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Restructure dir for EL72xx high velo tests
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examples/test/el70xx/high_speed/el7031_owis_stage/cfg/EPICSVERSION
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1 @@ | ||
| 7.0.6 |
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examples/test/el70xx/high_speed/el7031_owis_stage/cfg/linear.ax
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| #General | ||
| epicsEnvSet("ECMC_MOTOR_NAME", "Axis1") | ||
| epicsEnvSet("ECMC_R", "Axis1-") | ||
| epicsEnvSet("ECMC_AXIS_NO", "1") | ||
| epicsEnvSet("ECMC_DESC", "Axis 1") | ||
| epicsEnvSet("ECMC_EGU", "deg") # Motor Record Unit | ||
| epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision | ||
| epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver | ||
| epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0) | ||
| epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE) | ||
| epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE>0: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance | ||
|
|
||
| #Encoder | ||
| epicsEnvSet("ECMC_ENC_SCALE_NUM" "1") | ||
| epicsEnvSet("ECMC_ENC_SCALE_DENOM" "12800") | ||
| epicsEnvSet("ECMC_ENC_TYPE" "0") # Type: 0=Incremental, 1=Absolute | ||
| epicsEnvSet("ECMC_ENC_BITS" "16") # Total bit count of encoder raw data | ||
| epicsEnvSet("ECMC_ENC_ABS_BITS", "0") # Absolute bit count (for absolute encoders) always least significant part of ECMC_ENC_BITS | ||
| epicsEnvSet("ECMC_ENC_ABS_OFFSET" "0") # Encoder offset in eng units (for absolute encoders) | ||
| epicsEnvSet("ECMC_EC_ENC_ACTPOS", "ec0.s${DRIVE_ID}.positionActual01") # Ethercat entry for actual position input (encoder) | ||
| epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset (if no encoder reset bit then leave empty) | ||
| epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 (if no encoder error bit then leave empty) | ||
| epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 (if no encoder error bit then leave empty) | ||
| epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 (if no encoder error bit then leave empty) | ||
| epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning (if no encoder warning bit then leave empty) | ||
|
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||
| #Drive | ||
| epicsEnvSet("ECMC_DRV_TYPE" "0") # Stepper: 0. Ds${DRIVE_ID}02: 1 (Ds${DRIVE_ID}02 = servos and advanced stepper drives) | ||
| epicsEnvSet("ECMC_DRV_SCALE_NUM" "40.0") # Fastest speed in engineering units | ||
| epicsEnvSet("ECMC_DRV_SCALE_DENOM" "32768.0") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET | ||
| epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s${DRIVE_ID}.driveControl01.0") # Ethercat entry for control word or bit output | ||
| epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s${DRIVE_ID}.driveStatus01.1") # Ethercat entry for status word or bit input | ||
| epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s${DRIVE_ID}.velocitySetpoint01") # Ethercat entry for velocity setpoint output | ||
| epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "ec0.s${DRIVE_ID}.driveControl01.2") # Ethercat entry for reduce torque output | ||
| epicsEnvSet("ECMC_EC_DRV_BRAKE", "") # Ethercat entry for brake output | ||
| epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "0") # Brake timing parameter in cycles (default 1kHz) | ||
| epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "0") # Brake timing parameter in cycles (default 1kHz) | ||
| epicsEnvSet("ECMC_EC_DRV_RESET", "ec0.s${DRIVE_ID}.driveControl01.1") # Reset | ||
| epicsEnvSet("ECMC_EC_DRV_ALARM_0", "ec0.s${DRIVE_ID}.driveStatus01.3") # Error | ||
| epicsEnvSet("ECMC_EC_DRV_ALARM_1", "ec0.s${DRIVE_ID}.driveStatus01.7") # Stall | ||
| epicsEnvSet("ECMC_EC_DRV_ALARM_2", "ec0.s${DRIVE_ID}.driveStatus01.14") # Sync error | ||
| epicsEnvSet("ECMC_EC_DRV_WARNING", "ec0.s${DRIVE_ID}.driveStatus01.2") # Warning | ||
|
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||
| #Trajectory | ||
| epicsEnvSet("ECMC_VELO", "9") | ||
| epicsEnvSet("ECMC_JOG_VEL", "9") | ||
| epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL | ||
| epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "30") | ||
| epicsEnvSet("ECMC_EMERG_DECEL", "100") # Emergency deceleration | ||
|
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||
| #Homing | ||
| epicsEnvSet("ECMC_HOME_PROC", "0") | ||
| epicsEnvSet("ECMC_HOME_POS", "0.0") | ||
| epicsEnvSet("ECMC_HOME_VEL_TO", "5") | ||
| epicsEnvSet("ECMC_HOME_VEL_FRM", "4") | ||
| epicsEnvSet("ECMC_HOME_ACC", "21") | ||
| epicsEnvSet("ECMC_HOME_DEC", "100") | ||
| epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "0") # Enable move to position after successfull homing | ||
| epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","0") # Target position to go to after successfull homing | ||
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| #Controller | ||
| epicsEnvSet("ECMC_CNTRL_KP", "15.0") | ||
| epicsEnvSet("ECMC_CNTRL_KI", "0.02") | ||
| epicsEnvSet("ECMC_CNTRL_KD", "0.0") | ||
| epicsEnvSet("ECMC_CNTRL_KFF", "1.0") | ||
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| #Monitoring | ||
| # Switches | ||
| epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s${DRIVE_ID}.ONE.0") # Ethercat entry for low limit switch input | ||
| epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s${DRIVE_ID}.ONE.0") # Ethercat entry for high limit switch inpuit | ||
| epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s${DRIVE_ID}.ONE.0") # Ethercat entry for home switch input | ||
| epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s${DRIVE_ID}.ONE.0") # Ethercat entry for external interlock input | ||
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| # Softlimits (disable with 0,0,0) | ||
| epicsEnvSet("ECMC_SOFT_LOW_LIM", "0") | ||
| epicsEnvSet("ECMC_SOFT_HIGH_LIM", "0") | ||
| epicsEnvSet("ECMC_DXLM_ENABLE", "0") | ||
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| # Position lag | ||
| epicsEnvSet("ECMC_MON_LAG_MON_TOL", "5") | ||
| epicsEnvSet("ECMC_MON_LAG_MON_TIME", "100") | ||
| epicsEnvSet("ECMC_MON_LAG_MON_ENA", "1") | ||
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| # At target | ||
| epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "0.03") | ||
| epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100") | ||
| epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1") | ||
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| # Velocity | ||
| epicsEnvSet("ECMC_MON_VELO_MAX", "5000.0") | ||
| epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100") | ||
| epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200") | ||
| epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "1") | ||
|
|
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examples/test/el70xx/high_speed/el7031_owis_stage/startup.script
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| # AD82: The following lines would be generated by "ioc install" if you useed it | ||
| # Generated at: 2023-04-12 00:36:43 | ||
|
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| epicsEnvSet IOC c6025a | ||
| epicsEnvSet ENGINEER sandst_a | ||
| < /ioc/startup/startup.script_linux | ||
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| # ---- ioc/system specific startup script(s) | ||
| < startup.script_ECMC | ||
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| iocInit |
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examples/test/el70xx/high_speed/el7031_owis_stage/startup.script_ECMC
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| # ecmc test system | ||
| # Anders Sandström | ||
|
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| require ecmccfg v9.0.1_RC3,"EC_RATE=500,ECMC_VER=v9.0.1_RC2" | ||
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| epicsEnvSet("IOC" ,"$(IOC="ec-base-01:Test:")") | ||
| epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")") | ||
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| # Configure hardware | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=4, HW_DESC=EL7031" | ||
| #${SCRIPTEXEC} ${ecmccfg_DIR}ecmcEP7047-1032-Motor-Micos-Epics-Training.cmd | ||
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| # Settings from ecmcEP7047-1032-Motor-Micos-Epics-Training.cmd but 24 volt and no induction setting | ||
| ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x1,500,2)" | ||
| ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x2,250,2)" | ||
| ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x3,24000,2)" | ||
| ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x4,170,2)" | ||
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| # mode velo | ||
| ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8012,0x1,1,1)" | ||
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| # velo range 1=2000, 3=8000 | ||
| ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8012,0x5,3,1)" | ||
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| # Filter cut off | ||
| #ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x7,0,2)" | ||
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| # Current boosts (set to 0 according to beckhoff), really makes a difference | ||
| ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x7,0,2)" | ||
| ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x8,0,2)" | ||
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| # Current control keep 1/40 ratio | ||
| # kp | ||
| #ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1,400,2)" | ||
| # ki | ||
| #ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2,4,2)" | ||
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| ecmcConfigOrDie "Cfg.EcApplyConfig(1)" | ||
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| # Configure Motion | ||
| epicsEnvSet("DEV", "$(IOC)") | ||
| epicsEnvSet("DRIVE_ID", "$(ECMC_EC_SLAVE_NUM)") | ||
| #$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/linear.ax, CFG_MACROS="DRIVE_ID=${ECMC_EC_SLAVE_NUM}") | ||
| $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/linear.ax) | ||
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| # Other | ||
| ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)" | ||
| ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)" | ||
| ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)" | ||
| #ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)" | ||
| #ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)" | ||
| ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)" | ||
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| # go active | ||
| $(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd) |
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| ## EL7041-0052 | ||
| Test "high speed" with EL7041-0052 and a phytron motor. | ||
| The setup uses el7041:s highest speed range (32000 fullsteps/s) | ||
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| # Conclusion | ||
| Running a stepper without mechnics with EL7052-0052 over 600 fullsteps/s is almost impossible. An inertia is needed and damper is needed. | ||
| Attaching a damper and inertia allows very high speeds, tested up to 26000 fullsteps/s (130Hz (turns/s)). | ||
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examples/test/el70xx/high_speed/ep7047_owis_stage/cfg/EPICSVERSION
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1 @@ | ||
| 7.0.6 |
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examples/test/el70xx/high_speed/ep7047_owis_stage/cfg/linear.ax
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| Original file line number | Diff line number | Diff line change |
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| #General | ||
| epicsEnvSet("ECMC_MOTOR_NAME", "Axis1") | ||
| epicsEnvSet("ECMC_R", "Axis1-") | ||
| epicsEnvSet("ECMC_AXIS_NO", "1") | ||
| epicsEnvSet("ECMC_DESC", "Axis 1") | ||
| epicsEnvSet("ECMC_EGU", "deg") # Motor Record Unit | ||
| epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision | ||
| epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver | ||
| epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0) | ||
| epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE) | ||
| epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE>0: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance | ||
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| #Encoder | ||
| epicsEnvSet("ECMC_ENC_SCALE_NUM" "1") | ||
| epicsEnvSet("ECMC_ENC_SCALE_DENOM" "12800") | ||
| epicsEnvSet("ECMC_ENC_TYPE" "0") # Type: 0=Incremental, 1=Absolute | ||
| epicsEnvSet("ECMC_ENC_BITS" "16") # Total bit count of encoder raw data | ||
| epicsEnvSet("ECMC_ENC_ABS_BITS", "0") # Absolute bit count (for absolute encoders) always least significant part of ECMC_ENC_BITS | ||
| epicsEnvSet("ECMC_ENC_ABS_OFFSET" "0") # Encoder offset in eng units (for absolute encoders) | ||
| epicsEnvSet("ECMC_EC_ENC_ACTPOS", "ec0.s${DRIVE_ID}.positionActual01") # Ethercat entry for actual position input (encoder) | ||
| epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset (if no encoder reset bit then leave empty) | ||
| epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 (if no encoder error bit then leave empty) | ||
| epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 (if no encoder error bit then leave empty) | ||
| epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 (if no encoder error bit then leave empty) | ||
| epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning (if no encoder warning bit then leave empty) | ||
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| #Drive | ||
| epicsEnvSet("ECMC_DRV_TYPE" "0") # Stepper: 0. Ds${DRIVE_ID}02: 1 (Ds${DRIVE_ID}02 = servos and advanced stepper drives) | ||
| epicsEnvSet("ECMC_DRV_SCALE_NUM" "10.0") # Fastest speed in engineering units | ||
| epicsEnvSet("ECMC_DRV_SCALE_DENOM" "32768.0") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET | ||
| epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s${DRIVE_ID}.driveControl01.0") # Ethercat entry for control word or bit output | ||
| epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s${DRIVE_ID}.driveStatus01.1") # Ethercat entry for status word or bit input | ||
| epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s${DRIVE_ID}.velocitySetpoint01") # Ethercat entry for velocity setpoint output | ||
| epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "ec0.s${DRIVE_ID}.driveControl01.2") # Ethercat entry for reduce torque output | ||
| epicsEnvSet("ECMC_EC_DRV_BRAKE", "") # Ethercat entry for brake output | ||
| epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "0") # Brake timing parameter in cycles (default 1kHz) | ||
| epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "0") # Brake timing parameter in cycles (default 1kHz) | ||
| epicsEnvSet("ECMC_EC_DRV_RESET", "ec0.s${DRIVE_ID}.driveControl01.1") # Reset | ||
| epicsEnvSet("ECMC_EC_DRV_ALARM_0", "ec0.s${DRIVE_ID}.driveStatus01.3") # Error | ||
| epicsEnvSet("ECMC_EC_DRV_ALARM_1", "ec0.s${DRIVE_ID}.driveStatus01.7") # Stall | ||
| epicsEnvSet("ECMC_EC_DRV_ALARM_2", "ec0.s${DRIVE_ID}.driveStatus01.14") # Sync error | ||
| epicsEnvSet("ECMC_EC_DRV_WARNING", "ec0.s${DRIVE_ID}.driveStatus01.2") # Warning | ||
|
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||
| #Trajectory | ||
| epicsEnvSet("ECMC_VELO", "9") | ||
| epicsEnvSet("ECMC_JOG_VEL", "9") | ||
| epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL | ||
| epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "10") | ||
| epicsEnvSet("ECMC_EMERG_DECEL", "100") # Emergency deceleration | ||
|
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||
| #Homing | ||
| epicsEnvSet("ECMC_HOME_PROC", "0") | ||
| epicsEnvSet("ECMC_HOME_POS", "0.0") | ||
| epicsEnvSet("ECMC_HOME_VEL_TO", "5") | ||
| epicsEnvSet("ECMC_HOME_VEL_FRM", "4") | ||
| epicsEnvSet("ECMC_HOME_ACC", "21") | ||
| epicsEnvSet("ECMC_HOME_DEC", "100") | ||
| epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "0") # Enable move to position after successfull homing | ||
| epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","0") # Target position to go to after successfull homing | ||
|
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| #Controller | ||
| epicsEnvSet("ECMC_CNTRL_KP", "15.0") | ||
| epicsEnvSet("ECMC_CNTRL_KI", "0.02") | ||
| epicsEnvSet("ECMC_CNTRL_KD", "0.0") | ||
| epicsEnvSet("ECMC_CNTRL_KFF", "1.0") | ||
|
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| #Monitoring | ||
| # Switches | ||
| epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s${DRIVE_ID}.driveStatus01.11") # Ethercat entry for low limit switch input | ||
| epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s${DRIVE_ID}.driveStatus01.12") # Ethercat entry for high limit switch inpuit | ||
| epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s${DRIVE_ID}.ONE.0") # Ethercat entry for home switch input | ||
| epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s${DRIVE_ID}.ONE.0") # Ethercat entry for external interlock input | ||
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| # Softlimits (disable with 0,0,0) | ||
| epicsEnvSet("ECMC_SOFT_LOW_LIM", "0") | ||
| epicsEnvSet("ECMC_SOFT_HIGH_LIM", "0") | ||
| epicsEnvSet("ECMC_DXLM_ENABLE", "0") | ||
|
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| # Position lag | ||
| epicsEnvSet("ECMC_MON_LAG_MON_TOL", "5") | ||
| epicsEnvSet("ECMC_MON_LAG_MON_TIME", "100") | ||
| epicsEnvSet("ECMC_MON_LAG_MON_ENA", "1") | ||
|
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| # At target | ||
| epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "0.03") | ||
| epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100") | ||
| epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1") | ||
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| # Velocity | ||
| epicsEnvSet("ECMC_MON_VELO_MAX", "5000.0") | ||
| epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100") | ||
| epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200") | ||
| epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "1") | ||
|
|
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examples/test/el70xx/high_speed/ep7047_owis_stage/startup.script
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,11 @@ | ||
| # AD82: The following lines would be generated by "ioc install" if you useed it | ||
| # Generated at: 2023-04-12 00:36:43 | ||
|
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| epicsEnvSet IOC c6025a | ||
| epicsEnvSet ENGINEER sandst_a | ||
| < /ioc/startup/startup.script_linux | ||
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| # ---- ioc/system specific startup script(s) | ||
| < startup.script_ECMC | ||
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| iocInit |
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examples/test/el70xx/high_speed/ep7047_owis_stage/startup.script_ECMC
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| @@ -0,0 +1,31 @@ | ||
| # ecmc test system | ||
| # Anders Sandström | ||
|
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| require ecmccfg v9.0.1_RC3,"EC_RATE=500,ECMC_VER=v9.0.1_RC2" | ||
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| epicsEnvSet("IOC" ,"$(IOC="ec-base-01:Test:")") | ||
| epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")") | ||
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||
| # Configure hardware | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=12, HW_DESC=EP7047-1032, CONFIG=-Motor-Micos-Epics-Training" | ||
| ecmcConfigOrDie "Cfg.EcApplyConfig(1)" | ||
|
|
||
| # Configure Motion | ||
| epicsEnvSet("DEV", "$(IOC)") | ||
| epicsEnvSet("DRIVE_ID", "$(ECMC_EC_SLAVE_NUM)") | ||
| #$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/linear.ax, CFG_MACROS="DRIVE_ID=${ECMC_EC_SLAVE_NUM}") | ||
| $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/linear.ax) | ||
|
|
||
| dbLoadTemplate(ho.subs,"P=${IOC}:,PORT=${ECMC_ASYN_PORT},AXIS_NAME=${ECMC_MOTOR_NAME},AXIS_NO=${ECMC_AXIS_NO}") | ||
|
|
||
| # Other | ||
| ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)" | ||
| ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)" | ||
| ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)" | ||
| #ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)" | ||
| #ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)" | ||
| ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)" | ||
|
|
||
| # go active | ||
| $(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd) |
33 changes: 26 additions & 7 deletions
33
...s/test/el70xx/el7041_high_speed/readme.md → examples/test/el70xx/high_speed/readme.md
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