AIK-FAT/FAT_OwisStageTREncoder
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix

Browse Source
This commit is contained in:
Henrique Garcia Rodrigues
2026-08-28 11:29:56 +02:00
parent 6131f95174
commit 01b08c054e
3 changed files with 10 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ECMC/EL7062/cfg/axis.yaml
+6 -6
View File
@@ -2,7 +2,7 @@ axis: # Physical-axis con
id: ${AXIS_ID=1} # Unique numeric axis identifier
feedSwitchesOutput: ec0.s${BO_SID}.binaryOutput${BO_CH=04} # EL2008 channel 4: 24 V supply for limit switches
type: joint # Physical motor axis
mode: CSV # EL7062 cyclic synchronous velocity mode
mode: CSP # EL7062 cyclic synchronous velocity mode
autoEnable: # Native ecmc automatic axis enable/disable
enableTimeout: 10 # Maximum time allowed to auto-enable [s]
disableTimeout: 10 # Idle time before automatic disable [s]
@@ -24,10 +24,10 @@ epics:
drive:
numerator: 8000 # Fastest speed in eng. units (1mm/s*8000Hz)
denominator: 2147483648 #1048576 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET (normally +-16bit)
numerator: 1 # Fastest speed in eng. units (1mm/s*8000Hz)
denominator: 1048576 #1048576 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET (normally +-16bit)
type: 1 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
setpoint: ec0.s$(DRV_SID).velocitySetpoint01 #ec0.s$(DRV_SID).positionSetpoint${DRV_CH=01}
setpoint: ec0.s$(DRV_SID).positionSetpoint01 #ec0.s$(DRV_SID).positionSetpoint${DRV_CH=01}
control: ec0.s$(DRV_SID).driveControl01 # Control word EtherCAT entry
status: ec0.s$(DRV_SID).driveStatus01 # Status word EtherCAT entry
warning: 2 # Warning bit in status word (if no drive warning bit then leave empty)
@@ -57,8 +57,8 @@ encoder: # Primary encoder c
enable: true # Enable encoder delay compensation
controller: # Centralized ecmc PID controller for CSP-PC operation
Kp: 1 # Proportional gain
Ki: 0 # Integral gain
Kp: 0.02 # Proportional gain
Ki: 0.01 # Integral gain
Kd: 0 # Derivative gain
trajectory: # Trajectory-generator configuration
ECMC/EL7062/cfg/enc_open_loop.yaml
+1
View File
@@ -16,4 +16,5 @@ encoder: # EL7062 open-loop
velocity: # Homing velocities
to: 0.5 # Velocity toward the reference cam/sensor [mm/s]
from: 0.25 # Velocity away from the reference cam/sensor [mm/s]
useAsCSPDrvEnc: 1
ECMC/EL7062/startup.cmd
+3 -3
View File
@@ -47,10 +47,10 @@ epicsEnvSet(BO_SID,${ECMC_EC_SLAVE_NUM})
# EL7062 1-channel stepper drive in CSV mode (EtherCAT slave position 10)
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=10,HW_DESC=EL7062"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,CH_ID=1,MACROS='I_MAX_MA=800,I_STDBY_MA=500,U_NOM_MV=48000,L_COIL_UH=3080,R_COIL_MOHM=7500,STEPS=200'"
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=10,HW_DESC=EL7062_CSP"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,CH_ID=1,MACROS='I_MAX_MA=800,I_STDBY_MA=500,U_NOM_MV=48000,L_COIL_UH=3080,R_COIL_MOHM=7500,STEPS=400'"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Drive-Generic-Ctrl-Params,CH_ID=1,MACROS='L_COIL_UH=3080,R_COIL_MOHM=2471,I_TI=12,I_KP=58,V_TI=150,V_KP=176,P_KP=10'"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,CH_ID=2,MACROS='I_MAX_MA=800,I_STDBY_MA=500,U_NOM_MV=48000,L_COIL_UH=3080,R_COIL_MOHM=7500,STEPS=200'"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,CH_ID=2,MACROS='I_MAX_MA=800,I_STDBY_MA=500,U_NOM_MV=48000,L_COIL_UH=3080,R_COIL_MOHM=7500,STEPS=400'"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Drive-Generic-Ctrl-Params,CH_ID=2,MACROS='L_COIL_UH=3080,R_COIL_MOHM=2471,I_TI=12,I_KP=58,V_TI=150,V_KP=176,P_KP=10'"
epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})