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@@ -92,13 +92,13 @@ public class FHMaster {
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byte cpos=0x0;
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ccon|=(1<<0); // !Halt
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- ccon|=(0<<1); // start fahrauftrag
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- ccon|=(1<<2); // start homing
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+ ccon|=(1<<1); // start fahrauftrag
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+ ccon|=(0<<2); // start homing
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ccon|=(0<<3); // jog pos
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ccon|=(0<<4); // jog neg
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ccon|=(0<<5); // teach value
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- ccon|=(0<<6); // teach value
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- ccon|=(0<<7); // teach value
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+ ccon|=(0<<6); // clear remaining pos.
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+ ccon|=(0<<7); // Reserved
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byte cdir=0x0;
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cdir|=(1<<0); //absolute/relative
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@@ -136,7 +136,12 @@ public class FHMaster {
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if (response != null) {
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var bb=response.getRegisters();
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try {
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-
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+ byte[] res=bb.array();
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+ byte scon=res[0];
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+ byte spos=res[1];
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+ byte sdir=res[2];
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+ int istwert1= (res[3] & 0xFF);
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+ int istwert2= ( (res[4] << 24) & (res[5] <<16) & (res[6] <<8) & res[7]);
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System.out.println(ByteBufUtil.hexDump(bb));
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}
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catch (Exception e) {
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