56 lines
1.9 KiB
Plaintext
56 lines
1.9 KiB
Plaintext
##############################################################################
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## Example: Demo of ecmc SocketCAN plugin
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## https://github.com/anderssandstrom/e3-ecmc_plugin_socketcan
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##
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## The plugin exposes:
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##
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## Initiation:
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epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
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epicsEnvSet("ECMCCFG_INIT" ,"") #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
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epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
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require ecmccfg 7.0.1
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# run module startup.cmd (only needed at ESS PSI auto call at require)
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$(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=7.0.1,MASTER_ID=-1"
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##############################################################################
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## Configure hardware:
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# No EtherCAT hardware (in this example)..
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##############################################################################
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## Load plugin:
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epicsEnvSet("PLUGIN_VER" ,"develop")
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require ecmc_plugin_grbl $(PLUGIN_VER)
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epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_grbl/$(PLUGIN_VER)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_grbl.so")
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epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;") # Only one option implemented in this plugin
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${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
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epicsEnvUnset(ECMC_PLUGIN_FILNAME)
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epicsEnvUnset(ECMC_PLUGIN_CONFIG)
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ecmcGrblAddCommand("G0X10Y100");
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ecmcGrblAddCommand("$");
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ecmcGrblAddCommand("G0X10Y100");
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ecmcGrblAddCommand("$G");
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ecmcGrblAddCommand("G4P4");
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ecmcGrblAddCommand("G1X20Y200F20");
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ecmcGrblAddCommand("G4P4");
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ecmcGrblAddCommand("G2X40Y220R20");
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ecmcGrblAddCommand("$");
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##############################################################################
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## PLC 0
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# $(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/can.plc")
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iocInit()
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