88 lines
4.4 KiB
Plaintext
88 lines
4.4 KiB
Plaintext
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epicsEnvSet("MASTER_ID", "0")
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require ecmccfg v9.5.5_RC1,"ENG_MODE=1,ECMC_VER=v9.5.5_RC1"
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require ecmccomp
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require ecmc_master_slave sandst_a
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#- #################################################################
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# only print error messages
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asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
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##############################################################################
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# - apply hardware configuration
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${SCRIPTEXEC} ${ecmccfg_DIR}loadSubstConfig.cmd, "FILE=cfg/hw.subst"
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# Set all slave 9 outputs to feed switches
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput01,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput02,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput03,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput04,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput05,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput06,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput07,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput08,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput09,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput10,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput11,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput12,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput13,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput14,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput15,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(14,binaryOutput16,1)"
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##############################################################################
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# - load motor configuration
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epicsEnvSet("DEV", "X10SA-ES1-VFM")
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax1_TRYUW.yaml, DRV_SLAVE=015, ENC_SLAVE=005, ENC_CHANNEL=01"
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$(SCRIPTEXEC) ${ECMC_CONFIG_ROOT}loadYamlEnc.cmd, "FILE=cfg/enc_openloop_Y.yaml, DRV_SLAVE=015"
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax2_TRYR.yaml, DRV_SLAVE=016, ENC_SLAVE=005, ENC_CHANNEL=02"
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$(SCRIPTEXEC) ${ECMC_CONFIG_ROOT}loadYamlEnc.cmd, "FILE=cfg/enc_openloop_Y.yaml, DRV_SLAVE=016"
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax3_TRYDW.yaml, DRV_SLAVE=017, ENC_SLAVE=008, ENC_CHANNEL=01"
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$(SCRIPTEXEC) ${ECMC_CONFIG_ROOT}loadYamlEnc.cmd, "FILE=cfg/enc_openloop_Y.yaml, DRV_SLAVE=017"
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epicsEnvSet("DEV", "X10SA-ES1-HFM")
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax4_TRYUR.yaml, DRV_SLAVE=018, ENC_SLAVE=008, ENC_CHANNEL=02"
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$(SCRIPTEXEC) ${ECMC_CONFIG_ROOT}loadYamlEnc.cmd, "FILE=cfg/enc_openloop_Y.yaml, DRV_SLAVE=018"
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax5_TRYW.yaml, DRV_SLAVE=019, ENC_SLAVE=007, ENC_CHANNEL=01"
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$(SCRIPTEXEC) ${ECMC_CONFIG_ROOT}loadYamlEnc.cmd, "FILE=cfg/enc_openloop_Y.yaml, DRV_SLAVE=019"
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax6_TRYDR.yaml, DRV_SLAVE=020, ENC_SLAVE=007, ENC_CHANNEL=02"
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$(SCRIPTEXEC) ${ECMC_CONFIG_ROOT}loadYamlEnc.cmd, "FILE=cfg/enc_openloop_Y.yaml, DRV_SLAVE=020"
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# virtual axes
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epicsEnvSet("DEV", "X10SA-ES1-VFM")
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax7_TRX.yaml"
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax8_TRY.yaml"
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax9_PITCH.yaml"
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax10_ROLL.yaml"
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax11_YAW.yaml"
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# load the VFM virtual axes PLC
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadPLCFile.cmd, "FILE=cfg/VFM.plc,PLC_ID=1,INC=.:${ecmc_master_slave_DIR},PLC_MACROS='PLC_ID=1,AX_Y1=1,AX_Y2=2,AX_Y3=3,AX_X1=4,AX_X2=5,AX_TRX=7,AX_TRY=8,AX_PITCH=9,AX_ROLL=10,AX_YAW=11,GRP_ID_SA=${GRP_VFM_REAL_ID=0},GRP_ID_MA=${GRP_VFM_VIRT_ID=0}'"
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#- #############################################################################
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#- Temporary test
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax_Servo_angle.yaml, DRV_SLAVE=021"
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#- #################################################################
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#- apply the configuration
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applyConfig.cmd
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#- #################################################################
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#- go active
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}setAppMode.cmd
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require "calc"
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require "opticaltable","wang_x1"
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# The following lines were generated by "ioc install"
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# Generated at: 2024-09-10 09:38:28.853780
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cd "/ioc/X10SA-CPCL-ES1"
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dbLoadTemplate("X10SA-CPCL-ES1_mirrors.subs")
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