From ea4d26fd31d86adac2c4a280b33251c2269ebeb1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Thu, 7 Mar 2024 14:17:53 +0100 Subject: [PATCH 1/3] Update testscript --- iocsh/cfg/axis.yaml | 4 ++-- iocsh/test.script | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/iocsh/cfg/axis.yaml b/iocsh/cfg/axis.yaml index 8826959..3c60256 100644 --- a/iocsh/cfg/axis.yaml +++ b/iocsh/cfg/axis.yaml @@ -174,8 +174,8 @@ monitoring: tolerance: 0.5 # Allowed tolerance time: 10 # Filter time inside tolerance to be at target velocity: - enable: false # Enable velocity monitoring - max: 100 # Allowed max velocity + enable: true # Enable velocity monitoring + max: 500 # Allowed max velocity time: trajectory: 100 # Time allowed outside max velo before system init halt drive: 200 # Time allowed outside max velo before system disables drive diff --git a/iocsh/test.script b/iocsh/test.script index b3c6d43..7a7df71 100644 --- a/iocsh/test.script +++ b/iocsh/test.script @@ -12,7 +12,7 @@ ## epicsEnvSet(IOC,c6025a) -require ecmccfg "ENG_MODE=1" +require ecmccfg safety2 "ECMC_VER=safety2,ENG_MODE=1" ############################################################################## ## Load components lib From c02541c7116aacfac0a69ebdbc164ad6707e1b93 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Thu, 7 Mar 2024 14:20:21 +0100 Subject: [PATCH 2/3] Update max velo in test script --- iocsh/cfg/axis.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/iocsh/cfg/axis.yaml b/iocsh/cfg/axis.yaml index 3c60256..fcc5d54 100644 --- a/iocsh/cfg/axis.yaml +++ b/iocsh/cfg/axis.yaml @@ -175,7 +175,7 @@ monitoring: time: 10 # Filter time inside tolerance to be at target velocity: enable: true # Enable velocity monitoring - max: 500 # Allowed max velocity + max: 1000 # Allowed max velocity time: trajectory: 100 # Time allowed outside max velo before system init halt drive: 200 # Time allowed outside max velo before system disables drive From 1c051995c3c3b6c791e47a70e7803ef5a2afacd5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Mon, 11 Mar 2024 09:38:31 +0100 Subject: [PATCH 3/3] Update testscript --- iocsh/cfg/axis.yaml | 4 +--- iocsh/test.script | 10 ++++------ 2 files changed, 5 insertions(+), 9 deletions(-) diff --git a/iocsh/cfg/axis.yaml b/iocsh/cfg/axis.yaml index fcc5d54..d97d627 100644 --- a/iocsh/cfg/axis.yaml +++ b/iocsh/cfg/axis.yaml @@ -1,10 +1,8 @@ -macros: LIMIT=10000,TYPE=0,DRV_SLAVE=${DRV_SLAVE} # Macros for all below (evaluated before jinja linter) - axis: id: 1 # Axis id type: joint # this is for future selection of axis type # mode: CSV # supported mode, CSV and CSP, defaults CSV - # parameters: 'axisPar' # additional parameters # Additional params to motor record driver + parameters: 'powerAutoOnOff=2;powerOffDelay=4;powerOnDelay=4;' # additional parameters # Additional params to motor record driver #healthOutput: ec0... # Ethercat entry for health output # autoMode: # Switch drive modes automaticaly for normal motion and homing (smaract for instance) # modeSet: ec0.. # Ethercat entry drive mode write (set CSV,CSP,homing) diff --git a/iocsh/test.script b/iocsh/test.script index 7a7df71..84a2ccd 100644 --- a/iocsh/test.script +++ b/iocsh/test.script @@ -12,16 +12,13 @@ ## epicsEnvSet(IOC,c6025a) -require ecmccfg safety2 "ECMC_VER=safety2,ENG_MODE=1" +require ecmccfg safety2 "ECMC_VER=safety2_v7.0.9ESS,ENG_MODE=1" ############################################################################## ## Load components lib # require ecmccomp -############################################################################## -## Configure hardware - epicsEnvSet("DRV_SLAVE", "13") ${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'" @@ -43,12 +40,13 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml,LIMIT=1 ############################################################################## ## PLC 1 # -#-${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlPlc.cmd, "FILE=./plc/plc_cfg.yaml,LIMIT=5000,TYPE=1" +epicsEnvSet(PLC_PATH,"./plc/") +${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlPlc.cmd, "FILE=./plc/plc_cfg.yaml,LIMIT=5000,TYPE=1" ############################################################################## ## Load safety plugin # -require ecmc_plugin_safety +require ecmc_plugin_safety safety2_v7.0.9ESS # Create SS1 group epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0")