocsh/test_4ax_box.script
Normal file
78
iocsh/test_4ax_box.script
Normal file
@@ -0,0 +1,78 @@
|
||||
##############################################################################
|
||||
## test config for ecmc_plugin_safety
|
||||
##
|
||||
## In this config the interface to safety system is liked to simulated ethercat entries:
|
||||
## * To allow motion:
|
||||
## caput c6025a:m0s013-Zero 3
|
||||
## * To simulate interlock from safety system:
|
||||
## caput c6025a:m0s013-Zero 0
|
||||
##
|
||||
## Monitor status with:
|
||||
## camon c6025a:SS1-first-Err c6025a:SS1-first-RmpDwnCmdAct c6025a:SS1-first-AxsStndStllAct
|
||||
##
|
||||
|
||||
epicsEnvSet(IOC,c6025a)
|
||||
require ecmccfg "ENG_MODE=1"
|
||||
|
||||
##############################################################################
|
||||
## Load components lib
|
||||
#
|
||||
require ecmccomp
|
||||
|
||||
##############################################################################
|
||||
## Configure hardware
|
||||
|
||||
epicsEnvSet("DRV_SLAVE", "7")
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7041-0052"
|
||||
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_STDBY_MA=200,I_MAX_MA=1000,R_COIL_MOHM=1700'"
|
||||
|
||||
epicsEnvSet("ENC_SLAVE", "2")
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
|
||||
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C"
|
||||
|
||||
epicsEnvSet("BO_SLAVE", "5")
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SLAVE), HW_DESC=EL2008"
|
||||
# This hardware box need to set BO6 to get power
|
||||
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${BO_SLAVE},binaryOutput06,1)"
|
||||
|
||||
epicsEnvSet("BI_SLAVE", "6")
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BI_SLAVE), HW_DESC=EL1008"
|
||||
|
||||
#Apply hardware configuration
|
||||
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
|
||||
|
||||
##############################################################################
|
||||
## AXIS 1
|
||||
#
|
||||
epicsEnvSet("DEV", "$(IOC)")
|
||||
epicsEnvSet("PLC_PATH", "/ioc/c6025a5a/ecmccfg/examples/test/ecmccomp/plc/")
|
||||
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"
|
||||
|
||||
##############################################################################
|
||||
## Load safety plugin
|
||||
#
|
||||
require ecmc_plugin_safety sandst_a
|
||||
|
||||
# Create SS1 group
|
||||
epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
|
||||
epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
|
||||
epicsEnvSet(SAFETY_TIMEOUT,500)
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_STANDSTILL=${EC_AXES_STANDSTILL},DELAY_MS=${SAFETY_TIMEOUT}"
|
||||
|
||||
#- Add axis
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
|
||||
|
||||
##############################################################################
|
||||
## 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)"
|
||||
|
||||
##############################################################################
|
||||
## go active
|
||||
#
|
||||
$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
|
||||
BIN
iocsh/velo.png
Normal file
BIN
iocsh/velo.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 65 KiB |
@@ -403,12 +403,20 @@ bool ecmcSS1SafetyGroup::checkAxesStandstill() {
|
||||
|
||||
// Check standstill axis
|
||||
bool ecmcSS1SafetyGroup::checkAxisStandstill(safetyAxis* axis) {
|
||||
double velo = 1;
|
||||
int err = getAxisTrajVelo(axis->axisId_, &velo);
|
||||
double traj = 1;
|
||||
|
||||
int err = getAxisTrajVelo(axis->axisId_, &traj);
|
||||
if(err) {
|
||||
return 0;
|
||||
}
|
||||
return std::abs(velo) <= axis->veloLimit_;
|
||||
|
||||
double enc = 1;
|
||||
err = getAxisEncVelo(axis->axisId_, &enc);
|
||||
if(err) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
return std::abs(traj) <= axis->veloLimit_ && std::abs(enc) <= axis->veloLimit_;
|
||||
}
|
||||
|
||||
// Check standstill and disable
|
||||
@@ -469,7 +477,8 @@ void ecmcSS1SafetyGroup::addAxis(int axisId, double veloLimit,int standStillTime
|
||||
|
||||
|
||||
if(cfgDbgMode_) {
|
||||
printf("Safety %s: Added axis %d to safety group\n",sName_,axisId);
|
||||
printf("Safety %s: Added axis %d to safety group (velo limit = %lf, standstill filter : %d)\n"
|
||||
,sName_,axisId,veloLimit,standStillTimeMs);
|
||||
}
|
||||
|
||||
return;
|
||||
|
||||
Reference in New Issue
Block a user