Parking is a feature that is associated with the safety door pin or the SafetyDoor realtime command (0x84). If you use parking, the machine will move to a safe location on a specified axis. It is typically used with the Z axis. Below is the sequence.
Use the cycle start or resume command, ~, to return to motion.
Example
parking:
enable: true
axis: Z
pullout_distance_mm: 5.000
pullout_rate_mm_per_min: 250.000
target_mpos_mm: -5.000
rate_mm_per_min: 800.000
The standard status reporting tells you the state of the door sequence.
Door:0 Door closed. Ready to resume. Use the cycle start command or button to resume.Door:1 Machine stopped. Door still ajar. Can't resume until closed.Door:2 Door opened. Hold (or parking retract) in-progress. Reset will throw an alarm.Door:3 Door closed and resuming. Restoring from park, if applicable. Reset will throw an alarm<Door:1|MPos:151.000,149.000,-1.000|Pn:D|FS:0,0|WCO:12.000,28.000,78.000>
You can use the deactivate_parking config item to deactivate this feature
The M56 command can be used to toggle the feature. Use M56 P0 to disable the feature and M56 P1 to enable it.
If you interrupt homing by opening the door, homing will stop and you will get an alarm. The parking sequence will not run, because we assume that the machine position is not known if you are homing. You must close the door, issue a reset ctrl+x (0x18), then rehome.