Table 1. All the JSON commands, currently set in the program .(10 May 2024)
Command | Action | Example | HOME:XExamples: Message sent to ClearCore and a response, received from ClearCore |
---|---|---|---|
| Moving the carriage to zero home position (homing) on X-axis. | Received: HOME:X Moving the carriage to zero position (homing) on X-axis. | |
HOME:Z | Moving the carriage to zero position (homing) on X-axis. | Received: HOME:Z Moving the carriage to zero position (homing) on Z-axis. | |
HOME:X,Z | Moving the carriage to zero position (homing) on simultaneously on X- and Z-axises. | Received: HOME:X,Z Moving the carriage to zero position (homing) on simultaneously on X- and Z-axises. | |
X:[int number] Z:[int number] Examples: X:0 Z:0 X:0 Z:1 X:-1 Z:-1 X:500 Z:-1500 X:-10000 Z:0 X:-10000 Z:25000 | Moving on X- and Z-axises | Received: X:0,Z:0 No moving on X- nor Z-axises. Received: X:0,Z:5000 Moving 5000 steps in positive direction on Z-axis. No moving on X-axis. Received: X:-3000,Z:0 Moving 3000 steps in negative direction on X-axis. No moving on Z-axis. Received: X:15000,Z:-20000 Moving 15000 steps in positive direction on X-axis and moving 20000 steps in negative direction on Z-axis. | CONFIG | Request for a current configuration of a ClearCore module. | E-STOP | Emergency-Stop. | STATUS | Request for the current status of a ClearCore module (data from Registers). |
...
Sent to ClearCore:
Immediate feedback from ClearCore: When homing on X-axis is finished, ClearCore sends one more message: | ||
| Moving the carriage home position on Z-axis. | Sent to ClearCore:
Immediate feedback from ClearCore: When homing on Z-axis is finished, ClearCore sends one more message: |
or
| Moving the carriage to home position on both X- and Z-axes. Pay attention: for camera safety homing on Z-axis is always performed first. This means, the camera goes up first (home position) and after that homing for X-axis takes place. | Sent to ClearCore:
Immediate feedback from ClearCore: When homing on Z-axis is finished, ClearCore sends message: The same moment, ClearCore sends: When homing on X-axis is finished, ClearCore sends message: Pay attention: an immediate response from ClearCore is only about receiving z:home message. After completion of Z-homing, ClearCore sends message about receiving x:home and performs X-homing. |
| Movement on X-axis. A distance must be non-zero. Distances equal to zero are ignored. | Sent to ClearCore:
Immediate feedback from ClearCore: When movement on X-axis is finished, ClearCore sends a feedback message: |
| Movement on Z-axis. A distance must be non-zero. Distances equal to zero are ignored. | Sent to ClearCore:
Immediate feedback from ClearCore: When movement on Z-axis is finished, ClearCore sends a feedback message: |
| Movement on X- and Z-axes. Distances must be non-zero. Distances equal to zero are ignored. Two movements will be performed simultaneously. | Sent to ClearCore:
Immediate feedback from ClearCore (two separate UDP messages sent at the same time):
When both movements are finished, ClearCore sends two separate UDP messages:
Pay attention: the two separate messages about the finishing of both movements are sent the moment when both movements are finished. These two messages are sent at the same time. |
When, during a movement on the X-axis, a Negative Limit sensor is reached, ClearCore stops the movement, sends a message about reaching the Limit sensor and a message about finishing the movement. The same logic is implemented for the Positive Limit sensor on X-axis and for Negative and Positive Limit sensors on Z-axis. | A movement sent to ClearCore:
Immediate feedback from ClearCore:
In the process of performing this movement, a Negative Limit sensor (on X axis) is reached. ClearCore sends two messages, the first message about reaching the Limit sensor:
and the second message about finishing the movement:
|
To be added text description.