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Update etst scripts

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sandst_a
2024-03-12 16:23:03 +01:00
parent 1c051995c3
commit 940d2c5a71
2 changed files with 17 additions and 8 deletions
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4
iocsh/test.script
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@@ -12,7 +12,7 @@
##
epicsEnvSet(IOC,c6025a)
require ecmccfg safety2 "ECMC_VER=safety2_v7.0.9ESS,ENG_MODE=1"
require ecmccfg 9.2.0 "ECMC_VER=9.2.0,ENG_MODE=1"
##############################################################################
## Load components lib
@@ -46,7 +46,7 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlPlc.cmd, "FILE=./plc/plc_cfg.yaml,LIMIT
##############################################################################
## Load safety plugin
#
require ecmc_plugin_safety safety2_v7.0.9ESS
require ecmc_plugin_safety
# Create SS1 group
epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0")

21
iocsh/test_4ax_box.script
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@@ -11,8 +11,8 @@
## camon c6025a:SS1-first-Err c6025a:SS1-first-RmpDwnCmdAct c6025a:SS1-first-AxsStndStllAct
##
epicsEnvSet(IOC,c6025a)
require ecmccfg "ENG_MODE=1"
#epicsEnvSet(IOC,c6025a)
require ecmccfg sandst_a,"ECMC_VER=test,ENG_MODE=1,MASTER_ID=1"
##############################################################################
## Load components lib
@@ -51,16 +51,25 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"
##############################################################################
## Load safety plugin
#
require ecmc_plugin_safety
require ecmc_plugin_safety sandst_a
# Create SS1 group
#- EC_RAMP_DOWN : Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
#- EC_AXES_REST : Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
#- EC_AXES_MAX_VELO : Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
epicsEnvSet(EC_AXES_REST,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
epicsEnvSet(EC_AXES_MAX_VELO,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ONE.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}"
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_REST=${EC_AXES_REST},${EC_AXES_MAX_VELO},DELAY_MS=${SAFETY_TIMEOUT}"
#- Add axis
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
#- AX_ID : Axis ID
#- VELO_REST_LIM : Velocity at rest limit [unit same as EGU of axis]
#- VELO_MAX_LIM : Velocity maximum limit, -1 to disable [unit same as EGU of axis]
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=1,VELO_MAX_LIM=100"
#${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=1"
##############################################################################
## Configure diagnostics: