95 lines
4.4 KiB
Plaintext
95 lines
4.4 KiB
Plaintext
require ecmccfg sandst_a,"ECMC_VER=sandst_a,MODE=NO_MR,ENG_MODE=1,EC_RATE=100"
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require ecmccomp
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require ecmc_master_slave sandst_a
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#- ############################################################################
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#- add slaves
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#- list of slaves (4 axis test motion box)
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# Master0
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# 0 0:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
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# 1 0:1 PREOP + EL9227-5500 <20>berstromschutz 24V DC, 2K., max. 10A (Summe), eins
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# 2 0:2 PREOP + EL5042 2Ch. BiSS-C Encoder
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# 3 0:3 PREOP + EL5042 2Ch. BiSS-C Encoder
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# 4 0:4 PREOP + EL3204 4K. Ana. Eingang PT100 (RTD)
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# 5 0:5 PREOP + EL2008 8K. Dig. Ausgang 24V, 0.5A
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# 6 0:6 PREOP + EL1008 8K. Dig. Eingang 24V, 3ms
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# 7 0:7 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
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# 8 0:8 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
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# 9 0:9 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
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# 10 0:10 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
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#
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# 0:0 - EK1100 EtherCAT coupler
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EK1100"
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# 0:1 - EL9227-5500
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL9227-5500"
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# 0:2 - EL5042 2Ch BiSS-C Encoder
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL5042"
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# 0:3 - EL5042 2Ch BiSS-C Encoder
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL5042"
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# 0:4 - EL3204
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL3204"
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# 0:5 - EL2008
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL2008"
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# 0:6 - EL1008 8K. Dig. Eingang 24V, 3ms
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL1008"
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# 0:7 - EL7041 1Ch Stepper
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL7041-0052"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230,STEPS=400'"
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=cfg/axis_ax5_lower.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
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# 0:8 - EL7041 1Ch Stepper
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL7041-0052"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230,STEPS=400'"
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=cfg/axis_ax6_upper.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
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# 0:9 - EL7041 1Ch Stepper
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL7041-0052"
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# 0:10 - EL7041 1Ch Stepper
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL7041-0052"
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#- #################################################################
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#- Virtual axes
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=cfg/axis_vax5_YCEN.yaml, AX_ID=${AX_NUM=12}"
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=cfg/axis_vax6_YGAP.yaml, AX_ID=${AX_NUM=13}"
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#- #############################################################################
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#- Y Direction -- Axis groupings in preparation for kinematics PLC
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ecmcConfigOrDie "Cfg.AddAxisGroup(realAxesY)"
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ecmcConfigOrDie "Cfg.AddAxisToGroupByName(5,realAxesY)"
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ecmcConfigOrDie "Cfg.AddAxisToGroupByName(6,realAxesY)"
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ecmcConfig "GetAxisGroupIndexByName(realAxesY)"
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epicsEnvSet(GRP_ID_RAX,${ECMC_CONFIG_RETURN_VAL=0})
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ecmcConfigOrDie "Cfg.AddAxisGroup(virtualAxesY)"
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ecmcConfigOrDie "Cfg.AddAxisToGroupByName(12,virtualAxesY)"
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ecmcConfigOrDie "Cfg.AddAxisToGroupByName(13,virtualAxesY)"
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ecmcConfig "GetAxisGroupIndexByName(virtualAxesY)"
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epicsEnvSet(GRP_ID_VAX,${ECMC_CONFIG_RETURN_VAL=0})
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#- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
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${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd, "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_CEN=12, AX_GAP=13, AX_LO=5, AX_HI=6, GRP_ID_RA=${GRP_ID_RAX}, GRP_ID_VA=${GRP_ID_VAX}'"
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#- #################################################################
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#- apply the configuration
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${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
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#- #################################################################
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#- go active
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${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
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#- #############################################################################
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#- reset all errors
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afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")
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ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
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