Ad un certo punto, come spesso accade con tutto quello che riguarda la KFlop, mi son messo a studiare un pochino i vari codici sorgenti che la accompagnano e sorpresa, c'era già lo scheletro di quel che andavo cercando.
Allora l'ho adattato un pochino per essere attivato tramite un singolo bit, per adesso ho scelto il virtual bit 2000, ma niente impedisce di utilizzare un bit reale collegato ad esempio ad un pulsante. Nel mio caso ho anche definito le macro M118 e M119 per impostare proprio quel bit, in modo da poter richiamare M118 nel gcode per iniziare registrare i dati nel punto che mi interessa e terminare con un M119, o una volta arrivato a fine della memoria assegnata.
All'occorrenza carico il programma in un thread libero della KFlop, così non si "sporcano" i vari init et cetera che possono già esistere, e resta lì in ascolto del bit, quanto riceve il segnale registra, scarica in un file, e torna in ascolto. Il tutto con un minimo di mesaggi diagnostici sulla console. Tra l'altro sto apprezzando tanto il dialogo "Gcode" di Kmotion, in pratica un mini mini KmotionCNC snello e pratico - eccellente per questo genere di prove !
Allego il codice sorgente e un esempio di output, relativo al Dest degli assi 0, 1, 2 (nella mia macchina il 2 è slaved di 1, quindi compaiono i medesimi dati).
Allego anche il semplice Gcode che ha generato i dati. Non appena ho un minuto rifinisco anche il programma che diagrama i dati, ma niente impedisce di importare la tabella in un foglio elettronico e diagrammarseli per conto proprio.
Il lavoro non è terminato, ma già è qualcosa su cui si può ragionare.
Codice C:
Codice: Seleziona tutto
#include "KMotionDef.h"
#define N 1000
#define CONTROL_BIT 2000
main(){
int i,k;
double T0,*p=gather_buffer;
printf("Data gathering thread started\n");
//Setup an output bit to control data gather
SetBitDirection(CONTROL_BIT,1);
ClearBit(CONTROL_BIT);
while(1){
while(!ReadBit(CONTROL_BIT)); // wait for vitual bit to be high
ClearBit(46);
Delay_sec(0.5);
SetBit(46);
printf("Gathering started\n");
T0 = Time_sec();
// Capture Data
for (i=0; i<N-1; i++) {
for (k=0; k<3; k++) WaitNextTimeSlice();
*p++ = Time_sec() - T0;
*p++ = ch0->Dest;
*p++ = ch1->Dest;
*p++ = ch2->Dest;
if(!ReadBit(CONTROL_BIT)) {
break;
}
}
ClearBit(CONTROL_BIT);
printf("Gathering stopped, transmitting\n");
p=gather_buffer;
FILE *f=fopen("C:\\temp\\kflopdata.txt","wt");
for (i=0; i<N; i++) {
for (k=0; k<5; k++) WaitNextTimeSlice();
// round times to nearest servo tick
p[0] = ((int)(p[0]/TIMEBASE + 0.5))*TIMEBASE;
//printf(f,"%16.9f,%16.3f,%16.3f,%16.3f\n",p[0],p[1],p[2],p[3]);
fprintf(f,"%16.9f,%16.3f,%16.3f,%16.3f\n",p[0],p[1],p[2],p[3]);
p += 4;
}
printf("Transmission ended, closing file\n");
fclose(f);
}
}
Codice: Seleziona tutto
G0 X0 Y0 Z0
F1000
M118
G1 X10
G1 Y10
G1 X0
G1 Y0
M119
M2
Codice: Seleziona tutto
0.000540000, 306.996, 0.000, 0.000
0.001080000, 307.350, 0.000, 0.000
0.001620000, 307.704, 0.000, 0.000
0.002160000, 308.059, 0.000, 0.000
0.002700000, 308.413, 0.000, 0.000
0.003240000, 308.767, 0.000, 0.000
0.003780000, 309.122, 0.000, 0.000
0.004320000, 309.476, 0.000, 0.000
0.004860000, 309.830, 0.000, 0.000
0.005400000, 310.185, 0.000, 0.000
0.005940000, 310.539, 0.000, 0.000
0.006480000, 310.893, 0.000, 0.000
0.007020000, 311.248, 0.000, 0.000
0.007560000, 311.602, 0.000, 0.000
0.008100000, 311.956, 0.000, 0.000
0.008640000, 312.311, 0.000, 0.000
0.009180000, 312.665, 0.000, 0.000
0.009720000, 313.019, 0.000, 0.000
0.010260000, 313.374, 0.000, 0.000
0.010800000, 313.728, 0.000, 0.000
0.011340000, 314.082, 0.000, 0.000
0.011880000, 314.437, 0.000, 0.000
0.012420000, 314.791, 0.000, 0.000
0.012960000, 315.145, 0.000, 0.000
0.013500000, 315.500, 0.000, 0.000
0.014040000, 315.854, 0.000, 0.000
0.014580000, 316.208, 0.000, 0.000
0.015120000, 316.563, 0.000, 0.000
0.015660000, 316.917, 0.000, 0.000
0.016200000, 317.271, 0.000, 0.000
0.016740000, 317.626, 0.000, 0.000
0.017280000, 317.980, 0.000, 0.000
0.017820000, 318.334, 0.000, 0.000
0.018360000, 318.689, 0.000, 0.000
0.018900000, 319.043, 0.000, 0.000
0.019440000, 319.397, 0.000, 0.000
0.019980000, 319.752, 0.000, 0.000
0.020520000, 320.106, 0.000, 0.000
0.021060000, 320.460, 0.000, 0.000
0.021600000, 320.815, 0.000, 0.000
0.022140000, 321.169, 0.000, 0.000
0.022680000, 321.523, 0.000, 0.000
0.023220000, 321.878, 0.000, 0.000
0.023760000, 322.232, 0.000, 0.000
0.024300000, 322.586, 0.000, 0.000
0.024840000, 322.941, 0.000, 0.000
0.025380000, 323.295, 0.000, 0.000
0.025920000, 323.649, 0.000, 0.000
0.026460000, 324.004, 0.000, 0.000
0.027000000, 324.358, 0.000, 0.000
0.027540000, 324.712, 0.000, 0.000
0.028080000, 325.067, 0.000, 0.000
0.028620000, 325.421, 0.000, 0.000
0.029160000, 325.775, 0.000, 0.000
0.029700000, 326.130, 0.000, 0.000
0.030240000, 326.484, 0.000, 0.000
0.030780000, 326.838, 0.000, 0.000
0.031320000, 327.193, 0.000, 0.000
0.031860000, 327.547, 0.000, 0.000
0.032400000, 327.901, 0.000, 0.000
0.032940000, 328.256, 0.000, 0.000
0.033480000, 328.610, 0.000, 0.000
0.034020000, 328.964, 0.000, 0.000
0.034560000, 329.319, 0.000, 0.000
0.035100000, 329.673, 0.000, 0.000
0.035640000, 330.027, 0.000, 0.000
0.036180000, 330.382, 0.000, 0.000
0.036720000, 330.736, 0.000, 0.000
0.037260000, 331.090, 0.000, 0.000
0.037800000, 331.445, 0.000, 0.000
0.038340000, 331.799, 0.000, 0.000
0.038880000, 332.153, 0.000, 0.000
0.039420000, 332.508, 0.000, 0.000
0.039960000, 332.862, 0.000, 0.000
0.040500000, 333.216, 0.000, 0.000
0.041040000, 333.571, 0.000, 0.000
0.041580000, 333.925, 0.000, 0.000
0.042120000, 334.279, 0.000, 0.000
0.042660000, 334.634, 0.000, 0.000
0.043200000, 334.988, 0.000, 0.000
0.043740000, 335.342, 0.000, 0.000
0.044280000, 335.697, 0.000, 0.000
0.044820000, 336.051, 0.000, 0.000
0.045360000, 336.405, 0.000, 0.000
0.045900000, 336.760, 0.000, 0.000
0.046440000, 337.114, 0.000, 0.000
0.046980000, 337.468, 0.000, 0.000
0.047520000, 337.823, 0.000, 0.000
0.048060000, 338.177, 0.000, 0.000
0.048600000, 338.531, 0.000, 0.000
0.049140000, 338.886, 0.000, 0.000
0.049680000, 339.240, 0.000, 0.000
0.050220000, 339.594, 0.000, 0.000
0.050760000, 339.949, 0.000, 0.000
0.051300000, 340.303, 0.000, 0.000
0.051840000, 340.657, 0.000, 0.000
0.052380000, 341.012, 0.000, 0.000
0.052920000, 341.366, 0.000, 0.000
0.053460000, 341.720, 0.000, 0.000
0.054000000, 342.075, 0.000, 0.000
0.054540000, 342.429, 0.000, 0.000
0.055080000, 342.783, 0.000, 0.000
0.055620000, 343.138, 0.000, 0.000
0.056160000, 343.492, 0.000, 0.000
0.056700000, 343.846, 0.000, 0.000
0.057240000, 344.201, 0.000, 0.000
0.057780000, 344.555, 0.000, 0.000
0.058320000, 344.909, 0.000, 0.000
0.058860000, 345.263, 0.000, 0.000
0.059400000, 345.618, 0.000, 0.000
0.059940000, 345.972, 0.000, 0.000
0.060480000, 346.326, 0.000, 0.000
0.061020000, 346.681, 0.000, 0.000
0.061560000, 347.035, 0.000, 0.000
0.062100000, 347.389, 0.000, 0.000
0.062640000, 347.744, 0.000, 0.000
0.063180000, 348.098, 0.000, 0.000
0.063720000, 348.452, 0.000, 0.000
0.064260000, 348.807, 0.000, 0.000
0.064800000, 349.161, 0.000, 0.000
0.065340000, 349.515, 0.000, 0.000
0.065880000, 349.870, 0.000, 0.000
0.066420000, 350.224, 0.000, 0.000
0.066960000, 350.578, 0.000, 0.000
0.067500000, 350.933, 0.000, 0.000
0.068040000, 351.287, 0.000, 0.000
0.068580000, 351.641, 0.000, 0.000
0.069120000, 351.996, 0.000, 0.000
0.069660000, 352.350, 0.000, 0.000
0.070200000, 352.704, 0.000, 0.000
0.070740000, 353.059, 0.000, 0.000
0.071280000, 353.413, 0.000, 0.000
0.071820000, 353.767, 0.000, 0.000
0.072360000, 354.122, 0.000, 0.000
0.072900000, 354.476, 0.000, 0.000
0.073440000, 354.830, 0.000, 0.000
0.073980000, 355.185, 0.000, 0.000
0.074520000, 355.539, 0.000, 0.000
0.075060000, 355.893, 0.000, 0.000
0.075600000, 356.248, 0.000, 0.000
0.076140000, 356.602, 0.000, 0.000
0.076680000, 356.956, 0.000, 0.000
0.077220000, 357.311, 0.000, 0.000
0.077760000, 357.665, 0.000, 0.000
0.078300000, 358.019, 0.000, 0.000
0.078840000, 358.374, 0.000, 0.000
0.079380000, 358.728, 0.000, 0.000
0.079920000, 359.082, 0.000, 0.000
0.080460000, 359.437, 0.000, 0.000
0.081000000, 359.791, 0.000, 0.000
0.081540000, 360.145, 0.000, 0.000
0.082080000, 360.500, 0.000, 0.000
0.082620000, 360.854, 0.000, 0.000
0.083160000, 361.208, 0.000, 0.000
0.083700000, 361.563, 0.000, 0.000
0.084240000, 361.917, 0.000, 0.000
0.084780000, 362.271, 0.000, 0.000
0.085320000, 362.626, 0.000, 0.000
0.085860000, 362.980, 0.000, 0.000
0.086400000, 363.334, 0.000, 0.000
0.086940000, 363.689, 0.000, 0.000
0.087480000, 364.043, 0.000, 0.000
0.088020000, 364.397, 0.000, 0.000
0.088560000, 364.752, 0.000, 0.000
0.089100000, 365.106, 0.000, 0.000
0.089640000, 365.460, 0.000, 0.000
0.090180000, 365.815, 0.000, 0.000
0.090720000, 366.169, 0.000, 0.000
0.091260000, 366.523, 0.000, 0.000
0.091800000, 366.878, 0.000, 0.000
0.092340000, 367.232, 0.000, 0.000
0.092880000, 367.586, 0.000, 0.000
0.093420000, 367.941, 0.000, 0.000
0.093960000, 368.295, 0.000, 0.000
0.094500000, 368.649, 0.000, 0.000
0.095040000, 369.004, 0.000, 0.000
0.095580000, 369.358, 0.000, 0.000
0.096120000, 369.712, 0.000, 0.000
0.096660000, 370.067, 0.000, 0.000
0.097200000, 370.421, 0.000, 0.000
0.097740000, 370.775, 0.000, 0.000
0.098280000, 371.130, 0.000, 0.000
0.098820000, 371.484, 0.000, 0.000
0.099360000, 371.838, 0.000, 0.000
0.099900000, 372.193, 0.000, 0.000
0.100440000, 372.545, 0.000, 0.000
0.100980000, 372.895, 0.000, 0.000
0.101520000, 373.242, 0.000, 0.000
0.102060000, 373.586, 0.000, 0.000
0.102600000, 373.927, 0.000, 0.000
0.103140000, 374.265, 0.000, 0.000
0.103680000, 374.600, 0.000, 0.000
0.104220000, 374.933, 0.000, 0.000
0.104760000, 375.262, 0.000, 0.000
0.105300000, 375.589, 0.000, 0.000
0.105840000, 375.912, 0.000, 0.000
0.106380000, 376.233, 0.000, 0.000
0.106920000, 376.550, 0.000, 0.000
0.107460000, 376.865, 0.000, 0.000
0.108000000, 377.177, 0.000, 0.000
0.108540000, 377.486, 0.000, 0.000
0.109080000, 377.792, 0.000, 0.000
0.109620000, 378.095, 0.000, 0.000
0.110160000, 378.396, 0.000, 0.000
0.110700000, 378.693, 0.000, 0.000
0.111240000, 378.987, 0.000, 0.000
0.111780000, 379.279, 0.000, 0.000
0.112320000, 379.567, 0.000, 0.000
0.112860000, 379.853, 0.000, 0.000
0.113400000, 380.136, 0.000, 0.000
0.113940000, 380.415, 0.000, 0.000
0.114480000, 380.692, 0.000, 0.000
0.115020000, 380.966, 0.000, 0.000
0.115560000, 381.237, 0.000, 0.000
0.116100000, 381.506, 0.000, 0.000
0.116640000, 381.771, 0.000, 0.000
0.117180000, 382.033, 0.000, 0.000
0.117720000, 382.292, 0.000, 0.000
0.118260000, 382.549, 0.000, 0.000
0.118800000, 382.803, 0.000, 0.000
0.119340000, 383.053, 0.000, 0.000
0.119880000, 383.301, 0.000, 0.000
0.120420000, 383.546, 0.000, 0.000
0.120960000, 383.788, 0.000, 0.000
0.121500000, 384.027, 0.000, 0.000
0.122040000, 384.263, 0.000, 0.000
0.122580000, 384.496, 0.000, 0.000
0.123120000, 384.726, 0.000, 0.000
0.123660000, 384.953, 0.000, 0.000
0.124200000, 385.178, 0.000, 0.000
0.124740000, 385.399, 0.000, 0.000
0.125280000, 385.618, 0.000, 0.000
0.125820000, 385.834, 0.000, 0.000
0.126360000, 386.046, 0.000, 0.000
0.126900000, 386.256, 0.000, 0.000
0.127440000, 386.463, 0.000, 0.000
0.127980000, 386.667, 0.000, 0.000
0.128520000, 386.868, 0.000, 0.000
0.129060000, 387.066, 0.000, 0.000
0.129600000, 387.261, 0.000, 0.000
0.130140000, 387.454, 0.000, 0.000
0.130680000, 387.643, 0.000, 0.000
0.131220000, 387.830, 0.000, 0.000
0.131760000, 388.013, 0.000, 0.000
0.132300000, 388.194, 0.000, 0.000
0.132840000, 388.372, 0.000, 0.000
0.133380000, 388.547, 0.000, 0.000
0.133920000, 388.718, 0.000, 0.000
0.134460000, 388.887, 0.000, 0.000
0.135000000, 389.054, 0.000, 0.000
0.135540000, 389.217, 0.000, 0.000
0.136080000, 389.377, 0.000, 0.000
0.136620000, 389.534, 0.000, 0.000
0.137160000, 389.689, 0.000, 0.000
0.137700000, 389.840, 0.000, 0.000
0.138240000, 389.989, 0.000, 0.000
0.138780000, 390.135, 0.000, 0.000
0.139320000, 390.277, 0.000, 0.000
0.139860000, 390.417, 0.000, 0.000
0.140400000, 390.554, 0.000, 0.000
0.140940000, 390.688, 0.000, 0.000
0.141480000, 390.819, 0.000, 0.000
0.142020000, 390.947, 0.000, 0.000
0.142560000, 391.073, 0.000, 0.000
0.143100000, 391.195, 0.000, 0.000
0.143640000, 391.314, 0.000, 0.000
0.144180000, 391.431, 0.000, 0.000
0.144720000, 391.544, 0.000, 0.000
0.145260000, 391.655, 0.000, 0.000
0.145800000, 391.763, 0.000, 0.000
0.146340000, 391.868, 0.000, 0.000
0.146880000, 391.970, 0.000, 0.000
0.147420000, 392.069, 0.000, 0.000
0.147960000, 392.165, 0.000, 0.000
0.148500000, 392.258, 0.000, 0.000
0.149040000, 392.348, 0.000, 0.000
0.149580000, 392.436, 0.000, 0.000
0.150120000, 392.520, 0.000, 0.000
0.150660000, 392.602, 0.000, 0.000
0.151200000, 392.680, 0.000, 0.000
0.151740000, 392.756, 0.000, 0.000
0.152280000, 392.829, 0.000, 0.000
0.152820000, 392.899, 0.000, 0.000
0.153360000, 392.965, 0.000, 0.000
0.153900000, 393.030, 0.000, 0.000
0.154440000, 393.091, 0.000, 0.000
0.154980000, 393.149, 0.000, 0.000
0.155520000, 393.204, 0.000, 0.000
0.156060000, 393.256, 0.000, 0.000
0.156600000, 393.306, 0.000, 0.000
0.157140000, 393.352, 0.000, 0.000
0.157680000, 393.396, 0.000, 0.000
0.158220000, 393.437, 0.000, 0.000
0.158760000, 393.475, 0.000, 0.000
0.159300000, 393.509, 0.000, 0.000
0.159840000, 393.541, 0.000, 0.000
0.160380000, 393.570, 0.000, 0.000
0.160920000, 393.597, 0.000, 0.000
0.161460000, 393.620, 0.000, 0.000
0.162000000, 393.640, 0.000, 0.000
0.162540000, 393.657, 0.000, 0.000
0.163080000, 393.672, 0.000, 0.000
0.163620000, 393.683, 0.000, 0.000
0.164160000, 393.692, 0.000, 0.000
0.164700000, 393.698, 0.000, 0.000
0.165240000, 393.700, 0.000, 0.000
0.165780000, 393.701, 0.000, 0.000
0.166320000, 393.701, 0.003, 0.003
0.166860000, 393.701, 0.009, 0.009
0.167400000, 393.701, 0.018, 0.018
0.167940000, 393.701, 0.030, 0.030
0.168480000, 393.701, 0.045, 0.045
0.169020000, 393.701, 0.062, 0.062
0.169560000, 393.701, 0.083, 0.083
0.170100000, 393.701, 0.106, 0.106
0.170640000, 393.701, 0.133, 0.133
0.171180000, 393.701, 0.162, 0.162
0.171720000, 393.701, 0.194, 0.194
0.172260000, 393.701, 0.229, 0.229
0.172800000, 393.701, 0.267, 0.267
0.173340000, 393.701, 0.308, 0.308
0.173880000, 393.701, 0.352, 0.352
0.174420000, 393.701, 0.399, 0.399
0.174960000, 393.701, 0.449, 0.449
0.175500000, 393.701, 0.501, 0.501
0.176040000, 393.701, 0.557, 0.557
0.176580000, 393.701, 0.615, 0.615
0.177120000, 393.701, 0.677, 0.677
0.177660000, 393.701, 0.741, 0.741
0.178200000, 393.701, 0.808, 0.808
0.178740000, 393.701, 0.878, 0.878
0.179280000, 393.701, 0.951, 0.951
0.179820000, 393.701, 1.027, 1.027
0.180360000, 393.701, 1.106, 1.106
0.180900000, 393.701, 1.188, 1.188
0.181440000, 393.701, 1.273, 1.273
0.181980000, 393.701, 1.360, 1.360
0.182520000, 393.701, 1.451, 1.451
0.183060000, 393.701, 1.544, 1.544
0.183600000, 393.701, 1.640, 1.640
0.184140000, 393.701, 1.740, 1.740
0.184680000, 393.701, 1.842, 1.842
0.185220000, 393.701, 1.947, 1.947
0.185760000, 393.701, 2.055, 2.055
0.186300000, 393.701, 2.166, 2.166
0.186840000, 393.701, 2.280, 2.280
0.187380000, 393.701, 2.397, 2.397
0.187920000, 393.701, 2.516, 2.516
0.188460000, 393.701, 2.639, 2.639
0.189000000, 393.701, 2.764, 2.764
0.189540000, 393.701, 2.893, 2.893
0.190080000, 393.701, 3.024, 3.024
0.190620000, 393.701, 3.158, 3.158
0.191160000, 393.701, 3.296, 3.296
0.191700000, 393.701, 3.436, 3.436
0.192240000, 393.701, 3.579, 3.579
0.192780000, 393.701, 3.725, 3.725
0.193320000, 393.701, 3.873, 3.873
0.193860000, 393.701, 4.025, 4.025
0.194400000, 393.701, 4.180, 4.180
0.194940000, 393.701, 4.337, 4.337
0.195480000, 393.701, 4.498, 4.498
0.196020000, 393.701, 4.661, 4.661
0.196560000, 393.701, 4.828, 4.828
0.197100000, 393.701, 4.997, 4.997
0.197640000, 393.701, 5.169, 5.169
0.198180000, 393.701, 5.344, 5.344
0.198720000, 393.701, 5.522, 5.522
0.199260000, 393.701, 5.703, 5.703
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