Thierry Zamofing
789224b83d
Here all IOCs were started without any hardware. So in the next steps the hardware must be tested.
42 lines
1.6 KiB
Batchfile
42 lines
1.6 KiB
Batchfile
### Required Parameters ###
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#PORT='PPMAC1'
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#P='SARFE10-OAPU090'
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#powerPmacCreateController(<port_name>, <moving_poll_pseriod [ms]>, <idle_poll_period [ms]>)
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#powerPmacCreateController("$(PORT)", 100, 100) <<< done in commom module
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###########################
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require gpasciiCommander
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! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/$(P)3.cfg
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powerPmacCreateAxis($(PORT), 1)
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powerPmacCreateAxis($(PORT), 2)
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powerPmacCreateAxis($(PORT), 3)
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powerPmacCreateAxis($(PORT), 4)
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powerPmacCreateAxis($(PORT), 5)
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#powerPmacCreateAxis($(PORT), 6)
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#powerPmacCreateAxis($(PORT), 7)
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#powerPmacCreateAxis($(PORT), 8)
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#powerPmacCreateVirtualAxis(<port_name>, <axis_index>, <coord_sys_index>, <axis_name>,<commaSeparatedMotorIndices)
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# !!! COMMENTS AFTER 'powerPmacCreateVirtualAxis("$(PORT)", 9, 1, "X",1)' IS NOT ALLOWED !!!
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#powerPmacCreateVirtualAxis("$(PORT)", 9 , 1, "X",1,2,3,4)
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#powerPmacCreateVirtualAxis("$(PORT)", 10, 1, "Y",1,2,3,4)
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#powerPmacCreateVirtualAxis("$(PORT)", 11, 1, "A",1,2,3,4)
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#powerPmacCreateVirtualAxis("$(PORT)", 12, 1, "B",1,2,3,4)
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#powerPmacCreateVirtualAxis("$(PORT)", 13, 1, "C",1,2,3,4)
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OX=1
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OY=1
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OP=1
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OYW=1
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OR=1
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# Load databse
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dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)3.subs", "PORT_M=$(PORT),P_M=$(P)")
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require "HEXGIR" zamofing_t
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# Load databse
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dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_motor.subs", "PORT_M=$(PORT),P_M=$(P),M1=1,M2=2,M3=3,M4=4,M5=5,E1=1,E2=2,E3=3,E4=4,E5=5")
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dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_girder.subs", "P_M=$(P)")
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dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_girder.subs", "P_M=$(P), X_OFFSET=$(OX),Y_OFFSET=$(OY),PITCH_OFFSET=$(OP),YAW_OFFSET=$(OYW),ROLL_OFFSET=$(OR)") |