63 lines
2.3 KiB
Plaintext
63 lines
2.3 KiB
Plaintext
##############################################################################
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## Example: Configuraftion for running ecmc motion plugin
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##############################################################################
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## Initiation:
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epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
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epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
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require ecmccfg "9.0.1_RC1"
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# run module startup.cmd (only needed at ESS PSI auto call at require)
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$(ECMCCFG_INIT="")$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=v9.0.1_RC1"
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##############################################################################
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## Configure hardware
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epicsEnvSet("ECMC_EC_SLAVE_NUM", "1")
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${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7031, CONFIG=-Motor-Trinamic-QMot-QSH4218-41-10-035"
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epicsEnvSet("DRV_ID", "${ECMC_EC_SLAVE_NUM}")
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL2819"
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epicsEnvSet("DO_ID", "${ECMC_EC_SLAVE_NUM}")
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# Configure drv input 1 as drv enable
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ecmcConfigOrDie "Cfg.EcAddSdo(${DRV_ID},0x8012,0x32,1,1)"
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OK
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# Control external drv enable
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${DO_ID},binaryOutput02,1)"
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#Apply hardware configuration
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ecmcConfigOrDie "Cfg.EcApplyConfig(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)configureAxis.cmd, CONFIG=./cfg/el7031.ax)
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########################################################################s######
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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=1000,DBG=0,ENA=1")
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require ecmc_plugin_motion master ${ECMC_PLUGIN_CONFIG}
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# below needed at ESS but not PSI:
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${SCRIPTEXEC} ${ecmc_plugin_motion_DIR}startup.cmd "${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.EcSetDomainFailedCyclesLimit(100)"
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ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)"
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ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)"
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ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
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##############################################################################
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############# go active:
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$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
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iocInit
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dbl > pvs.log
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