motion/ecmc_drv_curr_tests
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sandst_a
2024-11-21 10:21:51 +01:00
parent f4bea16752
commit e5541a76c4
4 changed files with 57 additions and 15 deletions
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2
el7031/cfg/axis_open_loop.yaml
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@@ -11,7 +11,7 @@ epics:
fieldInit: 'RTRY=0,FOFF=Frozen' # Extra config for Motor record
drive:
numerator: 57600 # Fastest speed in eng. units (2000 Fullsteps/s==10mm/s)
numerator: 3600 # Fastest speed in eng. units (2000 Fullsteps/s==10mm/s)
denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET (normally +-16bit)
type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
setpoint: ec0.s$(DRV_SID).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP

8
el7031/startup_local_hw.cmd
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@@ -6,7 +6,7 @@ require ecmccomp
# 0:11 - EL7031 1Ch Stepper
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=11,HW_DESC=EL7031"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=500, U_NOM_MV=24000, R_COIL_MOHM=8000,SPEED_RANGE=5'"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=24000, R_COIL_MOHM=8000'"
epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=./cfg/axis_open_loop.yaml, DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${DRV_SID}, ENC_SID=${DRV_SID}, ENC_CH=01"
@@ -15,12 +15,12 @@ ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x7,0,2)"
ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x8,0,2)"
# 8010:05 EMF
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x5,100,2)"
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x5,2000,2)"
##- Kp
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1,40,2)"
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1,80,2)"
#
##- Ki
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2,4,2)"
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2,10,2)"
#- ###########################################################################
#- Go Active

25
el7041-0052/startup_local_hw.cmd
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@@ -1,21 +1,28 @@
##############################################################################
## Example config for open loop only
require ecmccfg "ENG_MODE=1"
require ecmccfg "ENG_MODE=1,MASTER_ID=1"
require ecmccomp
# 0:11 - EL7031 1Ch Stepper
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=11,HW_DESC=EL7031"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=24000, R_COIL_MOHM=1230,SPEED_RANGE=2'"
epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=./cfg/axis_open_loop.yaml, DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${DRV_SID}, ENC_SID=${DRV_SID}, ENC_CH=01"
# 0:13 - EL7041 1Ch Stepper
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=13,HW_DESC=EL7041-0052"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=48000, R_COIL_MOHM=1230,SPEED_RANGE=2'"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=48000, R_COIL_MOHM=8000,SPEED_RANGE=2'"
epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=./cfg/axis_open_loop.yaml, DEV=${IOC}, AX_NAME=M2, AXIS_ID=2, DRV_SID=${DRV_SID}, ENC_SID=${DRV_SID}, ENC_CH=01"
${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=./cfg/axis_open_loop.yaml, DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${DRV_SID}, ENC_SID=${DRV_SID}, ENC_CH=01"
#- Disable boosts.. Nicer current control
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x7,0,2)"
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x8,0,2)"
# 8010:05 EMF
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x5,2000,2)"
##- Kp
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1,80,2)"
#
##- Ki
#ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2,10,2)"
#- ###########################################################################
#- go active

37
readme.md
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@@ -10,5 +10,40 @@ Current:
* MAX_CURR 1.0 A
* STD_CURR 0.2 A
# Drives
Mechanics:
* Oriental Motor PKE244A
* No mechanics, no damper
# Pics
## EL7031
### Current boost 0
* sc0 , 1720deg/s
* sc1, 720
* sc2, 0.1 deg/s
### Current boost 100 default
* sc3 , 1720deg/s
* sc4, 720
* sc5, 0.1 deg/s
### Current boost 500
* sc6 , 720deg/s OBS!!! different velo
* sc7, 1720
* sc8, 0.1 deg/s
## EL7041-0052
### Current boost 0
sc9, 720 deg/s
sc10 1720
sc11, 0.1
### Current boost 100 default
sc12, 720 deg/s
sc13 1720
sc14, 0.1
### Current boost 500
sc15, 720 deg/s
sc16 1720
sc17, 0.1