AIK-FAT/FAT_OwisStageTREncoder
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This commit is contained in:
Henrique Garcia Rodrigues
2026-09-07 08:33:05 +02:00
parent 0fa818c291
commit 4ad19d73f1
3 changed files with 12 additions and 18 deletions
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ECMC/ED7062_CSV/cfg/axis.yaml
+9 -13
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@@ -30,11 +30,7 @@ drive:
setpoint: ec0.s$(DRV_SID).velocitySetpoint01 # ED7062 CSV velocity setpoint
control: ec0.s$(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)
error: # max 3 error bits in status word
- 3 # Error 0 (if no drive error bit then leave empty)
- 7 # Error 1 (if no drive error bit then leave empty)
- 14 # Error 2 (if no drive error bit then leave empty)
encoder: # Primary encoder configuration
primary: true # Use this encoder as the primary feedback encoder
@@ -57,18 +53,18 @@ encoder: # Primary encoder c
enable: true # Enable encoder delay compensation
controller: # Centralized ecmc position controller driving CSV velocity
Kp: 14 # Proportional gain
Ki: 1.6 # Integral gain
Kd: 0.5 # Derivative gain
Kp: 4 # Proportional gain
Ki: 0.4 # Integral gain
Kd: 0 # Derivative gain
Kff: 1
trajectory: # Trajectory-generator configuration
type: 0 # Velocity profile: 0=trapezoidal; 1=S-curve (Ruckig)
type: 1 # Velocity profile: 0=trapezoidal; 1=S-curve (Ruckig)
source: 0 # Position source: 0=axis trajectory generator; 1=PLC
axis: # Normal-motion initialization values
velocity: 3 # Default axis velocity [mm/s]
acceleration: 2 # Default axis acceleration [mm/s^2]
deceleration: 2 # Default axis deceleration [mm/s^2]
velocity: 5 # Default axis velocity [mm/s]
acceleration: 3 # Default axis acceleration [mm/s^2]
deceleration: 3 # Default axis deceleration [mm/s^2]
emergencyDeceleration: 10 # Emergency deceleration [mm/s^2]
jerk: 10 # S-curve jerk [mm/s^3]
jog: # Jog-motion initialization values
@@ -91,7 +87,7 @@ softlimits: # ecmc software tra
monitoring: # Axis following-error, velocity, and in-position monitoring
lag: # Position-lag/following-error monitoring
enable: true # Enable position-lag monitoring
tolerance: 0.5 # Maximum permitted position lag [mm]
tolerance: 0.05 # Maximum permitted position lag [mm]
time: 10 # Allowed time outside lag tolerance [EtherCAT cycles]
velocity: # Axis velocity monitoring
enable: true # Enable velocity monitoring
ECMC/ED7062_CSV/cfg/enc_open_loop.yaml
+2 -2
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@@ -2,8 +2,8 @@ encoder: # ED7062 open-loop
desc: 'Open loop' # Encoder description
primary: false # Do not use this encoder as primary position feedback
unit: mm # Encoder engineering unit
numerator: 1 # Encoder scaling numerator: stage travel per motor revolution [mm/rev]
denominator: 1048576 # Encoder scaling denominator: ED7062 counts per revolution
numerator: 500 #1 # Encoder scaling numerator: stage travel per motor revolution [mm/rev]
denominator: 2147483648 #1048576 # Encoder scaling denominator: ED7062 counts per revolution
type: 0 # Encoder type: 0=incremental; 1=absolute
bits: 32 # Total raw encoder counter width [bits]
absBits: 0 # Absolute-data width [bits]; zero for an incremental encoder
ECMC/ED7062_CSV/startup.cmd
+1 -3
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@@ -45,9 +45,7 @@ epicsEnvSet(BO_SID,${ECMC_EC_SLAVE_NUM})
# ED7062 two-channel stepper drive in CSV mode (EtherCAT slave position 10)
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=10,HW_DESC=ED7062"
${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} ${ecmccfg_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,CH_ID=2,MACROS='I_MAX_MA=800,I_STDBY_MA=500,U_NOM_MV=48000,L_COIL_UH=3080,R_COIL_MOHM=7500,STEPS=400'"
#${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'"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Drive-Generic-Ctrl-Params,CH_ID=1,MACROS='L_COIL_UH=45530,R_COIL_MOHM=15894,I_TI=29,I_KP=654,V_TI=150,V_KP=176,P_KP=10'"
#- Must tell ecmc that channel is not used
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Generic-Ch-Not-Used, CH_ID=2"
epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})