Add PLC desc

Makefile

@@ -6,6 +6,7 @@ BUILDCLASSES = Linux
 ARCH_FILTER = deb10%
 EXCLUDE_VERSIONS+=3 7.0.5 7.0.6
 
+SCRIPTS    += startup.cmd
 SCRIPTS    += axis_sm.plc_inc
 SCRIPTS    += axis_kin_slit.plc_inc
 SCRIPTS    += axis_kin_mirror.plc_inc

README.md

@@ -8,21 +8,22 @@ Syncronazation can be done both by defining the forward adn inverse kinematcis a
 
 The module implement 5 generic syncronazation scripts based on the matrix approach:
 * axis_kin_2DoF.plc_inc  : Kinematics for a 2 Dof system (slits)
-* axis_kin_3DoF.plc_inc  : Kinematics for a 3 Dof system (slits)
-* axis_kin_4DoF.plc_inc  : Kinematics for a 4 Dof system (slits)
-* axis_kin_5DoF.plc_inc  : Kinematics for a 5 Dof system (slits)
-* axis_kin_6DoF.plc_inc  : Kinematics for a 6 Dof system (slits)
+* axis_kin_3DoF.plc_inc  : Kinematics for a 3 Dof system
+* axis_kin_4DoF.plc_inc  : Kinematics for a 4 Dof system
+* axis_kin_5DoF.plc_inc  : Kinematics for a 5 Dof system
+* axis_kin_6DoF.plc_inc  : Kinematics for a 6 Dof system
+
 and 2 dedicated:
 * axis_kin_slit.plc_inc    : Dedicated script for a slit system based on equations (including interlocks and softlimits)
-* axis_kin_mirror.plc_inc  : Dedicated script for a 5 DoF mirror based on matrices
+* axis_kin_mirror.plc_inc  : Dedicated script for a 5 DoF mirror system based on matrices
 
-### Generic scripts (axis_kin_xDoF.plc_inc)
+### Generic scripts (axis_kin_\<index\>DoF.plc_inc)
 
 The generic scripts needs a few macros:
-* AX_S\<index\>  : Axis index for slave axes 1..DoF
-* AX_M\<index\>  : Axis index for master axes 1..DoF
-* FWD\<index\    : Forward kinematics array 1..DoF
-* INV\<index\    : Inverse kinematics array 1..DoF
+* AX_S\<index\>  : Axis index for slave axes, index = 1..DoF
+* AX_M\<index\>  : Axis index for master axes, index = 1..DoF
+* FWD\<index\>   : Forward kinematics array, index = 1..DoF
+* INV\<index\>   : Inverse kinematics array, index = 1..DoF
 
 ## State machine
 The state machine makes sure that master and slaved axes cannot run simultaneous. However, several master axes or several slave axes can run at the same time.

example/slit/slit_equations/startup.script_ecmc

@@ -6,7 +6,7 @@ require ecmccfg,"ENG_MODE=1,EC_RATE=100"
 require ecmccomp
 
 #- Syncronization configs
-require ecmc_master_slave sandst_a
+require ecmc_master_slave
 
 #- Only output errors
 asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)

example/slit/slit_matrix/startup.script_ecmc

@@ -1,11 +1,11 @@
 #- Configuration scripts
-require ecmccfg,"ENG_MODE=1,EC_RATE=100"
+require ecmccfg sandst_a "ENG_MODE=1,EC_RATE=100"
 
 #- Components lib
 require ecmccomp
 
 #- Syncronization configs
-require ecmc_master_slave sandst_a
+require ecmc_master_slave
 
 #- Only output errors
 asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
@@ -17,7 +17,7 @@ asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
 #- #################################################################
 #- PLCs with kinematics (note the INC var including dirs to search for include files)
 #- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
-${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_M1=12, AX_M2=13, AX_S1=5, AX_S2=6, GRP_ID_SA=${GRP_realAxes_ID}, GRP_ID_MA=${GRP_virtualAxes_ID}'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, DESC='Slit Kinematics and Statemachine', PLC_MACROS='PLC_ID=1, AX_M1=12, AX_M2=13, AX_S1=5, AX_S2=6, GRP_ID_SA=${GRP_realAxes_ID}, GRP_ID_MA=${GRP_virtualAxes_ID}'"
 
 #- #################################################################
 #- go active