33 lines
1.2 KiB
Tcl
Executable File
33 lines
1.2 KiB
Tcl
Executable File
#!/usr/bin/tclsh
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# Restore axis limits to INI settings
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set kinstype 0 ;# 0: DEFAUlT kins type
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set switchkins_pin 3 ;# agree with inifile
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set coords "x y z a b c" ;# agree with inifile module coordinates=
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package require Linuxcnc ;# must be beore Hal
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emc_init -ini $::env(INI_FILE_NAME) -quick
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package require Hal
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parse_ini $::env(INI_FILE_NAME)
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# RESTORE INI axis limits
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foreach l $coords {
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set L [string toupper $l]
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catch {hal setp ini.$l.min_limit [set ::AXIS_[set L](MIN_LIMIT)]}
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catch {hal setp ini.$l.max_limit [set ::AXIS_[set L](MAX_LIMIT)]}
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catch {hal setp ini.$l.min_velocity [set ::AXIS_[set L](MAX_VELOCITY)]}
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catch {hal setp ini.$l.max_acceleration [set ::AXIS_[set L](MAX_ACCELERATION)]}
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}
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set script [info script]
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switch -exact [emc_mode] {
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mdi { emc_mdi m68 e$switchkins_pin q$kinstype ;# switch
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emc_mdi m66 e0l0 ;# sync
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puts "$script: MDI: Limits updated and kins switched to type$kinstype"
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}
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manual {puts "$script: Must be in mdi mode"}
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auto {puts "$script: Limits updated in auto mode, sync required"}
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default {puts "$script: Unknown mode"}
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}
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# gcode programs should follow this command
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# with M428 to switch kinematics and sync
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