From 8d555a15972292b47811f494129254a063c6afeb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Tue, 12 Sep 2023 13:21:56 +0200 Subject: [PATCH] Adapt test to PSI test hardware --- iocsh/cfg/X_psi.ax | 95 ++++++++++++++++++++++++++++++++++++++++ iocsh/cfg/Y_psi.ax | 93 +++++++++++++++++++++++++++++++++++++++ iocsh/test_xy_PSI.script | 78 +++++++++++---------------------- 3 files changed, 214 insertions(+), 52 deletions(-) create mode 100644 iocsh/cfg/X_psi.ax create mode 100644 iocsh/cfg/Y_psi.ax diff --git a/iocsh/cfg/X_psi.ax b/iocsh/cfg/X_psi.ax new file mode 100644 index 0000000..24723aa --- /dev/null +++ b/iocsh/cfg/X_psi.ax @@ -0,0 +1,95 @@ +#General +epicsEnvSet("ECMC_MOTOR_NAME", "X") +epicsEnvSet("ECMC_R", "X-") +epicsEnvSet("ECMC_AXIS_NO", "1") +epicsEnvSet("ECMC_DESC", "Axis 1: X") +epicsEnvSet("ECMC_EGU", "deg") # Motor Record Unit +epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision +epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver +epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0) +epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE) +epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE>0: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance + +#Encoder +epicsEnvSet("ECMC_ENC_SCALE_NUM" "360") +epicsEnvSet("ECMC_ENC_SCALE_DENOM" "12800") +epicsEnvSet("ECMC_ENC_TYPE" "1") # Type: 0=Incremental, 1=Absolute +epicsEnvSet("ECMC_ENC_BITS" "16") # Total bit count of encoder raw data +epicsEnvSet("ECMC_ENC_ABS_BITS", "16") # Absolute bit count (for absolute encoders) always least significant part of ECMC_ENC_BITS +epicsEnvSet("ECMC_ENC_ABS_OFFSET" "90") # Encoder offset in eng units (for absolute encoders) +epicsEnvSet("ECMC_EC_ENC_ACTPOS", "ec0.s${DRV_SID}.positionActual01") # Ethercat entry for actual position input (encoder) +epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset (if no encoder reset bit then leave empty) +epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 (if no encoder error bit then leave empty) +epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 (if no encoder error bit then leave empty) +epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 (if no encoder error bit then leave empty) +epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning (if no encoder warning bit then leave empty) +#epicsEnvSet("ECMC_EC_ENC_READY", "ec0.s3.ZERO.0") # Ready (encoder ready bit) + +#Drive +epicsEnvSet("ECMC_DRV_TYPE" "0") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives) +epicsEnvSet("ECMC_DRV_SCALE_NUM" "3600.0") # Fastest speed in engineering units +epicsEnvSet("ECMC_DRV_SCALE_DENOM" "32768.0") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET +epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s${DRV_SID}.driveControl01.0") # Ethercat entry for control word or bit output +epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s${DRV_SID}.driveStatus01.1") # Ethercat entry for status word or bit input +epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s${DRV_SID}.velocitySetpoint01") # Ethercat entry for velocity setpoint output +epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "ec0.s${DRV_SID}.driveControl01.2") # Ethercat entry for reduce torque output +epicsEnvSet("ECMC_EC_DRV_BRAKE", "") # Ethercat entry for brake output +epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "0") # Brake timing parameter in cycles (default 1kHz) +epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "0") # Brake timing parameter in cycles (default 1kHz) +epicsEnvSet("ECMC_EC_DRV_RESET", "ec0.s${DRV_SID}.driveControl01.1") # Reset +epicsEnvSet("ECMC_EC_DRV_ALARM_0", "ec0.s${DRV_SID}.driveStatus01.3") # Error +epicsEnvSet("ECMC_EC_DRV_ALARM_1", "ec0.s${DRV_SID}.driveStatus01.7") # Stall +epicsEnvSet("ECMC_EC_DRV_ALARM_2", "ec0.s${DRV_SID}.driveStatus01.14") # Sync error +epicsEnvSet("ECMC_EC_DRV_WARNING", "ec0.s${DRV_SID}.driveStatus01.2") # Warning + +#Trajectory +epicsEnvSet("ECMC_VELO", "720.0") +epicsEnvSet("ECMC_JOG_VEL", "720.0") +epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL +epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "100") +epicsEnvSet("ECMC_EMERG_DECEL", "1000") # Emergency deceleration + +#Homing +epicsEnvSet("ECMC_HOME_PROC", "0") +epicsEnvSet("ECMC_HOME_POS", "0.0") +epicsEnvSet("ECMC_HOME_VEL_TO", "5") +epicsEnvSet("ECMC_HOME_VEL_FRM", "4") +epicsEnvSet("ECMC_HOME_ACC", "21") +epicsEnvSet("ECMC_HOME_DEC", "100") +epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "0") # Enable move to position after successfull homing +epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","0") # Target position to go to after successfull homing + +#Controller +epicsEnvSet("ECMC_CNTRL_KP", "15.0") +epicsEnvSet("ECMC_CNTRL_KI", "0.02") +epicsEnvSet("ECMC_CNTRL_KD", "0.0") +epicsEnvSet("ECMC_CNTRL_KFF", "1.0") + +#Monitoring +# Switches +epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s${DRV_SID}.ONE.0") # Ethercat entry for low limit switch input +epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s${DRV_SID}.ONE.0") # Ethercat entry for high limit switch inpuit +epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s${DRV_SID}.ONE.0") # Ethercat entry for home switch input +epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s${DRV_SID}.ONE.0") # Ethercat entry for external interlock input + +# Softlimits (disable with 0,0,0) +epicsEnvSet("ECMC_SOFT_LOW_LIM", "-100") +epicsEnvSet("ECMC_SOFT_HIGH_LIM", "3000") +epicsEnvSet("ECMC_DXLM_ENABLE", "0") + +# Position lag +epicsEnvSet("ECMC_MON_LAG_MON_TOL", "5") +epicsEnvSet("ECMC_MON_LAG_MON_TIME", "100") +epicsEnvSet("ECMC_MON_LAG_MON_ENA", "1") + +# At target +epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "0.003") +epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100") +epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1") + +# Velocity +epicsEnvSet("ECMC_MON_VELO_MAX", "5000.0") +epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100") +epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200") +epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "0") + diff --git a/iocsh/cfg/Y_psi.ax b/iocsh/cfg/Y_psi.ax new file mode 100644 index 0000000..1df4b85 --- /dev/null +++ b/iocsh/cfg/Y_psi.ax @@ -0,0 +1,93 @@ +#General +epicsEnvSet("ECMC_MOTOR_NAME", "Y") +epicsEnvSet("ECMC_R", "Y-") +epicsEnvSet("ECMC_AXIS_NO", "2") +epicsEnvSet("ECMC_DESC", "Axis 2: Y") +epicsEnvSet("ECMC_EGU", "mm") # Motor Record Unit +epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision +epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver +epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0) +epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE) +epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE !=0: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance + +#Encoder +epicsEnvSet("ECMC_ENC_SCALE_NUM" "360") +epicsEnvSet("ECMC_ENC_SCALE_DENOM" "1048576") +epicsEnvSet("ECMC_ENC_TYPE" "0") # Type: 0=Incremental, 1=Absolute (in this case its single turn absolute (needs homing)) +epicsEnvSet("ECMC_ENC_BITS" "32") # Total bit count of encoder raw data +epicsEnvSet("ECMC_ENC_ABS_BITS", "20") # Absolute bit count (for absolute encoders) always least significant part of ECMC_ENC_BITS +epicsEnvSet("ECMC_ENC_ABS_OFFSET" "0") # Encoder offset in eng units (for absolute encoders) +epicsEnvSet("ECMC_EC_ENC_ACTPOS", "ec0.s$(DRV_SID).positionActual01") # Ethercat entry for actual position input (encoder) +epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 handled by DS402 statemachine +epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning handled by DS402 statemachine + +#Drive +epicsEnvSet("ECMC_DRV_TYPE" "1") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives) +# Scalings: Amplifier Max 8000Hz = 2880000 deg/s (8kHz Reverse engineered) +epicsEnvSet("ECMC_DRV_SCALE_NUM" "2880000") # Fastest speed in engineering units +epicsEnvSet("ECMC_DRV_SCALE_DENOM" "2147483648") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET +epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s$(DRV_SID).driveControl01") # Ethercat entry for control word or bit output +epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s$(DRV_SID).driveStatus01") # Ethercat entry for status word or bit input +epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s$(DRV_SID).velocitySetpoint01")# Ethercat entry for velocity setpoint output +epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "") # Ethercat entry for reduce torque output +epicsEnvSet("ECMC_EC_DRV_BRAKE", "") # Ethercat entry for brake output +epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "0") # Brake timing parameter in cycles (default 1kHz) +epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "0") # Brake timing parameter in cycles (default 1kHz) +epicsEnvSet("ECMC_EC_DRV_RESET", "") # Reset (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_ALARM_0", "") # Error 0 (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_ALARM_1", "") # Error 1 (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_ALARM_2", "") # Error 2 (handled by ds402 statemachine, but this bit can be used anyway if needed) +epicsEnvSet("ECMC_EC_DRV_WARNING", "") # Warning (handled by ds402 statemachine, but this bit can be used anyway if needed) + +#Trajectory +epicsEnvSet("ECMC_VELO", "1000.0") +epicsEnvSet("ECMC_JOG_VEL", "360") +epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL +epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "1000") +epicsEnvSet("ECMC_EMERG_DECEL", "1000") # Emergency deceleration + +#Homing +epicsEnvSet("ECMC_HOME_PROC", "1") +epicsEnvSet("ECMC_HOME_POS", "0.0") +epicsEnvSet("ECMC_HOME_VEL_TO", "5") +epicsEnvSet("ECMC_HOME_VEL_FRM", "4") +epicsEnvSet("ECMC_HOME_ACC", "21") +epicsEnvSet("ECMC_HOME_DEC", "100") +epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "0") # Enable move to position after successfull homing +epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","0") # Target position to go to after successfull homing + +#Controller +epicsEnvSet("ECMC_CNTRL_KP", "10") +epicsEnvSet("ECMC_CNTRL_KI", "0.1") +epicsEnvSet("ECMC_CNTRL_KD", "0.0") +epicsEnvSet("ECMC_CNTRL_KFF", "1.0") + +#Monitoring +# Switches +epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s$(DRV_SID).ONE.0") # Ethercat entry for low limit switch input +epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s$(DRV_SID).ONE.0") # Ethercat entry for high limit switch inpuit +epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s$(DRV_SID).ONE.0") # Ethercat entry for home switch input +epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s$(DRV_SID).ONE.0") # Ethercat entry for external interlock input + +# Softlimits (disable with 0,0,0) +epicsEnvSet("ECMC_SOFT_LOW_LIM", "$(SM_DLLM=0)") +epicsEnvSet("ECMC_SOFT_HIGH_LIM", "$(SM_DHLM=0)") +epicsEnvSet("ECMC_DXLM_ENABLE", "0") + +# Position lag +epicsEnvSet("ECMC_MON_LAG_MON_TOL", "5") +epicsEnvSet("ECMC_MON_LAG_MON_TIME", "100") +epicsEnvSet("ECMC_MON_LAG_MON_ENA", "0") + +# At target +epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "1") +epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100") +epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1") +# Velocity +epicsEnvSet("ECMC_MON_VELO_MAX", "100.0") +epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100") +epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200") +epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "0") diff --git a/iocsh/test_xy_PSI.script b/iocsh/test_xy_PSI.script index 8f769cc..6b3561c 100644 --- a/iocsh/test_xy_PSI.script +++ b/iocsh/test_xy_PSI.script @@ -11,72 +11,46 @@ require ecmccfg v9.0.1_RC1 "ECMC_VER=v9.0.1_RC1" require ecmc_plugin_grbl sandst_a -exit - ############################################################################## ## Configure hardware: -# Hardware for X and Y in ESS crate -$(SCRIPTEXEC) $(ecmccfg_DIR)ecmcMCU1021_coupler.cmd +${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=1, HW_DESC=EL3004" +${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=2, HW_DESC=EL5001" +${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=3, HW_DESC=EL1008" +${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=4, HW_DESC=EL7031, CONFIG=-Motor-Trinamic-QMot-QSH4218-41-10-035" +epicsEnvSet(X_DRV_SID,${ECMC_EC_SLAVE_NUM}) +ecmcConfigOrDie "Cfg.EcApplyConfig(1)" -## Use EL7211 as spindle -#epicsEnvSet("ECMC_EC_SLAVE_NUM", "11") -#epicsEnvSet("ECMC_EC_SLAVE_NUM_SPINDLE", "$(ECMC_EC_SLAVE_NUM)") -# -#${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7211-0010" -# -## Apply local 24V config (local here) -#${SCRIPTEXEC} ${ecmccfg_DIR}applySlaveConfig.cmd, "LOCAL_CONFIG=./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd" -# -##Apply hardware configuration (wrong here, should only be done once (also done in ecmcMCU1021_coupler), but will work) -#ecmcConfigOrDie "Cfg.EcApplyConfig(1)" +#- HWE for EP7211 +epicsEnvSet("BO_SID", "6") +${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SID), HW_DESC=EL2008" +ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${BO_SID},binaryOutput02,1)" -#Does not work. Known issue DC-patch for etherlab manster needed... -#ecmcConfigOrDie "Cfg.EcSelectReferenceDC(0,$(ECMC_EC_SLAVE_NUM))" +# Limit torque to 50% of motor rated torque +#- Rated current = 2710mA (see motor config file, "0x8011 0x12 Rated current (mA)") +#- Set to 50% of 2710 = 1355mA (0x8011 0x11 Max current (mA)) +epicsEnvSet("Y_DRV_SID", "11") +${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=$(Y_DRV_SID), HW_DESC=EP7211-0034_ALL, CONFIG=-Motor-Beckhoff-AM8111-0F20-0000,CFG_MACROS='I_MAX_MA=1355'" -# ADDITIONAL SETUP -# Set all outputs to feed switches -ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput01,1)" -ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput02,1)" -ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput03,1)" -ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput04,1)" -ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput05,1)" -ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput06,1)" -ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput07,1)" -ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput08,1)" -# END of ADDITIONAL SETUP +#Apply hardware configuration +ecmcConfigOrDie "Cfg.EcApplyConfig(1)" ############################################################################## -## AXIS 1: X-axis -# +## AXIS 1: X +# Configure Motion +epicsEnvSet("DRV_SID", "${X_DRV_SID}") epicsEnvSet("DEV", "$(IOC)") -$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/x.ax) -# Set external setpoints -$(SCRIPTEXEC) ($(ecmccfg_DIR)applyAxisSynchronization.cmd, CONFIG=./cfg/x.sax) +${SCRIPTEXEC} ${ecmccfg_DIR}configureAxis.cmd, "CONFIG=./cfg/X_psi.ax" -############################################################################## -## AXIS 2: Y-axis -# -#epicsEnvSet("DEV", "$(IOC)") -$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/y.ax) -# Set external setpoints -$(SCRIPTEXEC) ($(ecmccfg_DIR)applyAxisSynchronization.cmd, CONFIG=./cfg/y.sax) - -############################################################################## -## AXIS 3: Spindle -# -#epicsEnvSet("DEV", "$(IOC)") -#$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/spindle.ax) - -# Block motor driver printouts -asynSetTraceMask(MC_CPU1, -1, 0x0) +# AXIS 2: Y +epicsEnvSet("DRV_SID", "${Y_DRV_SID}") +epicsEnvSet("DEV", "$(IOC)") +$(SCRIPTEXEC) $(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/Y_psi.ax ############################################################################## ## Load plugin: -epicsEnvSet("PLUGIN_VER" ,"develop") -require ecmc_plugin_grbl $(PLUGIN_VER) -epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_grbl/$(PLUGIN_VER)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_grbl.so") +epicsEnvSet(ECMC_PLUGIN_FILNAME,"${ecmc_plugin_grbl_DIR}lib/${EPICS_HOST_ARCH}/libecmc_plugin_grbl.so") epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;AUTO_ENABLE=0;AUTO_START=0;") ${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1" epicsEnvUnset(ECMC_PLUGIN_FILNAME)