motion/ecmc_plugin_safety
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Update test script

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sandst_a
2024-02-19 16:32:34 +01:00
parent 2a93e3b585
commit bddcd58b76
1 changed files with 19 additions and 10 deletions
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29
iocsh/test.script
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@@ -1,9 +1,18 @@
##############################################################################
## test config for ecmc_plugin_safety
require ecmccfg v9.0.1_RC4,"ECMC_VER=sandst_a,ENG_MODE=1"
##
## 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 v9.0.1_RC4,"ECMC_VER=v9.0.1_RC4,ENG_MODE=1"
##############################################################################
## Load components lib
@@ -28,7 +37,7 @@ ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
## AXIS 1
#
epicsEnvSet("DEV", "$(IOC)")
epicsEnvSet("PLC_PATH", "/ioc/c6025a/ecmccfg/examples/test/ecmccomp/plc/")
epicsEnvSet("PLC_PATH", "/ioc/c6025a5a/ecmccfg/examples/test/ecmccomp/plc/")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml,LIMIT=1000,TYPE=0"
##############################################################################
@@ -41,13 +50,13 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml,LIMIT=1
#
require ecmc_plugin_safety sandst_a
ecmcAddSS1SafetyGroup("first","ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0","ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1",500)
ecmcAddAxisToSafetyGroup("first",1,1,0)
ecmcAddAxisToSafetyGroup("first",1,1,0)
ecmcAddAxisToSafetyGroup("first",1,1,0)
ecmcAddAxisToSafetyGroup("first",1,1,0)
ecmcAddAxisToSafetyGroup("first",1,1,0)
ecmcAddAxisToSafetyGroup("first",1,1,0)
#- EC_RAMP_DOWN_CMD
#- EC_STANDSTILL_STAT
#- DELAY_MS
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0,EC_STANDSTILL_STAT=ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1,DELAY_MS=500"
#- ecmcAddSS1SafetyGroup("first","ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0","ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1",500)
ecmcAddAxisToSafetyGroup("first",1,1,0)
##############################################################################