diff --git a/README.md b/README.md index 22a8308..46e09f6 100644 --- a/README.md +++ b/README.md @@ -77,3 +77,604 @@ ${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=2,VE ${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=3,VELO_LIM=1" .... ``` + + +# Test data: +[sandst_a@pc15846 ~]$ camon -time c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct c6025a:Axis1-VelAct +11:44:41.998324 c6025a:m0s006-BI08 "True" +11:44:30.378340 c6025a:m0s005-BO07 "One" +11:44:42.008324 c6025a:Axis1-EnaAct "Disabled" +11:44:30.388326 c6025a:Axis1-VelAct 0.000 mm/s +11:44:55.428324 c6025a:Axis1-EnaAct "Enabled" +11:45:00.958339 c6025a:Axis1-VelAct 0.281 mm/s +11:45:00.958365 c6025a:m0s005-BO07 "Zero" +11:45:00.978335 c6025a:Axis1-VelAct 0.844 mm/s +11:45:00.988344 c6025a:Axis1-VelAct 1.406 mm/s +11:45:00.998338 c6025a:Axis1-VelAct 2.250 mm/s +11:45:01.008337 c6025a:Axis1-VelAct 3.375 mm/s +11:45:01.018341 c6025a:Axis1-VelAct 4.500 mm/s +11:45:01.028338 c6025a:Axis1-VelAct 5.906 mm/s +11:45:01.038340 c6025a:Axis1-VelAct 7.594 mm/s +11:45:01.048338 c6025a:Axis1-VelAct 9.562 mm/s +11:45:01.058340 c6025a:Axis1-VelAct 11.250 mm/s +11:45:01.068337 c6025a:Axis1-VelAct 13.500 mm/s +11:45:01.078336 c6025a:Axis1-VelAct 15.469 mm/s +11:45:01.088338 c6025a:Axis1-VelAct 17.438 mm/s +11:45:01.098339 c6025a:Axis1-VelAct 19.406 mm/s +11:45:01.108341 c6025a:Axis1-VelAct 21.375 mm/s +11:45:01.118338 c6025a:Axis1-VelAct 23.625 mm/s +11:45:01.128339 c6025a:Axis1-VelAct 25.594 mm/s +11:45:01.138339 c6025a:Axis1-VelAct 27.562 mm/s +11:45:01.148337 c6025a:Axis1-VelAct 29.531 mm/s +11:45:01.158345 c6025a:Axis1-VelAct 31.500 mm/s +11:45:01.168338 c6025a:Axis1-VelAct 33.469 mm/s +11:45:01.178339 c6025a:Axis1-VelAct 35.437 mm/s +11:45:01.188338 c6025a:Axis1-VelAct 37.687 mm/s +11:45:01.198337 c6025a:Axis1-VelAct 39.656 mm/s +11:45:01.208338 c6025a:Axis1-VelAct 41.625 mm/s +11:45:01.218334 c6025a:Axis1-VelAct 43.594 mm/s +11:45:01.228342 c6025a:Axis1-VelAct 45.844 mm/s +11:45:01.238335 c6025a:Axis1-VelAct 47.812 mm/s +11:45:01.248352 c6025a:Axis1-VelAct 49.781 mm/s +11:45:01.258338 c6025a:Axis1-VelAct 51.750 mm/s +11:45:01.268342 c6025a:Axis1-VelAct 54.000 mm/s +11:45:01.278336 c6025a:Axis1-VelAct 55.969 mm/s +11:45:01.288340 c6025a:Axis1-VelAct 57.938 mm/s +11:45:01.298338 c6025a:Axis1-VelAct 59.906 mm/s +11:45:01.308337 c6025a:Axis1-VelAct 62.156 mm/s +11:45:01.318335 c6025a:Axis1-VelAct 63.844 mm/s +11:45:01.328344 c6025a:Axis1-VelAct 65.812 mm/s +11:45:01.338346 c6025a:Axis1-VelAct 68.063 mm/s +11:45:01.348341 c6025a:Axis1-VelAct 70.031 mm/s +11:45:01.358338 c6025a:Axis1-VelAct 72.281 mm/s +11:45:01.368343 c6025a:Axis1-VelAct 74.250 mm/s +11:45:01.378345 c6025a:Axis1-VelAct 76.219 mm/s +11:45:01.388342 c6025a:Axis1-VelAct 78.187 mm/s +11:45:01.398341 c6025a:Axis1-VelAct 80.438 mm/s +11:45:01.408339 c6025a:Axis1-VelAct 82.125 mm/s +11:45:01.418338 c6025a:Axis1-VelAct 84.375 mm/s +11:45:01.428338 c6025a:Axis1-VelAct 86.344 mm/s +11:45:01.438337 c6025a:Axis1-VelAct 88.312 mm/s +11:45:01.448338 c6025a:Axis1-VelAct 90.281 mm/s +11:45:01.458339 c6025a:Axis1-VelAct 92.250 mm/s +11:45:01.468344 c6025a:Axis1-VelAct 94.219 mm/s +11:45:01.478343 c6025a:Axis1-VelAct 96.469 mm/s +11:45:01.488347 c6025a:Axis1-VelAct 98.438 mm/s +11:45:01.498339 c6025a:Axis1-VelAct 100.406 mm/s +11:45:01.508340 c6025a:Axis1-VelAct 102.656 mm/s +11:45:01.518340 c6025a:Axis1-VelAct 104.625 mm/s +11:45:01.528338 c6025a:Axis1-VelAct 106.594 mm/s +11:45:01.538341 c6025a:Axis1-VelAct 108.563 mm/s +11:45:01.548337 c6025a:Axis1-VelAct 110.813 mm/s +11:45:01.558339 c6025a:Axis1-VelAct 112.781 mm/s +11:45:01.568337 c6025a:Axis1-VelAct 114.750 mm/s +11:45:01.578338 c6025a:Axis1-VelAct 116.437 mm/s +11:45:01.588338 c6025a:Axis1-VelAct 118.688 mm/s +11:45:01.598336 c6025a:Axis1-VelAct 120.656 mm/s +11:45:01.608339 c6025a:Axis1-VelAct 122.625 mm/s +11:45:01.618339 c6025a:Axis1-VelAct 124.594 mm/s +11:45:01.628337 c6025a:Axis1-VelAct 126.562 mm/s +11:45:01.638348 c6025a:Axis1-VelAct 128.531 mm/s +11:45:01.648346 c6025a:Axis1-VelAct 130.500 mm/s +11:45:01.658339 c6025a:Axis1-VelAct 132.469 mm/s +11:45:01.668338 c6025a:Axis1-VelAct 134.437 mm/s +11:45:01.678341 c6025a:Axis1-VelAct 136.688 mm/s +11:45:01.688346 c6025a:Axis1-VelAct 138.656 mm/s +11:45:01.698339 c6025a:Axis1-VelAct 140.625 mm/s +11:45:01.708350 c6025a:Axis1-VelAct 142.594 mm/s +11:45:01.718339 c6025a:Axis1-VelAct 144.844 mm/s +11:45:01.728339 c6025a:Axis1-VelAct 146.813 mm/s +11:45:01.738342 c6025a:Axis1-VelAct 148.781 mm/s +11:45:01.748340 c6025a:Axis1-VelAct 150.469 mm/s +11:45:01.758342 c6025a:Axis1-VelAct 152.719 mm/s +11:45:01.768344 c6025a:Axis1-VelAct 154.688 mm/s +11:45:01.778338 c6025a:Axis1-VelAct 156.656 mm/s +11:45:01.788341 c6025a:Axis1-VelAct 158.625 mm/s +11:45:01.798339 c6025a:Axis1-VelAct 160.594 mm/s +11:45:01.808344 c6025a:Axis1-VelAct 162.562 mm/s +11:45:01.818340 c6025a:Axis1-VelAct 164.531 mm/s +11:45:01.828337 c6025a:Axis1-VelAct 166.500 mm/s +11:45:01.838341 c6025a:Axis1-VelAct 168.187 mm/s +11:45:01.848342 c6025a:Axis1-VelAct 170.438 mm/s +11:45:01.858343 c6025a:Axis1-VelAct 172.406 mm/s +11:45:01.868336 c6025a:Axis1-VelAct 174.375 mm/s +11:45:01.878344 c6025a:Axis1-VelAct 176.344 mm/s +11:45:01.888347 c6025a:Axis1-VelAct 178.313 mm/s +11:45:01.898343 c6025a:Axis1-VelAct 180.281 mm/s +11:45:01.908343 c6025a:Axis1-VelAct 182.250 mm/s +11:45:01.918337 c6025a:Axis1-VelAct 183.937 mm/s +11:45:01.928340 c6025a:Axis1-VelAct 186.188 mm/s +11:45:01.938341 c6025a:Axis1-VelAct 188.438 mm/s +11:45:01.948339 c6025a:Axis1-VelAct 190.406 mm/s +11:45:01.958338 c6025a:Axis1-VelAct 192.094 mm/s +11:45:01.968337 c6025a:Axis1-VelAct 194.344 mm/s +11:45:01.978338 c6025a:Axis1-VelAct 196.312 mm/s +11:45:01.988340 c6025a:Axis1-VelAct 198.281 mm/s +11:45:01.998339 c6025a:Axis1-VelAct 200.250 mm/s +11:45:02.008339 c6025a:Axis1-VelAct 202.219 mm/s +11:45:02.018339 c6025a:Axis1-VelAct 204.469 mm/s +11:45:02.028341 c6025a:Axis1-VelAct 206.156 mm/s +11:45:02.038341 c6025a:Axis1-VelAct 208.406 mm/s +11:45:02.048342 c6025a:Axis1-VelAct 210.094 mm/s +11:45:02.058338 c6025a:Axis1-VelAct 212.344 mm/s +11:45:02.068337 c6025a:Axis1-VelAct 214.313 mm/s +11:45:02.078341 c6025a:Axis1-VelAct 216.000 mm/s +11:45:02.088339 c6025a:Axis1-VelAct 217.969 mm/s +11:45:02.098339 c6025a:Axis1-VelAct 219.937 mm/s +11:45:02.108341 c6025a:Axis1-VelAct 222.188 mm/s +11:45:02.118345 c6025a:Axis1-VelAct 224.156 mm/s +11:45:02.128344 c6025a:Axis1-VelAct 226.406 mm/s +11:45:02.138340 c6025a:Axis1-VelAct 227.812 mm/s +11:45:02.148344 c6025a:Axis1-VelAct 230.344 mm/s +11:45:02.158337 c6025a:Axis1-VelAct 232.031 mm/s +11:45:02.168339 c6025a:Axis1-VelAct 233.719 mm/s +11:45:02.178349 c6025a:Axis1-VelAct 236.250 mm/s +11:45:02.188339 c6025a:Axis1-VelAct 238.219 mm/s +11:45:02.198337 c6025a:Axis1-VelAct 240.188 mm/s +11:45:02.208340 c6025a:Axis1-VelAct 241.875 mm/s +11:45:02.218339 c6025a:Axis1-VelAct 243.844 mm/s +11:45:02.228343 c6025a:Axis1-VelAct 245.531 mm/s +11:45:02.238338 c6025a:Axis1-VelAct 248.062 mm/s +11:45:02.248339 c6025a:Axis1-VelAct 249.750 mm/s +11:45:02.258338 c6025a:Axis1-VelAct 251.719 mm/s +11:45:02.268338 c6025a:Axis1-VelAct 253.969 mm/s +11:45:02.278338 c6025a:Axis1-VelAct 255.937 mm/s +11:45:02.288343 c6025a:Axis1-VelAct 257.625 mm/s +11:45:02.298343 c6025a:Axis1-VelAct 259.594 mm/s +11:45:02.308340 c6025a:Axis1-VelAct 261.844 mm/s +11:45:02.318337 c6025a:Axis1-VelAct 263.812 mm/s +11:45:02.328342 c6025a:Axis1-VelAct 265.781 mm/s +11:45:02.338352 c6025a:Axis1-VelAct 267.750 mm/s +11:45:02.348340 c6025a:Axis1-VelAct 269.719 mm/s +11:45:02.358341 c6025a:Axis1-VelAct 271.969 mm/s +11:45:02.368340 c6025a:Axis1-VelAct 273.656 mm/s +11:45:02.378341 c6025a:Axis1-VelAct 275.625 mm/s +11:45:02.388340 c6025a:Axis1-VelAct 277.594 mm/s +11:45:02.398344 c6025a:Axis1-VelAct 279.844 mm/s +11:45:02.408340 c6025a:Axis1-VelAct 281.531 mm/s +11:45:02.418341 c6025a:Axis1-VelAct 283.500 mm/s +11:45:02.428344 c6025a:Axis1-VelAct 285.750 mm/s +11:45:02.438351 c6025a:Axis1-VelAct 288.000 mm/s +11:45:02.448342 c6025a:Axis1-VelAct 289.688 mm/s +11:45:02.458345 c6025a:Axis1-VelAct 291.656 mm/s +11:45:02.468351 c6025a:Axis1-VelAct 293.906 mm/s +11:45:02.478339 c6025a:Axis1-VelAct 295.312 mm/s +11:45:02.488339 c6025a:Axis1-VelAct 297.844 mm/s +11:45:02.498340 c6025a:Axis1-VelAct 299.531 mm/s +11:45:02.508340 c6025a:Axis1-VelAct 302.063 mm/s +11:45:02.518351 c6025a:Axis1-VelAct 304.031 mm/s +11:45:02.528340 c6025a:Axis1-VelAct 305.719 mm/s +11:45:02.538344 c6025a:Axis1-VelAct 307.406 mm/s +11:45:02.548338 c6025a:Axis1-VelAct 309.938 mm/s +11:45:02.558343 c6025a:Axis1-VelAct 311.906 mm/s +11:45:02.568340 c6025a:Axis1-VelAct 313.594 mm/s +11:45:02.578338 c6025a:Axis1-VelAct 316.125 mm/s +11:45:02.588339 c6025a:Axis1-VelAct 317.812 mm/s +11:45:02.598336 c6025a:Axis1-VelAct 320.062 mm/s +11:45:02.608346 c6025a:Axis1-VelAct 321.750 mm/s +11:45:02.618339 c6025a:Axis1-VelAct 323.719 mm/s +11:45:02.628345 c6025a:Axis1-VelAct 325.969 mm/s +11:45:02.638337 c6025a:Axis1-VelAct 327.937 mm/s +11:45:02.648337 c6025a:Axis1-VelAct 329.625 mm/s +11:45:02.658338 c6025a:Axis1-VelAct 331.875 mm/s +11:45:02.668340 c6025a:Axis1-VelAct 334.125 mm/s +11:45:02.678340 c6025a:Axis1-VelAct 336.094 mm/s +11:45:02.688345 c6025a:Axis1-VelAct 338.062 mm/s +11:45:02.698340 c6025a:Axis1-VelAct 339.750 mm/s +11:45:02.708339 c6025a:Axis1-VelAct 341.719 mm/s +11:45:02.718338 c6025a:Axis1-VelAct 343.969 mm/s +11:45:02.728337 c6025a:Axis1-VelAct 346.219 mm/s +11:45:02.738337 c6025a:Axis1-VelAct 348.188 mm/s +11:45:02.748340 c6025a:Axis1-VelAct 350.156 mm/s +11:45:02.758339 c6025a:Axis1-VelAct 351.844 mm/s +11:45:02.768342 c6025a:Axis1-VelAct 354.094 mm/s +11:45:02.778337 c6025a:Axis1-VelAct 355.781 mm/s +11:45:02.788340 c6025a:Axis1-VelAct 358.031 mm/s +11:45:02.798344 c6025a:Axis1-VelAct 360.281 mm/s +11:45:02.808336 c6025a:Axis1-VelAct 362.531 mm/s +11:45:02.818336 c6025a:Axis1-VelAct 363.938 mm/s +11:45:02.828338 c6025a:Axis1-VelAct 365.906 mm/s +11:45:02.838336 c6025a:Axis1-VelAct 367.875 mm/s +11:45:02.848338 c6025a:Axis1-VelAct 370.406 mm/s +11:45:02.858342 c6025a:Axis1-VelAct 372.094 mm/s +11:45:02.868341 c6025a:Axis1-VelAct 374.062 mm/s +11:45:02.878344 c6025a:Axis1-VelAct 376.312 mm/s +11:45:02.888336 c6025a:Axis1-VelAct 378.000 mm/s +11:45:02.898336 c6025a:Axis1-VelAct 380.250 mm/s +11:45:02.908340 c6025a:Axis1-VelAct 382.219 mm/s +11:45:02.918340 c6025a:Axis1-VelAct 384.469 mm/s +11:45:02.928337 c6025a:Axis1-VelAct 386.156 mm/s +11:45:02.938341 c6025a:Axis1-VelAct 388.406 mm/s +11:45:02.948338 c6025a:Axis1-VelAct 390.094 mm/s +11:45:02.958344 c6025a:Axis1-VelAct 392.344 mm/s +11:45:02.968342 c6025a:Axis1-VelAct 394.312 mm/s +11:45:02.978339 c6025a:Axis1-VelAct 396.281 mm/s +11:45:02.988337 c6025a:Axis1-VelAct 398.531 mm/s +11:45:02.998338 c6025a:Axis1-VelAct 400.219 mm/s +11:45:03.008341 c6025a:Axis1-VelAct 401.906 mm/s +11:45:03.018337 c6025a:Axis1-VelAct 404.156 mm/s +11:45:03.028343 c6025a:Axis1-VelAct 406.406 mm/s +11:45:03.038338 c6025a:Axis1-VelAct 408.094 mm/s +11:45:03.048342 c6025a:Axis1-VelAct 410.625 mm/s +11:45:03.058336 c6025a:Axis1-VelAct 412.312 mm/s +11:45:03.068338 c6025a:Axis1-VelAct 414.281 mm/s +11:45:03.078344 c6025a:Axis1-VelAct 416.250 mm/s +11:45:03.088342 c6025a:Axis1-VelAct 418.219 mm/s +11:45:03.098337 c6025a:Axis1-VelAct 420.188 mm/s +11:45:03.108343 c6025a:Axis1-VelAct 422.438 mm/s +11:45:03.118338 c6025a:Axis1-VelAct 424.406 mm/s +11:45:03.128345 c6025a:Axis1-VelAct 426.094 mm/s +11:45:03.138337 c6025a:Axis1-VelAct 428.625 mm/s +11:45:03.148340 c6025a:Axis1-VelAct 430.031 mm/s +11:45:03.158348 c6025a:Axis1-VelAct 432.562 mm/s +11:45:03.168340 c6025a:Axis1-VelAct 434.250 mm/s +11:45:03.178344 c6025a:Axis1-VelAct 436.500 mm/s +11:45:03.188340 c6025a:Axis1-VelAct 438.187 mm/s +11:45:03.198342 c6025a:Axis1-VelAct 440.437 mm/s +11:45:03.208341 c6025a:Axis1-VelAct 442.406 mm/s +11:45:03.218336 c6025a:Axis1-VelAct 444.375 mm/s +11:45:03.228338 c6025a:Axis1-VelAct 446.344 mm/s +11:45:03.238339 c6025a:Axis1-VelAct 448.313 mm/s +11:45:03.248344 c6025a:Axis1-VelAct 450.281 mm/s +11:45:03.258341 c6025a:Axis1-VelAct 452.250 mm/s +11:45:03.268340 c6025a:Axis1-VelAct 454.500 mm/s +11:45:03.278345 c6025a:Axis1-VelAct 455.906 mm/s +11:45:03.288342 c6025a:Axis1-VelAct 458.719 mm/s +11:45:03.298340 c6025a:Axis1-VelAct 460.406 mm/s +11:45:03.308345 c6025a:Axis1-VelAct 462.094 mm/s +11:45:03.318339 c6025a:Axis1-VelAct 464.062 mm/s +11:45:03.328338 c6025a:Axis1-VelAct 466.594 mm/s +11:45:03.338343 c6025a:Axis1-VelAct 468.000 mm/s +11:45:03.348339 c6025a:Axis1-VelAct 470.250 mm/s +11:45:03.358338 c6025a:Axis1-VelAct 472.500 mm/s +11:45:03.368340 c6025a:Axis1-VelAct 473.906 mm/s +11:45:03.378343 c6025a:Axis1-VelAct 476.719 mm/s +11:45:03.388343 c6025a:Axis1-VelAct 478.125 mm/s +11:45:03.398336 c6025a:Axis1-VelAct 480.094 mm/s +11:45:03.408338 c6025a:Axis1-VelAct 482.344 mm/s +11:45:03.418343 c6025a:Axis1-VelAct 484.313 mm/s +11:45:03.428343 c6025a:Axis1-VelAct 486.281 mm/s +11:45:03.438343 c6025a:Axis1-VelAct 488.250 mm/s +11:45:03.448340 c6025a:Axis1-VelAct 490.219 mm/s +11:45:03.458350 c6025a:Axis1-VelAct 491.906 mm/s +11:45:03.468345 c6025a:Axis1-VelAct 493.875 mm/s +11:45:03.478342 c6025a:Axis1-VelAct 495.000 mm/s +11:45:03.488338 c6025a:Axis1-VelAct 496.688 mm/s +11:45:03.498342 c6025a:Axis1-VelAct 498.375 mm/s +11:45:03.508339 c6025a:Axis1-VelAct 499.219 mm/s +11:45:03.518336 c6025a:Axis1-VelAct 499.781 mm/s +11:45:03.528338 c6025a:Axis1-VelAct 500.344 mm/s +11:45:03.538336 c6025a:Axis1-VelAct 500.625 mm/s +11:45:03.558342 c6025a:Axis1-VelAct 500.906 mm/s +11:45:03.568338 c6025a:Axis1-VelAct 501.187 mm/s +11:45:03.578337 c6025a:Axis1-VelAct 501.188 mm/s +11:45:03.588338 c6025a:Axis1-VelAct 500.344 mm/s +11:45:03.628341 c6025a:Axis1-VelAct 500.062 mm/s +11:45:03.638338 c6025a:Axis1-VelAct 500.344 mm/s +11:45:03.648338 c6025a:Axis1-VelAct 500.344 mm/s +11:45:03.658337 c6025a:Axis1-VelAct 500.063 mm/s +11:45:03.678341 c6025a:Axis1-VelAct 499.781 mm/s +11:45:03.688335 c6025a:Axis1-VelAct 500.344 mm/s +11:45:03.698338 c6025a:Axis1-VelAct 500.062 mm/s +11:45:03.708336 c6025a:Axis1-VelAct 500.063 mm/s +11:45:03.718337 c6025a:Axis1-VelAct 500.344 mm/s +11:45:03.728334 c6025a:Axis1-VelAct 500.063 mm/s +11:45:03.738336 c6025a:Axis1-VelAct 500.062 mm/s +11:45:03.748334 c6025a:Axis1-VelAct 500.063 mm/s +11:45:03.768337 c6025a:Axis1-VelAct 499.781 mm/s +11:45:03.778338 c6025a:Axis1-VelAct 500.063 mm/s +11:45:03.788335 c6025a:Axis1-VelAct 500.062 mm/s +11:45:03.798338 c6025a:Axis1-VelAct 500.063 mm/s +11:45:03.808335 c6025a:Axis1-VelAct 499.781 mm/s +11:45:03.818340 c6025a:Axis1-VelAct 499.781 mm/s +11:45:03.828351 c6025a:Axis1-VelAct 500.062 mm/s +11:45:03.838343 c6025a:Axis1-VelAct 499.781 mm/s +11:45:03.848336 c6025a:Axis1-VelAct 499.781 mm/s +11:45:03.868336 c6025a:Axis1-VelAct 499.500 mm/s +11:45:03.918336 c6025a:Axis1-VelAct 499.781 mm/s +11:45:03.928334 c6025a:Axis1-VelAct 499.500 mm/s +11:45:03.938338 c6025a:Axis1-VelAct 500.062 mm/s +11:45:03.948336 c6025a:Axis1-VelAct 499.500 mm/s +11:45:03.958338 c6025a:Axis1-VelAct 499.219 mm/s +11:45:03.968341 c6025a:Axis1-VelAct 500.063 mm/s +11:45:03.978335 c6025a:Axis1-VelAct 499.781 mm/s +11:45:03.988336 c6025a:Axis1-VelAct 499.781 mm/s +11:45:03.998334 c6025a:Axis1-VelAct 499.500 mm/s +11:45:04.008335 c6025a:Axis1-VelAct 499.781 mm/s +11:45:04.018335 c6025a:Axis1-VelAct 499.219 mm/s +11:45:04.028338 c6025a:Axis1-VelAct 499.500 mm/s +11:45:04.038335 c6025a:Axis1-VelAct 498.656 mm/s +11:45:04.048344 c6025a:Axis1-VelAct 499.500 mm/s +11:45:04.058337 c6025a:Axis1-VelAct 499.781 mm/s +11:45:04.068335 c6025a:Axis1-VelAct 498.938 mm/s +11:45:04.078335 c6025a:Axis1-VelAct 499.500 mm/s +11:45:04.088339 c6025a:Axis1-VelAct 499.219 mm/s +11:45:04.098342 c6025a:Axis1-VelAct 499.500 mm/s +11:45:04.138336 c6025a:Axis1-VelAct 499.781 mm/s +11:45:04.148342 c6025a:Axis1-VelAct 499.219 mm/s +11:45:04.158337 c6025a:Axis1-VelAct 499.500 mm/s +11:45:04.168336 c6025a:Axis1-VelAct 499.500 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12:07:11.214568 0 diff --git a/iocsh/readme.md b/iocsh/readme.md new file mode 100644 index 0000000..2bb582f --- /dev/null +++ b/iocsh/readme.md @@ -0,0 +1,19 @@ +# Start IOC +``` +sudo iocsh test_4ax_box.script +``` + +# Collect data +``` +camon -d -t -nostat -nounit -int c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct c6025a:Axis1-VelAct + +/usr/local/epics/base-7.0.7/bin/RHEL8-x86_64/camonitor -n c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct c6025a:Axis1-VelAct +``` +# Plot +``` +Velo: +cat data_log.txt | grep Vel | python3 ~/myhome/sources/ecmccomgui/pyDataManip/plotCaMonitor.py + +Digital: +cat data_log.txt | grep -v Vel | python3 ~/myhome/sources/ecmccomgui/pyDataManip/plotCaMonitor.py +``` diff --git a/iocsh/test_4ax_box.script b/iocsh/test_4ax_box.script new file mode 100644 index 0000000..025f45c --- /dev/null +++ b/iocsh/test_4ax_box.script @@ -0,0 +1,78 @@ +############################################################################## +## test config for ecmc_plugin_safety +## +## In this config the interface to safety system is liked to simulated ethercat entries: +## * To allow motion: +## caput c6025a:m0s013-Zero 3 +## * To simulate interlock from safety system: +## caput c6025a:m0s013-Zero 0 +## +## Monitor status with: +## camon c6025a:SS1-first-Err c6025a:SS1-first-RmpDwnCmdAct c6025a:SS1-first-AxsStndStllAct +## + +epicsEnvSet(IOC,c6025a) +require ecmccfg "ENG_MODE=1" + +############################################################################## +## Load components lib +# +require ecmccomp + +############################################################################## +## Configure hardware + +epicsEnvSet("DRV_SLAVE", "7") +${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7041-0052" +${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_STDBY_MA=200,I_MAX_MA=1000,R_COIL_MOHM=1700'" + +epicsEnvSet("ENC_SLAVE", "2") +${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042" +${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C" + +epicsEnvSet("BO_SLAVE", "5") +${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SLAVE), HW_DESC=EL2008" +# This hardware box need to set BO6 to get power +ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${BO_SLAVE},binaryOutput06,1)" + +epicsEnvSet("BI_SLAVE", "6") +${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BI_SLAVE), HW_DESC=EL1008" + +#Apply hardware configuration +ecmcConfigOrDie "Cfg.EcApplyConfig(1)" + +############################################################################## +## AXIS 1 +# +epicsEnvSet("DEV", "$(IOC)") +epicsEnvSet("PLC_PATH", "/ioc/c6025a5a/ecmccfg/examples/test/ecmccomp/plc/") +${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml" + +############################################################################## +## Load safety plugin +# +require ecmc_plugin_safety sandst_a + +# Create SS1 group +epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0") +epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0") +epicsEnvSet(SAFETY_TIMEOUT,500) +${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_STANDSTILL=${EC_AXES_STANDSTILL},DELAY_MS=${SAFETY_TIMEOUT}" + +#- Add axis +${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1" + +############################################################################## +## Configure diagnostics: +# +ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)" +ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)" +ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)" +ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)" +ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)" +ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)" + +############################################################################## +## go active +# +$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)