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 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.