915 lines
50 KiB
Plaintext
915 lines
50 KiB
Plaintext
registerChannelProviderLocal firstTime true
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#
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# Start at "2022-W06-Feb08-1446-22-CET"
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#
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# Version information:
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# European Spallation Source ERIC : iocsh.bash (3.4.0-PID-24230)
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#
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# --->--> snip -->-->
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# Please Use Version and other environment variables
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# in order to report or debug this shell
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#
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# HOSTDISPLAY=""
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# WINDOWID=""
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# PWD="/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
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# USER="pi"
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# LOGNAME="pi"
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# EPICS_HOST_ARCH="linux-arm"
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# EPICS_BASE="/home/pi/epics/base-7.0.5"
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# E3_REQUIRE_NAME="require"
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# E3_REQUIRE_VERSION="3.4.0"
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# E3_REQUIRE_LOCATION="/home/pi/epics/base-7.0.5/require/3.4.0"
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# E3_REQUIRE_BIN="/home/pi/epics/base-7.0.5/require/3.4.0/bin"
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# E3_REQUIRE_DB="/home/pi/epics/base-7.0.5/require/3.4.0/db"
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# E3_REQUIRE_DBD="/home/pi/epics/base-7.0.5/require/3.4.0/dbd"
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# E3_REQUIRE_INC="/home/pi/epics/base-7.0.5/require/3.4.0/include"
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# E3_REQUIRE_LIB="/home/pi/epics/base-7.0.5/require/3.4.0/lib"
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# EPICS_DRIVER_PATH="/home/pi/epics/base-7.0.5/require/3.4.0/siteMods:/home/pi/epics/base-7.0.5/require/3.4.0/siteApps"
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# EPICS_CA_AUTO_ADDR_LIST=""
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# EPICS_CA_ADDR_LIST=""
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# PATH="/home/pi/epics/base-7.0.5/require/3.4.0/bin:/home/pi/epics/base-7.0.5/bin/linux-arm:/home/pi/berryconda3/bin:/home/pi/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games"
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# --->--> snip -->-->
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#
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# Set REQUIRE_IOC for its internal PVs
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epicsEnvSet REQUIRE_IOC "REQMOD:raspberrypi-24230"
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#
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# Enable an exit subroutine for sotfioc
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dbLoadRecords "/home/pi/epics/base-7.0.5/db/softIocExit.db" "IOC=REQMOD:raspberrypi-24230"
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#
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# Set E3_IOCSH_TOP for the absolute path where iocsh.bash is executed.
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epicsEnvSet E3_IOCSH_TOP "/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
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#
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#
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# Load require module, which has the version 3.4.0
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#
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dlload /home/pi/epics/base-7.0.5/require/3.4.0/lib/linux-arm/librequire.so
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dbLoadDatabase /home/pi/epics/base-7.0.5/require/3.4.0/dbd/require.dbd
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require_registerRecordDeviceDriver
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Loading module info records for require
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#
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# Set E3_CMD_TOP for the absolute path where test.script exists
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epicsEnvSet E3_CMD_TOP "/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
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#
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iocshLoad 'test.script',''
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##############################################################################
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## Example: Demo of ecmc grbl g-code plugin
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## https://github.com/anderssandstrom/ecmc_plugin_grbl
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## https://github.com/anderssandstrom/e3-ecmc_plugin_grbl
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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_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" ,"iocshLoad")
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require ecmccfg ruckig
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Module ecmccfg version ruckig found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/lib/linux-arm/libecmccfg.so
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Loaded ecmccfg version ruckig
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/dbd/ecmccfg.dbd
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Calling function ecmccfg_registerRecordDeviceDriver
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Loading module info records for ecmccfg
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# Epics Motor record driver that will be used:
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epicsEnvShow(ECMC_MR_MODULE)
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ECMC_MR_MODULE is not an environment variable.
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# run module startup.cmd (only needed at ESS PSI auto call at require)
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iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/startup.cmd, "IOC=IOC_TEST,ECMC_VER=ruckig"
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#==============================================================================
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# startup.cmd
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on error halt
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require ecmc "ruckig"
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Module ecmc version ruckig found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/
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Module ecmc depends on asyn 4.41.0
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Module asyn version 4.41.0 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/lib/linux-arm/libasyn.so
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Loaded asyn version 4.41.0
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/dbd/asyn.dbd
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Calling function asyn_registerRecordDeviceDriver
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Loading module info records for asyn
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Module ecmc depends on exprtk 1.2.1
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Module exprtk version 1.2.1 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/exprtk/1.2.1/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/exprtk/1.2.1/lib/linux-arm/libexprtk.so
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Loaded exprtk version 1.2.1
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exprtk has no dbd file
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Loading module info records for exprtk
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Module ecmc depends on motor develop
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Module motor version develop found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/
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Module motor depends on asyn 4.41.0
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Module asyn version 4.41.0 already loaded
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/lib/linux-arm/libmotor.so
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Loaded motor version develop
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/dbd/motor.dbd
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Calling function motor_registerRecordDeviceDriver
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Loading module info records for motor
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Module ecmc depends on ruckig 1.0.0
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Module ruckig version 1.0.0 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ruckig/1.0.0/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ruckig/1.0.0/lib/linux-arm/libruckig.so
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Loaded ruckig version 1.0.0
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ruckig has no dbd file
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Loading module info records for ruckig
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/lib/linux-arm/libecmc.so
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Loaded ecmc version ruckig
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/dbd/ecmc.dbd
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Calling function ecmc_registerRecordDeviceDriver
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Loading module info records for ecmc
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ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'ecmcMotorRecord'='EthercatMC'", "require EthercatMC 3.0.2 # Using EthercatMC motor record support.","# Using ecmcMotorRecord motor record support.")
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# Using ecmcMotorRecord motor record support.
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epicsEnvUnset(ECMC_EXE_CMD)
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epicsEnvSet("ECMC_CONFIG_ROOT", "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/")
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epicsEnvSet("ECMC_CONFIG_DB", "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/db")
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epicsEnvSet("SCRIPTEXEC", "iocshLoad")
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epicsEnvSet("SM_PREFIX", "IOC_TEST:") # colon added since IOC is _not_ PREFIX
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epicsEnvSet("ECMC_PROC_HOOK", "")
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epicsEnvSet(ECMC_MODE, FULL)
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ecmcEpicsEnvSetCalcTernary(ECMC_SUPPORT_MOTION, "'FULL'!='DAQ'","","# MODE == DAQ, DISABLING MOTION.")
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epicsEnvShow(ECMC_SUPPORT_MOTION)
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ECMC_SUPPORT_MOTION=
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ecmcEpicsEnvSetCalcTernary(ECMC_USE_MOTOR_RECORD, "'FULL'=='FULL'","","# MODE != FULL, DISABLING MOTOR RECORD.")
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epicsEnvShow(ECMC_USE_MOTOR_RECORD)
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ECMC_USE_MOTOR_RECORD=
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAll.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAll.cmd"
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#==============================================================================
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# initAll.cmd
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/init.cmd",1)
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iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/init.cmd
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#==============================================================================
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# init.cmd
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epicsEnvSet("ECMC_ASYN_TIMEOUT", 1) # Asyn timeout
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epicsEnvSet("ECMC_ASYN_ADDR", 0) # Asyn Address
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epicsEnvSet("ECMC_MOTOR_PORT", "NOT SET")
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epicsEnvSet("ECMC_ASYN_PORT", "NOT SET")
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epicsEnvSet("ECMC_PREFIX", "NOT SET")
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epicsEnvSet("ECMC_GEN_EC_RECORDS", "NOT SET")
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epicsEnvSet("ECMC_GEN_AX_RECORDS", "NOT SET")
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epicsEnvSet("ECMC_EC_AXIS_HEALTH", "NOT SET")
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epicsEnvSet("ECMC_PLC_SAMPLE_RATE_MS", "NOT SET")
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epicsEnvSet("ECMC_TSE", -2)
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAxis.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAxis.cmd"
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#==============================================================================
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# initAxis.cmd
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd"
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#==============================================================================
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# ecmc_axis_unset.cmd
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epicsEnvUnset(ECMC_AXISCONFIG)
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epicsEnvUnset(ECMC_AXISFIELDINIT)
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epicsEnvUnset(ECMC_PREC)
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epicsEnvUnset(ECMC_EGU)
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epicsEnvUnset(ECMC_DESC)
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epicsEnvUnset(ECMC_R)
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epicsEnvUnset(ECMC_MOTOR_NAME)
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epicsEnvUnset(ECMC_EC_AXIS_HEALTH)
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epicsEnvUnset(ECMC_MOD_RANGE)
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epicsEnvUnset(ECMC_MOD_TYPE)
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epicsEnvUnset(ECMC_EMERG_DECEL)
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epicsEnvUnset(ECMC_VELO)
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epicsEnvUnset(ECMC_ACCL)
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epicsEnvUnset(ECMC_ACCS_EGU_PER_S2)
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epicsEnvUnset(ECMC_HOME_VEL_TO)
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epicsEnvUnset(ECMC_HOME_VEL_FRM)
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epicsEnvUnset(ECMC_CNTRL_KP)
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epicsEnvUnset(ECMC_CNTRL_KI)
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epicsEnvUnset(ECMC_CNTRL_KD)
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epicsEnvUnset(ECMC_CNTRL_KFF)
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epicsEnvUnset(ECMC_EC_ENC_ACTPOS)
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epicsEnvUnset(ECMC_EC_ENC_LATCHPOS)
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epicsEnvUnset(ECMC_EC_ENC_LATCH_CONTROL)
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epicsEnvUnset(ECMC_EC_ENC_LATCH_STATUS)
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epicsEnvUnset(ECMC_HOME_LATCH_COUNT_OFFSET)
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epicsEnvUnset(ECMC_ENC_SCALE_DENOM)
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epicsEnvUnset(ECMC_ENC_SCALE_NUM)
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epicsEnvUnset(ECMC_ENC_TYPE)
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epicsEnvUnset(ECMC_ENC_BITS)
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epicsEnvUnset(ECMC_ENC_ABS_BITS)
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epicsEnvUnset(ECMC_ENC_ABS_OFFSET)
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epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE)
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epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE)
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epicsEnvUnset(ECMC_ENC_POS_FILTER_ENABLE)
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epicsEnvUnset(ECMC_EC_ENC_RESET)
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epicsEnvUnset(ECMC_EC_ENC_ALARM_0)
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epicsEnvUnset(ECMC_EC_ENC_ALARM_1)
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epicsEnvUnset(ECMC_EC_ENC_ALARM_2)
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epicsEnvUnset(ECMC_EC_ENC_WARNING)
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epicsEnvUnset(ECMC_EC_DRV_CONTROL)
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epicsEnvUnset(ECMC_EC_DRV_STATUS)
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epicsEnvUnset(ECMC_EC_DRV_VELOCITY)
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epicsEnvUnset(ECMC_EC_DRV_BRAKE)
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epicsEnvUnset(ECMC_EC_DRV_REDUCE_TORQUE)
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epicsEnvUnset(ECMC_EC_DRV_RESET)
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epicsEnvUnset(ECMC_EC_DRV_ALARM_0)
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epicsEnvUnset(ECMC_EC_DRV_ALARM_1)
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epicsEnvUnset(ECMC_EC_DRV_ALARM_2)
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epicsEnvUnset(ECMC_EC_DRV_WARNING)
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epicsEnvUnset(ECMC_DRV_SCALE_DENOM)
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epicsEnvUnset(ECMC_DRV_SCALE_NUM)
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epicsEnvUnset(ECMC_DRV_BRAKE_OPEN_DLY_TIME)
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epicsEnvUnset(ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME)
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epicsEnvUnset(ECMC_SOFT_LOW_LIM)
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epicsEnvUnset(ECMC_DXLM_ENABLE)
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epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
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epicsEnvUnset(ECMC_DXLM_ENABLE)
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epicsEnvUnset(ECMC_EC_MON_LOWLIM)
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epicsEnvUnset(ECMC_EC_MON_HIGHLIM)
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epicsEnvUnset(ECMC_EC_MON_HOME_SWITCH)
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epicsEnvUnset(ECMC_EC_MON_EXT_INTERLOCK)
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epicsEnvUnset(ECMC_MON_AT_TARGET_TOL)
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epicsEnvUnset(ECMC_MON_AT_TARGET_TIME)
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epicsEnvUnset(ECMC_MON_AT_TARGET_ENA)
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epicsEnvUnset(ECMC_MON_LAG_MON_TOL)
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epicsEnvUnset(ECMC_MON_LAG_MON_TIME)
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epicsEnvUnset(ECMC_MON_LAG_MON_ENA)
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epicsEnvUnset(ECMC_MON_VELO_MAX)
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epicsEnvUnset(ECMC_MON_VELO_MAX_ENA)
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epicsEnvUnset(ECMC_MON_VELO_MAX_DRV_TIME)
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epicsEnvUnset(ECMC_MON_VELO_MAX_TRAJ_TIME)
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epicsEnvUnset(ECMC_JOG_VEL)
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epicsEnvUnset(ECMC_JAR)
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epicsEnvUnset(ECMC_HOME_PROC)
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epicsEnvUnset(ECMC_HOME_POS)
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epicsEnvUnset(ECMC_HOME_ACC)
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epicsEnvUnset(ECMC_HOME_DEC)
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epicsEnvUnset(ECMC_DRV_TYPE)
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epicsEnvUnset(ECMC_VELO)
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epicsEnvUnset(ECMC_SOFT_LOW_LIM)
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epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
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epicsEnvUnset(ECMC_HOME_POS_MOVE_ENA)
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epicsEnvUnset(ECMC_HOME_POS_MOVE_TARG_POS)
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epicsEnvUnset(ECMC_TRAJ_TYPE)
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epicsEnvUnset(ECMC_JERK)
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd"
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#==============================================================================
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# ecmc_axis_sync_unset.cmd
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epicsEnvUnset(ECMC_CMD_FRM_OTHER_PLC_ENABLE)
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epicsEnvUnset(ECMC_CMD_AXIS_PLC_ENABLE)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_1)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_2)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_3)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_4)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_5)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_6)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_7)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_8)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_9)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_10)
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epicsEnvUnset(ECMC_ENC_VELO_FILT_SIZE)
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epicsEnvUnset(ECMC_ENC_VELO_FILT_ENABLE)
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epicsEnvUnset(ECMC_ENC_SOURCE)
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epicsEnvUnset(ECMC_TRAJ_VELO_FILT_SIZE)
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epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE)
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epicsEnvUnset(ECMC_TRAJ_SOURCE)
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epicsEnvSet("ECMC_EGU", "mm")
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epicsEnvSet("ECMC_PREC", 3)
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epicsEnvSet("ECMC_AXISFIELDINIT", "") # Extra field ini2022/02/08 14:46:22.773
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ECMC Initializes.............
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2022/02/08 14:46:22.774 ESS Open Source EtherCAT Motion Control Epics Module2022/02/08 14:46:22.774
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Mode: Configuration
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2022/02/08 14:46:22.774 OK
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2022/02/08 14:46:22.774 OK
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2022/02/08 14:46:22.775 OK
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2022/02/08 14:46:22.777 OK
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2022/02/08 14:46:22.799 OK
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2022/02/08 14:46:22.799 OK
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2022/02/08 14:46:22.799 OK
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t to motor record
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epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver
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############################################################
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############# ASYN Configuration:
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epicsEnvSet("ECMC_MOTOR_PORT" "MCU1")
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epicsEnvSet("ECMC_ASYN_PORT" "MC_CPU1")
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epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
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ecmcAsynPortDriverConfigure(MC_CPU1,1000,0,0,100)
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ecmcAsynPortDriverConfigure: portName = MC_CPU1, paramTableSize = 1000, disableAutoConnect = 0, priority = 0, defaultSampleRateMS = 100.000000
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asynOctetSetOutputEos(MC_CPU1, -1, ";\n")
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asynOctetSetInputEos(MC_CPU1, -1, ";\n")
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asynSetTraceMask(MC_CPU1, -1, 0x41)
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asynSetTraceIOMask(MC_CPU1, -1, 6)
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asynSetTraceInfoMask(MC_CPU1, -1, 1)
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ecmcMotorRecordCreateController(MCU1, MC_CPU1, "64", 200, 1000, "")
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############################################################
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############# Misc settings:
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# Disable function call trace printouts
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ecmcConfigOrDie "Cfg.SetEnableFuncCallDiag(0)"
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# Disable on change printouts from objects (enable for easy logging)
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ecmcConfigOrDie "Cfg.SetTraceMaskBit(15,0)"
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# Choose to generate EPICS-records for EtherCAT-entries
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# (For records use ECMC_GEN_EC_RECORDS="-records" otherwise ECMC_GEN_EC_RECORDS="")
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epicsEnvSet("ECMC_GEN_EC_RECORDS", "-records")
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# Choose to generate EPICS-records for ax-entries (PosAct, SetPos,..)
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# (For records use ECMC_GEN_AX_RECORDS="-records" otherwise ECMC_GEN_AX_RECORDS="")
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epicsEnvSet("ECMC_GEN_AX_RECORDS", "-records")
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# suffix for pva enabled scripts, templates and substitutions
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ecmcEpicsEnvSetCalcTernary(ECMC_PVA, "0", "Pva","")
|
|
# Set EtherCAT frequency (defaults to 1000)
|
|
ecmcConfigOrDie "Cfg.SetSampleRate(1000)"
|
|
epicsEnvSet("ECMC_EC_SAMPLE_RATE" , 1000)
|
|
ecmcEpicsEnvSetCalc("ECMC_EC_SAMPLE_RATE_MS" ,1000/1000)
|
|
# Update records in 10ms (100Hz) for FULL MODE and in EC_RATE for DAQ mode
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SAMPLE_RATE_MS, "'FULL'=='DAQ'","1","10")
|
|
epicsEnvSet("ECMC_P_SCRIPT", "mXsXXX")
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_MASTER_CMD, "0>=0", "","#- ")
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addMaster.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addMaster.cmd", "MASTER_ID=0"
|
|
#===============================================================================
|
|
# addMaster.cfg
|
|
epicsEnvSet("ECMC_EC_MASTER_ID" "0")
|
|
# Claim master
|
|
ecmcConfigOrDie "Cfg.EcSetMaster(0)"
|
|
epicsEnvSet("ECMC_EC_MASTER_ID" ,0)
|
|
epicsEnvSet("ECMC_TMP_DIR", "/tmp/IOC_TEST/EcMaster_0/")
|
|
system "mkdir -p /tmp/IOC_TEST/EcMaster_0/"
|
|
epicsEnvSet("ECMC_TMP_DIR", "/tmp/IOC_TEST/EcMaster_0/")
|
|
system "mkdir -p /tmp/IOC_TEST/EcMaster_0/"
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/setDiagnostics.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/setDiagnostics.cmd
|
|
#==============================================================================
|
|
# setDiagnostics.cmd
|
|
ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
|
|
ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
|
|
ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
|
|
epicsEnvSet("ECMCCFG_INIT" ,"#")
|
|
##############################################################################
|
|
## Configure hardware:
|
|
# Hardware for X and Y in ESS crate
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcMCU1021_coupler.cmd
|
|
############################################################
|
|
############# MCU1021:
|
|
#Configure EK1100 coupler terminal
|
|
epicsEnvSet(ECMC_EC_SLAVE_NUM,0)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=0, HW_DESC=EK1100"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "0")
|
|
epicsEnvSet("HW_DESC", "EK1100")
|
|
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
|
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEK1100.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/site2022/02/08 14:46:22.801 OK
|
|
2022/02/08 14:46:22.803 OK
|
|
2022/02/08 14:46:22.809 OK
|
|
2022/02/08 14:46:22.811 OK
|
|
2022/02/08 14:46:22.811 OK
|
|
2022/02/08 14:46:22.811 OK
|
|
Mods/ecmccfg/ruckig/ecmcEK1100.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EK1100")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x044c2c52")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,0,0x2,0x044c2c52)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
ecmcConfigOrDie "Cfg.EcAddSlave(0,0,0x2,0x044c2c52)"
|
|
# deduce what the prefix should be
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=0,HWTYPE=EK1100"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "0","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s000")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s000-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEK1100.substitutions,ECMC_P=IOC_TEST:m0s000-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEK1100.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEK1100.substitutions,"ECMC_P=IOC_TEST:m0s000-,ECMC_G=IOC_TEST:m0s000,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=0,HWTYPE=EK1100,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
epicsEnvUnset(DEFAULT_SUBS)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s000-,ECMC_G=IOC_TEST:m0s000"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s000-,ECMC_G=IOC_TEST:m0s000,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=0,HWTYPE=EK1100,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "0+1","%d")
|
|
#Configure EL1018 digital input terminal
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "0+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=1, HW_DESC=EL1018"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "1")
|
|
epicsEnvSet("HW_DESC", "EL1018")
|
|
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
|
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL1018.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL1018.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL1018")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x03fa3052")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,1,0x2,0x03fa3052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX1008.cmd
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a00,0x6000,0x1,B1,binaryInput01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a01,0x6010,0x1,B1,binaryInput02)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a02,0x6020,0x1,B1,binaryInput03)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a03,0x6030,0x1,B1,binaryIn2022/02/08 14:46:22.812 OK
|
|
2022/02/08 14:46:22.812 OK
|
|
2022/02/08 14:46:22.812 OK
|
|
2022/02/08 14:46:22.812 OK
|
|
2022/02/08 14:46:22.813 OK
|
|
2022/02/08 14:46:22.821 OK
|
|
2022/02/08 14:46:22.822 OK
|
|
2022/02/08 14:46:22.823 OK
|
|
2022/02/08 14:46:22.823 OK
|
|
2022/02/08 14:46:22.823 OK
|
|
2022/02/08 14:46:22.823 OK
|
|
2022/02/08 14:46:22.823 OK
|
|
put04)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a04,0x6040,0x1,B1,binaryInput05)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a05,0x6050,0x1,B1,binaryInput06)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a06,0x6060,0x1,B1,binaryInput07)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a07,0x6070,0x1,B1,binaryInput08)"
|
|
# deduce what the prefix should be
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=1,HWTYPE=EL1018"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "1","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s001")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s001-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL1018.substitutions,ECMC_P=IOC_TEST:m0s001-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL1018.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL1018.substitutions,"ECMC_P=IOC_TEST:m0s001-,ECMC_G=IOC_TEST:m0s001,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=1,HWTYPE=EL1018,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
epicsEnvUnset(DEFAULT_SUBS)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s001-,ECMC_G=IOC_TEST:m0s001"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s001-,ECMC_G=IOC_TEST:m0s001,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=1,HWTYPE=EL1018,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "1+1","%d")
|
|
#Configure EL2808 digital output terminal
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "1+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=2, HW_DESC=EL2808"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "2")
|
|
epicsEnvSet("HW_DESC", "EL2808")
|
|
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
|
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL2808.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL2808.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL2808")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x0af83052")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,2,0x2,0x0af83052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX2008.cmd
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1600,0x7000,0x1,B1,binaryOutput01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1601,0x7010,0x1,B1,binaryOutput02)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1602,0x7020,0x1,B1,binaryOutput03)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1603,0x7030,0x1,B1,binaryOutput04)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1604,0x7040,0x1,B1,binaryOutput05)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1605,0x7050,0x1,B1,binaryOutput06)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af830522022/02/08 14:46:22.823 OK
|
|
2022/02/08 14:46:22.824 OK
|
|
2022/02/08 14:46:22.834 OK
|
|
2022/02/08 14:46:22.909 OK
|
|
2022/02/08 14:46:22.989 14385
|
|
2022/02/08 14:46:22.990 OK
|
|
2022/02/08 14:46:22.990 OK
|
|
2022/02/08 14:46:22.990 OK
|
|
2022/02/08 14:46:22.990 OK
|
|
2022/02/08 14:46:22.991 OK
|
|
,1,0,0x1606,0x7060,0x1,B1,binaryOutput07)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1607,0x7070,0x1,B1,binaryOutput08)"
|
|
# deduce what the prefix should be
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=2,HWTYPE=EL2808"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "2","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s002")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s002-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL2808.substitutions,ECMC_P=IOC_TEST:m0s002-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL2808.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL2808.substitutions,"ECMC_P=IOC_TEST:m0s002-,ECMC_G=IOC_TEST:m0s002,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=2,HWTYPE=EL2808,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
epicsEnvUnset(DEFAULT_SUBS)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s002-,ECMC_G=IOC_TEST:m0s002"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s002-,ECMC_G=IOC_TEST:m0s002,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=2,HWTYPE=EL2808,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "2+1","%d")
|
|
# Save the slave number for later
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM_DIG_OUT", "2")
|
|
#Configure EL5101 Incremental Encoder Interface
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "2+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=3, HW_DESC=EL5101"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "3")
|
|
epicsEnvSet("HW_DESC", "EL5101")
|
|
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
|
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL5101.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL5101.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL5101")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x13ed3052")
|
|
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd,1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd "RESET=true"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,3,0x2,0x13ed3052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcWriteSdo(3,0x1011,0x1,1684107116,4)"
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
ecmcConfig "EcReadSdo(3,0x100a,0x0,2)"
|
|
ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "14385", "0x%04x")
|
|
# Firmware version: 0x3831
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,1,2,0x1600,0x7000,0x01,8,encoderControl01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,1,2,0x1600,0x7000,0x02,16,encoderValue01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x00,16,encoderStatus01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x10,16,positionActual01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x20,16,encoderLatchPostion01)"
|
|
# deduce what the prefix should be
|
|
ecmcFil2022/02/08 14:46:22.999 OK
|
|
2022/02/08 14:46:23.069 OK
|
|
2022/02/08 14:46:23.149 14385
|
|
2022/02/08 14:46:23.150 OK
|
|
2022/02/08 14:46:23.150 OK
|
|
2022/02/08 14:46:23.150 OK
|
|
2022/02/08 14:46:23.151 OK
|
|
2022/02/08 14:46:23.151 OK
|
|
eExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=3,HWTYPE=EL5101"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "3","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s003")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s003-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL5101.substitutions,ECMC_P=IOC_TEST:m0s003-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL5101.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL5101.substitutions,"ECMC_P=IOC_TEST:m0s003-,ECMC_G=IOC_TEST:m0s003,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=3,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
epicsEnvUnset(DEFAULT_SUBS)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s003-,ECMC_G=IOC_TEST:m0s003"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s003-,ECMC_G=IOC_TEST:m0s003,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=3,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "3+1","%d")
|
|
#Configure EL5101 Incremental Encoder Interface
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "3+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=4, HW_DESC=EL5101"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "4")
|
|
epicsEnvSet("HW_DESC", "EL5101")
|
|
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
|
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL5101.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL5101.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL5101")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x13ed3052")
|
|
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd,1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd "RESET=true"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,4,0x2,0x13ed3052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcWriteSdo(4,0x1011,0x1,1684107116,4)"
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
ecmcConfig "EcReadSdo(4,0x100a,0x0,2)"
|
|
ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "14385", "0x%04x")
|
|
# Firmware version: 0x3831
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,1,2,0x1600,0x7000,0x01,8,encoderControl01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,1,2,0x1600,0x7000,0x02,16,encoderValue01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x00,16,encoderStatus01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x10,16,positionActual01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x20,16,encoderLatchPostion01)"
|
|
# deduce what the prefix should be
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=4,HWTYPE=EL5101"
|
|
#===================================2022/02/08 14:46:23.158 OK
|
|
2022/02/08 14:46:23.160 OK
|
|
2022/02/08 14:46:23.160 OK
|
|
===========================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "4","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s004")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s004-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL5101.substitutions,ECMC_P=IOC_TEST:m0s004-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL5101.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL5101.substitutions,"ECMC_P=IOC_TEST:m0s004-,ECMC_G=IOC_TEST:m0s004,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=4,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
epicsEnvUnset(DEFAULT_SUBS)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s004-,ECMC_G=IOC_TEST:m0s004"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s004-,ECMC_G=IOC_TEST:m0s004,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=4,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "4+1","%d")
|
|
# Configure EL9505 Power supply terminal 5V
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "4+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=5, HW_DESC=EL9505"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "5")
|
|
epicsEnvSet("HW_DESC", "EL9505")
|
|
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
|
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL9505.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL9505.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL9505")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x25213052")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,5,0x2,0x25213052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(5,0x2,0x25213052,2,0,0x1a00,0x6000,0x1,1,powerOk01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(5,0x2,0x25213052,2,0,0x1a00,0x6000,0x2,1,overload01)"
|
|
# deduce what the prefix should be
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=5,HWTYPE=EL9505"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "5","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s005")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s005-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL9505.substitutions,ECMC_P=IOC_TEST:m0s005-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL9505.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL9505.substitutions,"ECMC_P=IOC_TEST:m0s005-,ECMC_G=IOC_TEST:m0s005,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=5,HWTYPE=EL9505,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
epicsEnvUnset(DEFAULT_SUBS)
|
|
ecmcEpicsEnvSetCalcTe2022/02/08 14:46:23.168 OK
|
|
2022/02/08 14:46:23.170 OK
|
|
2022/02/08 14:46:23.170 OK
|
|
2022/02/08 14:46:23.170 OK
|
|
2022/02/08 14:46:23.170 OK
|
|
2022/02/08 14:46:23.170 OK
|
|
2022/02/08 14:46:23.170 OK
|
|
2022/02/08 14:46:23.170 OK
|
|
2022/02/08 14:46:23.170 OK
|
|
rnary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s005-,ECMC_G=IOC_TEST:m0s005"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s005-,ECMC_G=IOC_TEST:m0s005,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=5,HWTYPE=EL9505,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "5+1","%d")
|
|
# Configure EL1252 digital input terminal
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "5+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=6, HW_DESC=EL1252"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "6")
|
|
epicsEnvSet("HW_DESC", "EL1252")
|
|
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
|
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL1252.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL1252.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL1252")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x04e43052")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,6,0x2,0x04e43052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX1002.cmd
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,0,0x1a00,0x6000,0x1,B1,binaryInput01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,0,0x1a01,0x6010,0x1,B1,binaryInput02)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xae,U8,status01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xaf,U8,status02)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xb0,U64,timestampLatchPositive01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xb8,U64,timestampLatchNegative01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xc0,U64,timestampLatchPositive02)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xc8,U64,timestampLatchNegative02)"
|
|
# deduce what the prefix should be
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=6,HWTYPE=EL1252"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "6","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s006")
|
|
epicsEnvSet("ECMC_P", "IOC_TEST:m0s006-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL1252.substitutions,ECMC_P=IOC_TEST:m0s006-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL1252.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL1252.substitutions,"ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST:m0s006,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=6,HWTYPE=EL1252,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
epicsEnvUnset(DEFAULT_SUBS)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s006-,ECMC_G=2022/02/08 14:46:23.180 OK
|
|
2022/02/08 14:46:23.299 OK
|
|
2022/02/08 14:46:23.379 12848
|
|
2022/02/08 14:46:23.382 OK
|
|
2022/02/08 14:46:23.383 OK
|
|
2022/02/08 14:46:23.383 OK
|
|
2022/02/08 14:46:23.383 OK
|
|
2022/02/08 14:46:23.384 OK
|
|
2022/02/08 14:46:23.384 OK
|
|
2022/02/08 14:46:23.384 OK
|
|
2022/02/08 14:46:23.385 OK
|
|
2022/02/08 14:46:23.385 OK
|
|
2022/02/08 14:46:23.385 OK
|
|
2022/02/08 14:46:23.385 OK
|
|
2022/02/08 14:46:23.385 OK
|
|
IOC_TEST:m0s006"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST:m0s006,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=6,HWTYPE=EL1252,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "6+1","%d")
|
|
# Configure EL9410 Power supply with refresh of E-Bus.
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "6+1")
|
|
#${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=${ECMC_EC_SLAVE_NUM}, HW_DESC=EL9410"
|
|
#Configure EL7037 stepper drive terminal, motor 1
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "7+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureSlave.cmd, "SLAVE_ID=8, HW_DESC=EL7037, CONFIG=-Motor-Nanotec-ST4118L1804-B"
|
|
#==============================================================================
|
|
# configureSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "8")
|
|
epicsEnvSet("HW_DESC", "EL7037")
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd "SLAVE_ID=8, HW_DESC=EL7037, NELM=1"
|
|
#==============================================================================
|
|
# addSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "8")
|
|
epicsEnvSet("HW_DESC", "EL7037")
|
|
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
|
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037.cmd" "NELM=1"
|
|
epicsEnvSet("ECMC_EC_HWTYPE" "EL7037")
|
|
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
|
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x1b7d3052")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd "RESET=true"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,8,0x2,0x1b7d3052)"
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
|
|
ecmcConfigOrDie "Cfg.EcWriteSdo(8,0x1011,0x1,1684107116,4)"
|
|
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
|
ecmcConfig "EcReadSdo(8,0x100a,0x0,2)"
|
|
ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "12848", "0x%04x")
|
|
# Firmware version: 0x3230
|
|
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
|
epicsEnvUnset(ECMC_COMMENT)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX70XX.cmd
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1600,0x7000,0x01,16,encoderControl01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1600,0x7000,0x11,16,encoderValue01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1602,0x7010,0x1,16,driveControl01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1604,0x7010,0x21,16,1,velocitySetpoint01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x0,16,encoderStatus01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x11,16,positionActual01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x12,16,encoderLatchPostion01)"
|
|
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a03,0x6010,0x1,16,driveStatus01)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0x5,1,1)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0xA,1,1)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0x8,1,1)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0x9,0,1)"
|
|
# deduce what the prefix should be
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=8,HWTYPE=EL7037"
|
|
#==============================================================================
|
|
# ecmcmXsXXX.cmd
|
|
ecmcEpicsEnvSetCalc("sid", "8","%03d")
|
|
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
|
epicsEnvSet("ECMC_G", "IOC_TEST:m0s008")
|
|
epicsEnvSet("ECMC_P", 2022/02/08 14:46:23.405 OK
|
|
2022/02/08 14:46:23.405 OK
|
|
2022/02/08 14:46:23.405 OK
|
|
2022/02/08 14:46:23.405 OK
|
|
2022/02/08 14:46:23.406 OK
|
|
2022/02/08 14:46:23.406 OK
|
|
"IOC_TEST:m0s008-")
|
|
epicsEnvUnset(sid)
|
|
epicsEnvUnset(mid)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL7037.substitutions,ECMC_P=IOC_TEST:m0s008-"
|
|
#==============================================================================
|
|
# applySubstitutions.cmd
|
|
ecmcFileExist(ecmcEL7037.substitutions,1,1)
|
|
dbLoadTemplate(ecmcEL7037.substitutions,"ECMC_P=IOC_TEST:m0s008-,ECMC_G=IOC_TEST:m0s008,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=8,HWTYPE=EL7037,T_SMP_MS=10,TSE=-2,NELM=1")
|
|
epicsEnvUnset(DEFAULT_SUBS)
|
|
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
|
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s008-,ECMC_G=IOC_TEST:m0s008"
|
|
#==============================================================================
|
|
# applyTemplate.cmd
|
|
ecmcFileExist(ecmcEcSlave.template,1,1)
|
|
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s008-,ECMC_G=IOC_TEST:m0s008,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=8,HWTYPE=EL7037,T_SMP_MS=10,TSE=-2,")
|
|
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
|
# increment SLAVE_ID
|
|
ecmcEpicsEnvSetCalc("SLAVE_ID", "8+1","%d")
|
|
# apply config ${CONFIG} for ${HW_DESC}
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037-Motor-Nanotec-ST4118L1804-B.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037-Motor-Nanotec-ST4118L1804-B.cmd ""
|
|
epicsEnvSet(I_MAX_MA_LOCAL,"1500")
|
|
epicsEnvSet(I_RUN_MA_LOCAL,1000)
|
|
epicsEnvSet(I_STDBY_MA_LOCAL,500)
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/chkValidCurrentSetOrDie.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/chkValidCurrentSetOrDie.cmd "I_RUN_MA=1000,I_STDBY_MA=500,I_MAX_MA=1500"
|
|
#==============================================================================
|
|
# chkValidCurrentSetOrDie.cmd
|
|
# Ensure running current is below max current otherwise exit
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "1000>1500 or 1000<=0", "ecmcExit Error: Run current setpoint to high or negative...","# Run current setting OK (1000)...")
|
|
# Result:
|
|
# Run current setting OK (1000)...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
# Ensure standby current is below max current otherwise exit
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "500>1500 or 500<0", "ecmcExit Error: Standby current setpoint to high or negative...","# Standby current setting OK (500)...")
|
|
# Result:
|
|
# Standby current setting OK (500)...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
# Ensure standby current is below run current otherwise exit
|
|
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "500>1000", "ecmcExit Error: Standby current higher than run current...","# Standby current and run current setting OK (500<1000)...")
|
|
# Result:
|
|
# Standby current and run current setting OK (500<1000)...
|
|
epicsEnvUnset(ECMC_EXE_CMD)
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x1,1000,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x2,500,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x3,2400,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x4,175,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x6,200,2)"
|
|
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0xA,330,2)"
|
|
epicsEnvUnset("I_RUN_MA_LOCAL")
|
|
epicsEnvUnset("I_STDBY_MA_LOCAL")
|
|
epicsEnvUnset("I_MAX_MA_LOCAL")
|
|
#Configure EL7037 stepper drive terminal, motor 2
|
|
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "8+1")
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureSlave.cmd, "SLAVE_ID=9, HW_DESC=EL7037, CONFIG=-Motor-Nanotec-ST4118L1804-B"
|
|
#==============================================================================
|
|
# configureSlave.cmd
|
|
epicsEnvSet("ECMC_EC_SLAVE_NUM", "9")
|
|
epicsEnvSet("HW_DESC", "EL7037")
|
|
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd",1)
|
|
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd "SLAVE_ID=9, HW_DESC=EL7037, NELM=1"
|
|
#==========================2022/02/08 14:46:23.411 OK
|
|
2022/02/08 14:46:23.529 OK
|