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SET_NUM_JOINTS 9
SET_NUM_SPINDLES 1
SET_VEL vel=0, ini_maxvel=1.2
SET_VEL_LIMIT vel=4
SET_ACC acc=1e+99
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
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
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
JOINT_ACTIVATE joint=2
SET_JOINT_BACKLASH joint=3, backlash=0
SET_JOINT_POSITION_LIMITS joint=3, min=-40, max=0
SET_JOINT_POSITION_LIMITS joint=3, min=-40, max=40
SET_JOINT_MAX_FERROR joint=3, maxFerror=0.05
SET_JOINT_MIN_FERROR joint=3, minFerror=0.01
SET_JOINT_HOMING_PARAMS joint=3, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
SET_JOINT_VEL_LIMIT joint=3, vel=4
SET_JOINT_ACC_LIMIT joint=3, acc=1000
JOINT_ACTIVATE joint=3
SET_JOINT_BACKLASH joint=4, backlash=0
SET_JOINT_POSITION_LIMITS joint=4, min=-40, max=0
SET_JOINT_POSITION_LIMITS joint=4, min=-40, max=40
SET_JOINT_MAX_FERROR joint=4, maxFerror=0.05
SET_JOINT_MIN_FERROR joint=4, minFerror=0.01
SET_JOINT_HOMING_PARAMS joint=4, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
SET_JOINT_VEL_LIMIT joint=4, vel=4
SET_JOINT_ACC_LIMIT joint=4, acc=1000
JOINT_ACTIVATE joint=4
SET_JOINT_BACKLASH joint=5, backlash=0
SET_JOINT_POSITION_LIMITS joint=5, min=-4, max=0
SET_JOINT_POSITION_LIMITS joint=5, min=-4, max=4
SET_JOINT_MAX_FERROR joint=5, maxFerror=0.05
SET_JOINT_MIN_FERROR joint=5, minFerror=0.01
SET_JOINT_HOMING_PARAMS joint=5, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
SET_JOINT_VEL_LIMIT joint=5, vel=4
SET_JOINT_ACC_LIMIT joint=5, acc=1000
JOINT_ACTIVATE joint=5
SET_JOINT_BACKLASH joint=6, backlash=0
SET_JOINT_POSITION_LIMITS joint=6, min=-40, max=0
SET_JOINT_POSITION_LIMITS joint=6, min=-40, max=40
SET_JOINT_MAX_FERROR joint=6, maxFerror=0.05
SET_JOINT_MIN_FERROR joint=6, minFerror=0.01
SET_JOINT_HOMING_PARAMS joint=6, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
SET_JOINT_VEL_LIMIT joint=6, vel=4
SET_JOINT_ACC_LIMIT joint=6, acc=1000
JOINT_ACTIVATE joint=6
SET_JOINT_BACKLASH joint=7, backlash=0
SET_JOINT_POSITION_LIMITS joint=7, min=-40, max=0
SET_JOINT_POSITION_LIMITS joint=7, min=-40, max=40
SET_JOINT_MAX_FERROR joint=7, maxFerror=0.05
SET_JOINT_MIN_FERROR joint=7, minFerror=0.01
SET_JOINT_HOMING_PARAMS joint=7, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
SET_JOINT_VEL_LIMIT joint=7, vel=4
SET_JOINT_ACC_LIMIT joint=7, acc=1000
JOINT_ACTIVATE joint=7
SET_JOINT_BACKLASH joint=8, backlash=0
SET_JOINT_POSITION_LIMITS joint=8, min=-4, max=0
SET_JOINT_POSITION_LIMITS joint=8, min=-4, max=4
SET_JOINT_MAX_FERROR joint=8, maxFerror=0.05
SET_JOINT_MIN_FERROR joint=8, minFerror=0.01
SET_JOINT_HOMING_PARAMS joint=8, offset=0 home=0, final_vel=-1, search_vel=0, latch_vel=0, flags=0x00000000, sequence=999, volatile=0
SET_JOINT_VEL_LIMIT joint=8, vel=4
SET_JOINT_ACC_LIMIT joint=8, acc=1000
JOINT_ACTIVATE joint=8
SET_AXIS_POSITION_LIMITS axis=0, min=-40, max=0
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_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_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_POSITION_LIMITS axis=3, min=-40, max=0
SET_AXIS_POSITION_LIMITS axis=3, min=-40, max=40
SET_AXIS_VEL_LIMIT axis=3 vel=4
SET_AXIS_ACC_LIMIT axis=3, acc=1000
SET_AXIS_LOCKING_JOINT axis=3, locking_joint=-1
SET_AXIS_POSITION_LIMITS axis=4, min=-40, max=0
SET_AXIS_POSITION_LIMITS axis=4, min=-40, max=40
SET_AXIS_VEL_LIMIT axis=4 vel=4
SET_AXIS_ACC_LIMIT axis=4, acc=1000
SET_AXIS_LOCKING_JOINT axis=4, locking_joint=-1
SET_AXIS_POSITION_LIMITS axis=5, min=-4, max=0
SET_AXIS_POSITION_LIMITS axis=5, min=-4, max=4
SET_AXIS_VEL_LIMIT axis=5 vel=4
SET_AXIS_ACC_LIMIT axis=5, acc=1000
SET_AXIS_LOCKING_JOINT axis=5, locking_joint=-1
SET_AXIS_POSITION_LIMITS axis=6, min=-40, max=0
SET_AXIS_POSITION_LIMITS axis=6, min=-40, max=40
SET_AXIS_VEL_LIMIT axis=6 vel=4
SET_AXIS_ACC_LIMIT axis=6, acc=1000
SET_AXIS_LOCKING_JOINT axis=6, locking_joint=-1
SET_AXIS_POSITION_LIMITS axis=7, min=-40, max=0
SET_AXIS_POSITION_LIMITS axis=7, min=-40, max=40
SET_AXIS_VEL_LIMIT axis=7 vel=4
SET_AXIS_ACC_LIMIT axis=7, acc=1000
SET_AXIS_LOCKING_JOINT axis=7, locking_joint=-1
SET_AXIS_POSITION_LIMITS axis=8, min=-4, max=0
SET_AXIS_POSITION_LIMITS axis=8, min=-4, max=4
SET_AXIS_VEL_LIMIT axis=8 vel=4
SET_AXIS_ACC_LIMIT axis=8, acc=1000
SET_AXIS_LOCKING_JOINT axis=8, locking_joint=-1
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_AMPLIFIER
DISABLE_AMPLIFIER
DISABLE_AMPLIFIER
DISABLE_AMPLIFIER
DISABLE_AMPLIFIER
DISABLE_AMPLIFIER
DISABLE_AMPLIFIER
DISABLE_AMPLIFIER
DISABLE_AMPLIFIER
DISABLE
JOINT_UNHOME joint=-2
FREE
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
#
# The test UI then sends an NML command to move Task to the On state, which
# turns on Motion and all the amps.
#
ENABLE
ENABLE_AMPLIFIER
ENABLE_AMPLIFIER
ENABLE_AMPLIFIER
ENABLE_AMPLIFIER
ENABLE_AMPLIFIER
ENABLE_AMPLIFIER
ENABLE_AMPLIFIER
ENABLE_AMPLIFIER
ENABLE_AMPLIFIER
#
# The test UI finally switches mode to Auto, which switches Motion to Coord
# and aborts.
#
COORD
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
|
