motion/ecmc_plugin_grbl
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ccd0c53ed3e7f5faf79be8bf1d628fdd304b9c19
ecmc_plugin_grbl/iocsh/log.log
Anders Sandstrom f32dd2ada2 WIP
2022-02-02 11:55:01 +01:00

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registerChannelProviderLocal firstTime true
#
# Start at "2022-W05-Feb02-1154-13-CET"
#
# Version information:
# European Spallation Source ERIC : iocsh.bash (3.4.0-PID-17664)
#
# --->--> snip -->-->
# Please Use Version and other environment variables
# in order to report or debug this shell
#
# HOSTDISPLAY=""
# WINDOWID=""
# PWD="/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
# USER="pi"
# LOGNAME="pi"
# EPICS_HOST_ARCH="linux-arm"
# EPICS_BASE="/home/pi/epics/base-7.0.5"
# E3_REQUIRE_NAME="require"
# E3_REQUIRE_VERSION="3.4.0"
# E3_REQUIRE_LOCATION="/home/pi/epics/base-7.0.5/require/3.4.0"
# E3_REQUIRE_BIN="/home/pi/epics/base-7.0.5/require/3.4.0/bin"
# E3_REQUIRE_DB="/home/pi/epics/base-7.0.5/require/3.4.0/db"
# E3_REQUIRE_DBD="/home/pi/epics/base-7.0.5/require/3.4.0/dbd"
# E3_REQUIRE_INC="/home/pi/epics/base-7.0.5/require/3.4.0/include"
# E3_REQUIRE_LIB="/home/pi/epics/base-7.0.5/require/3.4.0/lib"
# 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"
# EPICS_CA_AUTO_ADDR_LIST=""
# EPICS_CA_ADDR_LIST=""
# PATH="/home/pi/berryconda3/envs/ecmccomgui_py35/bin:/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"
# --->--> snip -->-->
#
# Set REQUIRE_IOC for its internal PVs
epicsEnvSet REQUIRE_IOC "REQMOD:raspberrypi-17664"
#
# Enable an exit subroutine for sotfioc
dbLoadRecords "/home/pi/epics/base-7.0.5/db/softIocExit.db" "IOC=REQMOD:raspberrypi-17664"
#
# Set E3_IOCSH_TOP for the absolute path where iocsh.bash is executed.
epicsEnvSet E3_IOCSH_TOP "/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
#
#
# Load require module, which has the version 3.4.0
#
dlload /home/pi/epics/base-7.0.5/require/3.4.0/lib/linux-arm/librequire.so
dbLoadDatabase /home/pi/epics/base-7.0.5/require/3.4.0/dbd/require.dbd
require_registerRecordDeviceDriver
Loading module info records for require
#
# Set E3_CMD_TOP for the absolute path where test.script exists
epicsEnvSet E3_CMD_TOP "/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
#
iocshLoad 'test.script',''
##############################################################################
## Example: Demo of ecmc grbl g-code plugin
## https://github.com/anderssandstrom/ecmc_plugin_grbl
## https://github.com/anderssandstrom/e3-ecmc_plugin_grbl
##
## The plugin exposes:
##
## Initiation:
epicsEnvSet("IOC" ,"IOC_TEST")
epicsEnvSet("ECMCCFG_INIT" ,"") #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
epicsEnvSet("SCRIPTEXEC" ,"iocshLoad")
require ecmccfg ruckig
Module ecmccfg version ruckig found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/lib/linux-arm/libecmccfg.so
Loaded ecmccfg version ruckig
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/dbd/ecmccfg.dbd
Calling function ecmccfg_registerRecordDeviceDriver
Loading module info records for ecmccfg
# Epics Motor record driver that will be used:
epicsEnvShow(ECMC_MR_MODULE)
ECMC_MR_MODULE is not an environment variable.
# run module startup.cmd (only needed at ESS PSI auto call at require)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/startup.cmd, "IOC=IOC_TEST,ECMC_VER=ruckig"
#==============================================================================
# startup.cmd
on error halt
require ecmc "ruckig"
Module ecmc version ruckig found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/
Module ecmc depends on asyn 4.41.0
Module asyn version 4.41.0 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/lib/linux-arm/libasyn.so
Loaded asyn version 4.41.0
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/dbd/asyn.dbd
Calling function asyn_registerRecordDeviceDriver
Loading module info records for asyn
Module ecmc depends on exprtk 1.2.1
Module exprtk version 1.2.1 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/exprtk/1.2.1/
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/exprtk/1.2.1/lib/linux-arm/libexprtk.so
Loaded exprtk version 1.2.1
exprtk has no dbd file
Loading module info records for exprtk
Module ecmc depends on motor develop
Module motor version develop found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/
Module motor depends on asyn 4.41.0
Module asyn version 4.41.0 already loaded
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/lib/linux-arm/libmotor.so
Loaded motor version develop
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/dbd/motor.dbd
Calling function motor_registerRecordDeviceDriver
Loading module info records for motor
Module ecmc depends on ruckig 1.0.0
Module ruckig version 1.0.0 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ruckig/1.0.0/
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ruckig/1.0.0/lib/linux-arm/libruckig.so
Loaded ruckig version 1.0.0
ruckig has no dbd file
Loading module info records for ruckig
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/lib/linux-arm/libecmc.so
Loaded ecmc version ruckig
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/dbd/ecmc.dbd
Calling function ecmc_registerRecordDeviceDriver
Loading module info records for ecmc
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'ecmcMotorRecord'='EthercatMC'", "require EthercatMC 3.0.2 # Using EthercatMC motor record support.","# Using ecmcMotorRecord motor record support.")
# Using ecmcMotorRecord motor record support.
epicsEnvUnset(ECMC_EXE_CMD)
epicsEnvSet("ECMC_CONFIG_ROOT", "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/")
epicsEnvSet("ECMC_CONFIG_DB", "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/db")
epicsEnvSet("SCRIPTEXEC", "iocshLoad")
epicsEnvSet("SM_PREFIX", "IOC_TEST:") # colon added since IOC is _not_ PREFIX
epicsEnvSet("ECMC_PROC_HOOK", "")
epicsEnvSet(ECMC_MODE, FULL)
ecmcEpicsEnvSetCalcTernary(ECMC_SUPPORT_MOTION, "'FULL'!='DAQ'","","# MODE == DAQ, DISABLING MOTION.")
epicsEnvShow(ECMC_SUPPORT_MOTION)
ECMC_SUPPORT_MOTION=
ecmcEpicsEnvSetCalcTernary(ECMC_USE_MOTOR_RECORD, "'FULL'=='FULL'","","# MODE != FULL, DISABLING MOTOR RECORD.")
epicsEnvShow(ECMC_USE_MOTOR_RECORD)
ECMC_USE_MOTOR_RECORD=
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAll.cmd",1)
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAll.cmd"
#==============================================================================
# initAll.cmd
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/init.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/init.cmd
#==============================================================================
# init.cmd
epicsEnvSet("ECMC_ASYN_TIMEOUT", 1) # Asyn timeout
epicsEnvSet("ECMC_ASYN_ADDR", 0) # Asyn Address
epicsEnvSet("ECMC_MOTOR_PORT", "NOT SET")
epicsEnvSet("ECMC_ASYN_PORT", "NOT SET")
epicsEnvSet("ECMC_PREFIX", "NOT SET")
epicsEnvSet("ECMC_GEN_EC_RECORDS", "NOT SET")
epicsEnvSet("ECMC_GEN_AX_RECORDS", "NOT SET")
epicsEnvSet("ECMC_EC_AXIS_HEALTH", "NOT SET")
epicsEnvSet("ECMC_PLC_SAMPLE_RATE_MS", "NOT SET")
epicsEnvSet("ECMC_TSE", -2)
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAxis.cmd",1)
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAxis.cmd"
#==============================================================================
# initAxis.cmd
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd",1)
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd"
#==============================================================================
# ecmc_axis_unset.cmd
epicsEnvUnset(ECMC_AXISCONFIG)
epicsEnvUnset(ECMC_AXISFIELDINIT)
epicsEnvUnset(ECMC_PREC)
epicsEnvUnset(ECMC_EGU)
epicsEnvUnset(ECMC_DESC)
epicsEnvUnset(ECMC_R)
epicsEnvUnset(ECMC_MOTOR_NAME)
epicsEnvUnset(ECMC_EC_AXIS_HEALTH)
epicsEnvUnset(ECMC_MOD_RANGE)
epicsEnvUnset(ECMC_MOD_TYPE)
epicsEnvUnset(ECMC_EMERG_DECEL)
epicsEnvUnset(ECMC_VELO)
epicsEnvUnset(ECMC_ACCL)
epicsEnvUnset(ECMC_ACCS_EGU_PER_S2)
epicsEnvUnset(ECMC_HOME_VEL_TO)
epicsEnvUnset(ECMC_HOME_VEL_FRM)
epicsEnvUnset(ECMC_CNTRL_KP)
epicsEnvUnset(ECMC_CNTRL_KI)
epicsEnvUnset(ECMC_CNTRL_KD)
epicsEnvUnset(ECMC_CNTRL_KFF)
epicsEnvUnset(ECMC_EC_ENC_ACTPOS)
epicsEnvUnset(ECMC_EC_ENC_LATCHPOS)
epicsEnvUnset(ECMC_EC_ENC_LATCH_CONTROL)
epicsEnvUnset(ECMC_EC_ENC_LATCH_STATUS)
epicsEnvUnset(ECMC_HOME_LATCH_COUNT_OFFSET)
epicsEnvUnset(ECMC_ENC_SCALE_DENOM)
epicsEnvUnset(ECMC_ENC_SCALE_NUM)
epicsEnvUnset(ECMC_ENC_TYPE)
epicsEnvUnset(ECMC_ENC_BITS)
epicsEnvUnset(ECMC_ENC_ABS_BITS)
epicsEnvUnset(ECMC_ENC_ABS_OFFSET)
epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE)
epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE)
epicsEnvUnset(ECMC_ENC_POS_FILTER_ENABLE)
epicsEnvUnset(ECMC_EC_ENC_RESET)
epicsEnvUnset(ECMC_EC_ENC_ALARM_0)
epicsEnvUnset(ECMC_EC_ENC_ALARM_1)
epicsEnvUnset(ECMC_EC_ENC_ALARM_2)
epicsEnvUnset(ECMC_EC_ENC_WARNING)
epicsEnvUnset(ECMC_EC_DRV_CONTROL)
epicsEnvUnset(ECMC_EC_DRV_STATUS)
epicsEnvUnset(ECMC_EC_DRV_VELOCITY)
epicsEnvUnset(ECMC_EC_DRV_BRAKE)
epicsEnvUnset(ECMC_EC_DRV_REDUCE_TORQUE)
epicsEnvUnset(ECMC_EC_DRV_RESET)
epicsEnvUnset(ECMC_EC_DRV_ALARM_0)
epicsEnvUnset(ECMC_EC_DRV_ALARM_1)
epicsEnvUnset(ECMC_EC_DRV_ALARM_2)
epicsEnvUnset(ECMC_EC_DRV_WARNING)
epicsEnvUnset(ECMC_DRV_SCALE_DENOM)
epicsEnvUnset(ECMC_DRV_SCALE_NUM)
epicsEnvUnset(ECMC_DRV_BRAKE_OPEN_DLY_TIME)
epicsEnvUnset(ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME)
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
epicsEnvUnset(ECMC_DXLM_ENABLE)
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
epicsEnvUnset(ECMC_DXLM_ENABLE)
epicsEnvUnset(ECMC_EC_MON_LOWLIM)
epicsEnvUnset(ECMC_EC_MON_HIGHLIM)
epicsEnvUnset(ECMC_EC_MON_HOME_SWITCH)
epicsEnvUnset(ECMC_EC_MON_EXT_INTERLOCK)
epicsEnvUnset(ECMC_MON_AT_TARGET_TOL)
epicsEnvUnset(ECMC_MON_AT_TARGET_TIME)
epicsEnvUnset(ECMC_MON_AT_TARGET_ENA)
epicsEnvUnset(ECMC_MON_LAG_MON_TOL)
epicsEnvUnset(ECMC_MON_LAG_MON_TIME)
epicsEnvUnset(ECMC_MON_LAG_MON_ENA)
epicsEnvUnset(ECMC_MON_VELO_MAX)
epicsEnvUnset(ECMC_MON_VELO_MAX_ENA)
epicsEnvUnset(ECMC_MON_VELO_MAX_DRV_TIME)
epicsEnvUnset(ECMC_MON_VELO_MAX_TRAJ_TIME)
epicsEnvUnset(ECMC_JOG_VEL)
epicsEnvUnset(ECMC_JAR)
epicsEnvUnset(ECMC_HOME_PROC)
epicsEnvUnset(ECMC_HOME_POS)
epicsEnvUnset(ECMC_HOME_ACC)
epicsEnvUnset(ECMC_HOME_DEC)
epicsEnvUnset(ECMC_DRV_TYPE)
epicsEnvUnset(ECMC_VELO)
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
epicsEnvUnset(ECMC_HOME_POS_MOVE_ENA)
epicsEnvUnset(ECMC_HOME_POS_MOVE_TARG_POS)
epicsEnvUnset(ECMC_TRAJ_TYPE)
epicsEnvUnset(ECMC_JERK)
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd",1)
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd"
#==============================================================================
# ecmc_axis_sync_unset.cmd
epicsEnvUnset(ECMC_CMD_FRM_OTHER_PLC_ENABLE)
epicsEnvUnset(ECMC_CMD_AXIS_PLC_ENABLE)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_1)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_2)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_3)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_4)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_5)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_6)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_7)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_8)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_9)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_10)
epicsEnvUnset(ECMC_ENC_VELO_FILT_SIZE)
epicsEnvUnset(ECMC_ENC_VELO_FILT_ENABLE)
epicsEnvUnset(ECMC_ENC_SOURCE)
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_SIZE)
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE)
epicsEnvUnset(ECMC_TRAJ_SOURCE)
epicsEnvSet("ECMC_EGU", "mm")
epicsEnvSet("ECMC_PREC", 3)
epicsEnvSet("ECMC_AXISFIELDINI2022/02/02 11:54:14.214
ECMC Initializes.............
2022/02/02 11:54:14.215 ESS Open Source EtherCAT Motion Control Epics Module2022/02/02 11:54:14.215
Mode: Configuration
2022/02/02 11:54:14.215 OK
2022/02/02 11:54:14.215 OK
2022/02/02 11:54:14.216 OK
2022/02/02 11:54:14.218 OK
2022/02/02 11:54:14.239 OK
2022/02/02 11:54:14.239 OK
2022/02/02 11:54:14.239 OK
T", "") # Extra field init to motor record
epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver
############################################################
############# ASYN Configuration:
epicsEnvSet("ECMC_MOTOR_PORT" "MCU1")
epicsEnvSet("ECMC_ASYN_PORT" "MC_CPU1")
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
ecmcAsynPortDriverConfigure(MC_CPU1,1000,0,0,100)
ecmcAsynPortDriverConfigure: portName = MC_CPU1, paramTableSize = 1000, disableAutoConnect = 0, priority = 0, defaultSampleRateMS = 100.000000
asynOctetSetOutputEos(MC_CPU1, -1, ";\n")
asynOctetSetInputEos(MC_CPU1, -1, ";\n")
asynSetTraceMask(MC_CPU1, -1, 0x41)
asynSetTraceIOMask(MC_CPU1, -1, 6)
asynSetTraceInfoMask(MC_CPU1, -1, 1)
ecmcMotorRecordCreateController(MCU1, MC_CPU1, "64", 200, 1000, "")
############################################################
############# Misc settings:
# Disable function call trace printouts
ecmcConfigOrDie "Cfg.SetEnableFuncCallDiag(0)"
# Disable on change printouts from objects (enable for easy logging)
ecmcConfigOrDie "Cfg.SetTraceMaskBit(15,0)"
# Choose to generate EPICS-records for EtherCAT-entries
# (For records use ECMC_GEN_EC_RECORDS="-records" otherwise ECMC_GEN_EC_RECORDS="")
epicsEnvSet("ECMC_GEN_EC_RECORDS", "-records")
# Choose to generate EPICS-records for ax-entries (PosAct, SetPos,..)
# (For records use ECMC_GEN_AX_RECORDS="-records" otherwise ECMC_GEN_AX_RECORDS="")
epicsEnvSet("ECMC_GEN_AX_RECORDS", "-records")
# suffix for pva enabled scripts, templates and substitutions
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)
iocshLoad2022/02/02 11:54:14.241 OK
2022/02/02 11:54:14.242 OK
2022/02/02 11:54:14.249 OK
2022/02/02 11:54:14.250 OK
2022/02/02 11:54:14.250 OK
2022/02/02 11:54:14.251 OK
"/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/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(1,0x2022/02/02 11:54:14.251 OK
2022/02/02 11:54:14.251 OK
2022/02/02 11:54:14.251 OK
2022/02/02 11:54:14.251 OK
2022/02/02 11:54:14.251 OK
2022/02/02 11:54:14.259 OK
2022/02/02 11:54:14.261 OK
2022/02/02 11:54:14.261 OK
2022/02/02 11:54:14.261 OK
2022/02/02 11:54:14.261 OK
2022/02/02 11:54:14.261 OK
2022/02/02 11:54:14.262 OK
2,0x03fa3052,2,0,0x1a03,0x6030,0x1,B1,binaryInput04)"
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)"
ecmc2022/02/02 11:54:14.262 OK
2022/02/02 11:54:14.262 OK
2022/02/02 11:54:14.272 OK
2022/02/02 11:54:14.342 OK
2022/02/02 11:54:14.422 14385
2022/02/02 11:54:14.423 OK
2022/02/02 11:54:14.423 OK
2022/02/02 11:54:14.423 OK
2022/02/02 11:54:14.423 OK
ConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1606,0x7060,0x1,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,encoderLatchPostion02022/02/02 11:54:14.423 OK
2022/02/02 11:54:14.431 OK
2022/02/02 11:54:14.512 OK
2022/02/02 11:54:14.592 14385
2022/02/02 11:54:14.593 OK
2022/02/02 11:54:14.593 OK
2022/02/02 11:54:14.593 OK
2022/02/02 11:54:14.593 OK
2022/02/02 11:54:14.593 OK
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=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,HWTYP2022/02/02 11:54:14.601 OK
2022/02/02 11:54:14.602 OK
2022/02/02 11:54:14.602 OK
E=EL5101"
#==============================================================================
# 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")
epi2022/02/02 11:54:14.610 OK
2022/02/02 11:54:14.611 OK
2022/02/02 11:54:14.612 OK
2022/02/02 11:54:14.612 OK
2022/02/02 11:54:14.612 OK
2022/02/02 11:54:14.612 OK
2022/02/02 11:54:14.612 OK
2022/02/02 11:54:14.612 OK
2022/02/02 11:54:14.612 OK
csEnvUnset(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: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=ecmcEc2022/02/02 11:54:14.622 OK
2022/02/02 11:54:14.732 OK
2022/02/02 11:54:14.842 12848
2022/02/02 11:54:14.844 OK
2022/02/02 11:54:14.844 OK
2022/02/02 11:54:14.845 OK
2022/02/02 11:54:14.845 OK
2022/02/02 11:54:14.846 OK
2022/02/02 11:54:14.846 OK
2022/02/02 11:54:14.846 OK
2022/02/02 11:54:14.846 OK
2022/02/02 11:54:14.846 OK
2022/02/02 11:54:14.847 OK
2022/02/02 11:54:14.847 OK
2022/02/02 11:54:14.847 OK
Slave.template,ECMC_P=IOC_TEST:m0s006-,ECMC_G=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", 2022/02/02 11:54:14.866 OK
2022/02/02 11:54:14.867 OK
2022/02/02 11:54:14.867 OK
2022/02/02 11:54:14.867 OK
2022/02/02 11:54:14.867 OK
2022/02/02 11:54:14.867 OK
"IOC_TEST:m0s008")
epicsEnvSet("ECMC_P", "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_DE2022/02/02 11:54:14.872 OK
2022/02/02 11:54:15.002 OK
2022/02/02 11:54:15.102 12848
2022/02/02 11:54:15.104 OK
2022/02/02 11:54:15.104 OK
2022/02/02 11:54:15.105 OK
2022/02/02 11:54:15.105 OK
2022/02/02 11:54:15.105 OK
2022/02/02 11:54:15.106 OK
2022/02/02 11:54:15.106 OK
2022/02/02 11:54:15.106 OK
2022/02/02 11:54:15.106 OK
2022/02/02 11:54:15.106 OK
2022/02/02 11:54:15.107 OK
2022/02/02 11:54:15.107 OK
SC=EL7037, NELM=1"
#==============================================================================
# addSlave.cmd
epicsEnvSet("ECMC_EC_SLAVE_NUM", "9")
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(0,9,0x2,0x1b7d3052)"
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
ecmcConfigOrDie "Cfg.EcWriteSdo(9,0x1011,0x1,1684107116,4)"
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
ecmcConfig "EcReadSdo(9,0x100a,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(9,0x2,0x1b7d3052,1,2,0x1600,0x7000,0x01,16,encoderControl01)"
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,1,2,0x1600,0x7000,0x11,16,encoderValue01)"
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,1,2,0x1602,0x7010,0x1,16,driveControl01)"
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,1,2,0x1604,0x7010,0x21,16,1,velocitySetpoint01)"
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x0,16,encoderStatus01)"
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x11,16,positionActual01)"
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x12,16,encoderLatchPostion01)"
ecmcConfigOrDie "Cfg.EcAddEntryComplete(9,0x2,0x1b7d3052,2,3,0x1a03,0x6010,0x1,16,driveStatus01)"
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8012,0x5,1,1)"
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8012,0xA,1,1)"
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8012,0x8,1,1)"
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8012,0x9,0,1)"
# 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=9,HWTYPE=EL7037"
#==============================================================================
# ecmcmXsXXX.cmd
ecmcEpicsEnvSetCalc("sid", "9","%03d")
ecmcEpicsEnvSetCalc("mid", "0","%01d")
epicsEnvSet("ECMC_G", "IOC_TEST:m0s009")
epicsEnvSet("ECMC_P", "IOC_TEST:m0s009-")
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:m0s009-"
#==============================================================================
# applySubstitutions.cmd
ecmcFileExist(ecmcEL7037.substitutions,1,1)
dbLoadTemplate(ecmcEL7037.substitutions,"ECMC_P=IOC_TEST:m0s009-,ECMC_G=IOC_TEST:m0s009,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=9,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:m0s009-,ECMC_G=IOC_TEST:m0s009"
#==============================================================================
# applyTemplate.cmd
ecmcFileExist(ecmcEcSlave.template,1,1)
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s009-,ECMC_G=IOC_TEST:m0s009,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=9,HWTYPE=EL7037,T_SMP_MS=10,TSE=-2,")
epicsEnvUnset(DEFAULT_SLAVE_PVS)
# increment SLAVE_ID
ecm2022/02/02 11:54:15.126 OK
2022/02/02 11:54:15.126 OK
2022/02/02 11:54:15.126 OK
2022/02/02 11:54:15.126 OK
2022/02/02 11:54:15.126 OK
2022/02/02 11:54:15.126 OK
2022/02/02 11:54:15.127 OK
2022/02/02 11:54:15.130 OK
2022/02/02 11:54:15.342 OK
2022/02/02 11:54:15.452 14385
2022/02/02 11:54:15.542 OK
2022/02/02 11:54:15.632 OK
2022/02/02 11:54:15.712 OK
2022/02/02 11:54:15.792 OK
2022/02/02 11:54:15.872 OK
cEpicsEnvSetCalc("SLAVE_ID", "9+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(9,0x8010,0x1,1000,2)"
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8010,0x2,500,2)"
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8010,0x3,2400,2)"
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8010,0x4,175,2)"
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8010,0x6,200,2)"
ecmcConfigOrDie "Cfg.EcAddSdo(9,0x8010,0xA,330,2)"
epicsEnvUnset("I_RUN_MA_LOCAL")
epicsEnvUnset("I_STDBY_MA_LOCAL")
epicsEnvUnset("I_MAX_MA_LOCAL")
#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
# Use EL7211 as spindle
epicsEnvSet("ECMC_EC_SLAVE_NUM", "11")
epicsEnvSet("ECMC_EC_SLAVE_NUM_SPINDLE", "11")
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=11, HW_DESC=EL7211-0010"
#==============================================================================
# addSlave.cmd
epicsEnvSet("ECMC_EC_SLAVE_NUM", "11")
epicsEnvSet("HW_DESC", "EL7211-0010")
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/ecmcEL7211-0010.cmd",1)
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7211-0010.cmd" "NELM=1"
epicsEnvSet("ECMC_EC_HWTYPE" "EL7211-0010")
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x1c2b3052")
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(0,11,0x2,0x1c2b3052)"
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x1011,0x1,1684107116,4)"
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
ecmcConfig "EcReadSdo(11,0x100a,0x0,2)"
ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "14385", "0x%04x")
# Firmware version: 0x3831
epicsEnvUnset(ECMC_SLAVE_VERIFY)
epicsEnvUnset(ECMC_COMMENT)
ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x8008,0x1,1,1)"
ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x8008,0x2,1,1)"
ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x8008,0x3,1,1)"
ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x8010,0x14,50,4)"
ecmcConfigOrDie "Cfg.EcWriteSdo(11,0x8010,0x15,50,4)"
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX72XX_CSV.cmd
ecmcConfigOrDie "Cfg.EcAddEntryDT(11,0x2,0x1c2b3052022/02/02 11:54:15.873 OK
2022/02/02 11:54:15.873 OK
2022/02/02 11:54:15.874 OK
2022/02/02 11:54:15.874 OK
2022/02/02 11:54:15.874 OK
2022/02/02 11:54:15.877 OK
2022/02/02 11:54:15.877 OK
2022/02/02 11:54:15.879 OK
2022/02/02 11:54:15.879 OK
2022/02/02 11:54:15.880 OK
2,1,2,0x1600,0x7010,0x01,U16,driveControl01)"
ecmcConfigOrDie "Cfg.EcAddEntryDT(11,0x2,0x1c2b3052,1,2,0x1601,0x7010,0x06,S32,velocitySetpoint01)"
ecmcConfigOrDie "Cfg.EcAddEntryDT(11,0x2,0x1c2b3052,2,3,0x1a00,0x6000,0x11,U32,positionActual01)"
ecmcConfigOrDie "Cfg.EcAddEntryDT(11,0x2,0x1c2b3052,2,3,0x1a01,0x6010,0x01,U16,driveStatus01)"
ecmcConfigOrDie "Cfg.EcAddEntryComplete(11,0x2,0x1c2b3052,2,3,0x1a02,0x6010,0x07,32,velocityActual01)"
ecmcEpicsEnvSetCalc("ECMC_TEMP_PERIOD_NANO_SECS",1000/1000*1E6)
ecmcEpicsEnvSetCalc("ECMC_TEMP_PERIOD_NANO_SECS_HALF",1000000/2)
ecmcConfigOrDie "Cfg.EcSlaveConfigDC(11,0x700,1000000,500000,0,0)"
# Peak current (to be overwritten by motor config)
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x11,1000,4)"
ecmcEpicsEnvSetCalc("ECMC_TEMP_WHATCHDOG_1",1000/1000*1000)
ecmcEpicsEnvSetCalc("ECMC_TEMP_WHATCHDOG_2",1000*10)
ecmcConfigOrDie "Cfg.EcSlaveConfigWatchDog(11,1000,10000)"
# NOTE: Sometimes the EL7211-0010 will not go to op with the following error in /var/log/messages:
# Sep 8 09:54:21 mcag-epics4 kernel: EtherCAT ERROR 0-40: SDO download 0x1C32:01 (2 bytes) aborted.
# Then if the below command is not executed the slave will go online abnd work. Could be related to firmware versions.. Also see below 0x1c33
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x1C32,0x1,3,2)"
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x1C32,0x2,1000000,4)"
# NOTE: Sometimes the EL7211-0010 will not go to op with the following error in /var/log/messages:
# Sep 8 09:54:21 mcag-epics4 kernel: EtherCAT ERROR 0-40: SDO download 0x1C33:01 (2 bytes) aborted.
# Then if the below command is not executed the slave will go online abnd work. Could be related to firmware versions.. Also see above 0x1c32
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x1C33,0x1,3,2)"
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x1C33,0x2,1000000,4)"
epicsEnvUnset(ECMC_TEMP_PERIOD_NANO_SECS)
epicsEnvUnset(ECMC_TEMP_PERIOD_NANO_SECS_HALF)
epicsEnvUnset(ECMC_TEMP_WHATCHDOG_1)
epicsEnvUnset(ECMC_TEMP_WHATCHDOG_2)
# 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=11,HWTYPE=EL7211-0010"
#==============================================================================
# ecmcmXsXXX.cmd
ecmcEpicsEnvSetCalc("sid", "11","%03d")
ecmcEpicsEnvSetCalc("mid", "0","%01d")
epicsEnvSet("ECMC_G", "IOC_TEST:m0s011")
epicsEnvSet("ECMC_P", "IOC_TEST:m0s011-")
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=ecmcEL7211-0010.substitutions,ECMC_P=IOC_TEST:m0s011-"
#==============================================================================
# applySubstitutions.cmd
ecmcFileExist(ecmcEL7211-0010.substitutions,1,1)
dbLoadTemplate(ecmcEL7211-0010.substitutions,"ECMC_P=IOC_TEST:m0s011-,ECMC_G=IOC_TEST:m0s011,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=11,HWTYPE=EL7211-0010,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:m0s011-,ECMC_G=IOC_TEST:m0s011"
#==============================================================================
# applyTemplate.cmd
ecmcFileExist(ecmcEcSlave.template,1,1)
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s011-,ECMC_G=IOC_TEST:m0s011,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=11,HWTYPE=EL7211-0010,T_SMP_MS=10,TSE=-2,")
epicsEnvUnset(DEFAULT_SLAVE_PVS)
# increment SLAVE_ID
ecmcEpicsEnvSetCalc("SLAVE_ID", "11+1","%d")
# Apply local 24V config (local here)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySlaveConfig.cmd, "LOCAL_CONFIG=./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd"
#======================2022/02/02 11:54:15.892 OK
2022/02/02 11:54:15.892 OK
2022/02/02 11:54:15.893 OK
2022/02/02 11:54:15.893 OK
2022/02/02 11:54:15.893 OK
2022/02/02 11:54:15.893 OK
2022/02/02 11:54:15.893 OK
2022/02/02 11:54:15.893 OK
2022/02/02 11:54:15.893 OK
2022/02/02 11:54:15.894 OK
2022/02/02 11:54:15.894 OK
2022/02/02 11:54:15.894 OK
2022/02/02 11:54:15.894 OK
2022/02/02 11:54:15.894 OK
2022/02/02 11:54:15.895 OK
2022/02/02 11:54:15.895 OK
2022/02/02 11:54:15.895 OK
2022/02/02 11:54:15.895 OK
2022/02/02 11:54:15.895 OK
2022/02/02 11:54:15.895 OK
2022/02/02 11:54:15.895 OK
2022/02/02 11:54:15.896 OK
2022/02/02 11:54:15.896 OK
=========================================================
# applySlaveConfig.cmd
# Arguments: CONFIG _or_ LOCAL_CONFIG
epicsEnvSet("ECMC_CONFIG_FN", "./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd")
ecmcFileExist("./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd",1)
iocshLoad ./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd
############################################################
############# Parmetrization of EL7211-0010 for motor AM8121-F00-0000
#
# Note: For important parameters see TwinCAT CoE startup list for the
# motor terminal configuration.
#Nominal voltage = 48V
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8010,0x19,24000,4)"
#Motor max current = 6A
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x11,6000,4)"
#Motor rated current = 4A
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x12,4000,4)"
#Motor pole pairs = 3
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x13,3,1)"
#Torque contstant = 125
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x16,125,4)"
#Winding inductance = 28
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x19,28,2)"
#Rotor moment of inertia = 134
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x18,134,4)"
#Commutation offset = 270
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x15,270,2)"
#Motor thermal time constant = 564
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x2d,564,2)"
#Motor speed limitation = 3378
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8011,0x1b,3378,4)"
#Current loop proportianal gain = 332
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8010,0x13,332,2)"
#Current loop integral time = 5
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8010,0x12,5,2)"
#Velocity loop proportianal gain = 95
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8010,0x15,95,4)"
#Velocity loop integral time = 150
ecmcConfigOrDie "Cfg.EcAddSdo(11,0x8010,0x14,150,4)"
#Apply hardware configuration (wrong here, should only be done once (also done in ecmcMCU1021_coupler), but will work)
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
#Does not work. Known issue DC-patch for etherlab manster needed...
#ecmcConfigOrDie "Cfg.EcSelectReferenceDC(0,$(ECMC_EC_SLAVE_NUM))"
# ADDITIONAL SETUP
# Set all outputs to feed switches
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput01,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput02,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput03,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput04,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput05,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput06,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput07,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(2,binaryOutput08,1)"
# END of ADDITIONAL SETUP
##############################################################################
## AXIS 1: X-axis
#
epicsEnvSet("DEV", "IOC_TEST")
iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureAxis.cmd, CONFIG=./cfg/linear_1.ax)
#==============================================================================
# configureAxis.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")
epicsEnvUnset(ECMC_EXE_CMD)
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
ecmcFileExist("./cfg/linear_1.ax",1)
iocshLoad ./cfg/linear_1.ax ""
#General
epicsEnvSet("ECMC_MOTOR_NAME", "Axis1")
epicsEnvSet("ECMC_AXIS_NO", "1")
epicsEnvSet("ECMC_DESC", "MCU1021 Lower Axis (1)")
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" "-60")
epicsEnvSet("ECMC_ENC_SCALE_DENOM" "2000")
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", "0") # 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.s3.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)
#Drive
epicsEnvSet("ECMC_DRV_TYPE" "0") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
epicsEnvSet("ECMC_DRV_SCALE_NUM" "600.0") # 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.s8.driveControl01.0") # Ethercat entry for control word or bit output
epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s8.driveStatus01.1") # Ethercat entry for status word or bit input
epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s8.velocitySetpoint01") # Ethercat entry for velocity setpoint output
epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "ec0.s8.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.s8.driveControl01.1") # Reset
epicsEnvSet("ECMC_EC_DRV_ALARM_0", "ec0.s8.driveStatus01.3") # Error
epicsEnvSet("ECMC_EC_DRV_ALARM_1", "ec0.s8.driveStatus01.7") # Stall
epicsEnvSet("ECMC_EC_DRV_ALARM_2", "ec0.s8.driveStatus01.14") # Sync error
epicsEnvSet("ECMC_EC_DRV_WARNING", "ec0.s8.driveStatus01.2") # Warning
#Trajectory
epicsEnvSet("ECMC_TRAJ_TYPE" "1") # Trapetz: 0. S-Curve: 1
epicsEnvSet("ECMC_VELO", "10.0")
epicsEnvSet("ECMC_JOG_VEL", "5")
epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL
epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "10")
epicsEnvSet("ECMC_EMERG_DECEL", "100") # Emergency deceleration
epicsEnvSet("ECMC_JERK", "10.0") # Only valid for ECMC_TRAJ_TYPE==1
#Homing
epicsEnvSet("ECMC_HOME_PROC", "3")
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.s1.binaryInput02.0") # Ethercat entry for low limit switch input
epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s1.binaryInput01.0") # Ethercat entry for high limit switch inpuit
epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s1.binaryInput03.0") # Ethercat entry for home switch input
epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s1.ONE.0") # Ethercat entry for external interlock input
# Softlimits (disable with 0,0,0)
epicsEnvSet("ECMC_SOFT_LOW_LIM", "-20")
epicsEnvSet("ECMC_SOFT_HIGH_LIM", "130")
epicsEnvSet("ECMC_DXLM_ENABLE", "1")
# Position lag
epicsEnvSet("ECMC_MON_LAG_MON_TOL", "1.0")
epicsEnvSet("ECMC_MON_LAG_MON_TIME", "10")
epicsEnvSet("ECMC_MON_LAG_MON_ENA", "1")
# At target
epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "0.1")
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", "1")
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd
#==============================================================================
# addAxis.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")
epicsEnvUnset(ECMC_EXE_CMD)
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd
#==============================================================================
# ecmc_axis-records.cmd
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd
#==============================================================================
# ecmc_axis.cmd
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(-60)<>0',SUCCESS_STR='ECMC_ENC_SCALE_NUM value OK == -60...',ERROR_STR='ECMC_ENC_SCALE_NUM == 0...'"
#==============================================================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(-60)<>0","# ECMC_ENC_SCALE_NUM value OK == -60...", "ecmcExit Error: ECMC_ENC_SCALE_NUM == 0...")
# ECMC_ENC_SCALE_NUM value OK == -60...
epicsEnvUnset(ECMC_EXE_CMD)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(2000)<>0',SUCCESS_STR='ECMC_ENC_SCALE_DENOM value OK == 2000...',ERROR_STR='ECMC_ENC_SCALE_DENOM == 0...'"
#==============================================================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(2000)<>0","# ECMC_ENC_SCALE_DENOM value OK == 2000...", "ecmcExit Error: ECMC_ENC_SCALE_DENOM == 0...")
# ECMC_ENC_SCALE_DENOM value OK == 2000...
epicsEnvUnset(ECMC_EXE_CMD)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(600.0)<>0',SUCCESS_STR='ECMC_DRV_SCALE_NUM value OK == 600.0...',ERROR_STR='ECMC_DRV_SCALE_NUM == 0...'"
#==============================================================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(600.0)<>0","# ECMC_DRV_SCALE_NUM value OK == 600.0...", "ecmcExit Error: ECMC_DRV_SCALE_NUM == 0...")
# ECMC_D2022/02/02 11:54:15.914 OK
2022/02/02 11:54:15.914 OK
2022/02/02 11:54:15.914 OK
2022/02/02 11:54:15.914 OK
2022/02/02 11:54:15.918 OK
2022/02/02 11:54:15.919 OK
2022/02/02 11:54:15.919 OK
2022/02/02 11:54:15.919 OK
2022/02/02 11:54:15.919 OK
2022/02/02 11:54:15.919 OK
2022/02/02 11:54:15.919 OK
2022/02/02 11:54:15.920 OK
2022/02/02 11:54:15.920 OK
2022/02/02 11:54:15.920 OK
2022/02/02 11:54:15.920 OK
2022/02/02 11:54:15.920 OK
2022/02/02 11:54:15.920 OK
2022/02/02 11:54:15.920 OK
2022/02/02 11:54:15.921 OK
2022/02/02 11:54:15.921 OK
2022/02/02 11:54:15.921 OK
2022/02/02 11:54:15.921 OK
2022/02/02 11:54:15.921 OK
2022/02/02 11:54:15.922 OK
2022/02/02 11:54:15.922 OK
2022/02/02 11:54:15.922 OK
2022/02/02 11:54:15.922 OK
2022/02/02 11:54:15.922 OK
2022/02/02 11:54:15.922 OK
2022/02/02 11:54:15.922 OK
2022/02/02 11:54:15.922 OK
2022/02/02 11:54:15.923 OK
2022/02/02 11:54:15.923 OK
2022/02/02 11:54:15.923 OK
2022/02/02 11:54:15.923 OK
2022/02/02 11:54:15.923 OK
2022/02/02 11:54:15.923 OK
2022/02/02 11:54:15.923 OK
2022/02/02 11:54:15.924 OK
2022/02/02 11:54:15.924 OK
RV_SCALE_NUM value OK == 600.0...
epicsEnvUnset(ECMC_EXE_CMD)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(32768.0)<>0',SUCCESS_STR='ECMC_DRV_SCALE_DENOM value OK == 32768.0...',ERROR_STR='ECMC_DRV_SCALE_DENOM == 0...'"
#==============================================================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(32768.0)<>0","# ECMC_DRV_SCALE_DENOM value OK == 32768.0...", "ecmcExit Error: ECMC_DRV_SCALE_DENOM == 0...")
# ECMC_DRV_SCALE_DENOM value OK == 32768.0...
epicsEnvUnset(ECMC_EXE_CMD)
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_MRES setting is deprecated and will not be used. (MRES will be calulated instead: ECMC_ENC_SCALE_NUM/ECMC_ENC_SCALE_DENOM).. '"
#==============================================================================
# issueWarning.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-")
epicsEnvUnset(ECMC_EXE_CMD)
ecmcConfigOrDie "Cfg.CreateAxis(1,1,0,1)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.health")"
ecmcConfigOrDie "Cfg.SetAxisModRange(1, 0)"
ecmcConfigOrDie "Cfg.SetAxisModType(1, 0)"
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_ACCL setting is deprecated. Please use ECMC_ACCS_EGU_PER_S2 instead..'"
#==============================================================================
# issueWarning.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-")
epicsEnvUnset(ECMC_EXE_CMD)
ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCL,"'EMPTY'!='EMPTY'","", "#-")
ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCS,"'EMPTY'=='EMPTY'","", "#-")
ecmcConfigOrDie "Cfg.SetAxisAcc(1,10)"
ecmcConfigOrDie "Cfg.SetAxisDec(1,10)"
ecmcConfigOrDie "Cfg.SetAxisJerk(1,10.0)"
ecmcConfigOrDie "Cfg.SetAxisVel(1,10.0)"
ecmcConfigOrDie "Cfg.SetAxisEmergDeceleration(1,100)"
ecmcConfigOrDie "Cfg.SetAxisHomeVelTwordsCam(1,5)"
ecmcConfigOrDie "Cfg.SetAxisHomeVelOffCam(1,4)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKp(1,15.0)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKi(1,0.02)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKd(1,0.0)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKff(1,1.0)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s3.positionActual01,"ax1.enc.actpos")"
ecmcConfigOrDie "Cfg.SetAxisEncScaleDenom(1,2000)"
ecmcConfigOrDie "Cfg.SetAxisEncScaleNum(1,-60)"
ecmcConfigOrDie "Cfg.SetAxisEncType(1,1)"
ecmcConfigOrDie "Cfg.SetAxisEncBits(1,16)"
ecmcConfigOrDie "Cfg.SetAxisEncAbsBits(1,0)"
ecmcConfigOrDie "Cfg.SetAxisEncOffset(1,0)"
ecmcConfigOrDie "Cfg.SetAxisEncVelFilterSize(1,100)"
ecmcConfigOrDie "Cfg.SetAxisEncPosFilterSize(1,1)"
ecmcConfigOrDie "Cfg.SetAxisEncPosFilterEnable(1,0)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.reset")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.alarm0")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.alarm1")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.alarm2")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.warning")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.latchpos")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.latchcontrol")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.enc.latchstatus")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveControl01.0,"ax1.drv.control")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.1,"ax1.drv.status")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.velocitySetpoint01,"ax1.drv.velocity")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.drv.position")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax1.drv.brake")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveControl01.2,"ax1.drv.reducetorque")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveControl01.1,"ax1.drv.reset")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus2022/02/02 11:54:15.924 OK
2022/02/02 11:54:15.924 OK
2022/02/02 11:54:15.924 OK
2022/02/02 11:54:15.924 OK
2022/02/02 11:54:15.924 OK
2022/02/02 11:54:15.925 OK
2022/02/02 11:54:15.925 OK
2022/02/02 11:54:15.925 OK
2022/02/02 11:54:15.925 OK
2022/02/02 11:54:15.925 OK
2022/02/02 11:54:15.926 OK
2022/02/02 11:54:15.926 OK
2022/02/02 11:54:15.926 OK
2022/02/02 11:54:15.926 OK
2022/02/02 11:54:15.926 OK
2022/02/02 11:54:15.926 OK
2022/02/02 11:54:15.927 OK
2022/02/02 11:54:15.927 OK
2022/02/02 11:54:15.927 OK
2022/02/02 11:54:15.927 OK
2022/02/02 11:54:15.927 OK
2022/02/02 11:54:15.927 OK
2022/02/02 11:54:15.928 OK
2022/02/02 11:54:15.928 OK
2022/02/02 11:54:15.928 OK
2022/02/02 11:54:15.928 OK
2022/02/02 11:54:15.928 OK
2022/02/02 11:54:15.928 OK
2022/02/02 11:54:15.929 OK
2022/02/02 11:54:15.929 OK
2022/02/02 11:54:15.929 OK
2022/02/02 11:54:15.930 ecmcMotorRecord:: setIntegerParam(1 motorPowerAutoOnOff_)=2
2022/02/02 11:54:15.930 ecmcMotorRecord:: setDoubleParam(1 motorPowerOnDelay_)=6
2022/02/02 11:54:15.930 ecmcMotorRecord:: setDoubleParam(1 motorPowerOffDelay_=-1
2022/02/02 11:54:15.930 ecmcMotorRecord:: udateMotorLimitsRO(1) enabledHighAndLow=1 valid=1 fValueHigh=130 fValueLow=-20
2022/02/02 11:54:15.931 ecmcMotorRecord:: connected(1)
2022/02/02 11:54:15.931 ecmcMotorRecord:: initialPoll(1) status=0
01.3,"ax1.drv.alarm0")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.7,"ax1.drv.alarm1")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.14,"ax1.drv.alarm2")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.driveStatus01.2,"ax1.drv.warning")"
ecmcConfigOrDie "Cfg.SetAxisDrvScaleDenom(1,32768.0)"
ecmcConfigOrDie "Cfg.SetAxisDrvScaleNum(1,600.0)"
ecmcConfigOrDie "Cfg.SetAxisDrvBrakeOpenDelayTime(1,0)"
ecmcConfigOrDie "Cfg.SetAxisDrvBrakeCloseAheadTime(1,0)"
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosBwd(1,-20)"
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitBwd(1,1)"
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosFwd(1,130)"
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitFwd(1,1)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput02.0,"ax1.mon.lowlim")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput01.0,"ax1.mon.highlim")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput03.0,"ax1.mon.homesensor")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.ONE.0,"ax1.mon.extinterlock")"
ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTol(1,0.1)"
ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTime(1,100)"
ecmcConfigOrDie "Cfg.SetAxisMonEnableAtTargetMon(1,1)"
ecmcConfigOrDie "Cfg.SetAxisMonPosLagTol(1,1.0)"
ecmcConfigOrDie "Cfg.SetAxisMonPosLagTime(1,10)"
ecmcConfigOrDie "Cfg.SetAxisMonEnableLagMon(1,1)"
ecmcConfigOrDie "Cfg.SetAxisMonMaxVel(1,100.0)"
ecmcConfigOrDie "Cfg.SetAxisMonEnableMaxVel(1,1)"
ecmcConfigOrDie "Cfg.SetAxisMonMaxVelDriveILDelay(1,200)"
ecmcConfigOrDie "Cfg.SetAxisMonMaxVelTrajILDelay(1,100)"
ecmcConfigOrDie "Cfg.SetAxisMonHomeSwitchPolarity(1,0)"
ecmcConfigOrDie "Cfg.SetAxisHomeLatchCountOffset(1,0.0)"
ecmcConfigOrDie "Cfg.SetAxisHomePosition(1,0.0)"
ecmcConfigOrDie "Cfg.SetAxisHomePostMoveEnable(1, 0)"
ecmcConfigOrDie "Cfg.SetAxisHomePostMoveTargetPosition(1, 0)"
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd
#==============================================================================
# ecmc_axis_mr.cmd
ecmcMotorRecordCreateAxis(MCU1, "1", "6", )
ecmcEpicsEnvSetCalc("ECMC_TEMP_SREV","if(abs(2000)>0){RESULT:=abs(2000);} else {RESULT:=1.0};","%d")
ecmcEpicsEnvSetCalc("ECMC_TEMP_UREV","if(abs(-60)>0){RESULT:=abs(-60);} else {RESULT:=1.0};","%lf")
ecmcFileExist(ecmcMotorRecord.template,1,1)
dbLoadRecords(ecmcMotorRecord.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis1, MOTOR_PORT=MCU1, AXIS_NO=1, DESC=MCU1021 Lower Axis (1), EGU=mm, PREC=3, VELO=10.0, JVEL=5, JAR=0.0, ACCS=10, RDBD=0.1, DLLM=-20, DHLM=130, HOMEPROC=3,SREV=2000,UREV=60.000000, ")
epicsEnvSet("ECMC_AXISFIELDINIT", "")
ecmcFileExist(ecmcMotorRecordhome.template,1,1)
dbLoadRecords(ecmcMotorRecordhome.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis1, MOTOR_PORT=MCU1, AXIS_NO=1,HOMEPROC=3, HOMEPOS=0.0, HVELTO=5, HVELFRM=4, HOMEACC=21, HOMEDEC=100")
epicsEnvUnset(ECMC_TEMP_SREV)
epicsEnvUnset(ECMC_TEMP_UREV)
epicsEnvUnset(ECMC_BLOCK_ACCL)
epicsEnvUnset(ECMC_BLOCK_ACCS)
ecmcFileExist("ecmcAxis.db",1,1)
dbLoadRecords("ecmcAxis.db","P=IOC_TEST:,AXIS_NAME=Axis1,AXIS_NO=1,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,T_SMP_MS=10,TSE=-2")
ecmcFileExist("ecmcAxisType.db",1,1)
dbLoadRecords("ecmcAxisType.db","P=IOC_TEST:,AXIS_NAME=Axis1,AXIS_TYPE=1")
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd,1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd
#==============================================================================
# ecmc_axis_unset.cmd
epicsEnvUnset(ECMC_AXISCONFIG)
epicsEnvUnset(ECMC_AXISFIELDINIT)
epicsEnvUnset(ECMC_PREC)
epicsEnvUnset(ECMC_EGU)
epicsEnvUnset(ECMC_DESC)
epicsEnvUnset(ECMC_R)
epicsEnvUnset(ECMC_MOTOR_NAME)
epicsEnvUnset(ECMC_EC_AXIS_HEALTH)
epicsEnvUnset(ECMC_MOD_RANGE)
epicsEnvUnset(ECMC_MOD_TYPE)
epicsEnvUnset(ECMC_EMERG_DECEL)
epicsEnvUnset(ECMC_VELO)
epicsEnvUnset(ECMC_ACCL)
epicsEnvUnset(ECMC_ACCS_EGU_PER_S2)
epicsEnvUnset(ECMC_HOME_VEL_TO)
epicsEnvUnset(ECMC_HOME_VEL_FRM)
epicsEnmacLib: macro ECMC_EXE_CMD is undefined (expanding string ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'${ECMC_MODE=FULL}'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")${ECMC_EXE_CMD})
macLib: macro ECMC_EXE_CMD is undefined (expanding string ${ECMC_EXE_CMD})
vUnset(ECMC_CNTRL_KP)
epicsEnvUnset(ECMC_CNTRL_KI)
epicsEnvUnset(ECMC_CNTRL_KD)
epicsEnvUnset(ECMC_CNTRL_KFF)
epicsEnvUnset(ECMC_EC_ENC_ACTPOS)
epicsEnvUnset(ECMC_EC_ENC_LATCHPOS)
epicsEnvUnset(ECMC_EC_ENC_LATCH_CONTROL)
epicsEnvUnset(ECMC_EC_ENC_LATCH_STATUS)
epicsEnvUnset(ECMC_HOME_LATCH_COUNT_OFFSET)
epicsEnvUnset(ECMC_ENC_SCALE_DENOM)
epicsEnvUnset(ECMC_ENC_SCALE_NUM)
epicsEnvUnset(ECMC_ENC_TYPE)
epicsEnvUnset(ECMC_ENC_BITS)
epicsEnvUnset(ECMC_ENC_ABS_BITS)
epicsEnvUnset(ECMC_ENC_ABS_OFFSET)
epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE)
epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE)
epicsEnvUnset(ECMC_ENC_POS_FILTER_ENABLE)
epicsEnvUnset(ECMC_EC_ENC_RESET)
epicsEnvUnset(ECMC_EC_ENC_ALARM_0)
epicsEnvUnset(ECMC_EC_ENC_ALARM_1)
epicsEnvUnset(ECMC_EC_ENC_ALARM_2)
epicsEnvUnset(ECMC_EC_ENC_WARNING)
epicsEnvUnset(ECMC_EC_DRV_CONTROL)
epicsEnvUnset(ECMC_EC_DRV_STATUS)
epicsEnvUnset(ECMC_EC_DRV_VELOCITY)
epicsEnvUnset(ECMC_EC_DRV_BRAKE)
epicsEnvUnset(ECMC_EC_DRV_REDUCE_TORQUE)
epicsEnvUnset(ECMC_EC_DRV_RESET)
epicsEnvUnset(ECMC_EC_DRV_ALARM_0)
epicsEnvUnset(ECMC_EC_DRV_ALARM_1)
epicsEnvUnset(ECMC_EC_DRV_ALARM_2)
epicsEnvUnset(ECMC_EC_DRV_WARNING)
epicsEnvUnset(ECMC_DRV_SCALE_DENOM)
epicsEnvUnset(ECMC_DRV_SCALE_NUM)
epicsEnvUnset(ECMC_DRV_BRAKE_OPEN_DLY_TIME)
epicsEnvUnset(ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME)
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
epicsEnvUnset(ECMC_DXLM_ENABLE)
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
epicsEnvUnset(ECMC_DXLM_ENABLE)
epicsEnvUnset(ECMC_EC_MON_LOWLIM)
epicsEnvUnset(ECMC_EC_MON_HIGHLIM)
epicsEnvUnset(ECMC_EC_MON_HOME_SWITCH)
epicsEnvUnset(ECMC_EC_MON_EXT_INTERLOCK)
epicsEnvUnset(ECMC_MON_AT_TARGET_TOL)
epicsEnvUnset(ECMC_MON_AT_TARGET_TIME)
epicsEnvUnset(ECMC_MON_AT_TARGET_ENA)
epicsEnvUnset(ECMC_MON_LAG_MON_TOL)
epicsEnvUnset(ECMC_MON_LAG_MON_TIME)
epicsEnvUnset(ECMC_MON_LAG_MON_ENA)
epicsEnvUnset(ECMC_MON_VELO_MAX)
epicsEnvUnset(ECMC_MON_VELO_MAX_ENA)
epicsEnvUnset(ECMC_MON_VELO_MAX_DRV_TIME)
epicsEnvUnset(ECMC_MON_VELO_MAX_TRAJ_TIME)
epicsEnvUnset(ECMC_JOG_VEL)
epicsEnvUnset(ECMC_JAR)
epicsEnvUnset(ECMC_HOME_PROC)
epicsEnvUnset(ECMC_HOME_POS)
epicsEnvUnset(ECMC_HOME_ACC)
epicsEnvUnset(ECMC_HOME_DEC)
epicsEnvUnset(ECMC_DRV_TYPE)
epicsEnvUnset(ECMC_VELO)
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
epicsEnvUnset(ECMC_HOME_POS_MOVE_ENA)
epicsEnvUnset(ECMC_HOME_POS_MOVE_TARG_POS)
epicsEnvUnset(ECMC_TRAJ_TYPE)
epicsEnvUnset(ECMC_JERK)
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
# Set external setpoints
iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyAxisSynchronization.cmd, CONFIG=./cfg/linear_1.sax)
#==============================================================================
# applyAxisSynchronization.cmd
epicsEnvUnset(ECMC_EXE_CMD)
iocshLoad ./cfg/linear_1.sax
############# Encoder
epicsEnvSet("ECMC_ENC_SOURCE", "0") # 0 Internal (from hardware), 1 from PLC
epicsEnvSet("ECMC_ENC_VELO_FILT_ENABLE", "1") # Enable velocity filter
epicsEnvSet("ECMC_ENC_VELO_FILT_SIZE", "20") # Encoder velocity Low pass filter size
############# Trajectory
epicsEnvSet("ECMC_TRAJ_SOURCE", "1") # 0 Internal (from hardware), 1 from PLC
epicsEnvSet("ECMC_TRAJ_VELO_FILT_ENABLE", "1") # Enable velocity filter
epicsEnvSet("ECMC_TRAJ_VELO_FILT_SIZE", "20") # Trajectory velocity Low pass filter size
############# Commands
epicsEnvSet("ECMC_CMD_FRM_OTHER_PLC_ENABLE", "1") # Allow commands from PLC
epicsEnvSet("ECMC_CMD_AXIS_PLC_ENABLE", "0") # Enable Axis PLC
# Each line below is appended to one single expression/source.
# Executed in sync with axis (before)
epicsEnvSet("ECMC_AXIS_EXPR_LINE_1", "var a:=1|")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_2", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_3", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_4", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_5", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_6", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_7", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_8", "")
epicsEnvSet("ECMC_AXIS_EXPR_2022/02/02 11:54:15.942 OK
2022/02/02 11:54:15.942 OK
2022/02/02 11:54:15.942 OK
2022/02/02 11:54:15.942 OK
2022/02/02 11:54:15.942 OK
2022/02/02 11:54:15.942 OK
2022/02/02 11:54:15.942 OK
2022/02/02 11:54:15.942 OK
2022/02/02 11:54:15.942 OK
2022/02/02 11:54:15.943 OK
2022/02/02 11:54:15.943 OK
2022/02/02 11:54:15.943 OK
2022/02/02 11:54:15.943 OK
2022/02/02 11:54:15.943 OK
2022/02/02 11:54:15.943 OK
2022/02/02 11:54:15.943 OK
2022/02/02 11:54:15.943 OK
2022/02/02 11:54:15.943 OK
LINE_9", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_10", "")
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync.cmd
#==============================================================================
# ecmc_axis_sync.cmd
ecmcConfigOrDie "Cfg.SetAxisAllowCommandsFromPLC(1,1)"
ecmcConfigOrDie "Cfg.SetAxisPLCEnable(1,0)"
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)=var a:=1|"
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(1)="
ecmcConfigOrDie "Cfg.SetAxisPLCEncVelFilterSize(1,20)"
ecmcConfigOrDie "Cfg.SetAxisPLCEncVelFilterEnable(1,1)"
ecmcConfigOrDie "Cfg.SetAxisEncSourceType(1,0)"
ecmcConfigOrDie "Cfg.SetAxisPLCTrajVelFilterSize(1,20)"
ecmcConfigOrDie "Cfg.SetAxisPLCTrajVelFilterEnable(1,1)"
ecmcConfigOrDie "Cfg.SetAxisTrajSourceType(1,1)"
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd,1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd
#==============================================================================
# ecmc_axis_sync_unset.cmd
epicsEnvUnset(ECMC_CMD_FRM_OTHER_PLC_ENABLE)
epicsEnvUnset(ECMC_CMD_AXIS_PLC_ENABLE)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_1)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_2)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_3)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_4)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_5)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_6)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_7)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_8)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_9)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_10)
epicsEnvUnset(ECMC_ENC_VELO_FILT_SIZE)
epicsEnvUnset(ECMC_ENC_VELO_FILT_ENABLE)
epicsEnvUnset(ECMC_ENC_SOURCE)
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_SIZE)
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE)
epicsEnvUnset(ECMC_TRAJ_SOURCE)
##############################################################################
## AXIS 2: Y-axis
#
#epicsEnvSet("DEV", "$(IOC)")
iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureAxis.cmd, CONFIG=./cfg/linear_2.ax)
#==============================================================================
# configureAxis.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")
epicsEnvUnset(ECMC_EXE_CMD)
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
ecmcFileExist("./cfg/linear_2.ax",1)
iocshLoad ./cfg/linear_2.ax ""
#General
epicsEnvSet("ECMC_MOTOR_NAME", "Axis2")
epicsEnvSet("ECMC_R", "Axis2-")
epicsEnvSet("ECMC_AXIS_NO", "2")
epicsEnvSet("ECMC_DESC", "MCU1021 Upper Axis (2)")
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" "60")
epicsEnvSet("ECMC_ENC_SCALE_DENOM" "2000")
epicsEnvSet("ECMC_ENC_TYPE" "0") # Type: 0=Incremental, 1=Absolute
epicsEnvSet("ECMC_ENC_BITS" "16") # Total bit count of encoder raw data
epicsEnvSet("ECMC_ENC_ABS_BITS", "0") # 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.s4.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)
#Drive
epicsEnvSet("ECMC_DRV_TYPE" "0") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
epicsEnvSet("ECMC_DRV_SCALE_NUM" "-600.0") # 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.s9.driveControl01.0") # Ethercat entry for control word or bit output
epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s9.driveStatus01.1") # Ethercat entry for status word or bit input
epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s9.velocitySetpoint01") # Ethercat entry for velocity setpoint output
epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "ec0.s9.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.s9.driveControl01.1") # Reset
epicsEnvSet("ECMC_EC_DRV_ALARM_0", "ec0.s9.driveStatus01.3") # Error
epicsEnvSet("ECMC_EC_DRV_ALARM_1", "ec0.s9.driveStatus01.7") # Stall
epicsEnvSet("ECMC_EC_DRV_ALARM_2", "ec0.s9.driveStatus01.14") # Sync error
epicsEnvSet("ECMC_EC_DRV_WARNING", "ec0.s9.driveStatus01.2") # Warning
#Trajectory
epicsEnvSet("ECMC_VELO", "10.0")
epicsEnvSet("ECMC_JOG_VEL", "5")
epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL
epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "10")
epicsEnvSet("ECMC_EMERG_DECEL", "100") # Emergency deceleration
#Homing
epicsEnvSet("ECMC_HOME_PROC", "3")
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.s1.binaryInput06.0") # Ethercat entry for low limit switch input
epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s1.binaryInput05.0") # Ethercat entry for high limit switch inpuit
epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s1.binaryInput07.0") # Ethercat entry for home switch input
epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s0.ONE.0") # Ethercat entry for external interlock input
# Softlimits (disable with 0,0)
epicsEnvSet("ECMC_SOFT_LOW_LIM", "-130")
epicsEnvSet("ECMC_SOFT_HIGH_LIM", "20")
epicsEnvSet("ECMC_DXLM_ENABLE", "1")
# Position lag
epicsEnvSet("ECMC_MON_LAG_MON_TOL", "1.0")
epicsEnvSet("ECMC_MON_LAG_MON_TIME", "10")
epicsEnvSet("ECMC_MON_LAG_MON_ENA", "1")
# At target
epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "0.1")
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", "1")
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd
#==============================================================================
# addAxis.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")
epicsEnvUnset(ECMC_EXE_CMD)
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd
#==============================================================================
# ecmc_axis-records.cmd
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd
#==============================================================================
# ecmc_axis.cmd
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(60)<>0',SUCCESS_STR='ECMC_ENC_SCALE_NUM value OK == 60...',ERROR_STR='ECMC_ENC_SCALE_NUM == 0...'"
#==============================================================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(60)<>0","# ECMC_ENC_SCALE_NUM value OK == 60...", "ecmcExit Error: ECMC_ENC_SCALE_NUM == 0...")
# ECMC_ENC_SCALE_NUM value OK == 60...
epicsEnvUnset(ECMC_EXE_CMD)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(2000)<>0',SUCCESS_STR='ECMC_ENC_SCALE_DENOM value OK == 2000...',ERROR_STR='ECMC_ENC_SCALE_DENOM == 0...'"
#==============================================================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(2000)<>0","# ECMC_ENC_SCALE_DENOM value OK == 2000...", "ecmcExit Error: ECMC_ENC_SCALE_DENOM == 0...")
# ECMC_ENC_SCALE_DENOM value OK == 2000...
epicsEnvUnset(ECMC_EXE_CMD)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(-600.0)<>0',SUCCESS_STR='ECMC_DRV_SCALE_NUM value OK == -600.0...',ERROR_STR='ECMC_DRV_SCALE_NUM == 0...'"
#==============================================================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(-600.0)<>0","# ECMC_DRV_SCALE_NUM value OK == -600.0...", "ecmcExit Error: ECMC_DRV_SCALE_NUM == 0...")
# ECMC_DRV_SCALE_NUM value OK == -600.0...
epicsEnvUnset(ECMC_EXE_CMD)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(32768.0)<>0',SUCCESS_STR='ECMC_DRV_SCALE_DENOM value OK == 32768.0...',ERROR_STR='ECMC_DRV_SCALE_DENOM == 0...'"
#==============================================================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(32768.0)<>0","# ECMC_DRV_SCALE_DENOM value OK == 32768.0...", "ecmcExit Error: ECMC_DRV_SCALE_DENOM == 0...")
# ECMC_DRV_SCALE_DENOM value OK == 32768.0...
epicsEnvUnse2022/02/02 11:54:15.954 OK
2022/02/02 11:54:15.955 OK
2022/02/02 11:54:15.955 OK
2022/02/02 11:54:15.955 OK
2022/02/02 11:54:15.957 OK
2022/02/02 11:54:15.957 OK
2022/02/02 11:54:15.957 OK
2022/02/02 11:54:15.957 OK
2022/02/02 11:54:15.957 OK
2022/02/02 11:54:15.957 OK
2022/02/02 11:54:15.957 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.958 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.959 OK
2022/02/02 11:54:15.960 OK
2022/02/02 11:54:15.960 OK
2022/02/02 11:54:15.960 OK
2022/02/02 11:54:15.960 OK
2022/02/02 11:54:15.960 OK
2022/02/02 11:54:15.960 OK
2022/02/02 11:54:15.960 OK
2022/02/02 11:54:15.960 OK
2022/02/02 11:54:15.960 OK
t(ECMC_EXE_CMD)
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_MRES setting is deprecated and will not be used. (MRES will be calulated instead: ECMC_ENC_SCALE_NUM/ECMC_ENC_SCALE_DENOM).. '"
#==============================================================================
# issueWarning.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-")
epicsEnvUnset(ECMC_EXE_CMD)
ecmcConfigOrDie "Cfg.CreateAxis(2,1,0,0)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.health")"
ecmcConfigOrDie "Cfg.SetAxisModRange(2, 0)"
ecmcConfigOrDie "Cfg.SetAxisModType(2, 0)"
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_ACCL setting is deprecated. Please use ECMC_ACCS_EGU_PER_S2 instead..'"
#==============================================================================
# issueWarning.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-")
epicsEnvUnset(ECMC_EXE_CMD)
ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCL,"'EMPTY'!='EMPTY'","", "#-")
ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCS,"'EMPTY'=='EMPTY'","", "#-")
ecmcConfigOrDie "Cfg.SetAxisAcc(2,10)"
ecmcConfigOrDie "Cfg.SetAxisDec(2,10)"
ecmcConfigOrDie "Cfg.SetAxisJerk(2,0)"
ecmcConfigOrDie "Cfg.SetAxisVel(2,10.0)"
ecmcConfigOrDie "Cfg.SetAxisEmergDeceleration(2,100)"
ecmcConfigOrDie "Cfg.SetAxisHomeVelTwordsCam(2,5)"
ecmcConfigOrDie "Cfg.SetAxisHomeVelOffCam(2,4)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKp(2,15.0)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKi(2,0.02)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKd(2,0.0)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKff(2,1.0)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s4.positionActual01,"ax2.enc.actpos")"
ecmcConfigOrDie "Cfg.SetAxisEncScaleDenom(2,2000)"
ecmcConfigOrDie "Cfg.SetAxisEncScaleNum(2,60)"
ecmcConfigOrDie "Cfg.SetAxisEncType(2,0)"
ecmcConfigOrDie "Cfg.SetAxisEncBits(2,16)"
ecmcConfigOrDie "Cfg.SetAxisEncAbsBits(2,0)"
ecmcConfigOrDie "Cfg.SetAxisEncOffset(2,0)"
ecmcConfigOrDie "Cfg.SetAxisEncVelFilterSize(2,100)"
ecmcConfigOrDie "Cfg.SetAxisEncPosFilterSize(2,1)"
ecmcConfigOrDie "Cfg.SetAxisEncPosFilterEnable(2,0)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.reset")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.alarm0")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.alarm1")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.alarm2")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.warning")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.latchpos")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.latchcontrol")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.enc.latchstatus")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveControl01.0,"ax2.drv.control")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveStatus01.1,"ax2.drv.status")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.velocitySetpoint01,"ax2.drv.velocity")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.drv.position")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax2.drv.brake")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveControl01.2,"ax2.drv.reducetorque")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveControl01.1,"ax2.drv.reset")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveStatus01.3,"ax2.drv.alarm0")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveStatus01.7,"ax2.drv.alarm1")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveStatus01.14,"ax2.drv.alarm2")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s9.driveStatus01.2,"ax2.drv.warning")"
ecmcConfigOrDie "Cfg.SetAxisDrvScaleDenom(2,32768.0)"
ecmcConfigOrDie "Cfg.SetAxisDrvScaleNum(2,-600.0)"
ecmcConfigOrDie "Cfg.SetAxisDrvBrakeOpenDelayTime(2,0)"
ecmcConfigOrDie "Cfg.SetAxisDrvBrakeCloseAheadTime(2,0)"
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosBwd(2,-130)"
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitBwd(2,2022/02/02 11:54:15.960 OK
2022/02/02 11:54:15.960 OK
2022/02/02 11:54:15.960 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.961 OK
2022/02/02 11:54:15.962 OK
2022/02/02 11:54:15.962 OK
2022/02/02 11:54:15.962 OK
2022/02/02 11:54:15.962 OK
2022/02/02 11:54:15.962 OK
2022/02/02 11:54:15.962 OK
2022/02/02 11:54:15.962 OK
2022/02/02 11:54:15.963 ecmcMotorRecord:: setIntegerParam(2 motorPowerAutoOnOff_)=2
2022/02/02 11:54:15.963 ecmcMotorRecord:: setDoubleParam(2 motorPowerOnDelay_)=6
2022/02/02 11:54:15.963 ecmcMotorRecord:: setDoubleParam(2 motorPowerOffDelay_=-1
2022/02/02 11:54:15.963 ecmcMotorRecord:: udateMotorLimitsRO(2) enabledHighAndLow=1 valid=1 fValueHigh=20 fValueLow=-130
2022/02/02 11:54:15.963 ecmcMotorRecord:: connected(2)
2022/02/02 11:54:15.963 ecmcMotorRecord:: initialPoll(2) status=0
1)"
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosFwd(2,20)"
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitFwd(2,1)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput06.0,"ax2.mon.lowlim")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput05.0,"ax2.mon.highlim")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s1.binaryInput07.0,"ax2.mon.homesensor")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s0.ONE.0,"ax2.mon.extinterlock")"
ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTol(2,0.1)"
ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTime(2,100)"
ecmcConfigOrDie "Cfg.SetAxisMonEnableAtTargetMon(2,1)"
ecmcConfigOrDie "Cfg.SetAxisMonPosLagTol(2,1.0)"
ecmcConfigOrDie "Cfg.SetAxisMonPosLagTime(2,10)"
ecmcConfigOrDie "Cfg.SetAxisMonEnableLagMon(2,1)"
ecmcConfigOrDie "Cfg.SetAxisMonMaxVel(2,100.0)"
ecmcConfigOrDie "Cfg.SetAxisMonEnableMaxVel(2,1)"
ecmcConfigOrDie "Cfg.SetAxisMonMaxVelDriveILDelay(2,200)"
ecmcConfigOrDie "Cfg.SetAxisMonMaxVelTrajILDelay(2,100)"
ecmcConfigOrDie "Cfg.SetAxisMonHomeSwitchPolarity(2,0)"
ecmcConfigOrDie "Cfg.SetAxisHomeLatchCountOffset(2,0.0)"
ecmcConfigOrDie "Cfg.SetAxisHomePosition(2,0.0)"
ecmcConfigOrDie "Cfg.SetAxisHomePostMoveEnable(2, 0)"
ecmcConfigOrDie "Cfg.SetAxisHomePostMoveTargetPosition(2, 0)"
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd
#==============================================================================
# ecmc_axis_mr.cmd
ecmcMotorRecordCreateAxis(MCU1, "2", "6", )
ecmcEpicsEnvSetCalc("ECMC_TEMP_SREV","if(abs(2000)>0){RESULT:=abs(2000);} else {RESULT:=1.0};","%d")
ecmcEpicsEnvSetCalc("ECMC_TEMP_UREV","if(abs(60)>0){RESULT:=abs(60);} else {RESULT:=1.0};","%lf")
ecmcFileExist(ecmcMotorRecord.template,1,1)
dbLoadRecords(ecmcMotorRecord.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis2, MOTOR_PORT=MCU1, AXIS_NO=2, DESC=MCU1021 Upper Axis (2), EGU=mm, PREC=3, VELO=10.0, JVEL=5, JAR=0.0, ACCS=10, RDBD=0.1, DLLM=-130, DHLM=20, HOMEPROC=3,SREV=2000,UREV=60.000000, ")
epicsEnvSet("ECMC_AXISFIELDINIT", "")
ecmcFileExist(ecmcMotorRecordhome.template,1,1)
dbLoadRecords(ecmcMotorRecordhome.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis2, MOTOR_PORT=MCU1, AXIS_NO=2,HOMEPROC=3, HOMEPOS=0.0, HVELTO=5, HVELFRM=4, HOMEACC=21, HOMEDEC=100")
epicsEnvUnset(ECMC_TEMP_SREV)
epicsEnvUnset(ECMC_TEMP_UREV)
epicsEnvUnset(ECMC_BLOCK_ACCL)
epicsEnvUnset(ECMC_BLOCK_ACCS)
ecmcFileExist("ecmcAxis.db",1,1)
dbLoadRecords("ecmcAxis.db","P=IOC_TEST:,AXIS_NAME=Axis2,AXIS_NO=2,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,T_SMP_MS=10,TSE=-2")
ecmcFileExist("ecmcAxisType.db",1,1)
dbLoadRecords("ecmcAxisType.db","P=IOC_TEST:,AXIS_NAME=Axis2,AXIS_TYPE=1")
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd,1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd
#==============================================================================
# ecmc_axis_unset.cmd
epicsEnvUnset(ECMC_AXISCONFIG)
epicsEnvUnset(ECMC_AXISFIELDINIT)
epicsEnvUnset(ECMC_PREC)
epicsEnvUnset(ECMC_EGU)
epicsEnvUnset(ECMC_DESC)
epicsEnvUnset(ECMC_R)
epicsEnvUnset(ECMC_MOTOR_NAME)
epicsEnvUnset(ECMC_EC_AXIS_HEALTH)
epicsEnvUnset(ECMC_MOD_RANGE)
epicsEnvUnset(ECMC_MOD_TYPE)
epicsEnvUnset(ECMC_EMERG_DECEL)
epicsEnvUnset(ECMC_VELO)
epicsEnvUnset(ECMC_ACCL)
epicsEnvUnset(ECMC_ACCS_EGU_PER_S2)
epicsEnvUnset(ECMC_HOME_VEL_TO)
epicsEnvUnset(ECMC_HOME_VEL_FRM)
epicsEnvUnset(ECMC_CNTRL_KP)
epicsEnvUnset(ECMC_CNTRL_KI)
epicsEnvUnset(ECMC_CNTRL_KD)
epicsEnvUnset(ECMC_CNTRL_KFF)
epicsEnvUnset(ECMC_EC_ENC_ACTPOS)
epicsEnvUnset(ECMC_EC_ENC_LATCHPOS)
epicsEnvUnset(ECMC_EC_ENC_LATCH_CONTROL)
epicsEnvUnset(ECMC_EC_ENC_LATCH_STATUS)
epicsEnvUnset(ECMC_HOME_LATCH_COUNT_OFFSET)
epicsEnvUnset(ECMC_ENC_SCALE_DENOM)
epicsEnvUnset(ECMC_ENC_SCALE_NUM)
epicsEnvUnset(ECMC_ENC_TYPE)
epicsEnvUnset(ECMC_ENC_BITS)
epicsEnvUnset(ECMC_ENC_ABS_BITS)
epicsEnvUnset(ECMC_ENC_ABS_OFFSET)
epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE)
epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE)
epicsEnvUnset(EmacLib: macro ECMC_EXE_CMD is undefined (expanding string ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'${ECMC_MODE=FULL}'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")${ECMC_EXE_CMD})
macLib: macro ECMC_EXE_CMD is undefined (expanding string ${ECMC_EXE_CMD})
2022/02/02 11:54:15.973 OK
2022/02/02 11:54:15.973 OK
2022/02/02 11:54:15.973 OK
2022/02/02 11:54:15.973 OK
CMC_ENC_POS_FILTER_ENABLE)
epicsEnvUnset(ECMC_EC_ENC_RESET)
epicsEnvUnset(ECMC_EC_ENC_ALARM_0)
epicsEnvUnset(ECMC_EC_ENC_ALARM_1)
epicsEnvUnset(ECMC_EC_ENC_ALARM_2)
epicsEnvUnset(ECMC_EC_ENC_WARNING)
epicsEnvUnset(ECMC_EC_DRV_CONTROL)
epicsEnvUnset(ECMC_EC_DRV_STATUS)
epicsEnvUnset(ECMC_EC_DRV_VELOCITY)
epicsEnvUnset(ECMC_EC_DRV_BRAKE)
epicsEnvUnset(ECMC_EC_DRV_REDUCE_TORQUE)
epicsEnvUnset(ECMC_EC_DRV_RESET)
epicsEnvUnset(ECMC_EC_DRV_ALARM_0)
epicsEnvUnset(ECMC_EC_DRV_ALARM_1)
epicsEnvUnset(ECMC_EC_DRV_ALARM_2)
epicsEnvUnset(ECMC_EC_DRV_WARNING)
epicsEnvUnset(ECMC_DRV_SCALE_DENOM)
epicsEnvUnset(ECMC_DRV_SCALE_NUM)
epicsEnvUnset(ECMC_DRV_BRAKE_OPEN_DLY_TIME)
epicsEnvUnset(ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME)
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
epicsEnvUnset(ECMC_DXLM_ENABLE)
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
epicsEnvUnset(ECMC_DXLM_ENABLE)
epicsEnvUnset(ECMC_EC_MON_LOWLIM)
epicsEnvUnset(ECMC_EC_MON_HIGHLIM)
epicsEnvUnset(ECMC_EC_MON_HOME_SWITCH)
epicsEnvUnset(ECMC_EC_MON_EXT_INTERLOCK)
epicsEnvUnset(ECMC_MON_AT_TARGET_TOL)
epicsEnvUnset(ECMC_MON_AT_TARGET_TIME)
epicsEnvUnset(ECMC_MON_AT_TARGET_ENA)
epicsEnvUnset(ECMC_MON_LAG_MON_TOL)
epicsEnvUnset(ECMC_MON_LAG_MON_TIME)
epicsEnvUnset(ECMC_MON_LAG_MON_ENA)
epicsEnvUnset(ECMC_MON_VELO_MAX)
epicsEnvUnset(ECMC_MON_VELO_MAX_ENA)
epicsEnvUnset(ECMC_MON_VELO_MAX_DRV_TIME)
epicsEnvUnset(ECMC_MON_VELO_MAX_TRAJ_TIME)
epicsEnvUnset(ECMC_JOG_VEL)
epicsEnvUnset(ECMC_JAR)
epicsEnvUnset(ECMC_HOME_PROC)
epicsEnvUnset(ECMC_HOME_POS)
epicsEnvUnset(ECMC_HOME_ACC)
epicsEnvUnset(ECMC_HOME_DEC)
epicsEnvUnset(ECMC_DRV_TYPE)
epicsEnvUnset(ECMC_VELO)
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
epicsEnvUnset(ECMC_HOME_POS_MOVE_ENA)
epicsEnvUnset(ECMC_HOME_POS_MOVE_TARG_POS)
epicsEnvUnset(ECMC_TRAJ_TYPE)
epicsEnvUnset(ECMC_JERK)
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
# Set external setpoints
iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyAxisSynchronization.cmd, CONFIG=./cfg/linear_2.sax)
#==============================================================================
# applyAxisSynchronization.cmd
epicsEnvUnset(ECMC_EXE_CMD)
iocshLoad ./cfg/linear_2.sax
############# Encoder
epicsEnvSet("ECMC_ENC_SOURCE", "0") # 0 Internal (from hardware), 1 from PLC
epicsEnvSet("ECMC_ENC_VELO_FILT_ENABLE", "1") # Enable velocity filter
epicsEnvSet("ECMC_ENC_VELO_FILT_SIZE", "20") # Encoder velocity Low pass filter size
############# Trajectory
epicsEnvSet("ECMC_TRAJ_SOURCE", "1") # 0 Internal (from hardware), 1 from PLC
epicsEnvSet("ECMC_TRAJ_VELO_FILT_ENABLE", "1") # Enable velocity filter
epicsEnvSet("ECMC_TRAJ_VELO_FILT_SIZE", "20") # Trajectory velocity Low pass filter size
############# Commands
epicsEnvSet("ECMC_CMD_FRM_OTHER_PLC_ENABLE", "1") # Allow commands from PLC
epicsEnvSet("ECMC_CMD_AXIS_PLC_ENABLE", "0") # Enable Axis PLC
# Each line below is appended to one single expression/source.
# Executed in sync with axis (before)
epicsEnvSet("ECMC_AXIS_EXPR_LINE_1", "var a:=1|")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_2", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_3", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_4", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_5", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_6", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_7", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_8", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_9", "")
epicsEnvSet("ECMC_AXIS_EXPR_LINE_10", "")
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync.cmd
#==============================================================================
# ecmc_axis_sync.cmd
ecmcConfigOrDie "Cfg.SetAxisAllowCommandsFromPLC(2,1)"
ecmcConfigOrDie "Cfg.SetAxisPLCEnable(2,0)"
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)=var a:=1|"
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
ecmcConfigOrDie "Cfg.AppendAxi2022/02/02 11:54:15.973 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
2022/02/02 11:54:15.974 OK
sPLCExpr(2)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
ecmcConfigOrDie "Cfg.SetAxisPLCEncVelFilterSize(2,20)"
ecmcConfigOrDie "Cfg.SetAxisPLCEncVelFilterEnable(2,1)"
ecmcConfigOrDie "Cfg.SetAxisEncSourceType(2,0)"
ecmcConfigOrDie "Cfg.SetAxisPLCTrajVelFilterSize(2,20)"
ecmcConfigOrDie "Cfg.SetAxisPLCTrajVelFilterEnable(2,1)"
ecmcConfigOrDie "Cfg.SetAxisTrajSourceType(2,1)"
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd,1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd
#==============================================================================
# ecmc_axis_sync_unset.cmd
epicsEnvUnset(ECMC_CMD_FRM_OTHER_PLC_ENABLE)
epicsEnvUnset(ECMC_CMD_AXIS_PLC_ENABLE)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_1)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_2)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_3)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_4)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_5)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_6)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_7)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_8)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_9)
epicsEnvUnset(ECMC_AXIS_EXPR_LINE_10)
epicsEnvUnset(ECMC_ENC_VELO_FILT_SIZE)
epicsEnvUnset(ECMC_ENC_VELO_FILT_ENABLE)
epicsEnvUnset(ECMC_ENC_SOURCE)
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_SIZE)
epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE)
epicsEnvUnset(ECMC_TRAJ_SOURCE)
##############################################################################
## AXIS 3: Spindle
#
epicsEnvSet("DEV", "IOC_TEST")
iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureAxis.cmd, CONFIG=./cfg/el7201_mod.ax)
#==============================================================================
# configureAxis.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")
epicsEnvUnset(ECMC_EXE_CMD)
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
ecmcFileExist("./cfg/el7201_mod.ax",1)
iocshLoad ./cfg/el7201_mod.ax ""
#General
epicsEnvSet("ECMC_MOTOR_NAME", "Axis1")
epicsEnvSet("ECMC_R", "Axis1-")
epicsEnvSet("ECMC_AXIS_NO", "3")
epicsEnvSet("ECMC_DESC", "EL7201 Test")
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 = 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.s11.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.s11.driveControl01") # Ethercat entry for control word or bit output
epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s11.driveStatus01") # Ethercat entry for status word or bit input
epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s11.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_TRAJ_TYPE", "1") # Trapetz: 0, S-Curve: 1
epicsEnvSet("ECMC_VELO", "1000.0")
epicsEnvSet("ECMC_JOG_VEL", "3600")
epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL
epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "100")
epicsEnvSet("ECMC_EMERG_DECEL", "1000") # Emergency deceleration
epicsEnvSet("ECMC_JERK", "1000") # Only valid for ECMC_TRAJ_TYPE==1
#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", "50")
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.s11.ONE.0") # Ethercat entry for low limit switch input
epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s11.ONE.0") # Ethercat entry for high limit switch inpuit
epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s11.ONE.0") # Ethercat entry for home switch input
epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s11.ONE.0") # Ethercat entry for external interlock input
# Softlimits (disable with 0,0,0)
epicsEnvSet("ECMC_SOFT_LOW_LIM", "0")
epicsEnvSet("ECMC_SOFT_HIGH_LIM", "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", "0.3")
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")
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addAxis.cmd
#==============================================================================
# addAxis.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'FULL'='DAQ'","ecmcExit Error: ECMC started in DAQ mode. Motion not supported..","#-")
epicsEnvUnset(ECMC_EXE_CMD)
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis-records.cmd
#==============================================================================
# ecmc_axis-records.cmd
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis.cmd
#==============================================================================
# ecmc_axis.cmd
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(360)<>0',SUCCESS_STR='ECMC_ENC_SCALE_NUM value OK == 360...',ERROR_STR='ECMC_ENC_SCALE_NUM == 0...'"
#==============================================================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(360)<>0","# ECMC_ENC_SCALE_NUM value OK == 360...", "ecmcExit Error: ECMC_ENC_SCALE_NUM == 0...")
# ECMC_ENC_SCALE_NUM value OK == 360...
epicsEnvUnset(ECMC_EXE_CMD)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(1048576)<>0',SUCCESS_STR='ECMC_ENC_SCALE_DENOM value OK == 1048576...',ERROR_STR='ECMC_ENC_SCALE_DENOM == 0...'"
#==============================================================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(1048576)<>0","# ECMC_ENC_SCALE_DENOM value OK == 1048576...", "ecmcExit Error: ECMC_ENC_SCALE_DENOM == 0...")
# ECMC_ENC_SCALE_DENOM value OK == 1048576...
epicsEnvUnset(ECMC_EXE_CMD)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(2880000)<>0',SUCCESS_STR='ECMC_DRV_SCALE_NUM value OK == 2880000...',ERROR_STR='ECMC_DRV_SCALE_NUM == 0...'"
#==============================================================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(2880000)<>0","# ECMC_DRV_SCALE_NUM value OK == 2880000...", "ecmcExit Error: ECMC_DRV_SCALE_NUM == 0...")
# ECMC_DRV_SCALE_NUM value OK == 2880000...
epicsEnvUnset(ECMC_EXE_CMD)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/verifyOrDie.cmd "EXPR_STR='abs(2147483648)<>0',SUCCESS_STR='ECMC_DRV_SCALE_DENOM value OK == 2147483648...',ERROR_STR='ECMC_DRV_SCALE_DENOM == 0...'"
#=================================2022/02/02 11:54:15.983 OK
2022/02/02 11:54:15.984 OK
2022/02/02 11:54:15.984 OK
2022/02/02 11:54:15.984 OK
2022/02/02 11:54:15.986 OK
2022/02/02 11:54:15.986 OK
2022/02/02 11:54:15.986 OK
2022/02/02 11:54:15.986 OK
2022/02/02 11:54:15.986 OK
2022/02/02 11:54:15.986 OK
2022/02/02 11:54:15.986 OK
2022/02/02 11:54:15.986 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.987 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.988 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
=============================================
# verifyOrDie.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(2147483648)<>0","# ECMC_DRV_SCALE_DENOM value OK == 2147483648...", "ecmcExit Error: ECMC_DRV_SCALE_DENOM == 0...")
# ECMC_DRV_SCALE_DENOM value OK == 2147483648...
epicsEnvUnset(ECMC_EXE_CMD)
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_MRES setting is deprecated and will not be used. (MRES will be calulated instead: ECMC_ENC_SCALE_NUM/ECMC_ENC_SCALE_DENOM).. '"
#==============================================================================
# issueWarning.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-")
epicsEnvUnset(ECMC_EXE_CMD)
ecmcConfigOrDie "Cfg.CreateAxis(3,1,1,1)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.health")"
ecmcConfigOrDie "Cfg.SetAxisModRange(3, 0)"
ecmcConfigOrDie "Cfg.SetAxisModType(3, 0)"
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.cmd "EXPR_STR='-1>0',WARNING_STR='WARNING: ECMC_ACCL setting is deprecated. Please use ECMC_ACCS_EGU_PER_S2 instead..'"
#==============================================================================
# issueWarning.cmd
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"-1>0","", "#-")
epicsEnvUnset(ECMC_EXE_CMD)
ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCL,"'EMPTY'!='EMPTY'","", "#-")
ecmcEpicsEnvSetCalcTernary(ECMC_BLOCK_ACCS,"'EMPTY'=='EMPTY'","", "#-")
ecmcConfigOrDie "Cfg.SetAxisAcc(3,100)"
ecmcConfigOrDie "Cfg.SetAxisDec(3,100)"
ecmcConfigOrDie "Cfg.SetAxisJerk(3,1000)"
ecmcConfigOrDie "Cfg.SetAxisVel(3,1000.0)"
ecmcConfigOrDie "Cfg.SetAxisEmergDeceleration(3,1000)"
ecmcConfigOrDie "Cfg.SetAxisHomeVelTwordsCam(3,5)"
ecmcConfigOrDie "Cfg.SetAxisHomeVelOffCam(3,4)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKp(3,50)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKi(3,0.1)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKd(3,0.0)"
ecmcConfigOrDie "Cfg.SetAxisCntrlKff(3,1.0)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.positionActual01,"ax3.enc.actpos")"
ecmcConfigOrDie "Cfg.SetAxisEncScaleDenom(3,1048576)"
ecmcConfigOrDie "Cfg.SetAxisEncScaleNum(3,360)"
ecmcConfigOrDie "Cfg.SetAxisEncType(3,0)"
ecmcConfigOrDie "Cfg.SetAxisEncBits(3,32)"
ecmcConfigOrDie "Cfg.SetAxisEncAbsBits(3,20)"
ecmcConfigOrDie "Cfg.SetAxisEncOffset(3,0)"
ecmcConfigOrDie "Cfg.SetAxisEncVelFilterSize(3,100)"
ecmcConfigOrDie "Cfg.SetAxisEncPosFilterSize(3,1)"
ecmcConfigOrDie "Cfg.SetAxisEncPosFilterEnable(3,0)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.reset")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.alarm0")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.alarm1")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.alarm2")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.warning")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.latchpos")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.latchcontrol")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.enc.latchstatus")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.driveControl01,"ax3.drv.control")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.driveStatus01,"ax3.drv.status")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.velocitySetpoint01,"ax3.drv.velocity")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.position")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.brake")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.reducetorque")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.reset")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.alarm0")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.alarm1")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.alarm2")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.drv.warning")"
ecmcConfigOrDie "Cfg.SetAxisDrvScaleDenom(3,2147483648)"
ecmcConfigOrDie "Cfg.SetAxisDrvScaleNum(3,2880000)"
ecmcConfigOrDie "Cfg.SetAxisDrvBrakeOpenDelayTime(2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.989 OK
2022/02/02 11:54:15.990 OK
2022/02/02 11:54:15.990 OK
2022/02/02 11:54:15.990 OK
2022/02/02 11:54:15.990 OK
2022/02/02 11:54:15.990 OK
2022/02/02 11:54:15.990 OK
2022/02/02 11:54:15.990 OK
2022/02/02 11:54:15.990 OK
2022/02/02 11:54:15.990 OK
2022/02/02 11:54:15.990 OK
2022/02/02 11:54:15.990 OK
2022/02/02 11:54:15.991 OK
2022/02/02 11:54:15.991 OK
2022/02/02 11:54:15.991 OK
2022/02/02 11:54:15.991 OK
2022/02/02 11:54:15.991 OK
2022/02/02 11:54:15.991 OK
2022/02/02 11:54:15.991 OK
2022/02/02 11:54:15.991 OK
2022/02/02 11:54:15.992 ecmcMotorRecord:: setIntegerParam(3 motorPowerAutoOnOff_)=2
2022/02/02 11:54:15.992 ecmcMotorRecord:: setDoubleParam(3 motorPowerOnDelay_)=6
2022/02/02 11:54:15.992 ecmcMotorRecord:: setDoubleParam(3 motorPowerOffDelay_=-1
2022/02/02 11:54:15.992 ecmcMotorRecord:: connected(3)
2022/02/02 11:54:15.992 ecmcMotorRecord:: initialPoll(3) status=0
3,0)"
ecmcConfigOrDie "Cfg.SetAxisDrvBrakeCloseAheadTime(3,0)"
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosBwd(3,0)"
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitBwd(3,0)"
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosFwd(3,0)"
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitFwd(3,0)"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.ONE.0,"ax3.mon.lowlim")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.ONE.0,"ax3.mon.highlim")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.ONE.0,"ax3.mon.homesensor")"
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s11.ONE.0,"ax3.mon.extinterlock")"
ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTol(3,0.3)"
ecmcConfigOrDie "Cfg.SetAxisMonAtTargetTime(3,100)"
ecmcConfigOrDie "Cfg.SetAxisMonEnableAtTargetMon(3,1)"
ecmcConfigOrDie "Cfg.SetAxisMonPosLagTol(3,5)"
ecmcConfigOrDie "Cfg.SetAxisMonPosLagTime(3,100)"
ecmcConfigOrDie "Cfg.SetAxisMonEnableLagMon(3,0)"
ecmcConfigOrDie "Cfg.SetAxisMonMaxVel(3,100.0)"
ecmcConfigOrDie "Cfg.SetAxisMonEnableMaxVel(3,0)"
ecmcConfigOrDie "Cfg.SetAxisMonMaxVelDriveILDelay(3,200)"
ecmcConfigOrDie "Cfg.SetAxisMonMaxVelTrajILDelay(3,100)"
ecmcConfigOrDie "Cfg.SetAxisMonHomeSwitchPolarity(3,0)"
ecmcConfigOrDie "Cfg.SetAxisHomeLatchCountOffset(3,0.0)"
ecmcConfigOrDie "Cfg.SetAxisHomePosition(3,0.0)"
ecmcConfigOrDie "Cfg.SetAxisHomePostMoveEnable(3, 0)"
ecmcConfigOrDie "Cfg.SetAxisHomePostMoveTargetPosition(3, 0)"
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_mr.cmd
#==============================================================================
# ecmc_axis_mr.cmd
ecmcMotorRecordCreateAxis(MCU1, "3", "6", )
ecmcEpicsEnvSetCalc("ECMC_TEMP_SREV","if(abs(1048576)>0){RESULT:=abs(1048576);} else {RESULT:=1.0};","%d")
ecmcEpicsEnvSetCalc("ECMC_TEMP_UREV","if(abs(360)>0){RESULT:=abs(360);} else {RESULT:=1.0};","%lf")
ecmcFileExist(ecmcMotorRecord.template,1,1)
dbLoadRecords(ecmcMotorRecord.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis1, MOTOR_PORT=MCU1, AXIS_NO=3, DESC=EL7201 Test, EGU=mm, PREC=3, VELO=1000.0, JVEL=3600, JAR=0.0, ACCS=100, RDBD=0.3, DLLM=0, DHLM=0, HOMEPROC=1,SREV=1048576,UREV=360.000000, ")
epicsEnvSet("ECMC_AXISFIELDINIT", "")
ecmcFileExist(ecmcMotorRecordhome.template,1,1)
dbLoadRecords(ecmcMotorRecordhome.template, "PREFIX=IOC_TEST:, MOTOR_NAME=Axis1, MOTOR_PORT=MCU1, AXIS_NO=3,HOMEPROC=1, HOMEPOS=0.0, HVELTO=5, HVELFRM=4, HOMEACC=21, HOMEDEC=100")
epicsEnvUnset(ECMC_TEMP_SREV)
epicsEnvUnset(ECMC_TEMP_UREV)
epicsEnvUnset(ECMC_BLOCK_ACCL)
epicsEnvUnset(ECMC_BLOCK_ACCS)
ecmcFileExist("ecmcAxis.db",1,1)
dbLoadRecords("ecmcAxis.db","P=IOC_TEST:,AXIS_NAME=Axis1,AXIS_NO=3,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,T_SMP_MS=10,TSE=-2")
ecmcFileExist("ecmcAxisType.db",1,1)
dbLoadRecords("ecmcAxisType.db","P=IOC_TEST:,AXIS_NAME=Axis1,AXIS_TYPE=1")
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd,1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd
#==============================================================================
# ecmc_axis_unset.cmd
epicsEnvUnset(ECMC_AXISCONFIG)
epicsEnvUnset(ECMC_AXISFIELDINIT)
epicsEnvUnset(ECMC_PREC)
epicsEnvUnset(ECMC_EGU)
epicsEnvUnset(ECMC_DESC)
epicsEnvUnset(ECMC_R)
epicsEnvUnset(ECMC_MOTOR_NAME)
epicsEnvUnset(ECMC_EC_AXIS_HEALTH)
epicsEnvUnset(ECMC_MOD_RANGE)
epicsEnvUnset(ECMC_MOD_TYPE)
epicsEnvUnset(ECMC_EMERG_DECEL)
epicsEnvUnset(ECMC_VELO)
epicsEnvUnset(ECMC_ACCL)
epicsEnvUnset(ECMC_ACCS_EGU_PER_S2)
epicsEnvUnset(ECMC_HOME_VEL_TO)
epicsEnvUnset(ECMC_HOME_VEL_FRM)
epicsEnvUnset(ECMC_CNTRL_KP)
epicsEnvUnset(ECMC_CNTRL_KI)
epicsEnvUnset(ECMC_CNTRL_KD)
epicsEnvUnset(ECMC_CNTRL_KFF)
epicsEnvUnset(ECMC_EC_ENC_ACTPOS)
epicsEnvUnset(ECMC_EC_ENC_LATCHPOS)
epicsEnvUnset(ECMC_EC_ENC_LATCH_CONTROL)
epicsEnvUnset(ECMC_EC_ENC_LATCH_STATUS)
epicsEnvUnset(ECMC_HOME_LATCH_COUNT_OFFSET)
epicsEnvUnset(ECMC_ENC_SCALE_DENOM)
epicsEnvUnset(ECMC_ENC_SCALE_NUM)
epicsEnvUnset(ECMC_ENC_TYPE)
epicsEnvUnset(ECMC_ENC_BITS)
epicsEnvUnset(ECMC_ENC_ABSepicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted
epicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted
_BITS)
epicsEnvUnset(ECMC_ENC_ABS_OFFSET)
epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE)
epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE)
epicsEnvUnset(ECMC_ENC_POS_FILTER_ENABLE)
epicsEnvUnset(ECMC_EC_ENC_RESET)
epicsEnvUnset(ECMC_EC_ENC_ALARM_0)
epicsEnvUnset(ECMC_EC_ENC_ALARM_1)
epicsEnvUnset(ECMC_EC_ENC_ALARM_2)
epicsEnvUnset(ECMC_EC_ENC_WARNING)
epicsEnvUnset(ECMC_EC_DRV_CONTROL)
epicsEnvUnset(ECMC_EC_DRV_STATUS)
epicsEnvUnset(ECMC_EC_DRV_VELOCITY)
epicsEnvUnset(ECMC_EC_DRV_BRAKE)
epicsEnvUnset(ECMC_EC_DRV_REDUCE_TORQUE)
epicsEnvUnset(ECMC_EC_DRV_RESET)
epicsEnvUnset(ECMC_EC_DRV_ALARM_0)
epicsEnvUnset(ECMC_EC_DRV_ALARM_1)
epicsEnvUnset(ECMC_EC_DRV_ALARM_2)
epicsEnvUnset(ECMC_EC_DRV_WARNING)
epicsEnvUnset(ECMC_DRV_SCALE_DENOM)
epicsEnvUnset(ECMC_DRV_SCALE_NUM)
epicsEnvUnset(ECMC_DRV_BRAKE_OPEN_DLY_TIME)
epicsEnvUnset(ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME)
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
epicsEnvUnset(ECMC_DXLM_ENABLE)
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
epicsEnvUnset(ECMC_DXLM_ENABLE)
epicsEnvUnset(ECMC_EC_MON_LOWLIM)
epicsEnvUnset(ECMC_EC_MON_HIGHLIM)
epicsEnvUnset(ECMC_EC_MON_HOME_SWITCH)
epicsEnvUnset(ECMC_EC_MON_EXT_INTERLOCK)
epicsEnvUnset(ECMC_MON_AT_TARGET_TOL)
epicsEnvUnset(ECMC_MON_AT_TARGET_TIME)
epicsEnvUnset(ECMC_MON_AT_TARGET_ENA)
epicsEnvUnset(ECMC_MON_LAG_MON_TOL)
epicsEnvUnset(ECMC_MON_LAG_MON_TIME)
epicsEnvUnset(ECMC_MON_LAG_MON_ENA)
epicsEnvUnset(ECMC_MON_VELO_MAX)
epicsEnvUnset(ECMC_MON_VELO_MAX_ENA)
epicsEnvUnset(ECMC_MON_VELO_MAX_DRV_TIME)
epicsEnvUnset(ECMC_MON_VELO_MAX_TRAJ_TIME)
epicsEnvUnset(ECMC_JOG_VEL)
epicsEnvUnset(ECMC_JAR)
epicsEnvUnset(ECMC_HOME_PROC)
epicsEnvUnset(ECMC_HOME_POS)
epicsEnvUnset(ECMC_HOME_ACC)
epicsEnvUnset(ECMC_HOME_DEC)
epicsEnvUnset(ECMC_DRV_TYPE)
epicsEnvUnset(ECMC_VELO)
epicsEnvUnset(ECMC_SOFT_LOW_LIM)
epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
epicsEnvUnset(ECMC_HOME_POS_MOVE_ENA)
epicsEnvUnset(ECMC_HOME_POS_MOVE_TARG_POS)
epicsEnvUnset(ECMC_TRAJ_TYPE)
epicsEnvUnset(ECMC_JERK)
epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
##############################################################################
## Load plugin:
epicsEnvSet("PLUGIN_VER" ,"develop")
require ecmc_plugin_grbl develop
Module ecmc_plugin_grbl version develop found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/
Module ecmc_plugin_grbl depends on asyn 4.41.0
Module asyn version 4.41.0 already loaded
Module ecmc_plugin_grbl depends on ecmc ruckig
Module ecmc version ruckig already loaded
Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so
Loaded ecmc_plugin_grbl version develop
Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/dbd/ecmc_plugin_grbl.dbd
Calling function ecmc_plugin_grbl_registerRecordDeviceDriver
Loading module info records for ecmc_plugin_grbl
epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so")
epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=0;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=0;") # Only one option implemented in this plugin
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/loadPlugin.cmd, "PLUGIN_ID=0,FILE=/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so,CONFIG='DBG_PRINT=0;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=0;', REPORT=1"
#==============================================================================
# loadPlugin.cmd
ecmcConfigOrDie "Cfg.LoadPlugin(0,/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so,DBG_PRINT=0;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=0;)"
../grbl/grbl_serial.c:serial_init:108:
../grbl/grbl_eeprom.c:ecmc_init_file:53
../grbl/grbl_settings.c:settings_restore:132 settings_restore complete!!!..
../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_checksum:215 EEPROM simulated by file..
../grbl/grbl_system.c:system_init:26:
../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_check2022/02/02 11:54:16.206 OK
2022/02/02 11:54:16.207 OK
sum:215 EEPROM simulated by file..
../grbl/grbl_spindle_control.c:spindle_init:31 Not supported yet..
../grbl/grbl_spindle_control.c:spindle_stop:110 Not supported yet..
../grbl/grbl_coolant_control.c:coolant_init:25 Not supported yet..
../grbl/grbl_limits.c:limits_init:44 Not supported yet..
../grbl/grbl_probe.c:probe_init:31 Not supported yet..
../grbl/grbl_system.c:system_check_safety_door_ajar:93:
../grbl/grbl_system.c:system_execute_startup:107:
../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_checksum:215 EEPROM simulated by file..
../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_checksum:215 EEPROM simulated by file..
ecmcEpicsEnvSetCalcTernary("ECMC_PLUGIN_REPORT", "1>0","","#")
ecmcConfigOrDie "Cfg.ReportPlugin(0)"
Plugin info:
Index = 0
Name = ecmcPluginGrbl
Description = grbl plugin for use with ecmc.
Option description =
DBG_PRINT=<1/0> : Enables/disables printouts from plugin, default = disabled (=0).
X_AXIS=<axis id>: Ecmc Axis id for use as grbl X axis, default = disabled (=-1).
Y_AXIS=<axis id>: Ecmc Axis id for use as grbl Y axis, default = disabled (=-1).
Z_AXIS=<axis id>: Ecmc Axis id for use as grbl Z axis, default = disabled (=-1).
SPINDLE_AXIS=<axis id>: Ecmc Axis id for use as grbl spindle axis, default = disabled (=-1).
AUTO_ENABLE=<1/0>: Auto enable the linked ecmc axes autmatically before start, default = disabled (=0).
AUTO_START=<1/0>: Auto start g-code at ecmc start, default = disabled (=0).
Filename = /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so
Config string = DBG_PRINT=0;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=0;
Version = 2
Interface version = 65536 (ecmc = 65536)
max plc funcs = 64
max plc func args = 10
max plc consts = 64
Construct func = @0xb4e1d30c
Enter realtime func = @0xb4e1d25c
Exit realtime func = @0xb4e1d228
Realtime func = @0xb4e1d258
Destruct func = @0xb4e1d230
dlhandle = @0x169bed8
Plc functions:
funcs[00]:
Name = "grbl_set_execute(arg0);"
Desc = double grbl_set_execute(<exe>) : Trigg execution of loaded g-code at positive edge of <exe>
Arg count = 1
func = @0xb4e1d260
funcs[01]:
Name = "grbl_mc_halt(arg0);"
Desc = double grbl_mc_halt(<halt>) : Halt grbl motion at positive edge of <halt>
Arg count = 1
func = @0xb4e1d27c
funcs[02]:
Name = "grbl_mc_resume(arg0);"
Desc = double grbl_mc_resume(<resume>) : Resume halted grbl motion at positive edge of <resume>
Arg count = 1
func = @0xb4e1d298
funcs[03]:
Name = "grbl_mc_reset(arg0);"
Desc = double grbl_mc_reset(<reset>) : Reset grbl at positive edge of <reset>
Arg count = 1
func = @0xb4e1d2b4
funcs[04]:
Name = "grbl_get_busy();"
Desc = double grbl_get_busy() : Get grbl system busy (still executing motion code)
Arg count = 0
func = @0xb4e1d2d0
funcs[05]:
Name = "grbl_get_parser_busy();"
Desc = double grbl_get_parser_busy() : Get g-code parser busy.
Arg count = 0
func = @0xb4e1d2e4
funcs[06]:
Name = "grbl_get_code_row_num();"
Desc = double grbl_get_code_row_num() : Get g-code row number currently preparing for exe.
Arg count = 0
func = @0xb4e1d2f8
Plc constants:
epicsEnvUnset(ECMC_PLUGIN_REPORT);
epicsEnvUnset(ECMC_PLUGIN_FILNAME)
epicsEnvUnset(ECMC_PLUGIN_CONFIG)
ecmcGrblLoadFile("./plc/test.nc",0)
#ecmcGrblAddCommand("G1X20Y20F360");
#ecmcGrblAddCommand("G4P2");
#ecmcGrblAddCommand("G2X0Y0R20");
#ecmcGrblAddCommand("G4P2");
#ecmcGrblAddCommand("G0X10Y10");
#ecmcGrblAddCommand("G4P2");
#ecmcGrblAddCommand("G1X0Y0");
#ecmcGrblAddCommand("G2X0adadsdY0R20");
#ecmcGrblAddCommand("G1X0Y20");
#ecmcGrblAddCommand("G1X10Y0F36#
# Test of GRBL plugin for g-code parsing
#
println('GRBL busy:', grbl_get_busy());
if(not(grbl_get_busy())) {
static.counter+=1;
println('Retrigger g-code. Counter: ', static.counter);
grbl_set_execute(0);
grbl_set_execute(1);
};
2022/02/02 11:54:16.236 OK
2022/02/02 11:54:16.236 OK
2022/02/02 11:54:16.248 OK
2022/02/02 11:54:16.248 OK
2022/02/02 11:54:16.248 OK
2022/02/02 11:54:16.248 OK
2022/02/02 11:54:16.248 OK
2022/02/02 11:54:16.248 OK
2022/02/02 11:54:16.253 INFO: Locking memory
2022/02/02 11:54:16.353 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10).
2022/02/02 11:54:16.353 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315).
2022/02/02 11:54:16.353 ../devEcmcSup/motion/ecmcMonitor.cpp/checkLimits:501: ERROR_MON_BOTH_LIMIT_INTERLOCK (0x14c10).
2022/02/02 11:54:16.353 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315).
2022/02/02 11:54:16.353 ../devEcmcSup/motion/ecmcDriveDS402.cpp/readEntries:120: ERROR_DRV_DS402_STATE_MACHINE_TIME_OUT (0x14652).
2022/02/02 11:54:16.353 ../devEcmcSup/motion/ecmcAxisReal.cpp/execute:185: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315).
2022/02/02 11:54:16.353 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 0: Not operational (0x24011).
2022/02/02 11:54:16.353 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
2022/02/02 11:54:16.353 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 1: Not operational (0x24011).
2022/02/02 11:54:16.353 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
2022/02/02 11:54:16.353 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 2: Not operational (0x24011).
2022/02/02 11:54:16.353 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
2022/02/02 11:54:16.353 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 3: Not operational (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 4: Not operational (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 5: Not operational (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 6: Not operational (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 8: Not operational (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 9: Not operational (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:374: ERROR: Slave 11: Not operational (0x24011).
2022/02/02 11:54:16.354 ../devEcmcSup/ethercat/ecmcEcSlave.cpp/checkConfigState:379: ERROR_EC_SLAVE_NOT_OPERATIONAL (0x24011).
2022/02/02 11:54:16.381 Starting up EtherCAT bus: 0 second(s). Max wait time 30 second(s).
2022/02/02 11:54:16.615 ecmcMotorRecord:: poll(1) homed=1
2022/02/02 11:54:16.615 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000067
2022/02/02 11:54:16.615 ecmcMotorRecord:: poll(1) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315
2022/02/02 11:54:16.615 ecmcMotorRecord:: sErrorMessage(1)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK"
2022/02/02 11:54:16.615 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=1 old=-1 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315)
2022/02/02 11:54:16.615 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000009
2022/02/02 11:54:16.615 ecmcMotorRecord:: poll(2) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315
2022/02/02 11:54:16.615 ecmcMotorRecord:: sErrorMessage(2)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK"
2022/02/02 11:54:16.615 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=1 old=-1 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315)
2022/02/02 11:54:16.615 ecmcMotorRecord:: poll(3) LLS=0
2022/02/02 11:54:16.615 ecmcMotorRecord:: poll(3) HLS=0
2022/02/02 11:54:16.615 ecmcMotorRecord:: poll(3) mvnNRdy=0 bBusy=0 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000041
2022/02/02 11:54:16.616 ecmcMotorRecord:: poll(3) bError=1 drvlocal.statusBinData.onChangeData.error=0x14315
2022/02/02 11:54:16.616 ecmcMotorRecord:: sErrorMessage(3)="ERROR_AXIS_HARDWARE_STATUS_NOT_OK"
2022/02/02 11:54:16.616 ecmcMotorRecord:: poll(3) callParamCallbacksUpdateError Error=1 old=-1 ErrID=0x14315 old=0x0 Warn=0 nCmd=0 old=0 txt=E: ERROR_AXIS_HARDWARE_STATUS_NOT_OK (0x14315)
2022/02/02 11:54:16.816 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000019
2022/02/02 11:54:16.816 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=0 fPos=0 fActPosition=0 time=0.000021
2022/02/02 11:54:17.016 ecmcMotorRecord:: poll(1) LLS=0
2022/02/02 11:54:17.016 ecmcMotorRecord:: poll(1) HLS=0
2022/02/02 11:54:17.016 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000091
2022/02/02 11:54:17.016 ecmcMotorRecord:: poll(2) LLS=0
2022/02/02 11:54:17.016 ecmcMotorRecord:: poll(2) HLS=0
2022/02/02 11:54:17.016 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000044
2022/02/02 11:54:17.216 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000013
2022/02/02 11:54:17.216 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000011
2022/02/02 11:54:17.264 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 1): Drive hardware in warning state.
2022/02/02 11:54:17.381 Starting up EtherCAT bus: 1 second(s). Max wait time 30 second(s).
2022/02/02 11:54:17.417 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000012
2022/02/02 11:54:17.417 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000011
2022/02/02 11:54:17.507 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:328: WARNING (axis 2): Drive hardware in warning state.
2022/02/02 11:54:17.617 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000033
2022/02/02 11:54:17.617 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000007
2022/02/02 11:54:17.817 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000010
2022/02/02 11:54:17.817 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:18.017 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000030
2022/02/02 11:54:18.017 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:18.217 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000011
2022/02/02 11:54:18.218 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:18.381 Starting up EtherCAT bus: 2 second(s). Max wait time 30 second(s).
2022/02/02 11:54:18.418 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000011
2022/02/02 11:54:18.418 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:18.618 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000009
2022/02/02 11:54:18.618 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:18.818 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000010
2022/02/02 11:54:18.818 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000078
2022/02/02 11:54:19.018 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000010
2022/02/02 11:54:19.018 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000008
2022/02/02 11:54:19.218 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000030
2022/02/02 11:54:19.219 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:19.381 Starting up EtherCAT bus: 3 second(s). Max wait time 30 second(s).
2022/02/02 11:54:19.419 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000009
2022/02/02 11:54:19.419 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:19.619 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000011
2022/02/02 11:54:19.619 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:19.819 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000012
2022/02/02 11:54:19.819 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000046
2022/02/02 11:54:20.019 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000010
2022/02/02 11:54:20.019 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:20.219 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000010
2022/02/02 11:54:20.220 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:20.381 Starting up EtherCAT bus: 4 second(s). Max wait time 30 second(s).
2022/02/02 11:54:20.420 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000012
2022/02/02 11:54:20.420 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000007
2022/02/02 11:54:20.620 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000012
2022/02/02 11:54:20.620 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000012
2022/02/02 11:54:20.820 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000012
2022/02/02 11:54:20.820 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000010
2022/02/02 11:54:21.020 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000012
2022/02/02 11:54:21.020 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000010
2022/02/02 11:54:21.221 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000012
2022/02/02 11:54:21.221 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000010
2022/02/02 11:54:21.381 Starting up EtherCAT bus: 5 second(s). Max wait time 30 second(s).
2022/02/02 11:54:21.421 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000012
2022/02/02 11:54:21.421 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:21.621 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000011
2022/02/02 11:54:21.621 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000079
2022/02/02 11:54:21.821 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000011
2022/02/02 11:54:21.821 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=8.19 time=0.000006
2022/02/02 11:54:21.865 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
2022/02/02 11:54:21.865 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
2022/02/02 11:54:21.865 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
2022/02/02 11:54:21.865 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
2022/02/02 11:54:21.865 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
2022/02/02 11:54:21.865 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
2022/02/02 11:54:21.865 ../devEcmcSup/main/ecmcError.cpp/errorReset:103: NO_ERROR (0x0).
2022/02/02 11:54:22.022 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000020
2022/02/02 11:54:22.022 ecmcMotorRecord:: poll(1) bError=0 drvlocal.statusBinData.onChangeData.error=0x0
2022/02/02 11:54:22.022 ecmcMotorRecord:: poll(1) callParamCallbacksUpdateError Error=0 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL
2022/02/02 11:54:22.022 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000015
2022/02/02 11:54:22.022 ecmcMotorRecord:: poll(2) bError=0 drvlocal.statusBinData.onChangeData.error=0x0
2022/02/02 11:54:22.022 ecmcMotorRecord:: poll(2) callParamCallbacksUpdateError Error=4 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL
2022/02/02 11:54:22.022 ecmcMotorRecord:: poll(3) bError=0 drvlocal.statusBinData.onChangeData.error=0x0
2022/02/02 11:54:22.022 ecmcMotorRecord:: poll(3) callParamCallbacksUpdateError Error=4 old=1 ErrID=0x0 old=0x14315 Warn=0 nCmd=0 old=0 txt=NULL
2022/02/02 11:54:22.223 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000045
2022/02/02 11:54:22.223 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000009
2022/02/02 11:54:22.423 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000015
2022/02/02 11:54:22.423 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000009
2022/02/02 11:54:22.623 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000015
2022/02/02 11:54:22.623 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000008
2022/02/02 11:54:22.823 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000016
2022/02/02 11:54:22.823 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000008
2022/02/02 11:54:23.024 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000015
2022/02/02 11:54:23.024 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000008
2022/02/02 11:54:23.224 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000014
2022/02/02 11:54:23.224 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000008
2022/02/02 11:54:23.381 EtherCAT bus started!
2022/02/02 11:54:23.381 OK
2022/02/02 11:54:23.382 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocBuild (0). Allow callbacks: true.
Starting iocInit
2022/02/02 11:54:23.382 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtBeginning (1). Allow callbacks: true.
2022/02/02 11:54:23.401 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCallbackInit (2). Allow callbacks: true.
2022/02/02 11:54:23.409 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaLinkInit (3). Allow callbacks: true.
2022/02/02 11:54:23.409 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDrvSup (4). Allow callbacks: true.
2022/02/02 11:54:23.409 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitRecSup (5). Allow callbacks: true.
2022/02/02 11:54:23.415 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDevSup (6). Allow callbacks: true.
2022/02/02 11:54:23.421 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.positionActual01 linked to record (asyn reason 1).
2022/02/02 11:54:23.422 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderLatchPostion01 linked to record (asyn reason 2).
2022/02/02 11:54:23.422 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderControl01 linked to record (asyn reason 3).
2022/02/02 11:54:23.423 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderValue01 linked to record (asyn reason 4).
2022/02/02 11:54:23.423 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.positionActual01 linked to record (asyn reason 5).
2022/02/02 11:54:23.424 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderLatchPostion01 linked to record (asyn reason 6).
2022/02/02 11:54:23.424 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000013
2022/02/02 11:54:23.424 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000116
2022/02/02 11:54:23.425 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderControl01 linked to record (asyn reason 7).
2022/02/02 11:54:23.426 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderValue01 linked to record (asyn reason 8).
2022/02/02 11:54:23.426 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive01 linked to record (asyn reason 9).
2022/02/02 11:54:23.427 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative01 linked to record (asyn reason 10).
2022/02/02 11:54:23.428 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchPositive02 linked to record (asyn reason 11).
2022/02/02 11:54:23.429 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.timestampLatchNegative02 linked to record (asyn reason 12).
2022/02/02 11:54:23.430 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveControl01 linked to record (asyn reason 13).
2022/02/02 11:54:23.431 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.velocitySetpoint01 linked to record (asyn reason 14).
2022/02/02 11:54:23.432 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.positionActual01 linked to record (asyn reason 15).
2022/02/02 11:54:23.433 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderLatchPostion01 linked to record (asyn reason 16).
2022/02/02 11:54:23.434 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderControl01 linked to record (asyn reason 17).
2022/02/02 11:54:23.435 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderValue01 linked to record (asyn reason 18).
2022/02/02 11:54:23.435 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveControl01 linked to record (asyn reason 19).
2022/02/02 11:54:23.437 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.velocitySetpoint01 linked to record (asyn reason 20).
2022/02/02 11:54:23.437 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.positionActual01 linked to record (asyn reason 21).
2022/02/02 11:54:23.438 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderLatchPostion01 linked to record (asyn reason 22).
2022/02/02 11:54:23.439 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderControl01 linked to record (asyn reason 23).
2022/02/02 11:54:23.440 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderValue01 linked to record (asyn reason 24).
2022/02/02 11:54:23.441 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.driveControl01 linked to record (asyn reason 25).
2022/02/02 11:54:23.442 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.velocitySetpoint01 linked to record (asyn reason 26).
2022/02/02 11:54:23.442 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.positionActual01 linked to record (asyn reason 27).
2022/02/02 11:54:23.444 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.actpos linked to record (asyn reason 28).
2022/02/02 11:54:23.445 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.setpos linked to record (asyn reason 29).
2022/02/02 11:54:23.446 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.poserr linked to record (asyn reason 30).
2022/02/02 11:54:23.447 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax3.plc.error linked to record (asyn reason 31).
2022/02/02 11:54:23.448 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.actpos linked to record (asyn reason 32).
2022/02/02 11:54:23.450 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.setpos linked to record (asyn reason 33).
2022/02/02 11:54:23.451 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.poserr linked to record (asyn reason 34).
2022/02/02 11:54:23.453 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.error linked to record (asyn reason 35).
2022/02/02 11:54:23.455 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.scantime linked to record (asyn reason 36).
2022/02/02 11:54:23.457 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.error linked to record (asyn reason 37).
2022/02/02 11:54:23.459 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.appmode linked to record (asyn reason 38).
2022/02/02 11:54:23.461 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.id linked to record (asyn reason 39).
2022/02/02 11:54:23.464 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.min linked to record (asyn reason 40).
2022/02/02 11:54:23.466 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.latency.max linked to record (asyn reason 41).
2022/02/02 11:54:23.469 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.min linked to record (asyn reason 42).
2022/02/02 11:54:23.470 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.period.max linked to record (asyn reason 43).
2022/02/02 11:54:23.472 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.min linked to record (asyn reason 44).
2022/02/02 11:54:23.473 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.execute.max linked to record (asyn reason 45).
2022/02/02 11:54:23.475 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.min linked to record (asyn reason 46).
2022/02/02 11:54:23.476 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.thread.send.max linked to record (asyn reason 47).
2022/02/02 11:54:23.477 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput01 linked to record (asyn reason 48).
2022/02/02 11:54:23.479 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput02 linked to record (asyn reason 49).
2022/02/02 11:54:23.481 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput03 linked to record (asyn reason 50).
2022/02/02 11:54:23.482 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput04 linked to record (asyn reason 51).
2022/02/02 11:54:23.484 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput05 linked to record (asyn reason 52).
2022/02/02 11:54:23.486 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput06 linked to record (asyn reason 53).
2022/02/02 11:54:23.488 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput07 linked to record (asyn reason 54).
2022/02/02 11:54:23.489 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.binaryInput08 linked to record (asyn reason 55).
2022/02/02 11:54:23.490 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput01 linked to record (asyn reason 56).
2022/02/02 11:54:23.492 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput02 linked to record (asyn reason 57).
2022/02/02 11:54:23.494 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput03 linked to record (asyn reason 58).
2022/02/02 11:54:23.498 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput04 linked to record (asyn reason 59).
2022/02/02 11:54:23.501 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput05 linked to record (asyn reason 60).
2022/02/02 11:54:23.504 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput06 linked to record (asyn reason 61).
2022/02/02 11:54:23.506 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput07 linked to record (asyn reason 62).
2022/02/02 11:54:23.507 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.binaryOutput08 linked to record (asyn reason 63).
2022/02/02 11:54:23.509 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.powerOk01 linked to record (asyn reason 64).
2022/02/02 11:54:23.512 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.overload01 linked to record (asyn reason 65).
2022/02/02 11:54:23.514 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput01 linked to record (asyn reason 66).
2022/02/02 11:54:23.516 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.binaryInput02 linked to record (asyn reason 67).
2022/02/02 11:54:23.519 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax3.plc.enable linked to record (asyn reason 68).
2022/02/02 11:54:23.522 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax3.plc.firstscan linked to record (asyn reason 69).
2022/02/02 11:54:23.525 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.enable linked to record (asyn reason 70).
2022/02/02 11:54:23.528 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.ax2.plc.firstscan linked to record (asyn reason 71).
2022/02/02 11:54:23.531 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.ok linked to record (asyn reason 72).
2022/02/02 11:54:23.534 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.diagnostic linked to record (asyn reason 73).
2022/02/02 11:54:23.536 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.plc.expression linked to record (asyn reason 74).
2022/02/02 11:54:23.538 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.diagnostic linked to record (asyn reason 75).
2022/02/02 11:54:23.540 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.plc.expression linked to record (asyn reason 76).
2022/02/02 11:54:23.541 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.msg linked to record (asyn reason 77).
2022/02/02 11:54:23.543 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.updated linked to record (asyn reason 78).
2022/02/02 11:54:23.544 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.command linked to record (asyn reason 79).
2022/02/02 11:54:23.548 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.command linked to record (asyn reason 80).
0");
#ecmcGrblAddCommand("G4P1");
#ecmcGrblAddCommand("G1X50Y50F180");
#ecmcGrblAddCommand("G1X0Y0");
##############################################################################
## PLC 0
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/grbl.plc")
#==============================================================================
# loadPLCFile.cmd
epicsEnvSet("ECMC_PLC_ID", "0")
ecmcEpicsEnvSetCalc(ECMC_PLC_RATE_, "1000/1000", "%f")
epicsEnvSet("ECMC_PLC_SAMPLE_RATE_MS", "1000")
ecmcEpicsEnvSetCalcTernary(ECMC_PLC_SAMPLE_RATE_MS, "1000>0", "1000","1.000000")
epicsEnvUnset(ECMC_PLC_RATE_) # clean up, temp variable
epicsEnvSet("ECMC_TMP_FILE", "/tmp/PLC0.plc")
ecmcFileExist("./plc/grbl.plc",1)
system "msi -V -M 'EMPTY' -o /tmp/PLC0.plc ./plc/grbl.plc"
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, 1=1,"", "#-" )
########### Parsed PLC file:
system "cat /tmp/PLC0.plc"
############ PLC file end
#
epicsEnvUnset(ECMC_EXE_CMD)
ecmcFileExist("/tmp/PLC0.plc",1)
ecmcConfigOrDie "Cfg.CreatePLC(0,1000)"
ecmcConfigOrDie "Cfg.LoadPLCFile(0,/tmp/PLC0.plc)"
system "rm -f /tmp/PLC0.plc"
ecmcFileExist(ecmcPlc.substitutions,1,1)
ecmcEpicsEnvSetCalc(ECMC_PLC_ID_2_CHARS, "0", "%02d")
dbLoadTemplate(ecmcPlc.substitutions, "PORT=MC_CPU1,A=0,Index=0,Name=IOC_TEST:,Index2Char=00,T_SMP_MS=10")
epicsEnvUnset(ECMC_PLC_ID_2_CHARS)
##############################################################################
############# Configure diagnostics:
ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)"
ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)"
ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
iocshLoad (/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/setAppMode.cmd)
#==============================================================================
# setAppMode.cmd
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/general.cmd",1)
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/general.cmd
#==============================================================================
# general.cmd
ecmcFileExist("ecmcGeneral.db",1,1)
dbLoadRecords("ecmcGeneral.db","P=IOC_TEST:,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,T_SMP_MS=10,TSE=-2,ECMC_PROC_HOOK=")
# Examples of commands for info:
# ecmcReport <level> or asynReport <level>
# ecmcReport 3
# ecmcGrepParam <pattern>
# List all ecmc params for ethercat slave 2:
# ecmcGrepParam *s2*
#
ecmcEpicsEnvSetCalcTernary(ECMC_MASTER_CMD, "0>=0", "","#- ")
ecmcFileExist("ecmcEc.db",1,1)
dbLoadRecords("ecmcEc.db","P=IOC_TEST:,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,T_SMP_MS=10,TSE=-2")
ecmcConfigOrDie "Cfg.SetAppMode(1)"
GRBL busy: 1.00000
GRBL busy: 1.00000
#asynSetTraceMask(MC_CPU1, -1, 0x41)
# Note need to test 0x21 later..
#asynSetTraceMask(MC_CPU1, -1, 0x21)
asynSetTraceMask(MC_CPU1, -1, 0x41)
iocInit()
############################################################################
## EPICS R7.0.5-E3-7.0.5-patch
## Rev. 2021-05-05T19:45+0200
############################################################################
ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI01-TimeRiseTS
ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI01-TimeFallTS
ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI02-TimeRiseTS
ECATtimestamp aSubRecord: IOC_TEST:m0s006-BI02-TimeFallTS
2022/02/02 11:54:23.552 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ONE linked to record (asyn reason 81).
2022/02/02 11:54:23.554 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.ZERO linked to record (asyn reason 82).
2022/02/02 11:54:23.557 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ONE linked to record (asyn reason 83).
2022/02/02 11:54:23.560 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.ZERO linked to record (asyn reason 84).
2022/02/02 11:54:23.563 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ONE linked to record (asyn reason 85).
2022/02/02 11:54:23.565 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.ZERO linked to record (asyn reason 86).
2022/02/02 11:54:23.568 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ONE linked to record (asyn reason 87).
2022/02/02 11:54:23.570 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.ZERO linked to record (asyn reason 88).
2022/02/02 11:54:23.574 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ONE linked to record (asyn reason 89).
2022/02/02 11:54:23.577 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.ZERO linked to record (asyn reason 90).
2022/02/02 11:54:23.580 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ONE linked to record (asyn reason 91).
2022/02/02 11:54:23.582 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.ZERO linked to record (asyn reason 92).
2022/02/02 11:54:23.585 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ONE linked to record (asyn reason 93).
2022/02/02 11:54:23.589 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.ZERO linked to record (asyn reason 94).
2022/02/02 11:54:23.591 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ONE linked to record (asyn reason 95).
2022/02/02 11:54:23.594 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.ZERO linked to record (asyn reason 96).
2022/02/02 11:54:23.597 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ONE linked to record (asyn reason 97).
2022/02/02 11:54:23.600 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.ZERO linked to record (asyn reason 98).
2022/02/02 11:54:23.603 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.ONE linked to record (asyn reason 99).
2022/02/02 11:54:23.606 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.ZERO linked to record (asyn reason 100).
2022/02/02 11:54:23.609 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.cmddata linked to record (asyn reason 101).
2022/02/02 11:54:23.613 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.cmddata linked to record (asyn reason 102).
2022/02/02 11:54:23.616 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s0.slavestatus linked to record (asyn reason 103).
2022/02/02 11:54:23.618 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s1.slavestatus linked to record (asyn reason 104).
2022/02/02 11:54:23.621 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s2.slavestatus linked to record (asyn reason 105).
2022/02/02 11:54:23.624 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.slavestatus linked to record (asyn reason 106).
2022/02/02 11:54:23.624 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000011
2022/02/02 11:54:23.625 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000007
2022/02/02 11:54:23.627 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.slavestatus linked to record (asyn reason 107).
2022/02/02 11:54:23.630 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s5.slavestatus linked to record (asyn reason 108).
2022/02/02 11:54:23.633 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.slavestatus linked to record (asyn reason 109).
2022/02/02 11:54:23.636 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.slavestatus linked to record (asyn reason 110).
2022/02/02 11:54:23.639 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.slavestatus linked to record (asyn reason 111).
2022/02/02 11:54:23.642 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.slavestatus linked to record (asyn reason 112).
2022/02/02 11:54:23.646 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.status linked to record (asyn reason 113).
2022/02/02 11:54:23.649 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.errorid linked to record (asyn reason 114).
2022/02/02 11:54:23.652 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.status linked to record (asyn reason 115).
2022/02/02 11:54:23.655 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.errorid linked to record (asyn reason 116).
2022/02/02 11:54:23.659 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.masterstatus linked to record (asyn reason 117).
2022/02/02 11:54:23.662 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.slavecounter linked to record (asyn reason 118).
2022/02/02 11:54:23.665 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.memmapcounter linked to record (asyn reason 119).
2022/02/02 11:54:23.669 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainfailcountertotal linked to record (asyn reason 120).
2022/02/02 11:54:23.672 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.entrycounter linked to record (asyn reason 121).
2022/02/02 11:54:23.675 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.domainstatus linked to record (asyn reason 122).
2022/02/02 11:54:23.679 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.control linked to record (asyn reason 123).
2022/02/02 11:54:23.682 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.control linked to record (asyn reason 124).
2022/02/02 11:54:23.686 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s3.encoderStatus01 linked to record (asyn reason 125).
2022/02/02 11:54:23.689 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s4.encoderStatus01 linked to record (asyn reason 126).
2022/02/02 11:54:23.693 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status01 linked to record (asyn reason 127).
2022/02/02 11:54:23.696 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s6.status02 linked to record (asyn reason 128).
2022/02/02 11:54:23.699 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.driveStatus01 linked to record (asyn reason 129).
2022/02/02 11:54:23.703 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s8.encoderStatus01 linked to record (asyn reason 130).
2022/02/02 11:54:23.707 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.driveStatus01 linked to record (asyn reason 131).
2022/02/02 11:54:23.710 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s9.encoderStatus01 linked to record (asyn reason 132).
2022/02/02 11:54:23.713 ecmcAsynPortDriver:drvUserCreate: Parameter ec0.s11.driveStatus01 linked to record (asyn reason 133).
2022/02/02 11:54:23.758 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.targpos linked to record (asyn reason 134).
2022/02/02 11:54:23.762 ecmcAsynPortDriver:drvUserCreate: Parameter ax3.targvelo linked to record (asyn reason 135).
2022/02/02 11:54:23.767 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targpos linked to record (asyn reason 136).
2022/02/02 11:54:23.771 ecmcAsynPortDriver:drvUserCreate: Parameter ax2.targvelo linked to record (asyn reason 137).
2022/02/02 11:54:23.786 ecmcAsynPortDriver:drvUserCreate: Parameter plcs.plc0.enable linked to record (asyn reason 138).
2022/02/02 11:54:23.792 ecmcAsynPortDriver:drvUserCreate: Parameter ecmc.error.reset linked to record (asyn reason 139).
2022/02/02 11:54:23.796 ecmcMotorRecord:: setIntegerParam(3 motorUpdateStatus_)=0
2022/02/02 11:54:23.797 ecmcMotorRecord:: setIntegerParam(2 motorUpdateStatus_)=0
2022/02/02 11:54:23.797 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000007
2022/02/02 11:54:23.825 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000010
2022/02/02 11:54:23.825 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000008
2022/02/02 11:54:23.843 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitDatabase (7). Allow callbacks: true.
2022/02/02 11:54:23.843 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterFinishDevSup (8). Allow callbacks: true.
2022/02/02 11:54:24.025 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000009
2022/02/02 11:54:24.025 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000006
2022/02/02 11:54:24.225 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000046
2022/02/02 11:54:24.225 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000009
2022/02/02 11:54:23.796 [devMotorAsyn.c:439 IOC_TEST:Axis1] init_record IOC_TEST:Axis1 position=-0.002747 encoderPos=-0.002747 velocity=0.000000 MSTAstatus=0x0b0a flagsValue=0x3f flagsWritten=0x3f pmr->mflg=0x0
2022/02/02 11:54:23.796 [devMotorAsyn.c:185 IOC_TEST:Axis1] init_controller IOC_TEST:Axis1 set encoder ratio=1.000000 status=0
2022/02/02 11:54:23.796 [devMotorAsyn.c:266 IOC_TEST:Axis1] update_soft_limits IOC_TEST:Axis1 RawHLM_RO=0.000000 RawLLM_RO=0.000000 valid=0 DHLM_RO=0.000000 DLLM_RO=0.000000
2022/02/02 11:54:23.796 [motorDevSup.c:327 IOC_TEST:Axis1] PositionRestoreNeeded IOC_TEST:Axis1 rstm=2 dval=0.000000 drbv=-0.002747 pmr->rdbd=0.300000 rdbd=0.300000 pmr->mres=0.000343 pmr->mflg=0x3f dval_non_zero_pos_near_zero=0 ret=0
2022/02/02 11:54:23.796 [motorRecord.cc:782 IOC_TEST:Axis1] init_re_init start neverPolled=0 stat=17 nsta=0
2022/02/02 11:54:23.796 [motorRecord.cc:720 IOC_TEST:Axis1] enforceMinRetryDeadband spdb=0.300000 rdbd=0.300000 mres=0.000343
2022/02/02 11:54:23.796 [motorRecord.cc:833 IOC_TEST:Axis1] init_re_init end dval=-0.002747 drbv=-0.002747 rdbd=0.300000 spdb=0.300000
2022/02/02 11:54:23.796 [motorRecord.cc:968 IOC_TEST:Axis1] init_record process_reason="callbackdata + soft limits" dval=-0.002747 drbv=-0.002747 rdbd=0.300000 spdb=0.300000 stat=0 msta=0xb0a neverPolled=0
2022/02/02 11:54:23.796 [devMotorAsyn.c:439 IOC_TEST:Axis2] init_record IOC_TEST:Axis2 position=0.000000 encoderPos=0.000000 velocity=0.000000 MSTAstatus=0x0f00 flagsValue=0x3f flagsWritten=0x3f pmr->mflg=0x0
2022/02/02 11:54:23.796 [devMotorAsyn.c:185 IOC_TEST:Axis2] init_controller IOC_TEST:Axis2 set encoder ratio=1.000000 status=0
2022/02/02 11:54:23.796 [devMotorAsyn.c:266 IOC_TEST:Axis2] update_soft_limits IOC_TEST:Axis2 RawHLM_RO=20.000000 RawLLM_RO=-130.000000 valid=1 DHLM_RO=20.000000 DLLM_RO=-130.000000
2022/02/02 11:54:23.796 [motorDevSup.c:327 IOC_TEST:Axis2] PositionRestoreNeeded IOC_TEST:Axis2 rstm=2 dval=0.000000 drbv=0.000000 pmr->rdbd=0.100000 rdbd=0.100000 pmr->mres=0.030000 pmr->mflg=0x3f dval_non_zero_pos_near_zero=0 ret=0
2022/02/02 11:54:23.796 [motorRecord.cc:782 IOC_TEST:Axis2] init_re_init start neverPolled=0 stat=17 nsta=0
2022/02/02 11:54:23.796 [motorRecord.cc:720 IOC_TEST:Axis2] enforceMinRetryDeadband spdb=0.100000 rdbd=0.100000 mres=0.030000
2022/02/02 11:54:23.796 [motorRecord.cc:4484 IOC_TEST:Axis2] pmr->dhlm=20 softLimitRO=20
2022/02/02 11:54:23.796 [motorRecord.cc:4545 IOC_TEST:Axis2] pmr->dllm=-130 softLimitRO=-130
2022/02/02 11:54:23.797 [motorRecord.cc:833 IOC_TEST:Axis2] init_re_init end dval=0.000000 drbv=0.000000 rdbd=0.100000 spdb=0.100000
2022/02/02 11:54:23.797 [motorRecord.cc:968 IOC_TEST:Axis2] init_record process_reason="callbackdata + soft limits" dval=0.000000 drbv=0.000000 rdbd=0.100000 spdb=0.100000 stat=0 msta=0xf00 neverPolled=0
2022/02/02 11:54:24.376 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterScanInit (9). Allow callbacks: true.
2022/02/02 11:54:24.377 ecmcMotorRecord:: setIntegerParam(3 HomProc_)=1 motorNotHomedProblem=0
2022/02/02 11:54:24.377 ecmcMotorRecord:: setIntegerParam(2 HomProc_)=3 motorNotHomedProblem=0
2022/02/02 11:54:24.379 ecmcMotorRecord:: setDoubleParam(3 HomPos_)=0.000000
2022/02/02 11:54:24.379 ecmcMotorRecord:: setDoubleParam(2 HomPos_)=0.000000
2022/02/02 11:54:24.379 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInitialProcess (10). Allow callbacks: true.
2022/02/02 11:54:24.388 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (11). Allow callbacks: true.
2022/02/02 11:54:24.388 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocBuilt (12). Allow callbacks: true.
2022/02/02 11:54:24.425 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=0 fActPosition=10.02 time=0.000015
2022/02/02 11:54:24.426 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000008
GRBL busy: 1.00000
2022/02/02 11:54:24.436 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAtIocRun (13). Allow callbacks: true.
2022/02/02 11:54:24.436 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterDatabaseRunning (14). Allow callbacks: true.
2022/02/02 11:54:24.436 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterInterruptAccept (28). Allow callbacks: true.
2022/02/02 11:54:24.436 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterCaServerRunning (15). Allow callbacks: true.
2022/02/02 11:54:24.441 ecmcAsynPortDriver:getEpicsState: EPICS state: Unknown state (29). Allow callbacks: true.
iocRun: All initialization complete
2022/02/02 11:54:24.498 ecmcAsynPortDriver:getEpicsState: EPICS state: initHookAfterIocRunning (16). Allow callbacks: true.
2022/02/02 11:54:24.502 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 1): Drive hardware warning state cleared.
2022/02/02 11:54:24.502 ../devEcmcSup/motion/ecmcDriveBase.cpp/readEntries:336: INFO (axis 2): Drive hardware warning state cleared.
2022/02/02 11:54:24.626 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=10.02 fActPosition=10.02 time=0.000010
2022/02/02 11:54:24.626 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000006
2022/02/02 11:54:24.626 ecmcMotorRecord:: poll(3) mvnNRdy=0 bBusy=0 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=8.36063e+08 fPos=-0.00411987 fActPosition=-0.00274658 time=0.000012
dbpf IOC_TEST:Axis1.SPAM 0
DBF_SHORT: 0 = 0x0
dbpf IOC_TEST:Axis2.SPAM 0
DBF_SHORT: 0 = 0x0
# Set the IOC Prompt String One
epicsEnvSet IOCSH_PS1 "raspberrypi-17664 > "
#
raspberrypi-17664 > 2022/02/02 11:54:24.826 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=65201 fPos=10.02 fActPosition=10.02 time=0.000015
2022/02/02 11:54:24.826 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000101
2022/02/02 11:54:25.026 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10.02 fActPosition=10.02 time=0.000011
2022/02/02 11:54:25.027 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000007
2022/02/02 11:54:25.227 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=65201 fPos=10.02 fActPosition=10.02 time=0.000016
2022/02/02 11:54:25.227 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=273 fPos=0 fActPosition=0 time=0.000011
2022/02/02 11:54:25.428 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65201 fPos=10.032 fActPosition=10.02 time=0.000014
2022/02/02 11:54:25.428 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=274 fPos=0.028 fActPosition=0.03 time=0.000009
2022/02/02 11:54:25.628 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65195 fPos=10.2 fActPosition=10.2 time=0.000142
2022/02/02 11:54:25.629 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=285 fPos=0.36 fActPosition=0.36 time=0.000012
2022/02/02 11:54:25.829 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65183 fPos=10.548 fActPosition=10.56 time=0.000019
2022/02/02 11:54:25.829 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=309 fPos=1.06 fActPosition=1.08 time=0.000245
2022/02/02 11:54:26.030 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65166 fPos=11.052 fActPosition=11.07 time=0.000015
2022/02/02 11:54:26.030 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=342 fPos=2.068 fActPosition=2.07 time=0.000009
2022/02/02 11:54:26.230 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65149 fPos=11.568 fActPosition=11.58 time=0.000064
2022/02/02 11:54:26.230 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=377 fPos=3.104 fActPosition=3.12 time=0.000012
2022/02/02 11:54:26.431 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65132 fPos=12.084 fActPosition=12.09 time=0.000016
2022/02/02 11:54:26.431 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=411 fPos=4.14 fActPosition=4.14 time=0.000216
2022/02/02 11:54:26.632 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65115 fPos=12.6 fActPosition=12.6 time=0.000020
2022/02/02 11:54:26.632 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=446 fPos=5.172 fActPosition=5.19 time=0.000012
2022/02/02 11:54:26.832 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65098 fPos=13.116 fActPosition=13.11 time=0.000018
2022/02/02 11:54:26.833 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=480 fPos=6.208 fActPosition=6.21 time=0.000012
2022/02/02 11:54:27.033 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65080 fPos=13.632 fActPosition=13.65 time=0.000018
2022/02/02 11:54:27.033 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=514 fPos=7.244 fActPosition=7.23 time=0.000011
2022/02/02 11:54:27.234 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65063 fPos=14.148 fActPosition=14.16 time=0.000020
2022/02/02 11:54:27.234 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=549 fPos=8.272 fActPosition=8.28 time=0.000011
2022/02/02 11:54:27.434 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65046 fPos=14.664 fActPosition=14.67 time=0.000017
2022/02/02 11:54:27.434 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=584 fPos=9.308 fActPosition=9.33 time=0.000011
2022/02/02 11:54:27.635 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65029 fPos=15.18 fActPosition=15.18 time=0.000013
2022/02/02 11:54:27.635 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=618 fPos=10.336 fActPosition=10.35 time=0.000008
2022/02/02 11:54:27.835 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65012 fPos=15.696 fActPosition=15.69 time=0.000019
2022/02/02 11:54:27.836 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=652 fPos=11.372 fActPosition=11.37 time=0.000011
2022/02/02 11:54:28.036 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64995 fPos=16.208 fActPosition=16.2 time=0.000019
2022/02/02 11:54:28.036 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=687 fPos=12.408 fActPosition=12.42 time=0.000011
2022/02/02 11:54:28.237 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64977 fPos=16.728 fActPosition=16.74 time=0.000014
2022/02/02 11:54:28.237 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=721 fPos=13.44 fActPosition=13.44 time=0.000008
2022/02/02 11:54:28.437 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64960 fPos=17.24 fActPosition=17.25 time=0.000018
2022/02/02 11:54:28.438 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=755 fPos=14.476 fActPosition=14.46 time=0.000450
2022/02/02 11:54:28.638 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64943 fPos=17.756 fActPosition=17.76 time=0.000023
2022/02/02 11:54:28.638 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=790 fPos=15.512 fActPosition=15.51 time=0.000009
2022/02/02 11:54:28.839 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64926 fPos=18.276 fActPosition=18.27 time=0.000015
2022/02/02 11:54:28.839 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=825 fPos=16.54 fActPosition=16.56 time=0.000010
2022/02/02 11:54:29.039 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64909 fPos=18.788 fActPosition=18.78 time=0.000014
2022/02/02 11:54:29.039 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=859 fPos=17.576 fActPosition=17.58 time=0.000009
2022/02/02 11:54:29.240 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64892 fPos=19.304 fActPosition=19.29 time=0.000016
2022/02/02 11:54:29.240 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=893 fPos=18.604 fActPosition=18.6 time=0.000012
2022/02/02 11:54:29.440 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64877 fPos=19.724 fActPosition=19.74 time=0.000102
2022/02/02 11:54:29.440 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=922 fPos=19.444 fActPosition=19.47 time=0.000011
2022/02/02 11:54:29.641 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64870 fPos=19.952 fActPosition=19.95 time=0.000019
2022/02/02 11:54:29.641 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=937 fPos=19.908 fActPosition=19.92 time=0.000012
2022/02/02 11:54:29.841 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000016
2022/02/02 11:54:29.842 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=940 fPos=20 fActPosition=20.01 time=0.000011
2022/02/02 11:54:29.842 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.36063e+08 fPos=0.0506316 fActPosition=0.0260925 time=0.000012
2022/02/02 11:54:29.842 ecmcMotorRecord:: poll(3) callParamCallbacksUpdateError Error=4 old=4 ErrID=0x0 old=0x0 Warn=0 nCmd=1 old=0 txt=NULL
2022/02/02 11:54:30.042 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000017
2022/02/02 11:54:30.042 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=940 fPos=20 fActPosition=20.01 time=0.000010
2022/02/02 11:54:30.042 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.3607e+08 fPos=2.45755 fActPosition=2.45544 time=0.000012
2022/02/02 11:54:30.243 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000017
2022/02/02 11:54:30.243 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=939 fPos=20 fActPosition=19.98 time=0.000012
2022/02/02 11:54:30.243 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.3609e+08 fPos=8.85755 fActPosition=9.039 time=0.000010
2022/02/02 11:54:30.443 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000018
2022/02/02 11:54:30.443 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=939 fPos=20 fActPosition=19.98 time=0.000010
2022/02/02 11:54:30.443 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.36119e+08 fPos=19.3196 fActPosition=19.2247 time=0.000011
2022/02/02 11:54:30.644 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000018
2022/02/02 11:54:30.644 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=940 fPos=20 fActPosition=20.01 time=0.000011
2022/02/02 11:54:30.644 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.36163e+08 fPos=33.8217 fActPosition=34.276 time=0.000167
2022/02/02 11:54:30.845 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000020
2022/02/02 11:54:30.845 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=940 fPos=20 fActPosition=20.01 time=0.000011
2022/02/02 11:54:30.845 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.36217e+08 fPos=52.2617 fActPosition=52.847 time=0.000010
2022/02/02 11:54:31.045 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000017
2022/02/02 11:54:31.045 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=940 fPos=20 fActPosition=20.01 time=0.000099
2022/02/02 11:54:31.045 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.36283e+08 fPos=74.824 fActPosition=75.4225 time=0.000010
2022/02/02 11:54:31.246 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000018
2022/02/02 11:54:31.246 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=939 fPos=20 fActPosition=19.98 time=0.000010
2022/02/02 11:54:31.246 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.36357e+08 fPos=101.284 fActPosition=100.933 time=0.000012
2022/02/02 11:54:31.447 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000295
2022/02/02 11:54:31.447 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=940 fPos=20 fActPosition=20.01 time=0.000015
2022/02/02 11:54:31.447 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.36449e+08 fPos=131.906 fActPosition=132.411 time=0.000013
2022/02/02 11:54:31.648 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=20 fActPosition=20.01 time=0.000290
2022/02/02 11:54:31.648 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=940 fPos=20 fActPosition=20.01 time=0.000012
2022/02/02 11:54:31.648 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.36547e+08 fPos=166.569 fActPosition=166.154 time=0.000011
2022/02/02 11:54:31.848 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64869 fPos=20 fActPosition=19.98 time=0.000191
2022/02/02 11:54:31.849 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=939 fPos=19.968 fActPosition=19.98 time=0.000012
2022/02/02 11:54:31.849 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.36659e+08 fPos=205.271 fActPosition=204.63 time=0.000012
2022/02/02 11:54:32.049 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=1 wf=0 ENC=64868 fPos=19.996 fActPosition=20.01 time=0.000009
2022/02/02 11:54:32.049 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=927 fPos=19.62 fActPosition=19.62 time=0.000006
2022/02/02 11:54:32.049 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.36784e+08 fPos=248.014 fActPosition=247.411 time=0.000007
2022/02/02 11:54:32.249 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64869 fPos=19.968 fActPosition=19.98 time=0.000011
2022/02/02 11:54:32.250 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=903 fPos=18.904 fActPosition=18.9 time=0.000007
2022/02/02 11:54:32.250 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.36924e+08 fPos=294.554 fActPosition=295.668 time=0.000006
2022/02/02 11:54:32.450 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64872 fPos=19.88 fActPosition=19.89 time=0.000009
2022/02/02 11:54:32.450 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=867 fPos=17.824 fActPosition=17.82 time=0.000006
2022/02/02 11:54:32.450 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.37067e+08 fPos=345.094 fActPosition=344.758 time=0.000007
2022/02/02 11:54:32.650 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64878 fPos=19.72 fActPosition=19.71 time=0.000009
2022/02/02 11:54:32.650 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=829 fPos=16.676 fActPosition=16.68 time=0.000006
2022/02/02 11:54:32.650 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.37233e+08 fPos=399.917 fActPosition=401.694 time=0.000006
2022/02/02 11:54:32.851 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64885 fPos=19.5 fActPosition=19.5 time=0.000008
2022/02/02 11:54:32.851 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=792 fPos=15.572 fActPosition=15.57 time=0.000007
2022/02/02 11:54:32.851 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.37402e+08 fPos=458.477 fActPosition=459.463 time=0.000005
2022/02/02 11:54:33.051 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64894 fPos=19.22 fActPosition=19.23 time=0.000010
2022/02/02 11:54:33.051 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=755 fPos=14.472 fActPosition=14.46 time=0.000006
2022/02/02 11:54:33.051 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.37585e+08 fPos=521.36 fActPosition=522.431 time=0.000052
2022/02/02 11:54:33.251 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64907 fPos=18.864 fActPosition=18.84 time=0.000009
2022/02/02 11:54:33.251 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=718 fPos=13.356 fActPosition=13.35 time=0.000006
2022/02/02 11:54:33.252 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.37777e+08 fPos=587.94 fActPosition=588.393 time=0.000007
2022/02/02 11:54:33.452 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64921 fPos=18.436 fActPosition=18.42 time=0.000010
2022/02/02 11:54:33.452 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=681 fPos=12.244 fActPosition=12.24 time=0.000006
2022/02/02 11:54:33.452 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.37982e+08 fPos=658.52 fActPosition=658.86 time=0.000006
2022/02/02 11:54:33.652 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64936 fPos=17.96 fActPosition=17.97 time=0.000109
2022/02/02 11:54:33.652 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=647 fPos=11.204 fActPosition=11.22 time=0.000006
2022/02/02 11:54:33.652 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.382e+08 fPos=733.483 fActPosition=733.546 time=0.000006
2022/02/02 11:54:33.853 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64954 fPos=17.424 fActPosition=17.43 time=0.000010
2022/02/02 11:54:33.853 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=612 fPos=10.18 fActPosition=10.17 time=0.000005
2022/02/02 11:54:33.853 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.38429e+08 fPos=812.083 fActPosition=812.043 time=0.000006
2022/02/02 11:54:34.053 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64974 fPos=16.824 fActPosition=16.83 time=0.000008
2022/02/02 11:54:34.053 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=579 fPos=9.192 fActPosition=9.18 time=0.000007
2022/02/02 11:54:34.053 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.38671e+08 fPos=895.106 fActPosition=895.243 time=0.000049
2022/02/02 11:54:34.253 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=64996 fPos=16.172 fActPosition=16.17 time=0.000010
2022/02/02 11:54:34.253 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=548 fPos=8.236 fActPosition=8.25 time=0.000006
2022/02/02 11:54:34.254 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.38925e+08 fPos=981.726 fActPosition=982.521 time=0.000006
2022/02/02 11:54:34.454 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65019 fPos=15.464 fActPosition=15.48 time=0.000009
2022/02/02 11:54:34.454 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=517 fPos=7.316 fActPosition=7.32 time=0.000006
2022/02/02 11:54:34.454 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.39188e+08 fPos=1072.35 fActPosition=1072.81 time=0.000006
2022/02/02 11:54:34.654 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65040 fPos=14.704 fActPosition=14.85 time=0.000132
2022/02/02 11:54:34.654 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=493 fPos=6.44 fActPosition=6.6 time=0.000006
2022/02/02 11:54:34.654 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=1 bEnabled=1 atTarget=0 wf=0 ENC=8.39411e+08 fPos=1167.45 fActPosition=1149.25 time=0.000007
2022/02/02 11:54:34.658 ../devEcmcSup/motion/ecmcDriveDS402.cpp/readEntries:223: ERROR_DRV_DS402_FAULT_STATE (0x14655).
2022/02/02 11:54:34.658 ../devEcmcSup/motion/ecmcAxisBase.cpp/getErrorID:512: ERROR_DRV_DS402_FAULT_STATE (0x14655).
2022/02/02 11:54:34.855 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65072 fPos=13.9 fActPosition=13.89 time=0.000010
2022/02/02 11:54:34.855 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=460 fPos=5.62 fActPosition=5.61 time=0.000006
2022/02/02 11:54:34.855 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=8.39439e+08 fPos=1179.84 fActPosition=1158.88 time=0.000007
2022/02/02 11:54:34.855 ecmcMotorRecord:: poll(3) bError=1 drvlocal.statusBinData.onChangeData.error=0x14655
2022/02/02 11:54:34.855 ecmcMotorRecord:: sErrorMessage(3)="ERROR_DRV_DS402_FAULT_STATE"
2022/02/02 11:54:34.855 ecmcMotorRecord:: poll(3) callParamCallbacksUpdateError Error=1 old=4 ErrID=0x14655 old=0x0 Warn=0 nCmd=1 old=1 txt=E: ERROR_DRV_DS402_FAULT_STATE (0x14655)
2022/02/02 11:54:35.055 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65101 fPos=13.02 fActPosition=13.02 time=0.000050
2022/02/02 11:54:35.055 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=433 fPos=4.82 fActPosition=4.8 time=0.000007
2022/02/02 11:54:35.055 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=8.39442e+08 fPos=1179.84 fActPosition=1159.97 time=0.000007
2022/02/02 11:54:35.256 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65131 fPos=12.14 fActPosition=12.12 time=0.000009
2022/02/02 11:54:35.256 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=410 fPos=4.104 fActPosition=4.11 time=0.000006
2022/02/02 11:54:35.256 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=8.39442e+08 fPos=1179.84 fActPosition=1159.9 time=0.000006
2022/02/02 11:54:35.456 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65162 fPos=11.18 fActPosition=11.19 time=0.000011
2022/02/02 11:54:35.456 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=387 fPos=3.416 fActPosition=3.42 time=0.000118
2022/02/02 11:54:35.456 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=8.39442e+08 fPos=1179.84 fActPosition=1159.9 time=0.000006
2022/02/02 11:54:35.656 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65194 fPos=10.224 fActPosition=10.23 time=0.000009
2022/02/02 11:54:35.657 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=367 fPos=2.812 fActPosition=2.82 time=0.000005
2022/02/02 11:54:35.657 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=8.39442e+08 fPos=1179.84 fActPosition=1159.9 time=0.000006
2022/02/02 11:54:35.857 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65229 fPos=9.184 fActPosition=9.18 time=0.000009
2022/02/02 11:54:35.857 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=348 fPos=2.236 fActPosition=2.25 time=0.000006
2022/02/02 11:54:35.857 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=8.39442e+08 fPos=1179.84 fActPosition=1159.9 time=0.000006
2022/02/02 11:54:36.057 ecmcMotorRecord:: poll(1) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=65263 fPos=8.156 fActPosition=8.16 time=0.000210
2022/02/02 11:54:36.058 ecmcMotorRecord:: poll(2) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=1 atTarget=0 wf=0 ENC=331 fPos=1.74 fActPosition=1.74 time=0.000007
2022/02/02 11:54:36.058 ecmcMotorRecord:: poll(3) mvnNRdy=1 bBusy=1 bExecute=0 bEnabled=0 atTarget=1 wf=0 ENC=8.39442e+08 fPos=1179.84 fActPosition=1159.9 time=0.000008
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