Cleanup examples
This commit is contained in:
@@ -1,9 +0,0 @@
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###############################################################################################
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# For help on syntax, variables and functions, please read the file: "plcSyntaxHelp.plc"
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#
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# PLC Functionality Demo:
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# No hardware related variables
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#
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static.time:=ec_get_time()/1E9;
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static.sineval:=sin(2*pi*${FREQ=10}*static.time);
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345
iocsh/pvs.log
345
iocsh/pvs.log
@@ -1,345 +0,0 @@
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IOC_TEST:m0s001-Drv01-Cmd-RB
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IOC_TEST:m0s001-Drv01-Spd-RB
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IOC_TEST:m0s001-Enc01-PosAct
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IOC_TEST:m0s001-Enc01-LtchPosAct
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IOC_TEST:m0s001-Enc01-Cmd-RB
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IOC_TEST:m0s001-Enc01-PosCmd-RB
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IOC_TEST:Axis1-Vel-RB
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IOC_TEST:Axis1-Acc-RB
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IOC_TEST:Axis1-EncAct
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IOC_TEST:Axis1-CfgSREV-RB
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IOC_TEST:Axis1-CfgUREV-RB
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IOC_TEST:Axis1-CfgPMIN-RB
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IOC_TEST:Axis1-CfgPMAX-RB
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IOC_TEST:Axis1-CfgSPDB-RB
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IOC_TEST:Axis1-CfgRDBD-RB
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IOC_TEST:Axis1-CfgRDBD-Tim-RB
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IOC_TEST:Axis1-CfgPOSLAG-RB
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IOC_TEST:Axis1-CfgPOSLAG-Tim-RB
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IOC_TEST:Axis1-CfgDHLM-RB
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IOC_TEST:Axis1-CfgDLLM-RB
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IOC_TEST:Axis1-CfgVELO-RB
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IOC_TEST:Axis1-CfgVMAX-RB
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IOC_TEST:Axis1-CfgJVEL-RB
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IOC_TEST:Axis1-CfgACCS-RB
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IOC_TEST:Axis1-HomPos-RB
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IOC_TEST:Axis1-PosAct
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IOC_TEST:Axis1-VelAct
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IOC_TEST:Axis1-PosSet
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IOC_TEST:Axis1-PosErr
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IOC_TEST:Axis1-PLC-Err
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IOC_TEST:Plg-Mtn0-SmpHz-RB
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IOC_TEST:Plg-Mtn0-BuffSze
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IOC_TEST:Plg-Mtn0-ElmCnt
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IOC_TEST:MCU-AppMode
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IOC_TEST:MCU-ErrId
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IOC_TEST:MCU-ThdLatMin
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IOC_TEST:MCU-ThdLatMax
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IOC_TEST:MCU-ThdPrdMin
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IOC_TEST:MCU-ThdPrdMax
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IOC_TEST:MCU-ThdExeMin
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IOC_TEST:MCU-ThdExeMax
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IOC_TEST:MCU-ThdSndMin
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IOC_TEST:MCU-ThdSndMax
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IOC_TEST:m0s001-Drv01-WrnAlrm
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IOC_TEST:m0s001-Drv01-ErrAlrm
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IOC_TEST:m0s001-Drv01-StlAlrm
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IOC_TEST:m0s001-Drv01-SyncErrAlrm
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IOC_TEST:m0s001-Enc01-ExtLtchOK
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IOC_TEST:m0s001-Enc01-OpnCrctAlrm
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IOC_TEST:m0s001-Enc01-WrnAlrm
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IOC_TEST:m0s001-Enc01-SyncErrAlrm
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IOC_TEST:m0s001-Online
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IOC_TEST:m0s001-Operational
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IOC_TEST:m0s001-Alstate-Init
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IOC_TEST:m0s001-Alstate-Preop
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IOC_TEST:m0s001-Alstate-Safeop
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IOC_TEST:m0s001-Alstate-Op
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IOC_TEST:m0s002-BO01-RB
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IOC_TEST:m0s002-BO02-RB
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IOC_TEST:m0s002-BO03-RB
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IOC_TEST:m0s002-BO04-RB
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IOC_TEST:m0s002-BO05-RB
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IOC_TEST:m0s002-BO06-RB
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IOC_TEST:m0s002-BO07-RB
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IOC_TEST:m0s002-BO08-RB
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IOC_TEST:m0s002-BO09-RB
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IOC_TEST:m0s002-BO10-RB
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IOC_TEST:m0s002-BO11-RB
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IOC_TEST:m0s002-BO12-RB
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IOC_TEST:m0s002-BO13-RB
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IOC_TEST:m0s002-BO14-RB
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||||
IOC_TEST:m0s002-BO15-RB
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IOC_TEST:m0s002-BO16-RB
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IOC_TEST:m0s002-BO01-OvrTmpAlrm
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IOC_TEST:m0s002-BO01-OpnLdAlrm
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IOC_TEST:m0s002-BO01-OvrCurrAlrm
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IOC_TEST:m0s002-BO01-ShrtCircAlrm
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IOC_TEST:m0s002-BO02-OvrTmpAlrm
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IOC_TEST:m0s002-BO02-OpnLdAlrm
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IOC_TEST:m0s002-BO02-OvrCurrAlrm
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IOC_TEST:m0s002-BO02-ShrtCircAlrm
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IOC_TEST:m0s002-BO03-OvrTmpAlrm
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IOC_TEST:m0s002-BO03-OpnLdAlrm
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IOC_TEST:m0s002-BO03-OvrCurrAlrm
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IOC_TEST:m0s002-BO03-ShrtCircAlrm
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IOC_TEST:m0s002-BO04-OvrTmpAlrm
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IOC_TEST:m0s002-BO04-OpnLdAlrm
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IOC_TEST:m0s002-BO04-OvrCurrAlrm
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IOC_TEST:m0s002-BO04-ShrtCircAlrm
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IOC_TEST:m0s002-BO05-OvrTmpAlrm
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IOC_TEST:m0s002-BO05-OpnLdAlrm
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IOC_TEST:m0s002-BO05-OvrCurrAlrm
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IOC_TEST:m0s002-BO05-ShrtCircAlrm
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IOC_TEST:m0s002-BO06-OvrTmpAlrm
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IOC_TEST:m0s002-BO06-OpnLdAlrm
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IOC_TEST:m0s002-BO06-OvrCurrAlrm
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IOC_TEST:m0s002-BO06-ShrtCircAlrm
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IOC_TEST:m0s002-BO07-OvrTmpAlrm
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IOC_TEST:m0s002-BO07-OpnLdAlrm
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IOC_TEST:m0s002-BO07-OvrCurrAlrm
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IOC_TEST:m0s002-BO07-ShrtCircAlrm
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IOC_TEST:m0s002-BO08-OvrTmpAlrm
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IOC_TEST:m0s002-BO08-OpnLdAlrm
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IOC_TEST:m0s002-BO08-OvrCurrAlrm
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IOC_TEST:m0s002-BO08-ShrtCircAlrm
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IOC_TEST:m0s002-BO09-OvrTmpAlrm
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IOC_TEST:m0s002-BO09-OpnLdAlrm
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IOC_TEST:m0s002-BO09-OvrCurrAlrm
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IOC_TEST:m0s002-BO09-ShrtCircAlrm
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IOC_TEST:m0s002-BO10-OvrTmpAlrm
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IOC_TEST:m0s002-BO10-OpnLdAlrm
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IOC_TEST:m0s002-BO10-OvrCurrAlrm
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IOC_TEST:m0s002-BO10-ShrtCircAlrm
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IOC_TEST:m0s002-BO11-OvrTmpAlrm
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IOC_TEST:m0s002-BO11-OpnLdAlrm
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IOC_TEST:m0s002-BO11-OvrCurrAlrm
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IOC_TEST:m0s002-BO11-ShrtCircAlrm
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IOC_TEST:m0s002-BO12-OvrTmpAlrm
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IOC_TEST:m0s002-BO12-OpnLdAlrm
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IOC_TEST:m0s002-BO12-OvrCurrAlrm
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IOC_TEST:m0s002-BO12-ShrtCircAlrm
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IOC_TEST:m0s002-BO13-OvrTmpAlrm
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IOC_TEST:m0s002-BO13-OpnLdAlrm
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IOC_TEST:m0s002-BO13-OvrCurrAlrm
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IOC_TEST:m0s002-BO13-ShrtCircAlrm
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IOC_TEST:m0s002-BO14-OvrTmpAlrm
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IOC_TEST:m0s002-BO14-OpnLdAlrm
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IOC_TEST:m0s002-BO14-OvrCurrAlrm
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IOC_TEST:m0s002-BO14-ShrtCircAlrm
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IOC_TEST:m0s002-BO15-OvrTmpAlrm
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IOC_TEST:m0s002-BO15-OpnLdAlrm
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IOC_TEST:m0s002-BO15-OvrCurrAlrm
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IOC_TEST:m0s002-BO15-ShrtCircAlrm
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IOC_TEST:m0s002-BO16-OvrTmpAlrm
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IOC_TEST:m0s002-BO16-OpnLdAlrm
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IOC_TEST:m0s002-BO16-OvrCurrAlrm
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IOC_TEST:m0s002-BO16-ShrtCircAlrm
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IOC_TEST:m0s002-Online
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IOC_TEST:m0s002-Operational
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IOC_TEST:m0s002-Alstate-Init
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IOC_TEST:m0s002-Alstate-Preop
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IOC_TEST:m0s002-Alstate-Safeop
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IOC_TEST:m0s002-Alstate-Op
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IOC_TEST:Axis1-EnaCmd-RB
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IOC_TEST:Axis1-EnaAct
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IOC_TEST:Axis1-ExeCmd-RB
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IOC_TEST:Axis1-Busy
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IOC_TEST:Axis1-AtTarget
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IOC_TEST:Axis1-Moving
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IOC_TEST:Axis1-LimFwd
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IOC_TEST:Axis1-LimBwd
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IOC_TEST:Axis1-HomeSwitch
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IOC_TEST:Axis1-Homed
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IOC_TEST:Axis1-InRT
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IOC_TEST:Axis1-TrjSrcTyp-RB
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IOC_TEST:Axis1-EncSrcTyp-RB
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IOC_TEST:Axis1-CmdFrmPLCCmd-RB
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IOC_TEST:Axis1-SftLimFwdEna-RB
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IOC_TEST:Axis1-SftLimBwdEna-RB
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IOC_TEST:Axis1-PLC-EnaCmd-RB
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IOC_TEST:Axis1-PLC-FirstScan
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IOC_TEST:Axis1-Err
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IOC_TEST:Axis1-Wrn
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IOC_TEST:MCU-ThdRTPrioOK
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IOC_TEST:MCU-ThdMemLocked
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IOC_TEST:m0-LinkUp
|
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IOC_TEST:m0-AlStates-Init
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IOC_TEST:m0-AlStates-Preop
|
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IOC_TEST:m0-AlStates-Safeop
|
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IOC_TEST:m0-AlStates-Op
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IOC_TEST:m0-Dom-RedunActive
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IOC_TEST:m0-Dom-WC-Zero
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IOC_TEST:m0-Dom-WC-Incomplete
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IOC_TEST:m0-Dom-WC-Complete
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IOC_TEST:m0-Stat-OK
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REQMOD:raspberrypi-10406:exit
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REQMOD:raspberrypi-10406:MODULES
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REQMOD:raspberrypi-10406:VERSIONS
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REQMOD:raspberrypi-10406:MOD_VER
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IOC_TEST:Axis1-Arr-Stat
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IOC_TEST:Axis1-PLC-Expr-RB
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IOC_TEST:Plg-Mtn0-PosAct-Arr
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IOC_TEST:Plg-Mtn0-PosSet-Arr
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IOC_TEST:Plg-Mtn0-PosErr-Arr
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IOC_TEST:Plg-Mtn0-Time-Arr
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IOC_TEST:Plg-Mtn0-Ena-Arr
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IOC_TEST:Plg-Mtn0-EnaAct-Arr
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IOC_TEST:Plg-Mtn0-Bsy-Arr
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IOC_TEST:Plg-Mtn0-Exe-Arr
|
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IOC_TEST:Plg-Mtn0-TrjSrc-Arr
|
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IOC_TEST:Plg-Mtn0-EncSrc-Arr
|
||||
IOC_TEST:Plg-Mtn0-AtTrg-Arr
|
||||
IOC_TEST:Plg-Mtn0-ErrId-Arr
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IOC_TEST:MCU-ErrMsg
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||||
IOC_TEST:MCU-Updated
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IOC_TEST:m0s001-Enc01-LtchCmd
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IOC_TEST:Axis1-MtnCmd
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||||
IOC_TEST:Axis1-movVelCmd
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IOC_TEST:Axis1-movRelCmd
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IOC_TEST:Axis1-movAbsCmd
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IOC_TEST:Axis1-movHomCmd
|
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IOC_TEST:Axis1-HomProc-RB
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||||
IOC_TEST:Axis1-Type
|
||||
IOC_TEST:Axis1-DrvType
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||||
IOC_TEST:Axis1-TrajType
|
||||
IOC_TEST:m0s001-One
|
||||
IOC_TEST:m0s001-Zero
|
||||
IOC_TEST:m0s002-One
|
||||
IOC_TEST:m0s002-Zero
|
||||
IOC_TEST:Axis1-DIR_
|
||||
IOC_TEST:Axis1-ErrRst
|
||||
IOC_TEST:Axis1-HomProc
|
||||
IOC_TEST:Axis1-MtnCmdData
|
||||
IOC_TEST:Plg-Mtn0-Mde-RB
|
||||
IOC_TEST:Plg-Mtn0-Cmd-RB
|
||||
IOC_TEST:m0s001-Stat
|
||||
IOC_TEST:m0s002-Stat
|
||||
IOC_TEST:Axis1-MR-ErrId
|
||||
IOC_TEST:Axis1-CfgRDBD-En-RB
|
||||
IOC_TEST:Axis1-CfgPOSLAG-En-RB
|
||||
IOC_TEST:Axis1-CfgDHLM-En-RB
|
||||
IOC_TEST:Axis1-CfgDLLM-En-RB
|
||||
IOC_TEST:Axis1-Stat
|
||||
IOC_TEST:Axis1-ErrId
|
||||
IOC_TEST:Axis1-WrnId
|
||||
IOC_TEST:Plg-Mtn0-Stat
|
||||
IOC_TEST:m0-Stat
|
||||
IOC_TEST:m0-SlvCntr
|
||||
IOC_TEST:m0-MemmapCntr
|
||||
IOC_TEST:m0-DomFailCntrTot
|
||||
IOC_TEST:m0-EntryCntr
|
||||
IOC_TEST:m0-Dom-Stat
|
||||
IOC_TEST:MCU-Cfg-Info
|
||||
IOC_TEST:MCU-Cfg-Naming
|
||||
IOC_TEST:MCU-Cfg-Mode
|
||||
IOC_TEST:MCU-Cfg-PVA
|
||||
IOC_TEST:Axis1-DbgStrToLOG
|
||||
IOC_TEST:MCU-Cfg-AX1-Pfx
|
||||
IOC_TEST:MCU-Cfg-AX1-Nam
|
||||
IOC_TEST:MCU-Cfg-AX1-PfxNam
|
||||
IOC_TEST:m0s001-EntryCntr
|
||||
IOC_TEST:m0s002-EntryCntr
|
||||
IOC_TEST:Axis1-SeqState
|
||||
IOC_TEST:Axis1-LastIlock
|
||||
IOC_TEST:m0-SlvRsp
|
||||
IOC_TEST:m0-Dom-WC
|
||||
IOC_TEST:m0s001-Enc01-LtchRst
|
||||
IOC_TEST:Axis1-Cmd_
|
||||
REQMOD:raspberrypi-10406:BaseVersion
|
||||
REQMOD:raspberrypi-10406:require_VER
|
||||
REQMOD:raspberrypi-10406:ecmccfg_VER
|
||||
REQMOD:raspberrypi-10406:asyn_VER
|
||||
REQMOD:raspberrypi-10406:exprtk_VER
|
||||
REQMOD:raspberrypi-10406:motor_VER
|
||||
REQMOD:raspberrypi-10406:ruckig_VER
|
||||
REQMOD:raspberrypi-10406:ecmc_VER
|
||||
IOC_TEST:m0s001-HWType
|
||||
IOC_TEST:m0s002-HWType
|
||||
IOC_TEST:Axis1-MsgTxt
|
||||
REQMOD:raspberrypi-10406:ecmc_plugin_motion_VER
|
||||
IOC_TEST:m0s001-Drv01-Stat
|
||||
IOC_TEST:m0s001-Enc01-Stat
|
||||
IOC_TEST:m0s001-Stat_
|
||||
IOC_TEST:m0s002-BO01-Stat
|
||||
IOC_TEST:m0s002-BO02-Stat
|
||||
IOC_TEST:m0s002-BO03-Stat
|
||||
IOC_TEST:m0s002-BO04-Stat
|
||||
IOC_TEST:m0s002-BO05-Stat
|
||||
IOC_TEST:m0s002-BO06-Stat
|
||||
IOC_TEST:m0s002-BO07-Stat
|
||||
IOC_TEST:m0s002-BO08-Stat
|
||||
IOC_TEST:m0s002-BO09-Stat
|
||||
IOC_TEST:m0s002-BO10-Stat
|
||||
IOC_TEST:m0s002-BO11-Stat
|
||||
IOC_TEST:m0s002-BO12-Stat
|
||||
IOC_TEST:m0s002-BO13-Stat
|
||||
IOC_TEST:m0s002-BO14-Stat
|
||||
IOC_TEST:m0s002-BO15-Stat
|
||||
IOC_TEST:m0s002-BO16-Stat
|
||||
IOC_TEST:m0s002-Stat_
|
||||
IOC_TEST:Axis1-Stat_
|
||||
IOC_TEST:ThdRTStat_
|
||||
IOC_TEST:m0-Stat_
|
||||
IOC_TEST:m0-Dom-Stat_
|
||||
IOC_TEST:m0s001-Enc01-LtchAutRst
|
||||
IOC_TEST:Axis1-MtnCmd_
|
||||
IOC_TEST:MCU-Cfg-EC-Mst
|
||||
IOC_TEST:MCU-Cfg-Rate
|
||||
IOC_TEST:MCU-Cfg-Time
|
||||
IOC_TEST:MCU-Cfg-PV-Time
|
||||
IOC_TEST:m0s001-Drv01-Cmd
|
||||
IOC_TEST:m0s001-Drv01-Spd
|
||||
IOC_TEST:m0s001-Enc01-Cmd
|
||||
IOC_TEST:m0s001-Enc01-PosCmd
|
||||
IOC_TEST:m0s001-NxtObjId
|
||||
IOC_TEST:MCU-Cfg-EC-FrstObjId
|
||||
IOC_TEST:m0s002-NxtObjId
|
||||
IOC_TEST:Axis1-OFF_
|
||||
IOC_TEST:Axis1-MRES_
|
||||
IOC_TEST:Axis1-HomPos
|
||||
IOC_TEST:Axis1-VelToHom
|
||||
IOC_TEST:Axis1-VelFrmHom
|
||||
IOC_TEST:Axis1-AccHom
|
||||
IOC_TEST:Axis1-TgtPosCmd
|
||||
IOC_TEST:Axis1-TgtVelCmd
|
||||
IOC_TEST:Axis1-Id
|
||||
IOC_TEST:MCU-Cfg-AX1-NxtObjId
|
||||
IOC_TEST:MCU-Cfg-AX-FrstObjId
|
||||
IOC_TEST:MCU-Cfg-PLG{Index}-NxtObjId
|
||||
IOC_TEST:MCU-Cfg-PLG-FrstObjId
|
||||
IOC_TEST:Plg-Mtn0-AxCmd-RB
|
||||
IOC_TEST:MCU-Cfg-Eng-Mode
|
||||
IOC_TEST:m0s001-Enc01-LchAutRstSp
|
||||
IOC_TEST:m0s002-BO01
|
||||
IOC_TEST:m0s002-BO02
|
||||
IOC_TEST:m0s002-BO03
|
||||
IOC_TEST:m0s002-BO04
|
||||
IOC_TEST:m0s002-BO05
|
||||
IOC_TEST:m0s002-BO06
|
||||
IOC_TEST:m0s002-BO07
|
||||
IOC_TEST:m0s002-BO08
|
||||
IOC_TEST:m0s002-BO09
|
||||
IOC_TEST:m0s002-BO10
|
||||
IOC_TEST:m0s002-BO11
|
||||
IOC_TEST:m0s002-BO12
|
||||
IOC_TEST:m0s002-BO13
|
||||
IOC_TEST:m0s002-BO14
|
||||
IOC_TEST:m0s002-BO15
|
||||
IOC_TEST:m0s002-BO16
|
||||
IOC_TEST:Axis1-EnaCmd
|
||||
IOC_TEST:Axis1-ExeCmd
|
||||
IOC_TEST:Axis1-StpCmd
|
||||
IOC_TEST:Axis1-RstCmd
|
||||
IOC_TEST:Axis1-EncSrcTyp-Cmd
|
||||
IOC_TEST:Axis1-TrjSrcTyp-Cmd
|
||||
IOC_TEST:Axis1-PLC-EnaCmd
|
||||
IOC_TEST:Axis1-CmdFrmPLCCmd
|
||||
IOC_TEST:Axis1-SftLimBwdEna
|
||||
IOC_TEST:Axis1-SftLimFwdEna
|
||||
IOC_TEST:Plg-Mtn0-EnaCmd-RB
|
||||
IOC_TEST:Plg-Mtn0-TrgCmd-RB
|
||||
IOC_TEST:MCU-ErrRst
|
||||
IOC_TEST:Axis1-MCU1-asyn
|
||||
IOC_TEST:MCU-Cmd
|
||||
IOC_TEST:Axis1
|
||||
92
iocsh/test_2/cfg/el7201_hipa.yaml
Normal file
92
iocsh/test_2/cfg/el7201_hipa.yaml
Normal file
@@ -0,0 +1,92 @@
|
||||
# Macros:
|
||||
# AX_ID : This axis id
|
||||
# AX_NAME : This axis name
|
||||
# DRV_ID : Slave id of drive
|
||||
# OFFSET : Offset
|
||||
|
||||
axis:
|
||||
id: ${AX_ID=1}
|
||||
mode: CSV
|
||||
# parameters: powerAutoOnOff=2;powerOnDelay=6.0;powerOffDelay=1.0;
|
||||
|
||||
epics:
|
||||
name: ${AX_NAME=Axis1}
|
||||
precision: 4
|
||||
unit: revs
|
||||
motorRecord:
|
||||
enable: true
|
||||
description: ""
|
||||
fieldInit: "RTRY=0,FOFF=Frozen"
|
||||
|
||||
# Max scale is 8000Hz
|
||||
drive:
|
||||
numerator: 8000 #rev/s, Max speed is 8000 rev/sec for drive
|
||||
denominator: 2147483648
|
||||
type: 1 # Stepper: 0, DS402: 1 (servos)
|
||||
control: ec0.s$(DRV_ID).driveControl01
|
||||
status: ec0.s$(DRV_ID).driveStatus01
|
||||
setpoint: ec0.s$(DRV_ID).velocitySetpoint01
|
||||
reset: 7
|
||||
|
||||
# 0.02mm/rev (0.4mm pitch and gr of 20).
|
||||
# in data sheet it states 0.364mm pitch and gr of 20 (which is not true)
|
||||
encoder:
|
||||
type: 1
|
||||
position: ec0.s$(DRV_ID).positionActual01
|
||||
numerator: 1
|
||||
denominator: 1048576
|
||||
bits: 32
|
||||
absBits: 32
|
||||
absOffset: $(OFFSET=0)
|
||||
status: ec0.s$(DRV_ID).ONE
|
||||
# error:
|
||||
# - 7
|
||||
# ready: 6
|
||||
|
||||
controller:
|
||||
Kp: 140.0
|
||||
Ki: 0.1
|
||||
Kd: 0.0
|
||||
deadband:
|
||||
tol: 0.0 # Stop control if within this distance from target for the below time
|
||||
time: 100
|
||||
|
||||
trajectory:
|
||||
source: 0
|
||||
type: 1
|
||||
axis:
|
||||
velocity: 50
|
||||
acceleration: 50000
|
||||
decceleration: 50000
|
||||
|
||||
input:
|
||||
limit:
|
||||
# forward: ec0.s$(DRV_ID).infoData02.1
|
||||
# backward: ec0.s$(DRV_ID).infoData02.0
|
||||
forward: ec0.s$(DRV_ID).ONE.1
|
||||
backward: ec0.s$(DRV_ID).ONE.0
|
||||
home: ec0.s$(DRV_ID).ONE.0
|
||||
interlock: ec0.s$(DRV_ID).ONE.0
|
||||
|
||||
softlimits:
|
||||
enable: no
|
||||
backwardEnable: yes
|
||||
forwardEnable: yes
|
||||
forward: 10
|
||||
backward: -10
|
||||
|
||||
monitoring:
|
||||
lag:
|
||||
enable: no
|
||||
tolerance: 0.01
|
||||
time: 100
|
||||
target:
|
||||
enable: yes
|
||||
tolerance: 0.1
|
||||
time: 100
|
||||
velocity:
|
||||
enable: no
|
||||
max: 10000
|
||||
time:
|
||||
trajectory: 100
|
||||
drive: 200
|
||||
43
iocsh/test_2/ep7211-0034_hipa.script
Normal file
43
iocsh/test_2/ep7211-0034_hipa.script
Normal file
@@ -0,0 +1,43 @@
|
||||
##############################################################################
|
||||
## Example config for ep7211-0010.. Why power cycle sometimes needed??? SDO 8000:17 (enc offset) gives error
|
||||
|
||||
|
||||
##############################################################################
|
||||
## Initiation:
|
||||
|
||||
require ecmccfg "ECMC_VER=EC_RATE=1000,ENG_MODE=1,MASTER_ID=1"
|
||||
require ecmccomp
|
||||
|
||||
epicsEnvSet("ECMC_EC_SLAVE_NUM_DRIVE", "0")
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM_DRIVE), HW_DESC=EP7211-0034_ALL_FB"
|
||||
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP= Motor-Beckhoff-AM8121-XFX0"
|
||||
|
||||
#Apply hardware configuration
|
||||
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
|
||||
|
||||
|
||||
#epicsEnvSet("ECMC_SAMPLE_RATE_MS", "${RATE="1"}")
|
||||
|
||||
##############################################################################
|
||||
## AXIS 1
|
||||
#
|
||||
epicsEnvSet("DEV", "$(IOC)")
|
||||
$(SCRIPTEXEC) $(ecmccfg_DIR)loadYamlAxis.cmd "FILE=./cfg/el7201_hipa.yaml,DRV_ID=$(ECMC_EC_SLAVE_NUM_DRIVE),AX_NAME='Axis1',AX_ID=1"
|
||||
|
||||
#epicsEnvSet("ECMC_SAMPLE_RATE_MS", "${RATE="10"}")
|
||||
|
||||
##############################################################################
|
||||
## Load plugin: MOTION
|
||||
#
|
||||
epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=200,DBG=0,ENA=1")
|
||||
require ecmc_plugin_motion sandst_a "${ECMC_PLUGIN_CONFIG}"
|
||||
|
||||
##############################################################################
|
||||
############# Configure diagnostics:
|
||||
|
||||
ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
|
||||
ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
|
||||
ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
|
||||
|
||||
# go active
|
||||
$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
|
||||
@@ -1,62 +0,0 @@
|
||||
##############################################################################
|
||||
## Example: Configuraftion for running ecmc motion plugin
|
||||
##############################################################################
|
||||
|
||||
## Initiation:
|
||||
epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
|
||||
epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
|
||||
|
||||
require ecmccfg "9.0.1_RC1"
|
||||
|
||||
# run module startup.cmd (only needed at ESS PSI auto call at require)
|
||||
$(ECMCCFG_INIT="")$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=v9.0.1_RC1, EC_RATE=500"
|
||||
|
||||
|
||||
##############################################################################
|
||||
## Configure hardware
|
||||
|
||||
epicsEnvSet("ECMC_EC_SLAVE_NUM", "1")
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7031, CONFIG=-Motor-Trinamic-QMot-QSH4218-41-10-035"
|
||||
epicsEnvSet("DRV_ID", "${ECMC_EC_SLAVE_NUM}")
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL2819"
|
||||
epicsEnvSet("DO_ID", "${ECMC_EC_SLAVE_NUM}")
|
||||
|
||||
# Configure drv input 1 as drv enable
|
||||
ecmcConfigOrDie "Cfg.EcAddSdo(${DRV_ID},0x8012,0x32,1,1)"
|
||||
OK
|
||||
# Control external drv enable
|
||||
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${DO_ID},binaryOutput02,1)"
|
||||
|
||||
#Apply hardware configuration
|
||||
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
|
||||
|
||||
##############################################################################
|
||||
## AXIS 1
|
||||
#
|
||||
epicsEnvSet("DEV", "$(IOC)")
|
||||
$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7031.ax)
|
||||
|
||||
##############################################################################
|
||||
## Load plugin: MOTION
|
||||
#
|
||||
epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=200,DBG=0,ENA=1")
|
||||
require ecmc_plugin_motion master ${ECMC_PLUGIN_CONFIG}
|
||||
# below needed at ESS but not PSI:
|
||||
${SCRIPTEXEC} ${ecmc_plugin_motion_DIR}startup.cmd "${ECMC_PLUGIN_CONFIG}"
|
||||
|
||||
##############################################################################
|
||||
############# 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)"
|
||||
|
||||
##############################################################################
|
||||
############# go active:
|
||||
$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
|
||||
|
||||
iocInit
|
||||
dbl > pvs.log
|
||||
Reference in New Issue
Block a user