2921 lines
156 KiB
Plaintext
2921 lines
156 KiB
Plaintext
registerChannelProviderLocal firstTime true
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#
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# Start at "2022-W06-Feb08-1553-07-CET"
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#
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# Version information:
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# European Spallation Source ERIC : iocsh.bash (3.4.0-PID-314)
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#
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# --->--> snip -->-->
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# Please Use Version and other environment variables
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# in order to report or debug this shell
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#
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# HOSTDISPLAY=""
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# WINDOWID=""
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# PWD="/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
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# USER="pi"
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# LOGNAME="pi"
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# EPICS_HOST_ARCH="linux-arm"
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# EPICS_BASE="/home/pi/epics/base-7.0.5"
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# E3_REQUIRE_NAME="require"
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# E3_REQUIRE_VERSION="3.4.0"
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# E3_REQUIRE_LOCATION="/home/pi/epics/base-7.0.5/require/3.4.0"
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# E3_REQUIRE_BIN="/home/pi/epics/base-7.0.5/require/3.4.0/bin"
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# E3_REQUIRE_DB="/home/pi/epics/base-7.0.5/require/3.4.0/db"
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# E3_REQUIRE_DBD="/home/pi/epics/base-7.0.5/require/3.4.0/dbd"
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# E3_REQUIRE_INC="/home/pi/epics/base-7.0.5/require/3.4.0/include"
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# E3_REQUIRE_LIB="/home/pi/epics/base-7.0.5/require/3.4.0/lib"
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# EPICS_DRIVER_PATH="/home/pi/epics/base-7.0.5/require/3.4.0/siteMods:/home/pi/epics/base-7.0.5/require/3.4.0/siteApps"
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# EPICS_CA_AUTO_ADDR_LIST=""
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# EPICS_CA_ADDR_LIST=""
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# PATH="/home/pi/epics/base-7.0.5/require/3.4.0/bin:/home/pi/epics/base-7.0.5/bin/linux-arm:/home/pi/berryconda3/bin:/home/pi/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games"
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# --->--> snip -->-->
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#
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# Set REQUIRE_IOC for its internal PVs
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epicsEnvSet REQUIRE_IOC "REQMOD:raspberrypi-314"
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#
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# Enable an exit subroutine for sotfioc
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dbLoadRecords "/home/pi/epics/base-7.0.5/db/softIocExit.db" "IOC=REQMOD:raspberrypi-314"
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#
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# Set E3_IOCSH_TOP for the absolute path where iocsh.bash is executed.
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epicsEnvSet E3_IOCSH_TOP "/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
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#
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#
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# Load require module, which has the version 3.4.0
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#
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dlload /home/pi/epics/base-7.0.5/require/3.4.0/lib/linux-arm/librequire.so
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dbLoadDatabase /home/pi/epics/base-7.0.5/require/3.4.0/dbd/require.dbd
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require_registerRecordDeviceDriver
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Loading module info records for require
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#
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# Set E3_CMD_TOP for the absolute path where test.script exists
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epicsEnvSet E3_CMD_TOP "/home/pi/sources/e3-ecmc_plugin_grbl/ecmc_plugin_grbl-dev/iocsh"
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#
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iocshLoad 'test.script',''
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##############################################################################
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## Example: Demo of ecmc grbl g-code plugin
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## https://github.com/anderssandstrom/ecmc_plugin_grbl
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## https://github.com/anderssandstrom/e3-ecmc_plugin_grbl
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##
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## The plugin exposes:
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##
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## Initiation:
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epicsEnvSet("IOC" ,"IOC_TEST")
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epicsEnvSet("ECMCCFG_INIT" ,"") #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
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epicsEnvSet("SCRIPTEXEC" ,"iocshLoad")
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require ecmccfg ruckig
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Module ecmccfg version ruckig found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/lib/linux-arm/libecmccfg.so
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Loaded ecmccfg version ruckig
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/dbd/ecmccfg.dbd
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Calling function ecmccfg_registerRecordDeviceDriver
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Loading module info records for ecmccfg
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# Epics Motor record driver that will be used:
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epicsEnvShow(ECMC_MR_MODULE)
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ECMC_MR_MODULE is not an environment variable.
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# run module startup.cmd (only needed at ESS PSI auto call at require)
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iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/startup.cmd, "IOC=IOC_TEST,ECMC_VER=ruckig"
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#==============================================================================
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# startup.cmd
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on error halt
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require ecmc "ruckig"
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Module ecmc version ruckig found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/
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Module ecmc depends on asyn 4.41.0
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Module asyn version 4.41.0 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/lib/linux-arm/libasyn.so
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Loaded asyn version 4.41.0
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/asyn/4.41.0/dbd/asyn.dbd
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Calling function asyn_registerRecordDeviceDriver
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Loading module info records for asyn
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Module ecmc depends on exprtk 1.2.1
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Module exprtk version 1.2.1 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/exprtk/1.2.1/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/exprtk/1.2.1/lib/linux-arm/libexprtk.so
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Loaded exprtk version 1.2.1
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exprtk has no dbd file
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Loading module info records for exprtk
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Module ecmc depends on motor develop
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Module motor version develop found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/
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Module motor depends on asyn 4.41.0
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Module asyn version 4.41.0 already loaded
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/lib/linux-arm/libmotor.so
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Loaded motor version develop
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/motor/develop/dbd/motor.dbd
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Calling function motor_registerRecordDeviceDriver
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Loading module info records for motor
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Module ecmc depends on ruckig 1.0.0
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Module ruckig version 1.0.0 found in /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ruckig/1.0.0/
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ruckig/1.0.0/lib/linux-arm/libruckig.so
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Loaded ruckig version 1.0.0
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ruckig has no dbd file
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Loading module info records for ruckig
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Loading library /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/lib/linux-arm/libecmc.so
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Loaded ecmc version ruckig
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Loading dbd file /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc/ruckig/dbd/ecmc.dbd
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Calling function ecmc_registerRecordDeviceDriver
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Loading module info records for ecmc
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ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "'ecmcMotorRecord'='EthercatMC'", "require EthercatMC 3.0.2 # Using EthercatMC motor record support.","# Using ecmcMotorRecord motor record support.")
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# Using ecmcMotorRecord motor record support.
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epicsEnvUnset(ECMC_EXE_CMD)
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epicsEnvSet("ECMC_CONFIG_ROOT", "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/")
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epicsEnvSet("ECMC_CONFIG_DB", "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/db")
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epicsEnvSet("SCRIPTEXEC", "iocshLoad")
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epicsEnvSet("SM_PREFIX", "IOC_TEST:") # colon added since IOC is _not_ PREFIX
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epicsEnvSet("ECMC_PROC_HOOK", "")
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epicsEnvSet(ECMC_MODE, FULL)
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ecmcEpicsEnvSetCalcTernary(ECMC_SUPPORT_MOTION, "'FULL'!='DAQ'","","# MODE == DAQ, DISABLING MOTION.")
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epicsEnvShow(ECMC_SUPPORT_MOTION)
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ECMC_SUPPORT_MOTION=
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ecmcEpicsEnvSetCalcTernary(ECMC_USE_MOTOR_RECORD, "'FULL'=='FULL'","","# MODE != FULL, DISABLING MOTOR RECORD.")
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epicsEnvShow(ECMC_USE_MOTOR_RECORD)
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ECMC_USE_MOTOR_RECORD=
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAll.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAll.cmd"
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#==============================================================================
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# initAll.cmd
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/init.cmd",1)
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iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/init.cmd
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#==============================================================================
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# init.cmd
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epicsEnvSet("ECMC_ASYN_TIMEOUT", 1) # Asyn timeout
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epicsEnvSet("ECMC_ASYN_ADDR", 0) # Asyn Address
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epicsEnvSet("ECMC_MOTOR_PORT", "NOT SET")
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epicsEnvSet("ECMC_ASYN_PORT", "NOT SET")
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epicsEnvSet("ECMC_PREFIX", "NOT SET")
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epicsEnvSet("ECMC_GEN_EC_RECORDS", "NOT SET")
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epicsEnvSet("ECMC_GEN_AX_RECORDS", "NOT SET")
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epicsEnvSet("ECMC_EC_AXIS_HEALTH", "NOT SET")
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epicsEnvSet("ECMC_PLC_SAMPLE_RATE_MS", "NOT SET")
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epicsEnvSet("ECMC_TSE", -2)
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAxis.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/initAxis.cmd"
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#==============================================================================
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# initAxis.cmd
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_unset.cmd"
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#==============================================================================
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# ecmc_axis_unset.cmd
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epicsEnvUnset(ECMC_AXISCONFIG)
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epicsEnvUnset(ECMC_AXISFIELDINIT)
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epicsEnvUnset(ECMC_PREC)
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epicsEnvUnset(ECMC_EGU)
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epicsEnvUnset(ECMC_DESC)
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epicsEnvUnset(ECMC_R)
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epicsEnvUnset(ECMC_MOTOR_NAME)
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epicsEnvUnset(ECMC_EC_AXIS_HEALTH)
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epicsEnvUnset(ECMC_MOD_RANGE)
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epicsEnvUnset(ECMC_MOD_TYPE)
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epicsEnvUnset(ECMC_EMERG_DECEL)
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epicsEnvUnset(ECMC_VELO)
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epicsEnvUnset(ECMC_ACCL)
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epicsEnvUnset(ECMC_ACCS_EGU_PER_S2)
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epicsEnvUnset(ECMC_HOME_VEL_TO)
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epicsEnvUnset(ECMC_HOME_VEL_FRM)
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epicsEnvUnset(ECMC_CNTRL_KP)
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epicsEnvUnset(ECMC_CNTRL_KI)
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epicsEnvUnset(ECMC_CNTRL_KD)
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epicsEnvUnset(ECMC_CNTRL_KFF)
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epicsEnvUnset(ECMC_EC_ENC_ACTPOS)
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epicsEnvUnset(ECMC_EC_ENC_LATCHPOS)
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epicsEnvUnset(ECMC_EC_ENC_LATCH_CONTROL)
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epicsEnvUnset(ECMC_EC_ENC_LATCH_STATUS)
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epicsEnvUnset(ECMC_HOME_LATCH_COUNT_OFFSET)
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epicsEnvUnset(ECMC_ENC_SCALE_DENOM)
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epicsEnvUnset(ECMC_ENC_SCALE_NUM)
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epicsEnvUnset(ECMC_ENC_TYPE)
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epicsEnvUnset(ECMC_ENC_BITS)
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epicsEnvUnset(ECMC_ENC_ABS_BITS)
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epicsEnvUnset(ECMC_ENC_ABS_OFFSET)
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epicsEnvUnset(ECMC_ENC_VEL_FILTER_SIZE)
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epicsEnvUnset(ECMC_ENC_POS_FILTER_SIZE)
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epicsEnvUnset(ECMC_ENC_POS_FILTER_ENABLE)
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epicsEnvUnset(ECMC_EC_ENC_RESET)
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epicsEnvUnset(ECMC_EC_ENC_ALARM_0)
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epicsEnvUnset(ECMC_EC_ENC_ALARM_1)
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epicsEnvUnset(ECMC_EC_ENC_ALARM_2)
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epicsEnvUnset(ECMC_EC_ENC_WARNING)
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epicsEnvUnset(ECMC_EC_DRV_CONTROL)
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epicsEnvUnset(ECMC_EC_DRV_STATUS)
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epicsEnvUnset(ECMC_EC_DRV_VELOCITY)
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epicsEnvUnset(ECMC_EC_DRV_BRAKE)
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epicsEnvUnset(ECMC_EC_DRV_REDUCE_TORQUE)
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epicsEnvUnset(ECMC_EC_DRV_RESET)
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epicsEnvUnset(ECMC_EC_DRV_ALARM_0)
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epicsEnvUnset(ECMC_EC_DRV_ALARM_1)
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epicsEnvUnset(ECMC_EC_DRV_ALARM_2)
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epicsEnvUnset(ECMC_EC_DRV_WARNING)
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epicsEnvUnset(ECMC_DRV_SCALE_DENOM)
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epicsEnvUnset(ECMC_DRV_SCALE_NUM)
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epicsEnvUnset(ECMC_DRV_BRAKE_OPEN_DLY_TIME)
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epicsEnvUnset(ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME)
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epicsEnvUnset(ECMC_SOFT_LOW_LIM)
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epicsEnvUnset(ECMC_DXLM_ENABLE)
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epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
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epicsEnvUnset(ECMC_DXLM_ENABLE)
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epicsEnvUnset(ECMC_EC_MON_LOWLIM)
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epicsEnvUnset(ECMC_EC_MON_HIGHLIM)
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epicsEnvUnset(ECMC_EC_MON_HOME_SWITCH)
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epicsEnvUnset(ECMC_EC_MON_EXT_INTERLOCK)
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epicsEnvUnset(ECMC_MON_AT_TARGET_TOL)
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epicsEnvUnset(ECMC_MON_AT_TARGET_TIME)
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epicsEnvUnset(ECMC_MON_AT_TARGET_ENA)
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epicsEnvUnset(ECMC_MON_LAG_MON_TOL)
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epicsEnvUnset(ECMC_MON_LAG_MON_TIME)
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epicsEnvUnset(ECMC_MON_LAG_MON_ENA)
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epicsEnvUnset(ECMC_MON_VELO_MAX)
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epicsEnvUnset(ECMC_MON_VELO_MAX_ENA)
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epicsEnvUnset(ECMC_MON_VELO_MAX_DRV_TIME)
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epicsEnvUnset(ECMC_MON_VELO_MAX_TRAJ_TIME)
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epicsEnvUnset(ECMC_JOG_VEL)
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epicsEnvUnset(ECMC_JAR)
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epicsEnvUnset(ECMC_HOME_PROC)
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epicsEnvUnset(ECMC_HOME_POS)
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epicsEnvUnset(ECMC_HOME_ACC)
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epicsEnvUnset(ECMC_HOME_DEC)
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epicsEnvUnset(ECMC_DRV_TYPE)
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epicsEnvUnset(ECMC_VELO)
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epicsEnvUnset(ECMC_SOFT_LOW_LIM)
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epicsEnvUnset(ECMC_SOFT_HIGH_LIM)
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epicsEnvUnset(ECMC_HOME_POS_MOVE_ENA)
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epicsEnvUnset(ECMC_HOME_POS_MOVE_TARG_POS)
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epicsEnvUnset(ECMC_TRAJ_TYPE)
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epicsEnvUnset(ECMC_JERK)
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ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd",1)
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iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmc_axis_sync_unset.cmd"
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#==============================================================================
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# ecmc_axis_sync_unset.cmd
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epicsEnvUnset(ECMC_CMD_FRM_OTHER_PLC_ENABLE)
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epicsEnvUnset(ECMC_CMD_AXIS_PLC_ENABLE)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_1)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_2)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_3)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_4)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_5)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_6)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_7)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_8)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_9)
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epicsEnvUnset(ECMC_AXIS_EXPR_LINE_10)
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epicsEnvUnset(ECMC_ENC_VELO_FILT_SIZE)
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epicsEnvUnset(ECMC_ENC_VELO_FILT_ENABLE)
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epicsEnvUnset(ECMC_ENC_SOURCE)
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epicsEnvUnset(ECMC_TRAJ_VELO_FILT_SIZE)
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epicsEnvUnset(ECMC_TRAJ_VELO_FILT_ENABLE)
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epicsEnvUnset(ECMC_TRAJ_SOURCE)
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epicsEnvSet("ECMC_EGU", "mm")
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epicsEnvSet("ECMC_PREC", 3)
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epicsEnvSet("ECMC_AXISFIELDINIT", "") # Extra field init to m2022/02/08 15:53:08.066
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ECMC Initializes.............
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2022/02/08 15:53:08.067 ESS Open Source EtherCAT Motion Control Epics Module2022/02/08 15:53:08.067
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Mode: Configuration
|
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2022/02/08 15:53:08.067 OK
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2022/02/08 15:53:08.067 OK
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2022/02/08 15:53:08.068 OK
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2022/02/08 15:53:08.070 OK
|
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2022/02/08 15:53:08.091 OK
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2022/02/08 15:53:08.091 OK
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2022/02/08 15:53:08.091 OK
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otor record
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epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver
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############################################################
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############# ASYN Configuration:
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epicsEnvSet("ECMC_MOTOR_PORT" "MCU1")
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epicsEnvSet("ECMC_ASYN_PORT" "MC_CPU1")
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epicsEnvSet("ECMC_PREFIX" "IOC_TEST:")
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ecmcAsynPortDriverConfigure(MC_CPU1,1000,0,0,100)
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ecmcAsynPortDriverConfigure: portName = MC_CPU1, paramTableSize = 1000, disableAutoConnect = 0, priority = 0, defaultSampleRateMS = 100.000000
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asynOctetSetOutputEos(MC_CPU1, -1, ";\n")
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asynOctetSetInputEos(MC_CPU1, -1, ";\n")
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asynSetTraceMask(MC_CPU1, -1, 0x41)
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asynSetTraceIOMask(MC_CPU1, -1, 6)
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asynSetTraceInfoMask(MC_CPU1, -1, 1)
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ecmcMotorRecordCreateController(MCU1, MC_CPU1, "64", 200, 1000, "")
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############################################################
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############# Misc settings:
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# Disable function call trace printouts
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ecmcConfigOrDie "Cfg.SetEnableFuncCallDiag(0)"
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# Disable on change printouts from objects (enable for easy logging)
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ecmcConfigOrDie "Cfg.SetTraceMaskBit(15,0)"
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# Choose to generate EPICS-records for EtherCAT-entries
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# (For records use ECMC_GEN_EC_RECORDS="-records" otherwise ECMC_GEN_EC_RECORDS="")
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epicsEnvSet("ECMC_GEN_EC_RECORDS", "-records")
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# Choose to generate EPICS-records for ax-entries (PosAct, SetPos,..)
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# (For records use ECMC_GEN_AX_RECORDS="-records" otherwise ECMC_GEN_AX_RECORDS="")
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epicsEnvSet("ECMC_GEN_AX_RECORDS", "-records")
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# suffix for pva enabled scripts, templates and substitutions
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_PVA, "0", "Pva","")
|
||
# Set EtherCAT frequency (defaults to 1000)
|
||
ecmcConfigOrDie "Cfg.SetSampleRate(1000)"
|
||
epicsEnvSet("ECMC_EC_SAMPLE_RATE" , 1000)
|
||
ecmcEpicsEnvSetCalc("ECMC_EC_SAMPLE_RATE_MS" ,1000/1000)
|
||
# Update records in 10ms (100Hz) for FULL MODE and in EC_RATE for DAQ mode
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SAMPLE_RATE_MS, "'FULL'=='DAQ'","1","10")
|
||
epicsEnvSet("ECMC_P_SCRIPT", "mXsXXX")
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_MASTER_CMD, "0>=0", "","#- ")
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addMaster.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addMaster.cmd", "MASTER_ID=0"
|
||
#===============================================================================
|
||
# addMaster.cfg
|
||
epicsEnvSet("ECMC_EC_MASTER_ID" "0")
|
||
# Claim master
|
||
ecmcConfigOrDie "Cfg.EcSetMaster(0)"
|
||
epicsEnvSet("ECMC_EC_MASTER_ID" ,0)
|
||
epicsEnvSet("ECMC_TMP_DIR", "/tmp/IOC_TEST/EcMaster_0/")
|
||
system "mkdir -p /tmp/IOC_TEST/EcMaster_0/"
|
||
epicsEnvSet("ECMC_TMP_DIR", "/tmp/IOC_TEST/EcMaster_0/")
|
||
system "mkdir -p /tmp/IOC_TEST/EcMaster_0/"
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/setDiagnostics.cmd",1)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/setDiagnostics.cmd
|
||
#==============================================================================
|
||
# setDiagnostics.cmd
|
||
ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
|
||
ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
|
||
ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
|
||
epicsEnvSet("ECMCCFG_INIT" ,"#")
|
||
##############################################################################
|
||
## Configure hardware:
|
||
# Hardware for X and Y in ESS crate
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcMCU1021_coupler.cmd
|
||
############################################################
|
||
############# MCU1021:
|
||
#Configure EK1100 coupler terminal
|
||
epicsEnvSet(ECMC_EC_SLAVE_NUM,0)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=0, HW_DESC=EK1100"
|
||
#==============================================================================
|
||
# addSlave.cmd
|
||
epicsEnvSet("ECMC_EC_SLAVE_NUM", "0")
|
||
epicsEnvSet("HW_DESC", "EK1100")
|
||
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
||
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEK1100.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/e2022/02/08 15:53:08.093 OK
|
||
2022/02/08 15:53:08.095 OK
|
||
2022/02/08 15:53:08.102 OK
|
||
2022/02/08 15:53:08.103 OK
|
||
2022/02/08 15:53:08.104 OK
|
||
2022/02/08 15:53:08.104 OK
|
||
cmccfg/ruckig/ecmcEK1100.cmd" "NELM=1"
|
||
epicsEnvSet("ECMC_EC_HWTYPE" "EK1100")
|
||
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
||
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x044c2c52")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
||
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,0,0x2,0x044c2c52)"
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
||
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
||
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
||
epicsEnvUnset(ECMC_COMMENT)
|
||
ecmcConfigOrDie "Cfg.EcAddSlave(0,0,0x2,0x044c2c52)"
|
||
# deduce what the prefix should be
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=0,HWTYPE=EK1100"
|
||
#==============================================================================
|
||
# ecmcmXsXXX.cmd
|
||
ecmcEpicsEnvSetCalc("sid", "0","%03d")
|
||
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
||
epicsEnvSet("ECMC_G", "IOC_TEST:m0s000")
|
||
epicsEnvSet("ECMC_P", "IOC_TEST:m0s000-")
|
||
epicsEnvUnset(sid)
|
||
epicsEnvUnset(mid)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEK1100.substitutions,ECMC_P=IOC_TEST:m0s000-"
|
||
#==============================================================================
|
||
# applySubstitutions.cmd
|
||
ecmcFileExist(ecmcEK1100.substitutions,1,1)
|
||
dbLoadTemplate(ecmcEK1100.substitutions,"ECMC_P=IOC_TEST:m0s000-,ECMC_G=IOC_TEST:m0s000,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=0,HWTYPE=EK1100,T_SMP_MS=10,TSE=-2,NELM=1")
|
||
epicsEnvUnset(DEFAULT_SUBS)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s000-,ECMC_G=IOC_TEST:m0s000"
|
||
#==============================================================================
|
||
# applyTemplate.cmd
|
||
ecmcFileExist(ecmcEcSlave.template,1,1)
|
||
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s000-,ECMC_G=IOC_TEST:m0s000,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=0,HWTYPE=EK1100,T_SMP_MS=10,TSE=-2,")
|
||
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
||
# increment SLAVE_ID
|
||
ecmcEpicsEnvSetCalc("SLAVE_ID", "0+1","%d")
|
||
#Configure EL1018 digital input terminal
|
||
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "0+1")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=1, HW_DESC=EL1018"
|
||
#==============================================================================
|
||
# addSlave.cmd
|
||
epicsEnvSet("ECMC_EC_SLAVE_NUM", "1")
|
||
epicsEnvSet("HW_DESC", "EL1018")
|
||
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
||
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL1018.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL1018.cmd" "NELM=1"
|
||
epicsEnvSet("ECMC_EC_HWTYPE" "EL1018")
|
||
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
||
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x03fa3052")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
||
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,1,0x2,0x03fa3052)"
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
||
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
||
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
||
epicsEnvUnset(ECMC_COMMENT)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX1008.cmd
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a00,0x6000,0x1,B1,binaryInput01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a01,0x6010,0x1,B1,binaryInput02)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a02,0x6020,0x1,B1,binaryInput03)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a03,0x6030,0x1,B1,binaryInput04)2022/02/08 15:53:08.104 OK
|
||
2022/02/08 15:53:08.104 OK
|
||
2022/02/08 15:53:08.105 OK
|
||
2022/02/08 15:53:08.105 OK
|
||
2022/02/08 15:53:08.105 OK
|
||
2022/02/08 15:53:08.113 OK
|
||
2022/02/08 15:53:08.115 OK
|
||
2022/02/08 15:53:08.115 OK
|
||
2022/02/08 15:53:08.115 OK
|
||
2022/02/08 15:53:08.115 OK
|
||
2022/02/08 15:53:08.115 OK
|
||
2022/02/08 15:53:08.116 OK
|
||
"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a04,0x6040,0x1,B1,binaryInput05)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a05,0x6050,0x1,B1,binaryInput06)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a06,0x6060,0x1,B1,binaryInput07)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(1,0x2,0x03fa3052,2,0,0x1a07,0x6070,0x1,B1,binaryInput08)"
|
||
# deduce what the prefix should be
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=1,HWTYPE=EL1018"
|
||
#==============================================================================
|
||
# ecmcmXsXXX.cmd
|
||
ecmcEpicsEnvSetCalc("sid", "1","%03d")
|
||
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
||
epicsEnvSet("ECMC_G", "IOC_TEST:m0s001")
|
||
epicsEnvSet("ECMC_P", "IOC_TEST:m0s001-")
|
||
epicsEnvUnset(sid)
|
||
epicsEnvUnset(mid)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL1018.substitutions,ECMC_P=IOC_TEST:m0s001-"
|
||
#==============================================================================
|
||
# applySubstitutions.cmd
|
||
ecmcFileExist(ecmcEL1018.substitutions,1,1)
|
||
dbLoadTemplate(ecmcEL1018.substitutions,"ECMC_P=IOC_TEST:m0s001-,ECMC_G=IOC_TEST:m0s001,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=1,HWTYPE=EL1018,T_SMP_MS=10,TSE=-2,NELM=1")
|
||
epicsEnvUnset(DEFAULT_SUBS)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s001-,ECMC_G=IOC_TEST:m0s001"
|
||
#==============================================================================
|
||
# applyTemplate.cmd
|
||
ecmcFileExist(ecmcEcSlave.template,1,1)
|
||
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s001-,ECMC_G=IOC_TEST:m0s001,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=1,HWTYPE=EL1018,T_SMP_MS=10,TSE=-2,")
|
||
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
||
# increment SLAVE_ID
|
||
ecmcEpicsEnvSetCalc("SLAVE_ID", "1+1","%d")
|
||
#Configure EL2808 digital output terminal
|
||
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "1+1")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=2, HW_DESC=EL2808"
|
||
#==============================================================================
|
||
# addSlave.cmd
|
||
epicsEnvSet("ECMC_EC_SLAVE_NUM", "2")
|
||
epicsEnvSet("HW_DESC", "EL2808")
|
||
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
||
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL2808.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL2808.cmd" "NELM=1"
|
||
epicsEnvSet("ECMC_EC_HWTYPE" "EL2808")
|
||
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
||
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x0af83052")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
||
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,2,0x2,0x0af83052)"
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
||
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
||
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
||
epicsEnvUnset(ECMC_COMMENT)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX2008.cmd
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1600,0x7000,0x1,B1,binaryOutput01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1601,0x7010,0x1,B1,binaryOutput02)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1602,0x7020,0x1,B1,binaryOutput03)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1603,0x7030,0x1,B1,binaryOutput04)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1604,0x7040,0x1,B1,binaryOutput05)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1605,0x7050,0x1,B1,binaryOutput06)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,02022/02/08 15:53:08.116 OK
|
||
2022/02/08 15:53:08.116 OK
|
||
2022/02/08 15:53:08.126 OK
|
||
2022/02/08 15:53:08.199 OK
|
||
2022/02/08 15:53:08.279 14385
|
||
2022/02/08 15:53:08.280 OK
|
||
2022/02/08 15:53:08.280 OK
|
||
2022/02/08 15:53:08.280 OK
|
||
2022/02/08 15:53:08.281 OK
|
||
2022/02/08 15:53:08.281 OK
|
||
x1606,0x7060,0x1,B1,binaryOutput07)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(2,0x2,0x0af83052,1,0,0x1607,0x7070,0x1,B1,binaryOutput08)"
|
||
# deduce what the prefix should be
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=2,HWTYPE=EL2808"
|
||
#==============================================================================
|
||
# ecmcmXsXXX.cmd
|
||
ecmcEpicsEnvSetCalc("sid", "2","%03d")
|
||
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
||
epicsEnvSet("ECMC_G", "IOC_TEST:m0s002")
|
||
epicsEnvSet("ECMC_P", "IOC_TEST:m0s002-")
|
||
epicsEnvUnset(sid)
|
||
epicsEnvUnset(mid)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL2808.substitutions,ECMC_P=IOC_TEST:m0s002-"
|
||
#==============================================================================
|
||
# applySubstitutions.cmd
|
||
ecmcFileExist(ecmcEL2808.substitutions,1,1)
|
||
dbLoadTemplate(ecmcEL2808.substitutions,"ECMC_P=IOC_TEST:m0s002-,ECMC_G=IOC_TEST:m0s002,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=2,HWTYPE=EL2808,T_SMP_MS=10,TSE=-2,NELM=1")
|
||
epicsEnvUnset(DEFAULT_SUBS)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s002-,ECMC_G=IOC_TEST:m0s002"
|
||
#==============================================================================
|
||
# applyTemplate.cmd
|
||
ecmcFileExist(ecmcEcSlave.template,1,1)
|
||
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s002-,ECMC_G=IOC_TEST:m0s002,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=2,HWTYPE=EL2808,T_SMP_MS=10,TSE=-2,")
|
||
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
||
# increment SLAVE_ID
|
||
ecmcEpicsEnvSetCalc("SLAVE_ID", "2+1","%d")
|
||
# Save the slave number for later
|
||
epicsEnvSet("ECMC_EC_SLAVE_NUM_DIG_OUT", "2")
|
||
#Configure EL5101 Incremental Encoder Interface
|
||
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "2+1")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=3, HW_DESC=EL5101"
|
||
#==============================================================================
|
||
# addSlave.cmd
|
||
epicsEnvSet("ECMC_EC_SLAVE_NUM", "3")
|
||
epicsEnvSet("HW_DESC", "EL5101")
|
||
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
||
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL5101.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL5101.cmd" "NELM=1"
|
||
epicsEnvSet("ECMC_EC_HWTYPE" "EL5101")
|
||
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
||
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x13ed3052")
|
||
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd,1)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd "RESET=true"
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
||
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,3,0x2,0x13ed3052)"
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
|
||
ecmcConfigOrDie "Cfg.EcWriteSdo(3,0x1011,0x1,1684107116,4)"
|
||
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
||
ecmcConfig "EcReadSdo(3,0x100a,0x0,2)"
|
||
ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "14385", "0x%04x")
|
||
# Firmware version: 0x3831
|
||
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
||
epicsEnvUnset(ECMC_COMMENT)
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,1,2,0x1600,0x7000,0x01,8,encoderControl01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,1,2,0x1600,0x7000,0x02,16,encoderValue01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x00,16,encoderStatus01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x10,16,positionActual01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(3,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x20,16,encoderLatchPostion01)"
|
||
# deduce what the prefix should be
|
||
ecmcFileExist2022/02/08 15:53:08.289 OK
|
||
2022/02/08 15:53:08.369 OK
|
||
2022/02/08 15:53:08.449 14385
|
||
2022/02/08 15:53:08.450 OK
|
||
2022/02/08 15:53:08.450 OK
|
||
2022/02/08 15:53:08.451 OK
|
||
2022/02/08 15:53:08.451 OK
|
||
2022/02/08 15:53:08.451 OK
|
||
("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=3,HWTYPE=EL5101"
|
||
#==============================================================================
|
||
# ecmcmXsXXX.cmd
|
||
ecmcEpicsEnvSetCalc("sid", "3","%03d")
|
||
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
||
epicsEnvSet("ECMC_G", "IOC_TEST:m0s003")
|
||
epicsEnvSet("ECMC_P", "IOC_TEST:m0s003-")
|
||
epicsEnvUnset(sid)
|
||
epicsEnvUnset(mid)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL5101.substitutions,ECMC_P=IOC_TEST:m0s003-"
|
||
#==============================================================================
|
||
# applySubstitutions.cmd
|
||
ecmcFileExist(ecmcEL5101.substitutions,1,1)
|
||
dbLoadTemplate(ecmcEL5101.substitutions,"ECMC_P=IOC_TEST:m0s003-,ECMC_G=IOC_TEST:m0s003,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=3,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,NELM=1")
|
||
epicsEnvUnset(DEFAULT_SUBS)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s003-,ECMC_G=IOC_TEST:m0s003"
|
||
#==============================================================================
|
||
# applyTemplate.cmd
|
||
ecmcFileExist(ecmcEcSlave.template,1,1)
|
||
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s003-,ECMC_G=IOC_TEST:m0s003,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=3,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,")
|
||
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
||
# increment SLAVE_ID
|
||
ecmcEpicsEnvSetCalc("SLAVE_ID", "3+1","%d")
|
||
#Configure EL5101 Incremental Encoder Interface
|
||
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "3+1")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=4, HW_DESC=EL5101"
|
||
#==============================================================================
|
||
# addSlave.cmd
|
||
epicsEnvSet("ECMC_EC_SLAVE_NUM", "4")
|
||
epicsEnvSet("HW_DESC", "EL5101")
|
||
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
||
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL5101.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL5101.cmd" "NELM=1"
|
||
epicsEnvSet("ECMC_EC_HWTYPE" "EL5101")
|
||
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
||
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x13ed3052")
|
||
ecmcFileExist(/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd,1)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd "RESET=true"
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
||
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,4,0x2,0x13ed3052)"
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
|
||
ecmcConfigOrDie "Cfg.EcWriteSdo(4,0x1011,0x1,1684107116,4)"
|
||
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
||
ecmcConfig "EcReadSdo(4,0x100a,0x0,2)"
|
||
ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "14385", "0x%04x")
|
||
# Firmware version: 0x3831
|
||
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
||
epicsEnvUnset(ECMC_COMMENT)
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,1,2,0x1600,0x7000,0x01,8,encoderControl01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,1,2,0x1600,0x7000,0x02,16,encoderValue01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x00,16,encoderStatus01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x10,16,positionActual01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(4,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x20,16,encoderLatchPostion01)"
|
||
# deduce what the prefix should be
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=4,HWTYPE=EL5101"
|
||
#=========================================2022/02/08 15:53:08.459 OK
|
||
2022/02/08 15:53:08.460 OK
|
||
2022/02/08 15:53:08.460 OK
|
||
=====================================
|
||
# ecmcmXsXXX.cmd
|
||
ecmcEpicsEnvSetCalc("sid", "4","%03d")
|
||
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
||
epicsEnvSet("ECMC_G", "IOC_TEST:m0s004")
|
||
epicsEnvSet("ECMC_P", "IOC_TEST:m0s004-")
|
||
epicsEnvUnset(sid)
|
||
epicsEnvUnset(mid)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL5101.substitutions,ECMC_P=IOC_TEST:m0s004-"
|
||
#==============================================================================
|
||
# applySubstitutions.cmd
|
||
ecmcFileExist(ecmcEL5101.substitutions,1,1)
|
||
dbLoadTemplate(ecmcEL5101.substitutions,"ECMC_P=IOC_TEST:m0s004-,ECMC_G=IOC_TEST:m0s004,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=4,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,NELM=1")
|
||
epicsEnvUnset(DEFAULT_SUBS)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s004-,ECMC_G=IOC_TEST:m0s004"
|
||
#==============================================================================
|
||
# applyTemplate.cmd
|
||
ecmcFileExist(ecmcEcSlave.template,1,1)
|
||
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s004-,ECMC_G=IOC_TEST:m0s004,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=4,HWTYPE=EL5101,T_SMP_MS=10,TSE=-2,")
|
||
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
||
# increment SLAVE_ID
|
||
ecmcEpicsEnvSetCalc("SLAVE_ID", "4+1","%d")
|
||
# Configure EL9505 Power supply terminal 5V
|
||
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "4+1")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=5, HW_DESC=EL9505"
|
||
#==============================================================================
|
||
# addSlave.cmd
|
||
epicsEnvSet("ECMC_EC_SLAVE_NUM", "5")
|
||
epicsEnvSet("HW_DESC", "EL9505")
|
||
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
||
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL9505.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL9505.cmd" "NELM=1"
|
||
epicsEnvSet("ECMC_EC_HWTYPE" "EL9505")
|
||
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
||
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x25213052")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
||
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,5,0x2,0x25213052)"
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
||
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
||
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
||
epicsEnvUnset(ECMC_COMMENT)
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(5,0x2,0x25213052,2,0,0x1a00,0x6000,0x1,1,powerOk01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(5,0x2,0x25213052,2,0,0x1a00,0x6000,0x2,1,overload01)"
|
||
# deduce what the prefix should be
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=5,HWTYPE=EL9505"
|
||
#==============================================================================
|
||
# ecmcmXsXXX.cmd
|
||
ecmcEpicsEnvSetCalc("sid", "5","%03d")
|
||
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
||
epicsEnvSet("ECMC_G", "IOC_TEST:m0s005")
|
||
epicsEnvSet("ECMC_P", "IOC_TEST:m0s005-")
|
||
epicsEnvUnset(sid)
|
||
epicsEnvUnset(mid)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL9505.substitutions,ECMC_P=IOC_TEST:m0s005-"
|
||
#==============================================================================
|
||
# applySubstitutions.cmd
|
||
ecmcFileExist(ecmcEL9505.substitutions,1,1)
|
||
dbLoadTemplate(ecmcEL9505.substitutions,"ECMC_P=IOC_TEST:m0s005-,ECMC_G=IOC_TEST:m0s005,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=5,HWTYPE=EL9505,T_SMP_MS=10,TSE=-2,NELM=1")
|
||
epicsEnvUnset(DEFAULT_SUBS)
|
||
ecmcEpicsEnvSetCalcTernary(2022/02/08 15:53:08.472 OK
|
||
2022/02/08 15:53:08.474 OK
|
||
2022/02/08 15:53:08.474 OK
|
||
2022/02/08 15:53:08.475 OK
|
||
2022/02/08 15:53:08.475 OK
|
||
2022/02/08 15:53:08.475 OK
|
||
2022/02/08 15:53:08.475 OK
|
||
2022/02/08 15:53:08.475 OK
|
||
2022/02/08 15:53:08.475 OK
|
||
DEFAULT_SLAVE_PVS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s005-,ECMC_G=IOC_TEST:m0s005"
|
||
#==============================================================================
|
||
# applyTemplate.cmd
|
||
ecmcFileExist(ecmcEcSlave.template,1,1)
|
||
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s005-,ECMC_G=IOC_TEST:m0s005,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=5,HWTYPE=EL9505,T_SMP_MS=10,TSE=-2,")
|
||
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
||
# increment SLAVE_ID
|
||
ecmcEpicsEnvSetCalc("SLAVE_ID", "5+1","%d")
|
||
# Configure EL1252 digital input terminal
|
||
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "5+1")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd, "SLAVE_ID=6, HW_DESC=EL1252"
|
||
#==============================================================================
|
||
# addSlave.cmd
|
||
epicsEnvSet("ECMC_EC_SLAVE_NUM", "6")
|
||
epicsEnvSet("HW_DESC", "EL1252")
|
||
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
||
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL1252.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL1252.cmd" "NELM=1"
|
||
epicsEnvSet("ECMC_EC_HWTYPE" "EL1252")
|
||
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
||
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x04e43052")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
||
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,6,0x2,0x04e43052)"
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "0>0", "","#- ")
|
||
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
||
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
||
epicsEnvUnset(ECMC_COMMENT)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX1002.cmd
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,0,0x1a00,0x6000,0x1,B1,binaryInput01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,0,0x1a01,0x6010,0x1,B1,binaryInput02)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xae,U8,status01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xaf,U8,status02)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xb0,U64,timestampLatchPositive01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xb8,U64,timestampLatchNegative01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xc0,U64,timestampLatchPositive02)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryDT(6,0x2,0x04e43052,2,1,0x1a13,0x1d09,0xc8,U64,timestampLatchNegative02)"
|
||
# deduce what the prefix should be
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=6,HWTYPE=EL1252"
|
||
#==============================================================================
|
||
# ecmcmXsXXX.cmd
|
||
ecmcEpicsEnvSetCalc("sid", "6","%03d")
|
||
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
||
epicsEnvSet("ECMC_G", "IOC_TEST:m0s006")
|
||
epicsEnvSet("ECMC_P", "IOC_TEST:m0s006-")
|
||
epicsEnvUnset(sid)
|
||
epicsEnvUnset(mid)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL1252.substitutions,ECMC_P=IOC_TEST:m0s006-"
|
||
#==============================================================================
|
||
# applySubstitutions.cmd
|
||
ecmcFileExist(ecmcEL1252.substitutions,1,1)
|
||
dbLoadTemplate(ecmcEL1252.substitutions,"ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST:m0s006,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=6,HWTYPE=EL1252,T_SMP_MS=10,TSE=-2,NELM=1")
|
||
epicsEnvUnset(DEFAULT_SUBS)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TE2022/02/08 15:53:08.492 OK
|
||
2022/02/08 15:53:08.599 OK
|
||
2022/02/08 15:53:08.679 12848
|
||
2022/02/08 15:53:08.682 OK
|
||
2022/02/08 15:53:08.682 OK
|
||
2022/02/08 15:53:08.682 OK
|
||
2022/02/08 15:53:08.683 OK
|
||
2022/02/08 15:53:08.683 OK
|
||
2022/02/08 15:53:08.683 OK
|
||
2022/02/08 15:53:08.683 OK
|
||
2022/02/08 15:53:08.684 OK
|
||
2022/02/08 15:53:08.684 OK
|
||
2022/02/08 15:53:08.684 OK
|
||
2022/02/08 15:53:08.684 OK
|
||
2022/02/08 15:53:08.684 OK
|
||
ST:m0s006"
|
||
#==============================================================================
|
||
# applyTemplate.cmd
|
||
ecmcFileExist(ecmcEcSlave.template,1,1)
|
||
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s006-,ECMC_G=IOC_TEST:m0s006,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=6,HWTYPE=EL1252,T_SMP_MS=10,TSE=-2,")
|
||
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
||
# increment SLAVE_ID
|
||
ecmcEpicsEnvSetCalc("SLAVE_ID", "6+1","%d")
|
||
# Configure EL9410 Power supply with refresh of E-Bus.
|
||
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "6+1")
|
||
#${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=${ECMC_EC_SLAVE_NUM}, HW_DESC=EL9410"
|
||
#Configure EL7037 stepper drive terminal, motor 1
|
||
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "7+1")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureSlave.cmd, "SLAVE_ID=8, HW_DESC=EL7037, CONFIG=-Motor-Nanotec-ST4118L1804-B"
|
||
#==============================================================================
|
||
# configureSlave.cmd
|
||
epicsEnvSet("ECMC_EC_SLAVE_NUM", "8")
|
||
epicsEnvSet("HW_DESC", "EL7037")
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd",1)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd "SLAVE_ID=8, HW_DESC=EL7037, NELM=1"
|
||
#==============================================================================
|
||
# addSlave.cmd
|
||
epicsEnvSet("ECMC_EC_SLAVE_NUM", "8")
|
||
epicsEnvSet("HW_DESC", "EL7037")
|
||
epicsEnvSet("P_SCRIPT", "mXsXXX")
|
||
# add ${HW_DESC} to the bus at position ${SLAVE_ID}
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037.cmd" "NELM=1"
|
||
epicsEnvSet("ECMC_EC_HWTYPE" "EL7037")
|
||
epicsEnvSet("ECMC_EC_VENDOR_ID" "0x2")
|
||
epicsEnvSet("ECMC_EC_PRODUCT_ID" "0x1b7d3052")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/slaveVerify.cmd "RESET=true"
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_VERIFY, "0==0", "","#- ")
|
||
ecmcConfigOrDie "Cfg.EcSlaveVerify(0,8,0x2,0x1b7d3052)"
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_SLAVE_RESET, "true>0", "","#- ")
|
||
ecmcConfigOrDie "Cfg.EcWriteSdo(8,0x1011,0x1,1684107116,4)"
|
||
epicsEnvSet(ECMC_EC_SLAVE_FW, "0x0000")
|
||
ecmcConfig "EcReadSdo(8,0x100a,0x0,2)"
|
||
ecmcEpicsEnvSetCalc("ECMC_EC_SLAVE_FW", "12848", "0x%04x")
|
||
# Firmware version: 0x3230
|
||
epicsEnvUnset(ECMC_SLAVE_VERIFY)
|
||
epicsEnvUnset(ECMC_COMMENT)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEX70XX.cmd
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1600,0x7000,0x01,16,encoderControl01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1600,0x7000,0x11,16,encoderValue01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1602,0x7010,0x1,16,driveControl01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,1,2,0x1604,0x7010,0x21,16,1,velocitySetpoint01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x0,16,encoderStatus01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x11,16,positionActual01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a00,0x6000,0x12,16,encoderLatchPostion01)"
|
||
ecmcConfigOrDie "Cfg.EcAddEntryComplete(8,0x2,0x1b7d3052,2,3,0x1a03,0x6010,0x1,16,driveStatus01)"
|
||
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0x5,1,1)"
|
||
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0xA,1,1)"
|
||
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0x8,1,1)"
|
||
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8012,0x9,0,1)"
|
||
# deduce what the prefix should be
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd",1)
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcmXsXXX.cmd" "MASTER_ID=0,SLAVE_POS=8,HWTYPE=EL7037"
|
||
#==============================================================================
|
||
# ecmcmXsXXX.cmd
|
||
ecmcEpicsEnvSetCalc("sid", "8","%03d")
|
||
ecmcEpicsEnvSetCalc("mid", "0","%01d")
|
||
epicsEnvSet("ECMC_G", "IOC_TEST:m0s008")
|
||
epicsEnvSet("ECMC_P", 2022/02/08 15:53:08.706 OK
|
||
2022/02/08 15:53:08.706 OK
|
||
2022/02/08 15:53:08.706 OK
|
||
2022/02/08 15:53:08.706 OK
|
||
2022/02/08 15:53:08.707 OK
|
||
2022/02/08 15:53:08.707 OK
|
||
"IOC_TEST:m0s008-")
|
||
epicsEnvUnset(sid)
|
||
epicsEnvUnset(mid)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SUBS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applySubstitutions.cmd" "SUBST_FILE=ecmcEL7037.substitutions,ECMC_P=IOC_TEST:m0s008-"
|
||
#==============================================================================
|
||
# applySubstitutions.cmd
|
||
ecmcFileExist(ecmcEL7037.substitutions,1,1)
|
||
dbLoadTemplate(ecmcEL7037.substitutions,"ECMC_P=IOC_TEST:m0s008-,ECMC_G=IOC_TEST:m0s008,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=8,HWTYPE=EL7037,T_SMP_MS=10,TSE=-2,NELM=1")
|
||
epicsEnvUnset(DEFAULT_SUBS)
|
||
ecmcEpicsEnvSetCalcTernary(DEFAULT_SLAVE_PVS, "True", "","#- ")
|
||
iocshLoad "/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/applyTemplate.cmd" "TEMPLATE_FILE=ecmcEcSlave.template,ECMC_P=IOC_TEST:m0s008-,ECMC_G=IOC_TEST:m0s008"
|
||
#==============================================================================
|
||
# applyTemplate.cmd
|
||
ecmcFileExist(ecmcEcSlave.template,1,1)
|
||
dbLoadRecords("ecmcEcSlave.template", "ECMC_P=IOC_TEST:m0s008-,ECMC_G=IOC_TEST:m0s008,PORT=MC_CPU1,ADDR=0,TIMEOUT=1,MASTER_ID=0,SLAVE_POS=8,HWTYPE=EL7037,T_SMP_MS=10,TSE=-2,")
|
||
epicsEnvUnset(DEFAULT_SLAVE_PVS)
|
||
# increment SLAVE_ID
|
||
ecmcEpicsEnvSetCalc("SLAVE_ID", "8+1","%d")
|
||
# apply config ${CONFIG} for ${HW_DESC}
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037-Motor-Nanotec-ST4118L1804-B.cmd",1)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/ecmcEL7037-Motor-Nanotec-ST4118L1804-B.cmd ""
|
||
epicsEnvSet(I_MAX_MA_LOCAL,"1500")
|
||
epicsEnvSet(I_RUN_MA_LOCAL,1000)
|
||
epicsEnvSet(I_STDBY_MA_LOCAL,500)
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/chkValidCurrentSetOrDie.cmd",1)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/chkValidCurrentSetOrDie.cmd "I_RUN_MA=1000,I_STDBY_MA=500,I_MAX_MA=1500"
|
||
#==============================================================================
|
||
# chkValidCurrentSetOrDie.cmd
|
||
# Ensure running current is below max current otherwise exit
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "1000>1500 or 1000<=0", "ecmcExit Error: Run current setpoint to high or negative...","# Run current setting OK (1000)...")
|
||
# Result:
|
||
# Run current setting OK (1000)...
|
||
epicsEnvUnset(ECMC_EXE_CMD)
|
||
# Ensure standby current is below max current otherwise exit
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "500>1500 or 500<0", "ecmcExit Error: Standby current setpoint to high or negative...","# Standby current setting OK (500)...")
|
||
# Result:
|
||
# Standby current setting OK (500)...
|
||
epicsEnvUnset(ECMC_EXE_CMD)
|
||
# Ensure standby current is below run current otherwise exit
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD, "500>1000", "ecmcExit Error: Standby current higher than run current...","# Standby current and run current setting OK (500<1000)...")
|
||
# Result:
|
||
# Standby current and run current setting OK (500<1000)...
|
||
epicsEnvUnset(ECMC_EXE_CMD)
|
||
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x1,1000,2)"
|
||
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x2,500,2)"
|
||
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x3,2400,2)"
|
||
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x4,175,2)"
|
||
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0x6,200,2)"
|
||
ecmcConfigOrDie "Cfg.EcAddSdo(8,0x8010,0xA,330,2)"
|
||
epicsEnvUnset("I_RUN_MA_LOCAL")
|
||
epicsEnvUnset("I_STDBY_MA_LOCAL")
|
||
epicsEnvUnset("I_MAX_MA_LOCAL")
|
||
#Configure EL7037 stepper drive terminal, motor 2
|
||
ecmcEpicsEnvSetCalc(ECMC_EC_SLAVE_NUM, "8+1")
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/configureSlave.cmd, "SLAVE_ID=9, HW_DESC=EL7037, CONFIG=-Motor-Nanotec-ST4118L1804-B"
|
||
#==============================================================================
|
||
# configureSlave.cmd
|
||
epicsEnvSet("ECMC_EC_SLAVE_NUM", "9")
|
||
epicsEnvSet("HW_DESC", "EL7037")
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd",1)
|
||
iocshLoad /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/addSlave.cmd "SLAVE_ID=9, HW_DESC=EL7037, NELM=1"
|
||
#================================2022/02/08 15:53:08.713 OK
|
||
2022/02/08 15:53:08.819 OK
|
||
2022/02/08 15:53:08.899 12848
|
||
2022/02/08 15:53:08.902 OK
|
||
2022/02/08 15:53:08.902 OK
|
||
2022/02/08 15:53:08.903 OK
|
||
2022/02/08 15:53:08.903 OK
|
||
2022/02/08 15:53:08.904 OK
|
||
2022/02/08 15:53:08.904 OK
|
||
2022/02/08 15:53:08.904 OK
|
||
2022/02/08 15:53:08.904 OK
|
||
2022/02/08 15:53:08.904 OK
|
||
2022/02/08 15:53:08.905 OK
|
||
2022/02/08 15:53:08.905 OK
|
||
2022/02/08 15:53:08.905 OK
|
||
==============================================
|
||
# 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
|
||
ecmcEpicsEnvSetCalc("SLAVE_ID", "9+1","%d")
|
||
# apply con2022/02/08 15:53:08.928 OK
|
||
2022/02/08 15:53:08.928 OK
|
||
2022/02/08 15:53:08.928 OK
|
||
2022/02/08 15:53:08.928 OK
|
||
2022/02/08 15:53:08.928 OK
|
||
2022/02/08 15:53:08.928 OK
|
||
2022/02/08 15:53:08.931 OK
|
||
2022/02/08 15:53:08.934 OK
|
||
2022/02/08 15:53:09.119 OK
|
||
2022/02/08 15:53:09.199 14385
|
||
2022/02/08 15:53:09.279 OK
|
||
2022/02/08 15:53:09.369 OK
|
||
2022/02/08 15:53:09.449 OK
|
||
2022/02/08 15:53:09.529 OK
|
||
2022/02/08 15:53:09.609 OK
|
||
2022/02/08 15:53:09.611 OK
|
||
fig ${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(11,0x2,0x1c2b3052,1,2,0x1600,0x7010,0x01,U16,driveControl01)"
|
||
ecmcCo2022/02/08 15:53:09.611 OK
|
||
2022/02/08 15:53:09.611 OK
|
||
2022/02/08 15:53:09.612 OK
|
||
2022/02/08 15:53:09.612 OK
|
||
2022/02/08 15:53:09.615 OK
|
||
2022/02/08 15:53:09.615 OK
|
||
2022/02/08 15:53:09.618 OK
|
||
2022/02/08 15:53:09.618 OK
|
||
2022/02/08 15:53:09.618 OK
|
||
nfigOrDie "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"
|
||
#==========================================================================2022/02/08 15:53:09.632 OK
|
||
2022/02/08 15:53:09.633 OK
|
||
2022/02/08 15:53:09.633 OK
|
||
2022/02/08 15:53:09.633 OK
|
||
2022/02/08 15:53:09.633 OK
|
||
2022/02/08 15:53:09.633 OK
|
||
2022/02/08 15:53:09.633 OK
|
||
2022/02/08 15:53:09.633 OK
|
||
2022/02/08 15:53:09.634 OK
|
||
2022/02/08 15:53:09.634 OK
|
||
2022/02/08 15:53:09.634 OK
|
||
2022/02/08 15:53:09.634 OK
|
||
2022/02/08 15:53:09.634 OK
|
||
2022/02/08 15:53:09.634 OK
|
||
2022/02/08 15:53:09.635 OK
|
||
2022/02/08 15:53:09.635 OK
|
||
2022/02/08 15:53:09.635 OK
|
||
2022/02/08 15:53:09.635 OK
|
||
2022/02/08 15:53:09.635 OK
|
||
2022/02/08 15:53:09.635 OK
|
||
2022/02/08 15:53:09.635 OK
|
||
2022/02/08 15:53:09.636 OK
|
||
2022/02/08 15:53:09.636 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/x.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/x.ax",1)
|
||
iocshLoad ./cfg/x.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_DRV_SCALE_NUM value OK == 600.0...
|
||
epicsEnvUnset(ECMC_EXE_CMD)
|
||
iocshLoad /2022/02/08 15:53:09.653 OK
|
||
2022/02/08 15:53:09.653 OK
|
||
2022/02/08 15:53:09.654 OK
|
||
2022/02/08 15:53:09.654 OK
|
||
2022/02/08 15:53:09.658 OK
|
||
2022/02/08 15:53:09.658 OK
|
||
2022/02/08 15:53:09.659 OK
|
||
2022/02/08 15:53:09.659 OK
|
||
2022/02/08 15:53:09.659 OK
|
||
2022/02/08 15:53:09.659 OK
|
||
2022/02/08 15:53:09.659 OK
|
||
2022/02/08 15:53:09.659 OK
|
||
2022/02/08 15:53:09.660 OK
|
||
2022/02/08 15:53:09.660 OK
|
||
2022/02/08 15:53:09.660 OK
|
||
2022/02/08 15:53:09.660 OK
|
||
2022/02/08 15:53:09.660 OK
|
||
2022/02/08 15:53:09.660 OK
|
||
2022/02/08 15:53:09.660 OK
|
||
2022/02/08 15:53:09.661 OK
|
||
2022/02/08 15:53:09.661 OK
|
||
2022/02/08 15:53:09.661 OK
|
||
2022/02/08 15:53:09.661 OK
|
||
2022/02/08 15:53:09.662 OK
|
||
2022/02/08 15:53:09.662 OK
|
||
2022/02/08 15:53:09.662 OK
|
||
2022/02/08 15:53:09.662 OK
|
||
2022/02/08 15:53:09.662 OK
|
||
2022/02/08 15:53:09.662 OK
|
||
2022/02/08 15:53:09.663 OK
|
||
2022/02/08 15:53:09.663 OK
|
||
2022/02/08 15:53:09.663 OK
|
||
2022/02/08 15:53:09.663 OK
|
||
2022/02/08 15:53:09.663 OK
|
||
2022/02/08 15:53:09.663 OK
|
||
2022/02/08 15:53:09.663 OK
|
||
2022/02/08 15:53:09.664 OK
|
||
2022/02/08 15:53:09.664 OK
|
||
2022/02/08 15:53:09.664 OK
|
||
2022/02/08 15:53:09.664 OK
|
||
2022/02/08 15:53:09.664 OK
|
||
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.driveStatus01.3,"ax1.drv.alarm0")"
|
||
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(ec0.s8.d2022/02/08 15:53:09.664 OK
|
||
2022/02/08 15:53:09.665 OK
|
||
2022/02/08 15:53:09.665 OK
|
||
2022/02/08 15:53:09.665 OK
|
||
2022/02/08 15:53:09.665 OK
|
||
2022/02/08 15:53:09.665 OK
|
||
2022/02/08 15:53:09.665 OK
|
||
2022/02/08 15:53:09.666 OK
|
||
2022/02/08 15:53:09.666 OK
|
||
2022/02/08 15:53:09.666 OK
|
||
2022/02/08 15:53:09.666 OK
|
||
2022/02/08 15:53:09.666 OK
|
||
2022/02/08 15:53:09.666 OK
|
||
2022/02/08 15:53:09.667 OK
|
||
2022/02/08 15:53:09.667 OK
|
||
2022/02/08 15:53:09.667 OK
|
||
2022/02/08 15:53:09.667 OK
|
||
2022/02/08 15:53:09.667 OK
|
||
2022/02/08 15:53:09.668 OK
|
||
2022/02/08 15:53:09.668 OK
|
||
2022/02/08 15:53:09.668 OK
|
||
2022/02/08 15:53:09.668 OK
|
||
2022/02/08 15:53:09.668 OK
|
||
2022/02/08 15:53:09.668 OK
|
||
2022/02/08 15:53:09.669 OK
|
||
2022/02/08 15:53:09.669 OK
|
||
2022/02/08 15:53:09.669 OK
|
||
2022/02/08 15:53:09.669 OK
|
||
2022/02/08 15:53:09.669 OK
|
||
2022/02/08 15:53:09.669 OK
|
||
2022/02/08 15:53:09.670 ecmcMotorRecord:: setIntegerParam(1 motorPowerAutoOnOff_)=2
|
||
2022/02/08 15:53:09.670 ecmcMotorRecord:: setDoubleParam(1 motorPowerOnDelay_)=6
|
||
2022/02/08 15:53:09.670 ecmcMotorRecord:: setDoubleParam(1 motorPowerOffDelay_=-1
|
||
2022/02/08 15:53:09.670 ecmcMotorRecord:: udateMotorLimitsRO(1) enabledHighAndLow=1 valid=1 fValueHigh=130 fValueLow=-20
|
||
2022/02/08 15:53:09.670 ecmcMotorRecord:: connected(1)
|
||
2022/02/08 15:53:09.670 ecmcMotorRecord:: initialPoll(1) status=0
|
||
riveStatus01.7,"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)
|
||
epicsEnvUnset(ECMC_CNTRL_KP)
|
||
epicsEnvUnset(ECMC_CNTRL_KI)
|
||
epicsEnvUnset(ECMC_CNTmacLib: 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})
|
||
RL_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/x.sax)
|
||
#==============================================================================
|
||
# applyAxisSynchronization.cmd
|
||
epicsEnvUnset(ECMC_EXE_CMD)
|
||
iocshLoad ./cfg/x.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", "")
|
||
ecmcFileExist2022/02/08 15:53:09.683 OK
|
||
2022/02/08 15:53:09.683 OK
|
||
2022/02/08 15:53:09.683 OK
|
||
2022/02/08 15:53:09.683 OK
|
||
2022/02/08 15:53:09.683 OK
|
||
2022/02/08 15:53:09.683 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
2022/02/08 15:53:09.684 OK
|
||
("/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/y.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/y.ax",1)
|
||
iocshLoad ./cfg/y.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...
|
||
epicsEnvUnset(ECMC_EXE_CMD)
|
||
ecmcFileExist("/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmccfg/ruckig/issueWarning.2022/02/08 15:53:09.695 OK
|
||
2022/02/08 15:53:09.696 OK
|
||
2022/02/08 15:53:09.696 OK
|
||
2022/02/08 15:53:09.696 OK
|
||
2022/02/08 15:53:09.698 OK
|
||
2022/02/08 15:53:09.698 OK
|
||
2022/02/08 15:53:09.698 OK
|
||
2022/02/08 15:53:09.698 OK
|
||
2022/02/08 15:53:09.698 OK
|
||
2022/02/08 15:53:09.698 OK
|
||
2022/02/08 15:53:09.698 OK
|
||
2022/02/08 15:53:09.699 OK
|
||
2022/02/08 15:53:09.699 OK
|
||
2022/02/08 15:53:09.699 OK
|
||
2022/02/08 15:53:09.699 OK
|
||
2022/02/08 15:53:09.699 OK
|
||
2022/02/08 15:53:09.699 OK
|
||
2022/02/08 15:53:09.699 OK
|
||
2022/02/08 15:53:09.699 OK
|
||
2022/02/08 15:53:09.699 OK
|
||
2022/02/08 15:53:09.699 OK
|
||
2022/02/08 15:53:09.699 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.700 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.701 OK
|
||
2022/02/08 15:53:09.702 OK
|
||
2022/02/08 15:53:09.702 OK
|
||
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(2,1)"
|
||
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosFwd(2,20)"
|
||
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitFwd(2,1)"
|
||
2022/02/08 15:53:09.702 OK
|
||
2022/02/08 15:53:09.702 OK
|
||
2022/02/08 15:53:09.702 OK
|
||
2022/02/08 15:53:09.702 OK
|
||
2022/02/08 15:53:09.702 OK
|
||
2022/02/08 15:53:09.702 OK
|
||
2022/02/08 15:53:09.702 OK
|
||
2022/02/08 15:53:09.702 OK
|
||
2022/02/08 15:53:09.702 OK
|
||
2022/02/08 15:53:09.702 OK
|
||
2022/02/08 15:53:09.703 OK
|
||
2022/02/08 15:53:09.703 OK
|
||
2022/02/08 15:53:09.703 OK
|
||
2022/02/08 15:53:09.703 OK
|
||
2022/02/08 15:53:09.703 OK
|
||
2022/02/08 15:53:09.703 OK
|
||
2022/02/08 15:53:09.703 OK
|
||
2022/02/08 15:53:09.703 OK
|
||
2022/02/08 15:53:09.703 OK
|
||
2022/02/08 15:53:09.704 ecmcMotorRecord:: setIntegerParam(2 motorPowerAutoOnOff_)=2
|
||
2022/02/08 15:53:09.704 ecmcMotorRecord:: setDoubleParam(2 motorPowerOnDelay_)=6
|
||
2022/02/08 15:53:09.704 ecmcMotorRecord:: setDoubleParam(2 motorPowerOffDelay_=-1
|
||
2022/02/08 15:53:09.704 ecmcMotorRecord:: udateMotorLimitsRO(2) enabledHighAndLow=1 valid=1 fValueHigh=20 fValueLow=-130
|
||
2022/02/08 15:53:09.704 ecmcMotorRecord:: connected(2)
|
||
2022/02/08 15:53:09.704 ecmcMotorRecord:: initialPoll(2) status=0
|
||
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(ECMC_ENC_POS_FILTER_ENABLE)
|
||
epicsEnvUnset(ECMC_EC_ENC_RESET)
|
||
epicsEnvUnset(ECMC_EC_ENC_ALARM_0)
|
||
epicsEnvUnsetmacLib: 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})
|
||
2022/02/08 15:53:09.714 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
(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/y.sax)
|
||
#==============================================================================
|
||
# applyAxisSynchronization.cmd
|
||
epicsEnvUnset(ECMC_EXE_CMD)
|
||
iocshLoad ./cfg/y.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.AppendAxisPLCExpr(2)="
|
||
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
|
||
ecmcConfigOrDie "Cfg.AppendAxisPLCExpr(2)="
|
||
ecmcConfigOrDie "Cfg2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.715 OK
|
||
2022/02/08 15:53:09.716 OK
|
||
2022/02/08 15:53:09.716 OK
|
||
2022/02/08 15:53:09.716 OK
|
||
2022/02/08 15:53:09.716 OK
|
||
.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/spindle.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/spindle.ax",1)
|
||
iocshLoad ./cfg/spindle.ax ""
|
||
#General
|
||
epicsEnvSet("ECMC_MOTOR_NAME", "Axis3")
|
||
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" , "360") # 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", "0") # 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", "100") # 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...'"
|
||
#==============================================================================
|
||
# verifyOrDie.cmd
|
||
ecmcEpicsEnvSetCalcTernary(ECMC_EXE_CMD,"abs(2147483648)<>0","# ECMC_DRV_SCALE_DENOM value OK == 2147483648...", "ecmc2022/02/08 15:53:09.725 OK
|
||
2022/02/08 15:53:09.725 OK
|
||
2022/02/08 15:53:09.725 OK
|
||
2022/02/08 15:53:09.725 OK
|
||
2022/02/08 15:53:09.728 OK
|
||
2022/02/08 15:53:09.728 OK
|
||
2022/02/08 15:53:09.728 OK
|
||
2022/02/08 15:53:09.728 OK
|
||
2022/02/08 15:53:09.728 OK
|
||
2022/02/08 15:53:09.728 OK
|
||
2022/02/08 15:53:09.728 OK
|
||
2022/02/08 15:53:09.728 OK
|
||
2022/02/08 15:53:09.728 OK
|
||
2022/02/08 15:53:09.729 OK
|
||
2022/02/08 15:53:09.729 OK
|
||
2022/02/08 15:53:09.729 OK
|
||
2022/02/08 15:53:09.729 OK
|
||
2022/02/08 15:53:09.729 OK
|
||
2022/02/08 15:53:09.729 OK
|
||
2022/02/08 15:53:09.729 OK
|
||
2022/02/08 15:53:09.729 OK
|
||
2022/02/08 15:53:09.729 OK
|
||
2022/02/08 15:53:09.729 OK
|
||
2022/02/08 15:53:09.729 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.730 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
Exit 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(3,1,1,0)"
|
||
ecmcConfigOrDie "Cfg.LinkEcEntryToObject(,"ax3.health")"
|
||
ecmcConfigOrDie "Cfg.SetAxisModRange(3, 360)"
|
||
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(3,100)"
|
||
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(3,0)"
|
||
ecmcConfigOrDie "Cfg.SetAxisDrvBrakeCloseAheadTime(3,0)"
|
||
ecmcConfigOrDie "Cfg.SetAxisSoftLimitPosBwd(3,0)"
|
||
ecmcConfigOrDie "Cfg.SetAxisEnableSoftLimitBwd(3,0)"
|
||
ecmcConfigOrDie2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.731 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.732 OK
|
||
2022/02/08 15:53:09.733 OK
|
||
2022/02/08 15:53:09.733 OK
|
||
2022/02/08 15:53:09.733 OK
|
||
2022/02/08 15:53:09.733 OK
|
||
2022/02/08 15:53:09.733 OK
|
||
2022/02/08 15:53:09.733 OK
|
||
2022/02/08 15:53:09.733 OK
|
||
2022/02/08 15:53:09.734 ecmcMotorRecord:: setIntegerParam(3 motorPowerAutoOnOff_)=2
|
||
2022/02/08 15:53:09.734 ecmcMotorRecord:: setDoubleParam(3 motorPowerOnDelay_)=6
|
||
2022/02/08 15:53:09.734 ecmcMotorRecord:: setDoubleParam(3 motorPowerOffDelay_=-1
|
||
2022/02/08 15:53:09.734 ecmcMotorRecord:: connected(3)
|
||
2022/02/08 15:53:09.734 ecmcMotorRecord:: initialPoll(3) status=0
|
||
"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=Axis3, 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=Axis3, 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=Axis3,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=Axis3,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(ECMC_ENC_POS_FILTER_ENABLE)
|
||
epicsEnvUnset(ECMepicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted
|
||
epicsMutex pthread_mutex_unlock epicsMutexOsdUnlock failed: error Operation not permitted
|
||
C_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:")
|
||
# Block motor driver printouts
|
||
asynSetTraceMask(MC_CPU1, -1, 0x0)
|
||
##############################################################################
|
||
## 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=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=0;AUTO_START=0;")
|
||
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=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=0;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=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=0;AUTO_START=0;)"
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:doMainWorker:471
|
||
../grbl/grbl_serial.c:serial_init:108:
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:doWriteWorker:243
|
||
GRBL: INFO: Wait for startup
|
||
GRBL: INFO: Waiting for grbl init..../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_gcode.c:gc_init:44:
|
||
../grbl/grbl_eeprom.c:memcpy_from_eeprom_with_checksum:215 EEPROM simulated by file..
|
||
../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_protocol.c:protocol_main_loop:40:
|
||
../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..
|
||
GRBL: INFO: Reply non protocol related:
|
||
|
||
GRBL: INFO: Ready for commands: Grbl 1.1h ['$' for help]
|
||
|
||
GRBL: INFO: Ready for commands
|
||
GRBL: INFO: Wait for IOC state RUN
|
||
.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=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=0;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 = @0xb4f1fb50
|
||
Enter realtime func = @0xb4f1fa64
|
||
Exit realtime func = @0xb4f1fa30
|
||
Realtime func = @0xb4f1fa60
|
||
Destruct func = @0xb4f1fa38
|
||
dlhandle = @0xbb6f48
|
||
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 = @0xb4f1fa68
|
||
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 = @0xb4f1fa84
|
||
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 = @0xb4f1faa0
|
||
funcs[03]:
|
||
Name = "grbl_get_busy();"
|
||
Desc = double grbl_get_busy() : Get grbl system busy (still executing motion code)
|
||
Arg count = 0
|
||
func = @0xb4f1fabc
|
||
funcs[04]:
|
||
Name = "grbl_get_parser_busy();"
|
||
Desc = double grbl_get_parser_busy() : Get g-code parser busy.
|
||
Arg count = 0
|
||
func = @0xb4f1fad0
|
||
funcs[05]:
|
||
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 = @0xb4f1fae4
|
||
funcs[06]:
|
||
Name = "grbl_get_error();"
|
||
Desc = double grbl_get_error() : Get error code.
|
||
Arg count = 0
|
||
func = @0xb4f1fb0c
|
||
funcs[07]:
|
||
Name = "grbl_reset_error();"
|
||
Desc = double grbl_reset_error() : Reset error.
|
||
Arg count = 0
|
||
func = @0xb4f1faf8
|
||
funcs[08]:
|
||
Name = "grbl_get_all_enabled();"
|
||
Desc = double grbl_get_all_enabled() : Get all configured axes enabled.
|
||
Arg count = 0
|
||
func = @0xb4f1fb20
|
||
funcs[09]:
|
||
Name = "grbl_set_all_enable(arg0);"
|
||
Desc = double grbl_set_all_enable(enable) : Set enable on all configured axes.
|
||
Arg count = 1
|
||
func = @0xb4f1fb34
|
||
Plc constants:
|
||
|
||
epicsEnvUnset(ECMC_PLUGIN_REPORT);
|
||
epicsEnvUnset(ECMC_PLUGIN_FILNAME)
|
||
epicsEnvUnset(ECMC_PLUGIN_CONFIG)
|
||
# Load grbl configs:
|
||
# $11 - Junction deviation, mm\n
|
||
# $12 – Arc tolerance, mm\n
|
||
# $30 - Max spindle speed, RPM\n
|
||
# $31 - Min spindle speed, RPM\n
|
||
# $100, $101 and $102 – [X,Y,Z] steps/mm\n
|
||
# $110, $111 and $112 – [X,Y,Z] Max rate, mm/min\n
|
||
# $120, $121, $122 – [X,Y,Z] Acceleration, mm/sec^2\n
|
||
ecmcGrblLoadConfigFile("./cfg/grbl.cfg")
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:loadConfigFile:1000: file ./cfg/grbl.cfg, append 0
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # Configuration file for grbl
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command #
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # Supported variables:
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # $11 - Junction deviation, mm
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # $12 – Arc tolerance, mm
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # $30 - Max spindle speed, RPM
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # $31 - Min spindle speed, RPM
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # $100, $101 and $102 – [X,Y,Z] steps/mm
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # $110, $111 and $112 – [X,Y,Z] Max rate, mm/min
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # $120, $121, $122 – [X,Y,Z] Acceleration, mm/sec^2
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command #
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # Example: Set Max spindle speed to 1000rpm
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # $30=1000
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command #
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # More info can be found (only the above commands/variables are supported):
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command # https://github.com/gnea/grbl/blob/master/doc/markdown/settings.md
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command #
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command $120=1234
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:993: GRBL: INFO: Buffer size 1
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command $121=1234
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:993: GRBL: INFO: Buffer size 2
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:966:command $122=1234
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addConfig:993: GRBL: INFO: Buffer size 3
|
||
#ecmcGrblAddConfig("$120=1234");
|
||
#ecmcGrblAddConfig("$121=1234");
|
||
#ecmcGrblAddConfig("$122=1234");
|
||
# Load g-code
|
||
ecmcGrblLoadGCodeFile("./plc/gcode.nc",0)
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:loadGCodeFile:931: file ./plc/gcode.nc, append 0
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command # Test nc g-code
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command G1X20Y20F360
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:925: GRBL: INFO: Buffer size 1
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command S1000
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:925: GRBL: INFO: Buffer size 2
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command M03
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:925: GRBL: INFO: Buffer size 3
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command G4P2
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:925: GRBL: INFO: Buffer size 4
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command G2X0Y0R20
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:925: GRBL: INFO: Buffer size 5
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command #G4P2
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command #G0X10Y10
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command #G2X10Y-10R10
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command #M05
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command #G4P2
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command #G1X0Y0
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command #G1X20Y20F360
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command #G4P2
|
||
../ecmc_plugin_grbl/ecmcGrbl.cpp:addCommand:911:command #
|
||
# Test of GRBL plugin for g-code parsing
|
||
#
|
||
|
||
println('GRBL busy :', grbl_get_busy());
|
||
println('Parser busy :', grbl_get_parser_busy());
|
||
println('Error :', grbl_get_error());
|
||
println('Row :', grbl_get_code_row_num());
|
||
println('Ecmc error :', ax1.error, ax2.error, ax3.error);
|
||
println('All Enabled :', grbl_get_all_enabled());
|
||
ax1.reset:=0;
|
||
ax2.reset:=0;
|
||
ax3.reset:=0;
|
||
|
||
Enable axis in state 0
|
||
if(static.state==0) {
|
||
if(not(grbl_get_busy()) and not(grbl_get_error())) {
|
||
grbl_set_all_enable(1);
|
||
};
|
||
if(grbl_get_all_enabled()) {
|
||
static.state:=1;
|
||
};
|
||
};
|
||
|
||
# Trigg motion
|
||
if(static.state == 1) {
|
||
if(not(grbl_get_parser_busy())) {
|
||
static.counter+=1;
|
||
println('Retrigger g-code. Counter: ', static.counter);
|
||
grbl_set_execute(0);
|
||
grbl_set_execute(1);
|
||
};
|
||
};
|
||
|
||
#if(grbl_get_error()) {
|
||
# println('Try reset');
|
||
# grbl_reset_error();
|
||
# grbl_mc_resume(0);
|
||
# grbl_mc_resume(1);
|
||
# ax1.reset:=1;
|
||
# ax2.reset:=1;
|
||
# ax3.reset:=1;
|
||
#
|
||
#} else if(not(grbl_get_parser_busy())) {
|
||
# #static.counter+=1;
|
||
# #println('Retrigger g-code. Counter: ', static.counter);
|
||
# #grbl_set_execute(0);
|
||
# #grbl_set_execute(1);
|
||
#};
|
||
#G2X0Y0R20
|
||
#ecmcGrblAddCommand("G1X20Y20F360");
|
||
#ecmcGrblAddCommand("G4P2");
|
||
#ecmcGrblAddCommand("G2X0Y0R20");
|
||
#ecmcGrblAddCommand("G4P2");
|
||
#ecmcGrblAddCommand("G0X10Y10");
|
||
#ecmcGrblAddCommand("G4P2");
|
||
#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)"
|