161 lines
4.4 KiB
Plaintext
161 lines
4.4 KiB
Plaintext
|
|
#
|
|
# First come "immediate" Motion commands sent from emctask_startup().
|
|
#
|
|
|
|
SET_NUM_JOINTS 3
|
|
SET_NUM_SPINDLES 1
|
|
SET_VEL vel=0, ini_maxvel=1.2
|
|
SET_VEL_LIMIT vel=4
|
|
SET_ACC acc=1e+99
|
|
SET_JERK jerk=1e+09
|
|
SET_PLANNER_TYPE planner_type=0
|
|
SET_SCURVE_PEAK_SCALE scale=1
|
|
SETUP_ARC_BLENDS
|
|
SET_MAX_FEED_OVERRIDE 1
|
|
SETUP_SET_PROBE_ERR_INHIBIT 0 0
|
|
SET_WORLD_HOME x=0, y=0, z=0, a=0, b=0, c=0, u=0, v=0, w=0
|
|
SET_JOINT_BACKLASH joint=0, backlash=0
|
|
SET_JOINT_POSITION_LIMITS joint=0, min=-40, max=0
|
|
SET_JOINT_POSITION_LIMITS joint=0, min=-40, max=40
|
|
SET_JOINT_MAX_FERROR joint=0, maxFerror=0.05
|
|
SET_JOINT_MIN_FERROR joint=0, minFerror=0.01
|
|
SET_JOINT_HOMING_PARAMS joint=0, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
|
|
SET_JOINT_VEL_LIMIT joint=0, vel=4
|
|
SET_JOINT_ACC_LIMIT joint=0, acc=1000
|
|
SET_JOINT_JERK_LIMIT joint=0, jerk=0
|
|
JOINT_ACTIVATE joint=0
|
|
SET_JOINT_BACKLASH joint=1, backlash=0
|
|
SET_JOINT_POSITION_LIMITS joint=1, min=-40, max=0
|
|
SET_JOINT_POSITION_LIMITS joint=1, min=-40, max=40
|
|
SET_JOINT_MAX_FERROR joint=1, maxFerror=0.05
|
|
SET_JOINT_MIN_FERROR joint=1, minFerror=0.01
|
|
SET_JOINT_HOMING_PARAMS joint=1, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
|
|
SET_JOINT_VEL_LIMIT joint=1, vel=4
|
|
SET_JOINT_ACC_LIMIT joint=1, acc=1000
|
|
SET_JOINT_JERK_LIMIT joint=1, jerk=0
|
|
JOINT_ACTIVATE joint=1
|
|
SET_JOINT_BACKLASH joint=2, backlash=0
|
|
SET_JOINT_POSITION_LIMITS joint=2, min=-4, max=0
|
|
SET_JOINT_POSITION_LIMITS joint=2, min=-4, max=4
|
|
SET_JOINT_MAX_FERROR joint=2, maxFerror=0.05
|
|
SET_JOINT_MIN_FERROR joint=2, minFerror=0.01
|
|
SET_JOINT_HOMING_PARAMS joint=2, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
|
|
SET_JOINT_VEL_LIMIT joint=2, vel=4
|
|
SET_JOINT_ACC_LIMIT joint=2, acc=1000
|
|
SET_JOINT_JERK_LIMIT joint=2, jerk=0
|
|
JOINT_ACTIVATE joint=2
|
|
SET_AXIS_POSITION_LIMITS axis=0, min=-40, max=0
|
|
|
|
#
|
|
# Everything above this line was sent from emctask_startup().
|
|
# That function also enqueued some Canon commands on interp_list, that will
|
|
# generate Motion commands later.
|
|
#
|
|
|
|
#
|
|
# Next Task enters Estop, by calling emcTaskSetState(EMC_TASK_STATE_ESTOP).
|
|
# This does the following:
|
|
# * Abort Motion, which aborts each Axis, then Aborts Motion
|
|
# * Stop the spindle
|
|
# * Send Estop to IO (which we don't detect in motion-logger)
|
|
# * Disable all the amps
|
|
# * Disable Motion
|
|
# * Abort Motion again, which aborts each Axis, and Motion, again
|
|
# * Abort IO, which we miss
|
|
# * Unhome VOLATILE_HOME joints
|
|
#
|
|
|
|
SET_AXIS_POSITION_LIMITS axis=0, min=-40, max=40
|
|
SET_AXIS_VEL_LIMIT axis=0 vel=4
|
|
SET_AXIS_ACC_LIMIT axis=0, acc=1000
|
|
SET_AXIS_LOCKING_JOINT axis=0, locking_joint=-1
|
|
SET_AXIS_JERK_LIMIT axis=0, jerk=0
|
|
SET_AXIS_POSITION_LIMITS axis=1, min=-40, max=0
|
|
SET_AXIS_POSITION_LIMITS axis=1, min=-40, max=40
|
|
SET_AXIS_VEL_LIMIT axis=1 vel=4
|
|
SET_AXIS_ACC_LIMIT axis=1, acc=1000
|
|
SET_AXIS_LOCKING_JOINT axis=1, locking_joint=-1
|
|
SET_AXIS_JERK_LIMIT axis=1, jerk=0
|
|
SET_AXIS_POSITION_LIMITS axis=2, min=-4, max=0
|
|
SET_AXIS_POSITION_LIMITS axis=2, min=-4, max=4
|
|
SET_AXIS_VEL_LIMIT axis=2 vel=4
|
|
SET_AXIS_ACC_LIMIT axis=2, acc=1000
|
|
SET_AXIS_LOCKING_JOINT axis=2, locking_joint=-1
|
|
SET_AXIS_JERK_LIMIT axis=2, jerk=0
|
|
|
|
SET_SPINDLE_PARAMS, 1.00e+99, 0.00e+00, -1.00e+99, 0.00e+00
|
|
JOG_ABORT joint=0
|
|
JOG_ABORT joint=1
|
|
JOG_ABORT joint=2
|
|
JOG_ABORT joint=3
|
|
JOG_ABORT joint=4
|
|
JOG_ABORT joint=5
|
|
JOG_ABORT joint=6
|
|
JOG_ABORT joint=7
|
|
JOG_ABORT joint=8
|
|
JOG_ABORT joint=9
|
|
JOG_ABORT joint=10
|
|
JOG_ABORT joint=11
|
|
JOG_ABORT joint=12
|
|
JOG_ABORT joint=13
|
|
JOG_ABORT joint=14
|
|
JOG_ABORT joint=15
|
|
ABORT
|
|
SPINDLE_OFF
|
|
DISABLE
|
|
JOINT_UNHOME joint=-2
|
|
|
|
|
|
#
|
|
# Here's emcTaskSetMode(EMC_TASK_MODE_MANUAL)
|
|
#
|
|
|
|
FREE
|
|
|
|
#
|
|
# Task is now got the 'motion.in-position' pin visible, and is
|
|
# accepting abort calls from the UI.
|
|
#
|
|
|
|
#
|
|
# The test UI immediately sent an Abort.
|
|
#
|
|
|
|
JOG_ABORT joint=0
|
|
JOG_ABORT joint=1
|
|
JOG_ABORT joint=2
|
|
JOG_ABORT joint=3
|
|
JOG_ABORT joint=4
|
|
JOG_ABORT joint=5
|
|
JOG_ABORT joint=6
|
|
JOG_ABORT joint=7
|
|
JOG_ABORT joint=8
|
|
JOG_ABORT joint=9
|
|
JOG_ABORT joint=10
|
|
JOG_ABORT joint=11
|
|
JOG_ABORT joint=12
|
|
JOG_ABORT joint=13
|
|
JOG_ABORT joint=14
|
|
JOG_ABORT joint=15
|
|
ABORT
|
|
JOG_ABORT joint=0
|
|
JOG_ABORT joint=1
|
|
JOG_ABORT joint=2
|
|
JOG_ABORT joint=3
|
|
JOG_ABORT joint=4
|
|
JOG_ABORT joint=5
|
|
JOG_ABORT joint=6
|
|
JOG_ABORT joint=7
|
|
JOG_ABORT joint=8
|
|
JOG_ABORT joint=9
|
|
JOG_ABORT joint=10
|
|
JOG_ABORT joint=11
|
|
JOG_ABORT joint=12
|
|
JOG_ABORT joint=13
|
|
JOG_ABORT joint=14
|
|
JOG_ABORT joint=15
|
|
ABORT
|
|
SPINDLE_OFF
|
|
DISABLE
|