131 lines
5.2 KiB
Plaintext
131 lines
5.2 KiB
Plaintext
##############################################################################
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## Example: Demo of ecmc grbl g-code plugin
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## https://github.com/anderssandstrom/ecmc_plugin_grbl
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## https://github.com/anderssandstrom/e3-ecmc_plugin_grbl
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##
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## The plugin exposes:
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##
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## Initiation:
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epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
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epicsEnvSet("ECMCCFG_INIT" ,"") #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
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epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
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require ecmccfg ruckig
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# Epics Motor record driver that will be used:
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epicsEnvShow(ECMC_MR_MODULE)
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# run module startup.cmd (only needed at ESS PSI auto call at require)
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$(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=ruckig"
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##############################################################################
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## Configure hardware:
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# Hardware for X and Y in ESS crate
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$(SCRIPTEXEC) $(ecmccfg_DIR)ecmcMCU1021_coupler.cmd
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# Use EL7211 as spindle
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epicsEnvSet("ECMC_EC_SLAVE_NUM", "11")
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epicsEnvSet("ECMC_EC_SLAVE_NUM_SPINDLE", "$(ECMC_EC_SLAVE_NUM)")
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7211-0010"
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# Apply local 24V config (local here)
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${SCRIPTEXEC} ${ecmccfg_DIR}applySlaveConfig.cmd, "LOCAL_CONFIG=./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd"
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#Apply hardware configuration (wrong here, should only be done once (also done in ecmcMCU1021_coupler), but will work)
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ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
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#Does not work. Known issue DC-patch for etherlab manster needed...
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#ecmcConfigOrDie "Cfg.EcSelectReferenceDC(0,$(ECMC_EC_SLAVE_NUM))"
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# ADDITIONAL SETUP
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# Set all outputs to feed switches
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput01,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput02,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput03,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput04,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput05,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput06,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput07,1)"
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput08,1)"
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# END of ADDITIONAL SETUP
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##############################################################################
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## AXIS 1: X-axis
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#
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epicsEnvSet("DEV", "$(IOC)")
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$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/x.ax)
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# Set external setpoints
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$(SCRIPTEXEC) ($(ecmccfg_DIR)applyAxisSynchronization.cmd, CONFIG=./cfg/x.sax)
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##############################################################################
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## AXIS 2: Y-axis
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#
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#epicsEnvSet("DEV", "$(IOC)")
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$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/y.ax)
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# Set external setpoints
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$(SCRIPTEXEC) ($(ecmccfg_DIR)applyAxisSynchronization.cmd, CONFIG=./cfg/y.sax)
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##############################################################################
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## AXIS 3: Spindle
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#
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epicsEnvSet("DEV", "$(IOC)")
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$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/spindle.ax)
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##############################################################################
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## Load plugin:
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epicsEnvSet("PLUGIN_VER" ,"develop")
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require ecmc_plugin_grbl $(PLUGIN_VER)
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epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_grbl/$(PLUGIN_VER)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_grbl.so")
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epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=0;AUTO_START=0;") # Only one option implemented in this plugin
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${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
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epicsEnvUnset(ECMC_PLUGIN_FILNAME)
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epicsEnvUnset(ECMC_PLUGIN_CONFIG)
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ecmcGrblLoadFile("./plc/gcode.nc",0)
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#ecmcGrblAddCommand("G1X20Y20F360");
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#ecmcGrblAddCommand("G4P2");
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#ecmcGrblAddCommand("G2X0Y0R20");
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#ecmcGrblAddCommand("G4P2");
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#ecmcGrblAddCommand("G0X10Y10");
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#ecmcGrblAddCommand("G4P2");
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#ecmcGrblAddCommand("G1X0Y0");
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#ecmcGrblAddCommand("G2X0adadsdY0R20");
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#ecmcGrblAddCommand("G1X0Y20");
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#ecmcGrblAddCommand("G1X10Y0F360");
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#ecmcGrblAddCommand("G4P1");
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#ecmcGrblAddCommand("G1X50Y50F180");
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#ecmcGrblAddCommand("G1X0Y0");
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##############################################################################
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## PLC 0
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$(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/grbl.plc")
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##############################################################################
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############# Configure diagnostics:
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ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
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ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
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ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
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ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)"
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ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)"
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ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
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$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
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#asynSetTraceMask(MC_CPU1, -1, 0x41)
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# Note need to test 0x21 later..
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#asynSetTraceMask(MC_CPU1, -1, 0x21)
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asynSetTraceMask(MC_CPU1, -1, 0x41)
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iocInit()
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dbpf $(IOC):Axis1.SPAM 0
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dbpf $(IOC):Axis2.SPAM 0
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