79 lines
3.0 KiB
Plaintext
79 lines
3.0 KiB
Plaintext
##############################################################################
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## test config for ecmc_plugin_safety
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##
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## In this config the interface to safety system is liked to simulated ethercat entries:
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## * To allow motion:
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## caput c6025a:m0s013-Zero 3
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## * To simulate interlock from safety system:
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## caput c6025a:m0s013-Zero 0
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##
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## Monitor status with:
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## camon c6025a:SS1-first-Err c6025a:SS1-first-RmpDwnCmdAct c6025a:SS1-first-AxsStndStllAct
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##
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epicsEnvSet(IOC,c6025a)
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require ecmccfg "ENG_MODE=1"
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##############################################################################
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## Load components lib
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#
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require ecmccomp
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##############################################################################
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## Configure hardware
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epicsEnvSet("DRV_SLAVE", "7")
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7041-0052"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_STDBY_MA=200,I_MAX_MA=1000,R_COIL_MOHM=1700'"
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epicsEnvSet("ENC_SLAVE", "2")
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C"
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epicsEnvSet("BO_SLAVE", "5")
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SLAVE), HW_DESC=EL2008"
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# This hardware box need to set BO6 to get power
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ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${BO_SLAVE},binaryOutput06,1)"
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epicsEnvSet("BI_SLAVE", "6")
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BI_SLAVE), HW_DESC=EL1008"
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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", "$(IOC)")
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epicsEnvSet("PLC_PATH", "/ioc/c6025a5a/ecmccfg/examples/test/ecmccomp/plc/")
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"
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##############################################################################
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## Load safety plugin
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#
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require ecmc_plugin_safety
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# Create SS1 group
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epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
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epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
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epicsEnvSet(SAFETY_TIMEOUT,500)
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${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}"
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#- Add axis
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
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##############################################################################
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## Configure diagnostics:
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#
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ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
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ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
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ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
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ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)"
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ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)"
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ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
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##############################################################################
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## go active
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#
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$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
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