Script started on Mon Aug 19 15:08:29 2002 Mon Aug 19 15:08:29 HST 2002 [1mduke[m:/home/denault/src/tcs1/hexed 1> test_digi Opening digi port socket digicass 2004.. Enter Command: io IO% flush_fd()'s count = 48 buf=[ÿýÿûÿû Digi International PortServer 16 ]Command missing ! ----- count=19 select_count=1 ems=150 ----- IO% mchp Chop parameters [rad,ms]: A: 0.000000E+0 B: 0.000000E+0 C: 0.000000E+0 D: 0.000000E+0 T: 0.000000 ----- count=148 select_count=8 ems=206 ----- IO% mcmp Compensation values: U: 1.000000 V: 1.000000 Valid range 0.8 .. 1.2 ----- count=90 select_count=3 ems=151 ----- IO% mpid PID filter parameters: P: 1.200000E-2 I: 1.600000E-5 D: 2.000000E-6 G: 2.000000E-5 F: 5.200000E+2 R: 5.900000E-1 L: 3.000000E+2 A: 2.000000E+0 ----- count=223 select_count=16 ems=283 ----- IO% mpos Mirror positions [rad] Target U: 0.000000E+0 Target V: 0.000000E+0 Real U: -1.181600E-8 Real V: 1.144000E-8 Limit: 2.250000E-4 ----- count=153 select_count=8 ems=210 ----- IO% msin Sine wave parameters [rad,Hz]: U: 0.000000E+0 V: 0.000000E+0 F: 0 Limit F: 1..2500 Hz ----- count=117 select_count=5 ems=177 ----- IO% mssr Slew rate [rad/s]: Current: 9.999999E-2 Limit: 1.000000E-1 ----- count=69 select_count=1 ems=149 ----- IO% setf System control flags: Piezo control: Yes Servo loop: Yes Lead filter: No Piezo comp.: Yes Ext. control: No Auto move: No Chop mode: No Sine mode: Yes ----- count=218 select_count=15 ems=274 ----- IO% stat MPIC status: Version 2.0 Downlink active Yes Invalid frames 2 Amplifier status: 0101 Current error No Supply 0 error No Supply 1 error No Thermal error No Amplifier error No Cable error No ----- count=256 select_count=20 ems=324 ----- IO% stat n0 MPIC status: Version 2.0 Downlink active Yes Invalid frames 2 Amplifier status: 0101 Current error No Supply 0 error No Supply 1 error No Thermal error No Amplifier error No Cable error No ----- count=256 select_count=19 ems=319 ----- IO% stat n1 HEXC status: Hexapod running No Target reached Yes Referencing No Referenced Yes HEXC busy No Command error No Geometry error No System error No Downlink data 20 ----- count=231 select_count=17 ems=294 ----- IO% stat n2 MPIC voltages: +5 V HEXC 5.1 V +15 V Motors 14.9 V -15 V Motors -15.3 V +15 V Sensors 15.5 V -15 V Sensors -15.9 V +5 V MPIC 5.3 V -25 V Piezos #1 -27.4 V -25 V Piezos #2 -27.7 V +120 V Piezos 122.7 V PZT supply current 0.029 A Amplifier out 1 31.5 V Amplifier out 2 27.6 V Amplifier out 3 25.6 V Amplifier out 4 25.6 V Amplifier out 5 29.5 V Amplifier out 6 31.5 V ----- count=511 select_count=46 ems=582 ----- IO% stat n10 HEXC system values & flags: Supply error No Sensor cable fault No Motor cable fault No LED error No Axis error No Controller error No Internal error No Command timeout No Write timeout No Read timeout No Checksum error No Invalid parameter No Invalid command No Invalid axis No +5 V HEXC 5.2 V +15 V Sensors 15.0 V -15 V Sensors -14.6 V +15 V Motors 15.6 V -15 V Motors -15.5 V Temperature 10øC ----- count=578 select_count=56 ems=683 ----- IO% stat n20 Commanded hexapod positions Dimension X Y Z U V W Transl. [mm] -1.2500 -1.5000 -1.7000 Rotation [rad] 0.0125 0.0067 0.0000 ----- count=226 select_count=19 ems=319 ----- IO% stat n21 Commanded hexapod pivot point Dimension X Y Z Pivot [mm] -2.0000 -2.0000 73.0000 ----- count=122 select_count=8 ems=206 ----- IO% stat n22 Computed leg position Hexapod leg 1 2 3 4 5 6 Cmd pos [cnt] 4911 6123 2384 5740 15753 11115 ----- count=150 select_count=12 ems=242 ----- IO% stat n23 Computed leg velocity Hexapod leg 1 2 3 4 5 6 Vel [cnt/T] 2.299 2.309 2.299 2.299 2.309 2.299 ----- count=150 select_count=12 ems=248 ----- IO% stat n24 Hexapod velocity Hexapod vel Act. vel [mm/s] 1.0000 Max. vel [mm/s] 1.0000 ----- count=85 select_count=4 ems=168 ----- IO% stat n30 Axis # 1 2 3 4 5 6 7 8 MC status 0200 1200 2208 0200 1200 2200 3200 3200 ----- count=160 select_count=17 ems=321 ----- IO% stat n31 Axis # 1 2 3 4 5 6 7 8 Real pos [cnt] 4911 6123 2384 5740 15752 11115 0 0 ----- count=160 select_count=18 ems=338 ----- IO% stat n32 Axis # 1 2 3 4 5 6 7 8 Ref deviation -2680 -3847 -204 -3352 -13458 -8835 0 0 ----- count=160 select_count=13 ems=256 ----- IO% stat n33 Axis # 1 2 3 4 5 6 7 8 Vel [cnt/T] 2.299 2.309 2.299 2.299 2.309 2.299 30.719 30.719 ----- count=160 select_count=17 ems=322 ----- IO% stat n34 Axis # 1 2 3 4 5 6 7 8 Acc [cnt/T/T] 0.0099 0.0099 0.0099 0.0099 0.0099 0.0099 0.0999 0.0999 ----- count=160 select_count=17 ems=317 ----- IO% stat n35 Axis flags: Axis # 1 2 3 4 5 6 7 8 Axis running No No No No No No No No Target reached Yes Yes Yes Yes Yes Yes No No Referencing No No No No No No No No Referenced Yes Yes Yes Yes Yes Yes No No PLIMIT touched No No No No No No No No NLIMIT touched No No No No No No No No Motion error No No No No No No No No Limit error No No No No No No No No ----- count=732 select_count=71 ems=838 ----- IO% Enter Command: exit exit - invalid keyword Enter Command: quit [1mduke[m:/home/denault/src/tcs1/hexed 2> exit script done on Mon Aug 19 15:11:18 2002