SFELPHOTON-1398: fix lead/lag time

Readme.md

@@ -201,6 +201,63 @@ sequenceDiagram
   deactivate py
 ```
 
+12.2.25: debugging motion code
+-----------------------------------------------------------
+```
+&1b2r
+go to <&>coordsystem <1> <b>eginning of program <2> and <r>un
+
+s step one line
+q quit program
+a abort motion program
+bpset set breakpoints
+
+list  plc2,10,3
+   list 3 lines strating from line 10 
+
+list  pc
+   show program counter
+   &1b2r
+
+open prog 3
+  linearabs
+  X2Y1
+  dwell10
+  X0Y3
+  dwell10
+  X3Y3
+  dwell10
+  X3Y0
+  dwell10
+  X0Y0
+close
+
+&1b3
+
+cpx linearabs X1Y1
+
+//return coordinate transcormation of all axes (in coordinate system 1)
+&1 #1..8->
+
+&1p  // returns coordinate positions in 'wells' (in coordinate system 1)
+X1.000208333333334 Y1.000104166666666
+
+#1..2p
+
+//show were the program is:
+list pc
+list pc, // with line numbers
+
+Coord[1].ProgRunning
+Coord[1].ProgActive
+Coord[1].ProgProceeding
+Coord[1].Program.Lsize
+Coord[1].Program.Number
+Coord[1].Program.Size
+Coord[1].Program.Store   
+```
+
+
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 Work log
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