expected.builtin-startup.in
1 SET_NUM_JOINTS 9 2 SET_NUM_SPINDLES 1 3 SET_VEL vel=0.000000, ini_maxvel=1.200000 4 SET_VEL_LIMIT vel=4.000000 5 SET_ACC acc=999999999999999967336168804116691273849533185806555472917961779471295845921727862608739868455469056.000000 6 SETUP_ARC_BLENDS 7 SET_MAX_FEED_OVERRIDE 1.000000 8 SETUP_SET_PROBE_ERR_INHIBIT 0 0 9 SET_WORLD_HOME x=0.000000, y=0.000000, z=0.000000, a=0.000000, b=0.000000, c=0.000000, u=0.000000, v=0.000000, w=0.000000 10 SET_JOINT_BACKLASH joint=0, backlash=0.000000 11 SET_JOINT_POSITION_LIMITS joint=0, min=-40.000000, max=0.000000 12 SET_JOINT_POSITION_LIMITS joint=0, min=-40.000000, max=40.000000 13 SET_JOINT_MAX_FERROR joint=0, maxFerror=0.050000 14 SET_JOINT_MIN_FERROR joint=0, minFerror=0.010000 15 SET_JOINT_HOMING_PARAMS joint=0, offset=0.000000 home=0.000000, final_vel=-1.000000, search_vel=0.000000, latch_vel=0.000000, flags=0x00000000, sequence=999, volatile=0 16 SET_JOINT_VEL_LIMIT joint=0, vel=4.000000 17 SET_JOINT_ACC_LIMIT joint=0, acc=1000.000000 18 JOINT_ACTIVATE joint=0 19 SET_JOINT_BACKLASH joint=1, backlash=0.000000 20 SET_JOINT_POSITION_LIMITS joint=1, min=-40.000000, max=0.000000 21 SET_JOINT_POSITION_LIMITS joint=1, min=-40.000000, max=40.000000 22 SET_JOINT_MAX_FERROR joint=1, maxFerror=0.050000 23 SET_JOINT_MIN_FERROR joint=1, minFerror=0.010000 24 SET_JOINT_HOMING_PARAMS joint=1, offset=0.000000 home=0.000000, final_vel=-1.000000, search_vel=0.000000, latch_vel=0.000000, flags=0x00000000, sequence=999, volatile=0 25 SET_JOINT_VEL_LIMIT joint=1, vel=4.000000 26 SET_JOINT_ACC_LIMIT joint=1, acc=1000.000000 27 JOINT_ACTIVATE joint=1 28 SET_JOINT_BACKLASH joint=2, backlash=0.000000 29 SET_JOINT_POSITION_LIMITS joint=2, min=-4.000000, max=0.000000 30 SET_JOINT_POSITION_LIMITS joint=2, min=-4.000000, max=4.000000 31 SET_JOINT_MAX_FERROR joint=2, maxFerror=0.050000 32 SET_JOINT_MIN_FERROR joint=2, minFerror=0.010000 33 SET_JOINT_HOMING_PARAMS joint=2, offset=0.000000 home=0.000000, final_vel=-1.000000, search_vel=0.000000, latch_vel=0.000000, flags=0x00000000, sequence=999, volatile=0 34 SET_JOINT_VEL_LIMIT joint=2, vel=4.000000 35 SET_JOINT_ACC_LIMIT joint=2, acc=1000.000000 36 JOINT_ACTIVATE joint=2 37 SET_JOINT_BACKLASH joint=3, backlash=0.000000 38 SET_JOINT_POSITION_LIMITS joint=3, min=-40.000000, max=0.000000 39 SET_JOINT_POSITION_LIMITS joint=3, min=-40.000000, max=40.000000 40 SET_JOINT_MAX_FERROR joint=3, maxFerror=0.050000 41 SET_JOINT_MIN_FERROR joint=3, minFerror=0.010000 42 SET_JOINT_HOMING_PARAMS joint=3, offset=0.000000 home=0.000000, final_vel=-1.000000, search_vel=0.000000, latch_vel=0.000000, flags=0x00000000, sequence=999, volatile=0 43 SET_JOINT_VEL_LIMIT joint=3, vel=4.000000 44 SET_JOINT_ACC_LIMIT joint=3, acc=1000.000000 45 JOINT_ACTIVATE joint=3 46 SET_JOINT_BACKLASH joint=4, backlash=0.000000 47 SET_JOINT_POSITION_LIMITS joint=4, min=-40.000000, max=0.000000 48 SET_JOINT_POSITION_LIMITS joint=4, min=-40.000000, max=40.000000 49 SET_JOINT_MAX_FERROR joint=4, maxFerror=0.050000 50 SET_JOINT_MIN_FERROR joint=4, minFerror=0.010000 51 SET_JOINT_HOMING_PARAMS joint=4, offset=0.000000 home=0.000000, final_vel=-1.000000, search_vel=0.000000, latch_vel=0.000000, flags=0x00000000, sequence=999, volatile=0 52 SET_JOINT_VEL_LIMIT joint=4, vel=4.000000 53 SET_JOINT_ACC_LIMIT joint=4, acc=1000.000000 54 JOINT_ACTIVATE joint=4 55 SET_JOINT_BACKLASH joint=5, backlash=0.000000 56 SET_JOINT_POSITION_LIMITS joint=5, min=-4.000000, max=0.000000 57 SET_JOINT_POSITION_LIMITS joint=5, min=-4.000000, max=4.000000 58 SET_JOINT_MAX_FERROR joint=5, maxFerror=0.050000 59 SET_JOINT_MIN_FERROR joint=5, minFerror=0.010000 60 SET_JOINT_HOMING_PARAMS joint=5, offset=0.000000 home=0.000000, final_vel=-1.000000, search_vel=0.000000, latch_vel=0.000000, flags=0x00000000, sequence=999, volatile=0 61 SET_JOINT_VEL_LIMIT joint=5, vel=4.000000 62 SET_JOINT_ACC_LIMIT joint=5, acc=1000.000000 63 JOINT_ACTIVATE joint=5 64 SET_JOINT_BACKLASH joint=6, backlash=0.000000 65 SET_JOINT_POSITION_LIMITS joint=6, min=-40.000000, max=0.000000 66 SET_JOINT_POSITION_LIMITS joint=6, min=-40.000000, max=40.000000 67 SET_JOINT_MAX_FERROR joint=6, maxFerror=0.050000 68 SET_JOINT_MIN_FERROR joint=6, minFerror=0.010000 69 SET_JOINT_HOMING_PARAMS joint=6, offset=0.000000 home=0.000000, final_vel=-1.000000, search_vel=0.000000, latch_vel=0.000000, flags=0x00000000, sequence=999, volatile=0 70 SET_JOINT_VEL_LIMIT joint=6, vel=4.000000 71 SET_JOINT_ACC_LIMIT joint=6, acc=1000.000000 72 JOINT_ACTIVATE joint=6 73 SET_JOINT_BACKLASH joint=7, backlash=0.000000 74 SET_JOINT_POSITION_LIMITS joint=7, min=-40.000000, max=0.000000 75 SET_JOINT_POSITION_LIMITS joint=7, min=-40.000000, max=40.000000 76 SET_JOINT_MAX_FERROR joint=7, maxFerror=0.050000 77 SET_JOINT_MIN_FERROR joint=7, minFerror=0.010000 78 SET_JOINT_HOMING_PARAMS joint=7, offset=0.000000 home=0.000000, final_vel=-1.000000, search_vel=0.000000, latch_vel=0.000000, flags=0x00000000, sequence=999, volatile=0 79 SET_JOINT_VEL_LIMIT joint=7, vel=4.000000 80 SET_JOINT_ACC_LIMIT joint=7, acc=1000.000000 81 JOINT_ACTIVATE joint=7 82 SET_JOINT_BACKLASH joint=8, backlash=0.000000 83 SET_JOINT_POSITION_LIMITS joint=8, min=-4.000000, max=0.000000 84 SET_JOINT_POSITION_LIMITS joint=8, min=-4.000000, max=4.000000 85 SET_JOINT_MAX_FERROR joint=8, maxFerror=0.050000 86 SET_JOINT_MIN_FERROR joint=8, minFerror=0.010000 87 SET_JOINT_HOMING_PARAMS joint=8, offset=0.000000 home=0.000000, final_vel=-1.000000, search_vel=0.000000, latch_vel=0.000000, flags=0x00000000, sequence=999, volatile=0 88 SET_JOINT_VEL_LIMIT joint=8, vel=4.000000 89 SET_JOINT_ACC_LIMIT joint=8, acc=1000.000000 90 JOINT_ACTIVATE joint=8 91 SET_AXIS_POSITION_LIMITS axis=0, min=-40.000000, max=0.000000 92 SET_AXIS_POSITION_LIMITS axis=0, min=-40.000000, max=40.000000 93 SET_AXIS_VEL_LIMIT axis=0 vel=4.000000 94 SET_AXIS_ACC_LIMIT axis=0, acc=1000.000000 95 SET_AXIS_LOCKING_JOINT axis=0, locking_joint=-1 96 SET_AXIS_POSITION_LIMITS axis=1, min=-40.000000, max=0.000000 97 SET_AXIS_POSITION_LIMITS axis=1, min=-40.000000, max=40.000000 98 SET_AXIS_VEL_LIMIT axis=1 vel=4.000000 99 SET_AXIS_ACC_LIMIT axis=1, acc=1000.000000 100 SET_AXIS_LOCKING_JOINT axis=1, locking_joint=-1 101 SET_AXIS_POSITION_LIMITS axis=2, min=-4.000000, max=0.000000 102 SET_AXIS_POSITION_LIMITS axis=2, min=-4.000000, max=4.000000 103 SET_AXIS_VEL_LIMIT axis=2 vel=4.000000 104 SET_AXIS_ACC_LIMIT axis=2, acc=1000.000000 105 SET_AXIS_LOCKING_JOINT axis=2, locking_joint=-1 106 SET_AXIS_POSITION_LIMITS axis=3, min=-40.000000, max=0.000000 107 SET_AXIS_POSITION_LIMITS axis=3, min=-40.000000, max=40.000000 108 SET_AXIS_VEL_LIMIT axis=3 vel=4.000000 109 SET_AXIS_ACC_LIMIT axis=3, acc=1000.000000 110 SET_AXIS_LOCKING_JOINT axis=3, locking_joint=-1 111 SET_AXIS_POSITION_LIMITS axis=4, min=-40.000000, max=0.000000 112 SET_AXIS_POSITION_LIMITS axis=4, min=-40.000000, max=40.000000 113 SET_AXIS_VEL_LIMIT axis=4 vel=4.000000 114 SET_AXIS_ACC_LIMIT axis=4, acc=1000.000000 115 SET_AXIS_LOCKING_JOINT axis=4, locking_joint=-1 116 SET_AXIS_POSITION_LIMITS axis=5, min=-4.000000, max=0.000000 117 SET_AXIS_POSITION_LIMITS axis=5, min=-4.000000, max=4.000000 118 SET_AXIS_VEL_LIMIT axis=5 vel=4.000000 119 SET_AXIS_ACC_LIMIT axis=5, acc=1000.000000 120 SET_AXIS_LOCKING_JOINT axis=5, locking_joint=-1 121 SET_AXIS_POSITION_LIMITS axis=6, min=-40.000000, max=0.000000 122 SET_AXIS_POSITION_LIMITS axis=6, min=-40.000000, max=40.000000 123 SET_AXIS_VEL_LIMIT axis=6 vel=4.000000 124 SET_AXIS_ACC_LIMIT axis=6, acc=1000.000000 125 SET_AXIS_LOCKING_JOINT axis=6, locking_joint=-1 126 SET_AXIS_POSITION_LIMITS axis=7, min=-40.000000, max=0.000000 127 SET_AXIS_POSITION_LIMITS axis=7, min=-40.000000, max=40.000000 128 SET_AXIS_VEL_LIMIT axis=7 vel=4.000000 129 SET_AXIS_ACC_LIMIT axis=7, acc=1000.000000 130 SET_AXIS_LOCKING_JOINT axis=7, locking_joint=-1 131 SET_AXIS_POSITION_LIMITS axis=8, min=-4.000000, max=0.000000 132 SET_AXIS_POSITION_LIMITS axis=8, min=-4.000000, max=4.000000 133 SET_AXIS_VEL_LIMIT axis=8 vel=4.000000 134 SET_AXIS_ACC_LIMIT axis=8, acc=1000.000000 135 SET_AXIS_LOCKING_JOINT axis=8, locking_joint=-1 136 JOINT_ABORT joint=0 137 JOINT_ABORT joint=1 138 JOINT_ABORT joint=2 139 JOINT_ABORT joint=3 140 JOINT_ABORT joint=4 141 JOINT_ABORT joint=5 142 JOINT_ABORT joint=6 143 JOINT_ABORT joint=7 144 JOINT_ABORT joint=8 145 JOINT_ABORT joint=9 146 JOINT_ABORT joint=10 147 JOINT_ABORT joint=11 148 JOINT_ABORT joint=12 149 JOINT_ABORT joint=13 150 JOINT_ABORT joint=14 151 JOINT_ABORT joint=15 152 ABORT 153 SPINDLE_OFF 154 DISABLE_AMPLIFIER 155 DISABLE_AMPLIFIER 156 DISABLE_AMPLIFIER 157 DISABLE_AMPLIFIER 158 DISABLE_AMPLIFIER 159 DISABLE_AMPLIFIER 160 DISABLE_AMPLIFIER 161 DISABLE_AMPLIFIER 162 DISABLE_AMPLIFIER 163 DISABLE 164 JOINT_UNHOME joint=-2 165 FREE 166 JOINT_ABORT joint=0 167 JOINT_ABORT joint=1 168 JOINT_ABORT joint=2 169 JOINT_ABORT joint=3 170 JOINT_ABORT joint=4 171 JOINT_ABORT joint=5 172 JOINT_ABORT joint=6 173 JOINT_ABORT joint=7 174 JOINT_ABORT joint=8 175 JOINT_ABORT joint=9 176 JOINT_ABORT joint=10 177 JOINT_ABORT joint=11 178 JOINT_ABORT joint=12 179 JOINT_ABORT joint=13 180 JOINT_ABORT joint=14 181 JOINT_ABORT joint=15 182 ABORT 183 SPINDLE_OFF 184 185 # 186 # The test UI then sends an NML command to move Task to the On state, which 187 # turns on Motion and all the amps. 188 # 189 190 ENABLE 191 ENABLE_AMPLIFIER 192 ENABLE_AMPLIFIER 193 ENABLE_AMPLIFIER 194 ENABLE_AMPLIFIER 195 ENABLE_AMPLIFIER 196 ENABLE_AMPLIFIER 197 ENABLE_AMPLIFIER 198 ENABLE_AMPLIFIER 199 ENABLE_AMPLIFIER 200 201 # 202 # The test UI finally switches mode to Auto, which switches Motion to Coord 203 # and aborts. 204 # 205 206 COORD 207 JOINT_ABORT joint=0 208 JOINT_ABORT joint=1 209 JOINT_ABORT joint=2 210 JOINT_ABORT joint=3 211 JOINT_ABORT joint=4 212 JOINT_ABORT joint=5 213 JOINT_ABORT joint=6 214 JOINT_ABORT joint=7 215 JOINT_ABORT joint=8 216 JOINT_ABORT joint=9 217 JOINT_ABORT joint=10 218 JOINT_ABORT joint=11 219 JOINT_ABORT joint=12 220 JOINT_ABORT joint=13 221 JOINT_ABORT joint=14 222 JOINT_ABORT joint=15 223 ABORT