44 lines
1.6 KiB
Plaintext
44 lines
1.6 KiB
Plaintext
##############################################################################
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## Example config for ep7211-0010.. Why power cycle sometimes needed??? SDO 8000:17 (enc offset) gives error
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##############################################################################
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## Initiation:
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require ecmccfg "ECMC_VER=EC_RATE=1000,ENG_MODE=1,MASTER_ID=1"
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require ecmccomp
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epicsEnvSet("ECMC_EC_SLAVE_NUM_DRIVE", "0")
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM_DRIVE), HW_DESC=EP7211-0034_ALL_FB"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP= Motor-Beckhoff-AM8121-XFX0"
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#Apply hardware configuration
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ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
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#epicsEnvSet("ECMC_SAMPLE_RATE_MS", "${RATE="1"}")
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##############################################################################
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## AXIS 1
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#
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epicsEnvSet("DEV", "$(IOC)")
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$(SCRIPTEXEC) $(ecmccfg_DIR)loadYamlAxis.cmd "FILE=./cfg/el7201_hipa.yaml,DRV_ID=$(ECMC_EC_SLAVE_NUM_DRIVE),AX_NAME='Axis1',AX_ID=1"
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#epicsEnvSet("ECMC_SAMPLE_RATE_MS", "${RATE="10"}")
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##############################################################################
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## Load plugin: MOTION
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#
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epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=200,DBG=0,ENA=1")
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require ecmc_plugin_motion sandst_a "${ECMC_PLUGIN_CONFIG}"
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##############################################################################
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############# Configure diagnostics:
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ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
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ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
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ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
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# go active
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$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
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