67 lines
2.5 KiB
Plaintext
67 lines
2.5 KiB
Plaintext
##############################################################################
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## Example config for testing open loop stepper and BISS-C encoder
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require ecmccfg,"ENG_MODE=1"
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# Load components lib
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require ecmccomp
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##############################################################################
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## Configure hardware
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epicsEnvSet("DRV_SLAVE_1", "10")
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE_1), HW_DESC=EL7041-0052"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
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epicsEnvSet("DRV_SLAVE_2", "11")
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE_2), HW_DESC=EL7041-0052"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
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epicsEnvSet("BO_SLAVE", "9")
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SLAVE), HW_DESC=EL2819"
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epicsEnvSet("ENC_SLAVE", "3")
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Renishaw-32bit-BISS-C,CH_ID=1"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Renishaw-32bit-BISS-C,CH_ID=2"
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#Apply hardware configuration
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ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
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#- Feed limits
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${BO_SLAVE},binaryOutput01,1)"
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##############################################################################
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## AXIS 1
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#
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epicsEnvSet("DEV", "$(IOC)")
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epicsEnvSet("DRV_SLAVE", "$(DRV_SLAVE_1)")
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epicsEnvSet("AX_ID", "1")
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_open_loop.yaml"
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##############################################################################
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## AXIS 2
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#
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epicsEnvSet("DEV", "$(IOC)")
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epicsEnvSet("DRV_SLAVE", "$(DRV_SLAVE_2)")
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epicsEnvSet("AX_ID", "2")
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_open_loop.yaml"
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##############################################################################
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############# Configure diagnostics:
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ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
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ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
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ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
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ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)"
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ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)"
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ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
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##############################################################################
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# go active
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$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
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