42 lines
1.7 KiB
Batchfile
42 lines
1.7 KiB
Batchfile
# ecmc test system
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# Anders Sandström
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require ecmccfg sandst_a "MASTER_ID=0,ENG_MODE=1,ECMC_VER=sandst_a"
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require ecmccomp
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epicsEnvSet("IOC" ,"$(IOC="c6025a")")
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epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
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# Configuration loaded via FoE
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epicsEnvSet(DRV_ID,15)
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=${DRV_ID}, HW_DESC=Festo-CMMT-ST_PV"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS=U_NOM_MV=24000,MAX_RPM=1740,NOM_RPM=800,COMMUTATION=2,I_MAX_MA=500,I_STDBY_MA=500,R_COIL_MOHM=10000,L_COIL_UH=2000,I_CTRL_GAIN_REACT_CURR=10,I_CTRL_GAIN_ACT_CURR=10"
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#-d I_CTRL_GAIN_REACT_CURR : P1.80.0.0 Current controller amplification gain reactive current (50.0)
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#-d I_CTRL_INT_REACT_CURR : P1.81.0.0 Current controller integartion constant reactive current (10000.0)
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#-d I_CTRL_GAIN_ACT_CURR : P1.82.0.0 Current controller amplification gain active current (50.0)
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#-d I_CTRL_INT_ACT_CURR : P1.83.0.0 Current controller integartion constant active current (10000.0)
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-OPENLOOP,MACROS=''"
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ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
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# To check mode:
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${SCRIPTEXEC} ${ecmccfg_DIR}addEcSdoRT.cmd, "SLAVE_ID=${DRV_ID},INDEX=0x6060,SUBINDEX=0x0,DT=U8,NAME=DrvMode"
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# Configure Motion
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epicsEnvSet("DEV", "$(IOC)")
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_PV_PURE_OL_EMMS-ST_INCREMENTS.yaml"
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# Other
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ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
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ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
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ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
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# go active
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$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
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ecmcGetSlaveIdFromEcPath(ec10.s12.test,TEST_SID)
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epicsEnvShow(TEST_SID)
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