10 lines
640 B
Batchfile
10 lines
640 B
Batchfile
# Include from the hexapod project working directory after ecmccfg initialization,
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# before IOC/runtime startup. Requires a Linux build of `make logic`.
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# cfg/axes.cmd loads the two shared axis YAML templates via loadYamlAxis.cmd.
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# Axis IDs 1..12 must be free. No physical EtherCAT hardware is linked.
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${SCRIPTEXEC} ./cfg/axes.cmd
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${SCRIPTEXEC} ${ecmccfg_DIR}loadCppLogic.cmd, "ASYN_PORT=HEX,REPORT=1,MACROS='COORD_FIRST=1,LEG_FIRST=7,SIMULATION=1'"
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# Coordinate masters (virt, axes 1..6) and simulated leg slaves (phys, axes 7..12).
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${SCRIPTEXEC} ${ecmccfg_DIR}addMasterSlaveSM.cmd, "NAME=Hexapod_SM,MST_GRP_NAME=virt,SLV_GRP_NAME=phys"
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