motion/ecmc_hw_test
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sandst_a
2024-04-03 09:54:15 +02:00
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.gitignore vendored Normal file
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.DS_Store
*~
*-dev
modules.order
Module.symvers
Mkfile.old
core.*
#*
.#*
\#*
*.local
\#*
.cvsignore
*_old/
*PVs.list
*-loc/*.Makefile
*.Makefile
*.d
O.*
ecmccfg.Makefile
db/*/*.db
db/ecmcDS.db
db/empty.db
db/testAIs.db
*LAB_MotionSystems*
*Copley*
*Elmo*
doc
tools
*.pyc
.venv
hugo/content/source/
*.pyc

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cfg/axis.yaml Normal file
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axis:
id: 1 # Axis id
type: joint # this is for future selection of axis type
# mode: CSV # supported mode, CSV and CSP, defaults CSV
# parameters: 'axisPar' # Additional params to motor record driver
#healthOutput: ec0... # Ethercat entry for health output
# autoMode: # Switch drive modes automaticaly for normal motion and homing (smaract for instance)
# modeSet: ec0.. # Ethercat entry drive mode write (set CSV,CSP,homing)
# modeAct: ec0.. # Ethercat entry drive mode reading (set CSV,CSP,homing)
# modeCmdMotion: 9 # Drive mode value for normal motion (written to axis.drvMode.modeSet when normal motion)
# modeCmdHome: 10 # Drive mode value for when homing (written to axis.drvMode.modeSet when homing)
# features:
# blockCom: false # Block communication to axis
# allowedFunctions:
# homing: true # Allow homing
# constantVelocity: true # Allow constant velocity
# positioning: true # Allow positioning
epics:
name: Axis1 # Axis anme
precision: 3 # Decimal count
description: very important motor axis # Axis description
unit: mm # Unit
# motorRecord:
# enable: true
# description: This is MR
# fieldInit: 'RRES=1.0,RTRY=2,RMOD=1,UEIP=0,RDBD=0.1,URIP=1,RDBL=$(IOC):$(ECMC_MOTOR_NAME)-PosActSim' # Extra config for Motor record
drive:
numerator: 3600 # Fastest speed in engineering units
denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
# type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
control: ec0.s$(DRV_SLAVE).driveControl01 # Control word ethercat entry
enable: 0 # Enable bit index in control word (not used if DS402)
enabled: 1 # Enabled bit index in status word (not used if DS402)
status: ec0.s$(DRV_SLAVE).driveStatus01 # Status word ethercat entry
setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP
# reduceTorque: 2 # Reduce torque bit in drive control word
# reduceTorqueEnable: True # Enable reduce torque functionality
# brake:
# enable: true # Enable brake
# output: ec0... # Ethercat link to brake output
# openDelay: 0 # Brake timing parameter in cycles (default 1kHz)
# closeAhead: 0 # Brake timing parameter in cycles (default 1kHz)
# reset: 1 # Reset (if no drive reset bit then leave empty)
# warning: 2 # Warning (if no drive warning bit then leave empty)
# error: # max 3
# - 3 # Error 0 (if no drive error bit then leave empty)
# - 7 # Error 1 (if no drive error bit then leave empty)
# - 14 # Error 2 (if no drive error bit then leave empty)
encoder:
numerator: 360 # Scaling numerator example 360 deg/rev
denominator: 12800 # Scaling denominator example 4096 ticks per 360 degree
# type: 0 # Type: 0=Incremental, 1=Absolute
bits: 16 # Total bit count of encoder raw data
# absBits: 0 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
# absOffset: 0 # Encoder offset in eng units (for absolute encoders)
# mask: '0xFFF00' # Mask applied to raw encoder value
position: ec0.s$(DRV_SLAVE).positionActual01 # Ethercat entry for actual position input (encoder)
control: ec0.s$(DRV_SLAVE).encoderControl01 # mandatory only if 'reset' is used
status: ec0.s$(DRV_SLAVE).encoderStatus01 # mandatory only if 'warning' or 'error' are used
# ready: 10 # Bit in encoder status word for encoder ready
# source: 0 # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC
# reset: 1 # Reset (optional)
# warning: 2 # Warning (optional)
# error: # max 3 (optional)
# - 5 # Error 0
# - 9 # Error 1
# - 11 # Error 2
# filter:
# velocity:
# size: 100 # Filter size for velocity
# enable: true # enable velocity filter
# position:
# size: 100 # Filter size for encoder value
# enable: true # enable encoder value filter
# latch:
# position: '' # Link to latched value. Used for some homing seqs
# control: 0 # Bit in encoder control word to arm latch. Used for some homing seqs
# status: 0 # Bit in encoder status word for latch triggered status. Used for some homing seqs
# primary: 1 # Use this encoder as primary (for control)
# homing:
# type: 3 # Homing sequence type
# position: -30 # Position to reference encoder to
# velocity:
# to: 10 # Velocity to cam/sensor (used for some homing seqs)
# from: 5 # Velocity from cam/sensor (used for some homing seqs)
# acceleration: 20 # Acceleration during homing
# deceleration: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
# refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# trigg: ec0.. # Ethercat entry for triggering drive internal homing seq (seq id 26)
# ready: ec0.. # Ethercat entry for readinf drive internal homing seq ready (seq id 26)
controller:
Kp: 1 # Kp proportinal gain
Ki: 0.02 # Ki integral gain
Kd: 0 # Kd derivative gain
# Kff: 1 # Feed forward gain
# deadband:
# tol: 0.01 # Stop control if within this distance from target for the below time
# time: 100
# limits:
# minOutput: -100 # Minimum controller output
# maxOutput: 100 # Maximum controller output
# minIntegral: -100 # Minimum integral output
# maxIntegral: 100 # Maximum integral output
# inner:
# Kp: 0.1 # Kp for when close to target
# Ki: 0.1 # Ki for when close to target
# Kd: 0.1 # Kd for when close to target
# tol: 0.1 # Distance from target for when inner PID params will be used, defaults to atTarget tol
trajectory:
# type: 1 # Default 0 = trapetz, 1 = S-curve (ruckig)
axis:
velocity: 100 # Default velo for axis
acceleration: 100 # Default acc for axis
deceleration: 100 # Default dec for axis
# emergencyDeceleration: 0.05 # Deceleration when axis in error state
jerk: 10 # Default jerk for axis
jog:
velocity: 5 # Default velo fro JOG (motor record)
# modulo:
# range: 360 # Modulo range 0..360
# type: 0 # Modulo type
input:
limit:
forward: ec0.s$(DRV_SLAVE).ONE.0 # Ethercat entry for low limit switch input
# forwardPolarity: 0 # Polarity of forward limit switch
backward: ec0.s$(DRV_SLAVE).ONE.0 # Ethercat entry for high limit switch input
# backwardPolarity: 0 # Polarity of forward limit switch
home: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for home switch
# homePolarity: 0 # Polarity of home switch
interlock: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for interlock switch input
# interlockPolarity: 0 # Polarity of interlock switch
# homing:
# type: 3 # Homing sequence type
# position: -30 # Position to reference encoder to
# velocity:
# to: 10 # Velocity to cam/sensor (used for some homing seqs)
# from: 5 # Velocity from cam/sensor (used for some homing seqs)
# acc: 20 # Acceleration during homing
# dec: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
# refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# timeout: 100 # Sequence timeout
softlimits:
enable: false # Enable soft limits
forward: 100 # Soft limit position fwd
forwardEnable: false # Soft limit position fwd enable
backward: -100 # Soft limit position bwd
backwardEnable: false # Soft limit position bwd enable
monitoring:
lag:
enable: true # Enable position lag monitoring (following error)
tolerance: 2 # Allowed tolerance
time: 10 # Allowed time outside tolerance
velocity:
enable: false # Enable velocity monitoring
max: 100 # Allowed max velocity
time:
trajectory: 100 # Time allowed outside max velo before system init halt
drive: 200 # Time allowed outside max velo before system disables drive
target:
enable: true # Enable at target monitoring (needs to be enabled if using motor record)
tolerance: 0.5 # Allowed tolerance
time: 10 # Filter time inside tolerance to be at target
# velocityDifference:
# enable: true # Enable velocity diff monitoring (velo set vs velo act)
# max: 100 # Allowed max difference
# time:
# trajectory: 100 # Time allowed outside max diff velo before system init halt
# drive: 200 # Time allowed outside max diff velo before system disables drive
plc:
enable: true # Enable axis plc
externalCommands: true # Allow axis to inputs from PLC
file: ${PLC_PATH}test.plc
code: # Sync code
- "if(static.counter % ${LIMIT} == 0){println('AX PLC: Appended');static.counter:=0;};" # calculate set pos for physical axis
- "if(not(static.plc_code_loaded)) {static.counter:=static.counter+1;};"
- ec0.s$(DRV_SLAVE).ONE > 1; # Enable axis if one of master axes is enabled
- ec0.s$(DRV_SLAVE).ZERO > 1; # calculate set pos for physical axis
# velocity_filter: # Filter used to smother velocity feedforward
# encoder: # Filter plc enc velo
# enable: false # Filter enable
# size: 100 # Filter size
# trajectory: # Filter plc traj velo
# enable: false # Filter enable
# size: 100 # Filter size

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macros: LIMIT=10000,TYPE=0,DRV_SLAVE=${DRV_SLAVE} # Macros for all below (evaluated before jinja linter)
axis:
id: 1 # Axis id
type: joint # this is for future selection of axis type
# mode: CSV # supported mode, CSV and CSP, defaults CSV
# parameters: 'axisPar' # Additional params to motor record driver
#healthOutput: ec0... # Ethercat entry for health output
# autoMode: # Switch drive modes automaticaly for normal motion and homing (smaract for instance)
# modeSet: ec0.. # Ethercat entry drive mode write (set CSV,CSP,homing)
# modeAct: ec0.. # Ethercat entry drive mode reading (set CSV,CSP,homing)
# modeCmdMotion: 9 # Drive mode value for normal motion (written to axis.drvMode.modeSet when normal motion)
# modeCmdHome: 10 # Drive mode value for when homing (written to axis.drvMode.modeSet when homing)
# features:
# blockCom: false # Block communication to axis
# allowedFunctions:
# homing: true # Allow homing
# constantVelocity: true # Allow constant velocity
# positioning: true # Allow positioning
epics:
name: Axis1 # Axis anme
precision: 3 # Decimal count
description: very important motor axis # Axis description
unit: mm # Unit
# motorRecord:
# enable: true
# description: This is MR
# fieldInit: 'RRES=1.0,RTRY=2,RMOD=1,UEIP=0,RDBD=0.1,URIP=1,RDBL=$(IOC):$(ECMC_MOTOR_NAME)-PosActSim' # Extra config for Motor record
drive:
numerator: 3600 # Fastest speed in engineering units
denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
# type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
control: ec0.s$(DRV_SLAVE).driveControl01 # Control word ethercat entry
enable: 0 # Enable bit index in control word (not used if DS402)
enabled: 1 # Enabled bit index in status word (not used if DS402)
status: ec0.s$(DRV_SLAVE).driveStatus01 # Status word ethercat entry
setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP
# reduceTorque: 2 # Reduce torque bit in drive control word
# reduceTorqueEnable: True # Enable reduce torque functionality
# brake:
# enable: true # Enable brake
# output: ec0... # Ethercat link to brake output
# openDelay: 0 # Brake timing parameter in cycles (default 1kHz)
# closeAhead: 0 # Brake timing parameter in cycles (default 1kHz)
# reset: 1 # Reset (if no drive reset bit then leave empty)
# warning: 2 # Warning (if no drive warning bit then leave empty)
# error: # max 3
# - 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:
numerator: 360 # Scaling numerator example 360 deg/rev
denominator: 12800 # Scaling denominator example 4096 ticks per 360 degree
# type: 0 # Type: 0=Incremental, 1=Absolute
bits: 16 # Total bit count of encoder raw data
# absBits: 0 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
# absOffset: 0 # Encoder offset in eng units (for absolute encoders)
# mask: '0xFFF00' # Mask applied to raw encoder value
position: ec0.s$(DRV_SLAVE).positionActual01 # Ethercat entry for actual position input (encoder)
control: ec0.s$(DRV_SLAVE).encoderControl01 # mandatory only if 'reset' is used
status: ec0.s$(DRV_SLAVE).encoderStatus01 # mandatory only if 'warning' or 'error' are used
# ready: 10 # Bit in encoder status word for encoder ready
# source: 0 # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC
# reset: 1 # Reset (optional)
# warning: 2 # Warning (optional)
# error: # max 3 (optional)
# - 5 # Error 0
# - 9 # Error 1
# - 11 # Error 2
# filter:
# velocity:
# size: 100 # Filter size for velocity
# enable: true # enable velocity filter
# position:
# size: 100 # Filter size for encoder value
# enable: true # enable encoder value filter
# latch:
# position: '' # Link to latched value. Used for some homing seqs
# control: 0 # Bit in encoder control word to arm latch. Used for some homing seqs
# status: 0 # Bit in encoder status word for latch triggered status. Used for some homing seqs
# primary: 1 # Use this encoder as primary (for control)
# homing:
# type: 3 # Homing sequence type
# position: -30 # Position to reference encoder to
# velocity:
# to: 10 # Velocity to cam/sensor (used for some homing seqs)
# from: 5 # Velocity from cam/sensor (used for some homing seqs)
# acceleration: 20 # Acceleration during homing
# deceleration: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
# refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# trigg: ec0.. # Ethercat entry for triggering drive internal homing seq (seq id 26)
# ready: ec0.. # Ethercat entry for readinf drive internal homing seq ready (seq id 26)
controller:
Kp: 10 # Kp proportinal gain
Ki: 0.2 # Ki integral gain
Kd: 0 # Kd derivative gain
# Kff: 1 # Feed forward gain
# deadband:
# tol: 0.01 # Stop control if within this distance from target for the below time
# time: 100
# limits:
# minOutput: -100 # Minimum controller output
# maxOutput: 100 # Maximum controller output
# minIntegral: -100 # Minimum integral output
# maxIntegral: 100 # Maximum integral output
# inner:
# Kp: 0.1 # Kp for when close to target
# Ki: 0.1 # Ki for when close to target
# Kd: 0.1 # Kd for when close to target
# tol: 0.1 # Distance from target for when inner PID params will be used, defaults to atTarget tol
trajectory:
# type: 1 # Default 0 = trapetz, 1 = S-curve (ruckig)
axis:
velocity: 500 # Default velo for axis
acceleration: 2000 # Default acc for axis
deceleration: 2000 # Default dec for axis
# emergencyDeceleration: 0.05 # Deceleration when axis in error state
jerk: 10 # Default jerk for axis
jog:
velocity: 5 # Default velo fro JOG (motor record)
# modulo:
# range: 360 # Modulo range 0..360
# type: 0 # Modulo type
input:
limit:
forward: ec0.s$(DRV_SLAVE).driveStatus01.12 # Ethercat entry for low limit switch input
# forwardPolarity: 0 # Polarity of forward limit switch
backward: ec0.s$(DRV_SLAVE).driveStatus01.11 # Ethercat entry for high limit switch input
# backwardPolarity: 0 # Polarity of forward limit switch
home: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for home switch
# homePolarity: 0 # Polarity of home switch
interlock: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for interlock switch input
# interlockPolarity: 0 # Polarity of interlock switch
# homing:
# type: 3 # Homing sequence type
# position: -30 # Position to reference encoder to
# velocity:
# to: 10 # Velocity to cam/sensor (used for some homing seqs)
# from: 5 # Velocity from cam/sensor (used for some homing seqs)
# acc: 20 # Acceleration during homing
# dec: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
# refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# timeout: 100 # Sequence timeout
softlimits:
enable: false # Enable soft limits
forward: 100 # Soft limit position fwd
forwardEnable: false # Soft limit position fwd enable
backward: -100 # Soft limit position bwd
backwardEnable: false # Soft limit position bwd enable
monitoring:
lag:
enable: true # Enable position lag monitoring (following error)
tolerance: 2 # Allowed tolerance
time: 10 # Allowed time outside tolerance target:
velocity:
enable: false # Enable velocity monitoring
max: 100 # Allowed max velocity
time:
trajectory: 100 # Time allowed outside max velo before system init halt
drive: 200 # Time allowed outside max velo before system disables drive
target:
enable: true # Enable at target monitoring (needs to be enabled if using motor record)
tolerance: 0.5 # Allowed tolerance
time: 10 # Filter time inside tolerance to be at target
# velocityDifference:
# enable: true # Enable velocity diff monitoring (velo set vs velo act)
# max: 100 # Allowed max difference
# time:
# trajectory: 100 # Time allowed outside max diff velo before system init halt
# drive: 200 # Time allowed outside max diff velo before system disables drive
plc:
enable: true # Enable axis plc
externalCommands: true # Allow axis to inputs from PLC
file: ${PLC_PATH}test.plc
code: # Sync code
- "if(static.counter % ${LIMIT} == 0){println('AX PLC: Appended');static.counter:=0;};" # calculate set pos for physical axis
- "if(not(static.plc_code_loaded)) {static.counter:=static.counter+1;};"
- ec0.s$(DRV_SLAVE).ONE > 1; # Enable axis if one of master axes is enabled
- ec0.s$(DRV_SLAVE).ZERO > 1; # calculate set pos for physical axis
# velocity_filter: # Filter used to smother velocity feedforward
# encoder: # Filter plc enc velo
# enable: false # Filter enable
# size: 100 # Filter size
# trajectory: # Filter plc traj velo
# enable: false # Filter enable
# size: 100 # Filter size

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axis:
id: 1 # Axis id
type: joint # this is for future selection of axis type
# mode: CSV # supported mode, CSV and CSP, defaults CSV
# parameters: 'axisPar' # Additional params to motor record driver
#healthOutput: ec0... # Ethercat entry for health output
# autoMode: # Switch drive modes automaticaly for normal motion and homing (smaract for instance)
# modeSet: ec0.. # Ethercat entry drive mode write (set CSV,CSP,homing)
# modeAct: ec0.. # Ethercat entry drive mode reading (set CSV,CSP,homing)
# modeCmdMotion: 9 # Drive mode value for normal motion (written to axis.drvMode.modeSet when normal motion)
# modeCmdHome: 10 # Drive mode value for when homing (written to axis.drvMode.modeSet when homing)
# features:
# blockCom: false # Block communication to axis
# allowedFunctions:
# homing: true # Allow homing
# constantVelocity: true # Allow constant velocity
# positioning: true # Allow positioning
epics:
name: Axis1 # Axis anme
precision: 3 # Decimal count
description: very important motor axis # Axis description
unit: mm # Unit
# motorRecord:
# enable: true
# description: This is MR
# fieldInit: 'RRES=1.0,RTRY=2,RMOD=1,UEIP=0,RDBD=0.1,URIP=1,RDBL=$(IOC):$(ECMC_MOTOR_NAME)-PosActSim' # Extra config for Motor record
drive:
numerator: 3600 # Fastest speed in engineering units
denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
# type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
control: ec0.s$(DRV_SLAVE).driveControl01 # Control word ethercat entry
enable: 0 # Enable bit index in control word (not used if DS402)
enabled: 1 # Enabled bit index in status word (not used if DS402)
status: ec0.s$(DRV_SLAVE).driveStatus01 # Status word ethercat entry
setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP
# reduceTorque: 2 # Reduce torque bit in drive control word
# reduceTorqueEnable: True # Enable reduce torque functionality
# brake:
# enable: true # Enable brake
# output: ec0... # Ethercat link to brake output
# openDelay: 0 # Brake timing parameter in cycles (default 1kHz)
# closeAhead: 0 # Brake timing parameter in cycles (default 1kHz)
# reset: 1 # Reset (if no drive reset bit then leave empty)
# warning: 2 # Warning (if no drive warning bit then leave empty)
# error: # max 3
# - 3 # Error 0 (if no drive error bit then leave empty)
# - 7 # Error 1 (if no drive error bit then leave empty)
# - 14 # Error 2 (if no drive error bit then leave empty)
encoder:
numerator: 360 # Scaling numerator example 360 deg/rev
denominator: 12800 # Scaling denominator example 4096 ticks per 360 degree
# type: 0 # Type: 0=Incremental, 1=Absolute
bits: 16 # Total bit count of encoder raw data
# absBits: 0 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
# absOffset: 0 # Encoder offset in eng units (for absolute encoders)
# mask: '0xFFF00' # Mask applied to raw encoder value
position: ec0.s$(DRV_SLAVE).positionActual01 # Ethercat entry for actual position input (encoder)
control: ec0.s$(DRV_SLAVE).encoderControl01 # mandatory only if 'reset' is used
status: ec0.s$(DRV_SLAVE).encoderStatus01 # mandatory only if 'warning' or 'error' are used
# ready: 10 # Bit in encoder status word for encoder ready
# source: 0 # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC
# reset: 1 # Reset (optional)
# warning: 2 # Warning (optional)
# error: # max 3 (optional)
# - 5 # Error 0
# - 9 # Error 1
# - 11 # Error 2
# filter:
# velocity:
# size: 100 # Filter size for velocity
# enable: true # enable velocity filter
# position:
# size: 100 # Filter size for encoder value
# enable: true # enable encoder value filter
# latch:
# position: '' # Link to latched value. Used for some homing seqs
# control: 0 # Bit in encoder control word to arm latch. Used for some homing seqs
# status: 0 # Bit in encoder status word for latch triggered status. Used for some homing seqs
# primary: 1 # Use this encoder as primary (for control)
# homing:
# type: 3 # Homing sequence type
# position: -30 # Position to reference encoder to
# velocity:
# to: 10 # Velocity to cam/sensor (used for some homing seqs)
# from: 5 # Velocity from cam/sensor (used for some homing seqs)
# acceleration: 20 # Acceleration during homing
# deceleration: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
# refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# trigg: ec0.. # Ethercat entry for triggering drive internal homing seq (seq id 26)
# ready: ec0.. # Ethercat entry for readinf drive internal homing seq ready (seq id 26)
controller:
Kp: 10 # Kp proportinal gain
Ki: 0.2 # Ki integral gain
Kd: 0 # Kd derivative gain
# Kff: 1 # Feed forward gain
# deadband:
# tol: 0.01 # Stop control if within this distance from target for the below time
# time: 100
# limits:
# minOutput: -100 # Minimum controller output
# maxOutput: 100 # Maximum controller output
# minIntegral: -100 # Minimum integral output
# maxIntegral: 100 # Maximum integral output
# inner:
# Kp: 0.1 # Kp for when close to target
# Ki: 0.1 # Ki for when close to target
# Kd: 0.1 # Kd for when close to target
# tol: 0.1 # Distance from target for when inner PID params will be used, defaults to atTarget tol
trajectory:
# type: 1 # Default 0 = trapetz, 1 = S-curve (ruckig)
axis:
velocity: 500 # Default velo for axis
acceleration: 2000 # Default acc for axis
deceleration: 2000 # Default dec for axis
# emergencyDeceleration: 0.05 # Deceleration when axis in error state
jerk: 10 # Default jerk for axis
jog:
velocity: 5 # Default velo fro JOG (motor record)
# modulo:
# range: 360 # Modulo range 0..360
# type: 0 # Modulo type
input:
limit:
forward: ec0.s$(DRV_SLAVE).driveStatus01.12 # Ethercat entry for low limit switch input
# forwardPolarity: 0 # Polarity of forward limit switch
backward: ec0.s$(DRV_SLAVE).driveStatus01.11 # Ethercat entry for high limit switch input
# backwardPolarity: 0 # Polarity of forward limit switch
home: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for home switch
# homePolarity: 0 # Polarity of home switch
interlock: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for interlock switch input
# interlockPolarity: 0 # Polarity of interlock switch
# homing:
# type: 3 # Homing sequence type
# position: -30 # Position to reference encoder to
# velocity:
# to: 10 # Velocity to cam/sensor (used for some homing seqs)
# from: 5 # Velocity from cam/sensor (used for some homing seqs)
# acc: 20 # Acceleration during homing
# dec: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
# refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# timeout: 100 # Sequence timeout
softlimits:
enable: false # Enable soft limits
forward: 100 # Soft limit position fwd
forwardEnable: false # Soft limit position fwd enable
backward: -100 # Soft limit position bwd
backwardEnable: false # Soft limit position bwd enable
monitoring:
lag:
enable: true # Enable position lag monitoring (following error)
tolerance: 3 # Allowed tolerance
time: 10 # Allowed time outside tolerance target:
velocity:
enable: false # Enable velocity monitoring
max: 100 # Allowed max velocity
time:
trajectory: 100 # Time allowed outside max velo before system init halt
drive: 200 # Time allowed outside max velo before system disables drive
target:
enable: true # Enable at target monitoring (needs to be enabled if using motor record)
tolerance: 0.5 # Allowed tolerance
time: 10 # Filter time inside tolerance to be at target
# velocityDifference:
# enable: true # Enable velocity diff monitoring (velo set vs velo act)
# max: 100 # Allowed max difference
# time:
# trajectory: 100 # Time allowed outside max diff velo before system init halt
# drive: 200 # Time allowed outside max diff velo before system disables drive

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axis:
id: 1 # Axis id
type: joint # this is for future selection of axis type
# mode: CSV # supported mode, CSV and CSP, defaults CSV
# parameters: 'axisPar' # Additional params to motor record driver
#healthOutput: ec0... # Ethercat entry for health output
# autoMode: # Switch drive modes automaticaly for normal motion and homing (smaract for instance)
# modeSet: ec0.. # Ethercat entry drive mode write (set CSV,CSP,homing)
# modeAct: ec0.. # Ethercat entry drive mode reading (set CSV,CSP,homing)
# modeCmdMotion: 9 # Drive mode value for normal motion (written to axis.drvMode.modeSet when normal motion)
# modeCmdHome: 10 # Drive mode value for when homing (written to axis.drvMode.modeSet when homing)
# features:
# blockCom: false # Block communication to axis
# allowedFunctions:
# homing: true # Allow homing
# constantVelocity: true # Allow constant velocity
# positioning: true # Allow positioning
epics:
name: Axis1 # Axis anme
precision: 3 # Decimal count
description: very important motor axis # Axis description
unit: mm # Unit
# motorRecord:
# enable: true
# description: This is MR
# fieldInit: 'RRES=1.0,RTRY=2,RMOD=1,UEIP=0,RDBD=0.1,URIP=1,RDBL=$(IOC):$(ECMC_MOTOR_NAME)-PosActSim' # Extra config for Motor record
drive:
numerator: 10 # Fastest speed in engineering units
denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
# type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
control: ec0.s$(DRV_SLAVE).driveControl01 # Control word ethercat entry
enable: 0 # Enable bit index in control word (not used if DS402)
enabled: 1 # Enabled bit index in status word (not used if DS402)
status: ec0.s$(DRV_SLAVE).driveStatus01 # Status word ethercat entry
setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP
# reduceTorque: 2 # Reduce torque bit in drive control word
# reduceTorqueEnable: True # Enable reduce torque functionality
# brake:
# enable: true # Enable brake
# output: ec0... # Ethercat link to brake output
# openDelay: 0 # Brake timing parameter in cycles (default 1kHz)
# closeAhead: 0 # Brake timing parameter in cycles (default 1kHz)
# reset: 1 # Reset (if no drive reset bit then leave empty)
# warning: 2 # Warning (if no drive warning bit then leave empty)
# error: # max 3
# - 3 # Error 0 (if no drive error bit then leave empty)
# - 7 # Error 1 (if no drive error bit then leave empty)
# - 14 # Error 2 (if no drive error bit then leave empty)
encoder:
numerator: 1 # Scaling numerator example 360 deg/rev
denominator: 12800 # Scaling denominator example 4096 ticks per 360 degree
type: 0 # Type: 0=Incremental, 1=Absolute
bits: 16 # Total bit count of encoder raw data
#absBits: 0 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
# absOffset: 0 # Encoder offset in eng units (for absolute encoders)
# mask: '0xFFF00' # Mask applied to raw encoder value
position: ec0.s$(DRV_SLAVE).positionActual01 # Ethercat entry for actual position input (encoder)
control: ec0.s$(DRV_SLAVE).encoderControl01 # mandatory only if 'reset' is used
status: ec0.s$(DRV_SLAVE).encoderStatus01 # mandatory only if 'warning' or 'error' are used
# ready: 10 # Bit in encoder status word for encoder ready
# source: 0 # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC
# reset: 1 # Reset (optional)
# warning: 2 # Warning (optional)
# error: # max 3 (optional)
# - 5 # Error 0
# - 9 # Error 1
# - 11 # Error 2
# filter:
# velocity:
# size: 100 # Filter size for velocity
# enable: true # enable velocity filter
# position:
# size: 100 # Filter size for encoder value
# enable: true # enable encoder value filter
# latch:
# position: '' # Link to latched value. Used for some homing seqs
# control: 0 # Bit in encoder control word to arm latch. Used for some homing seqs
# status: 0 # Bit in encoder status word for latch triggered status. Used for some homing seqs
# primary: 1 # Use this encoder as primary (for control)
# homing:
# type: 3 # Homing sequence type
# position: -30 # Position to reference encoder to
# velocity:
# to: 10 # Velocity to cam/sensor (used for some homing seqs)
# from: 5 # Velocity from cam/sensor (used for some homing seqs)
# acceleration: 20 # Acceleration during homing
# deceleration: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
# refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# trigg: ec0.. # Ethercat entry for triggering drive internal homing seq (seq id 26)
# ready: ec0.. # Ethercat entry for readinf drive internal homing seq ready (seq id 26)
controller:
Kp: 10 # Kp proportinal gain
Ki: 0.2 # Ki integral gain
Kd: 0 # Kd derivative gain
# Kff: 1 # Feed forward gain
# deadband:
# tol: 0.01 # Stop control if within this distance from target for the below time
# time: 100
# limits:
# minOutput: -100 # Minimum controller output
# maxOutput: 100 # Maximum controller output
# minIntegral: -100 # Minimum integral output
# maxIntegral: 100 # Maximum integral output
# inner:
# Kp: 0.1 # Kp for when close to target
# Ki: 0.1 # Ki for when close to target
# Kd: 0.1 # Kd for when close to target
# tol: 0.1 # Distance from target for when inner PID params will be used, defaults to atTarget tol
trajectory:
# type: 1 # Default 0 = trapetz, 1 = S-curve (ruckig)
axis:
velocity: 2 # Default velo for axis
acceleration: 2 # Default acc for axis
deceleration: 2 # Default dec for axis
# emergencyDeceleration: 0.05 # Deceleration when axis in error state
jerk: 10 # Default jerk for axis
jog:
velocity: 2 # Default velo fro JOG (motor record)
# modulo:
# range: 360 # Modulo range 0..360
# type: 0 # Modulo type
input:
limit:
forward: ec0.s$(DRV_SLAVE).driveStatus01.12 # Ethercat entry for low limit switch input
# forwardPolarity: 0 # Polarity of forward limit switch
backward: ec0.s$(DRV_SLAVE).driveStatus01.11 # Ethercat entry for high limit switch input
# backwardPolarity: 0 # Polarity of forward limit switch
home: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for home switch
# homePolarity: 0 # Polarity of home switch
interlock: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for interlock switch input
# interlockPolarity: 0 # Polarity of interlock switch
#analog:
# interlock: 'ec0.s$(DRV_SLAVE).ZERO' # Ethercat entry for analog interlock
# #interlockPolarity: 1 # 0: High value is bad, 1 = Low value is bad
# rawLimit: 2000 # Analog raw limit
# # enable: true
# homing:
# type: 3 # Homing sequence type
# position: -30 # Position to reference encoder to
# velocity:
# to: 10 # Velocity to cam/sensor (used for some homing seqs)
# from: 5 # Velocity from cam/sensor (used for some homing seqs)
# acc: 20 # Acceleration during homing
# dec: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
# refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# timeout: 100 # Sequence timeout
softlimits:
enable: false # Enable soft limits
forward: 100 # Soft limit position fwd
forwardEnable: false # Soft limit position fwd enable
backward: -100 # Soft limit position bwd
backwardEnable: false # Soft limit position bwd enable
monitoring:
lag:
enable: true # Enable position lag monitoring (following error)
tolerance: 0.1 # Allowed tolerance
time: 10 # Allowed time outside tolerance target:
velocity:
enable: false # Enable velocity monitoring
max: 100 # Allowed max velocity
time:
trajectory: 100 # Time allowed outside max velo before system init halt
drive: 200 # Time allowed outside max velo before system disables drive
target:
enable: true # Enable at target monitoring (needs to be enabled if using motor record)
tolerance: 0.01 # Allowed tolerance
time: 10 # Filter time inside tolerance to be at target
# velocityDifference:
# enable: true # Enable velocity diff monitoring (velo set vs velo act)
# max: 100 # Allowed max difference
# time:
# trajectory: 100 # Time allowed outside max diff velo before system init halt
# drive: 200 # Time allowed outside max diff velo before system disables drive

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macros: LIMIT=10000,TYPE=0,DRV_SLAVE=${DRV_SLAVE} # Macros for all below (evaluated before jinja linter)
axis:
id: 1 # Axis id
type: joint # this is for future selection of axis type
# mode: CSV # supported mode, CSV and CSP, defaults CSV
parameters: 'powerAutoOnOff=1;powerOnDelay=0.1;powerOffDelay=0.1;' # Additional params to motor record driver
#healthOutput: ec0... # Ethercat entry for health output
# autoMode: # Switch drive modes automaticaly for normal motion and homing (smaract for instance)
# modeSet: ec0.. # Ethercat entry drive mode write (set CSV,CSP,homing)
# modeAct: ec0.. # Ethercat entry drive mode reading (set CSV,CSP,homing)
# modeCmdMotion: 9 # Drive mode value for normal motion (written to axis.drvMode.modeSet when normal motion)
# modeCmdHome: 10 # Drive mode value for when homing (written to axis.drvMode.modeSet when homing)
# features:
# blockCom: false # Block communication to axis
# allowedFunctions:
# homing: true # Allow homing
# constantVelocity: true # Allow constant velocity
# positioning: true # Allow positioning
epics:
name: Axis1 # Axis anme
precision: 3 # Decimal count
description: very important motor axis # Axis description
unit: mm # Unit
motorRecord:
enable: true
description: This is MR
fieldInit: 'RTRY=0,FOFF=Frozen' # Extra config for Motor record
drive:
numerator: 3600 # Fastest speed in engineering units
denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
# type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
control: ec0.s$(DRV_SLAVE).driveControl01 # Control word ethercat entry
enable: 0 # Enable bit index in control word (not used if DS402)
enabled: 1 # Enabled bit index in status word (not used if DS402)
status: ec0.s$(DRV_SLAVE).driveStatus01 # Status word ethercat entry
setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP
# reduceTorque: 2 # Reduce torque bit in drive control word
# reduceTorqueEnable: True # Enable reduce torque functionality
# brake:
# enable: true # Enable brake
# output: ec0... # Ethercat link to brake output
# openDelay: 0 # Brake timing parameter in cycles (default 1kHz)
# closeAhead: 0 # Brake timing parameter in cycles (default 1kHz)
# reset: 1 # Reset (if no drive reset bit then leave empty)
# warning: 2 # Warning (if no drive warning bit then leave empty)
# error: # max 3
# - 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:
numerator: 360 # Scaling numerator example 360 deg/rev
denominator: 12800 # Scaling denominator example 4096 ticks per 360 degree
# type: 0 # Type: 0=Incremental, 1=Absolute
bits: 16 # Total bit count of encoder raw data
# absBits: 0 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
# absOffset: 0 # Encoder offset in eng units (for absolute encoders)
# mask: '0xFFF00' # Mask applied to raw encoder value
position: ec0.s$(DRV_SLAVE).positionActual01 # Ethercat entry for actual position input (encoder)
control: ec0.s$(DRV_SLAVE).encoderControl01 # mandatory only if 'reset' is used
status: ec0.s$(DRV_SLAVE).encoderStatus01 # mandatory only if 'warning' or 'error' are used
# ready: 10 # Bit in encoder status word for encoder ready
# source: 0 # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC
# reset: 1 # Reset (optional)
# warning: 2 # Warning (optional)
# error: # max 3 (optional)
# - 5 # Error 0
# - 9 # Error 1
# - 11 # Error 2
# filter:
# velocity:
# size: 100 # Filter size for velocity
# enable: true # enable velocity filter
# position:
# size: 100 # Filter size for encoder value
# enable: true # enable encoder value filter
latch:
position: 'ec0.s$(DRV_SLAVE).encoderLatchPostion01' # Link to latched value. Used for some homing seqs
control: 0 # Bit in encoder control word to arm latch. Used for some homing seqs
status: 0 # Bit in encoder status word for latch triggered status. Used for some homing seqs
primary: 1 # Use this encoder as primary (for control)
homing:
type: 11 # Homing sequence type
position: -30 # Position to reference encoder to
velocity:
to: 10 # Velocity to cam/sensor (used for some homing seqs)
from: 5 # Velocity from cam/sensor (used for some homing seqs)
acceleration: 20 # Acceleration during homing
deceleration: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# trigg: ec0.. # Ethercat entry for triggering drive internal homing seq (seq id 26)
# ready: ec0.. # Ethercat entry for reading drive internal homing seq ready (seq id 26)
latchCount: 1
controller:
Kp: 1 # Kp proportinal gain
Ki: 0.02 # Ki integral gain
Kd: 0 # Kd derivative gain
# Kff: 1 # Feed forward gain
# deadband:
# tol: 0.01 # Stop control if within this distance from target for the below time
# time: 100
# limits:
# minOutput: -100 # Minimum controller output
# maxOutput: 100 # Maximum controller output
# minIntegral: -100 # Minimum integral output
# maxIntegral: 100 # Maximum integral output
# inner:
# Kp: 0.1 # Kp for when close to target
# Ki: 0.1 # Ki for when close to target
# Kd: 0.1 # Kd for when close to target
# tol: 0.1 # Distance from target for when inner PID params will be used, defaults to atTarget tol
trajectory:
# type: 1 # Default 0 = trapetz, 1 = S-curve (ruckig)
axis:
velocity: 100 # Default velo for axis
acceleration: 100 # Default acc for axis
deceleration: 100 # Default dec for axis
# emergencyDeceleration: 0.05 # Deceleration when axis in error state
jerk: 10 # Default jerk for axis
jog:
velocity: 5 # Default velo fro JOG (motor record)
# modulo:
# range: 360 # Modulo range 0..360
# type: 0 # Modulo type
input:
limit:
forward: ec0.s$(DRV_SLAVE).ONE.0 # Ethercat entry for low limit switch input
# forwardPolarity: 0 # Polarity of forward limit switch
backward: ec0.s$(DRV_SLAVE).ONE.0 # Ethercat entry for high limit switch input
# backwardPolarity: 0 # Polarity of forward limit switch
home: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for home switch
# homePolarity: 0 # Polarity of home switch
interlock: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for interlock switch input
# interlockPolarity: 0 # Polarity of interlock switch
# homing:
# type: 3 # Homing sequence type
# position: -30 # Position to reference encoder to
# velocity:
# to: 10 # Velocity to cam/sensor (used for some homing seqs)
# from: 5 # Velocity from cam/sensor (used for some homing seqs)
# acc: 20 # Acceleration during homing
# dec: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
# refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# timeout: 100 # Sequence timeout
softlimits:
enable: false # Enable soft limits
forward: 100 # Soft limit position fwd
forwardEnable: false # Soft limit position fwd enable
backward: -100 # Soft limit position bwd
backwardEnable: false # Soft limit position bwd enable
monitoring:
lag:
enable: true # Enable position lag monitoring (following error)
tolerance: 2 # Allowed tolerance
time: 10 # Allowed time outside tolerance target:
velocity:
enable: false # Enable velocity monitoring
max: 100 # Allowed max velocity
time:
trajectory: 100 # Time allowed outside max velo before system init halt
drive: 200 # Time allowed outside max velo before system disables drive
target:
enable: true # Enable at target monitoring (needs to be enabled if using motor record)
tolerance: 0.5 # Allowed tolerance
time: 10 # Filter time inside tolerance to be at target
# velocityDifference:
# enable: true # Enable velocity diff monitoring (velo set vs velo act)
# max: 100 # Allowed max difference
# time:
# trajectory: 100 # Time allowed outside max diff velo before system init halt
# drive: 200 # Time allowed outside max diff velo before system disables drive
plc:
enable: true # Enable axis plc
externalCommands: true # Allow axis to inputs from PLC
file: ${PLC_PATH}test.plc
code: # Sync code
- "if(static.counter % ${LIMIT} == 0){println('AX PLC: Appended');static.counter:=0;};" # calculate set pos for physical axis
- "if(not(static.plc_code_loaded)) {static.counter:=static.counter+1;};"
- ec0.s$(DRV_SLAVE).ONE > 1; # Enable axis if one of master axes is enabled
- ec0.s$(DRV_SLAVE).ZERO > 1; # calculate set pos for physical axis
# velocity_filter: # Filter used to smother velocity feedforward
# encoder: # Filter plc enc velo
# enable: false # Filter enable
# size: 100 # Filter size
# trajectory: # Filter plc traj velo
# enable: false # Filter enable
# size: 100 # Filter size

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macros: LIMIT=10000,TYPE=0,DRV_SLAVE=${DRV_SLAVE} # Macros for all below (evaluated before jinja linter)
axis:
id: 1 # Axis id
type: joint # this is for future selection of axis type
# mode: CSV # supported mode, CSV and CSP, defaults CSV
parameters: 'powerAutoOnOff=2;powerOnDelay=6.0;powerOffDelay=1.0;' # Additional params to motor record driver
#healthOutput: ec0... # Ethercat entry for health output
# autoMode: # Switch drive modes automaticaly for normal motion and homing (smaract for instance)
# modeSet: ec0.. # Ethercat entry drive mode write (set CSV,CSP,homing)
# modeAct: ec0.. # Ethercat entry drive mode reading (set CSV,CSP,homing)
# modeCmdMotion: 9 # Drive mode value for normal motion (written to axis.drvMode.modeSet when normal motion)
# modeCmdHome: 10 # Drive mode value for when homing (written to axis.drvMode.modeSet when homing)
# features:
# blockCom: false # Block communication to axis
# allowedFunctions:
# homing: true # Allow homing
# constantVelocity: true # Allow constant velocity
# positioning: true # Allow positioning
epics:
name: Axis1 # Axis anme
precision: 3 # Decimal count
description: very important motor axis # Axis description
unit: mm # Unit
motorRecord:
enable: true
description: This is MR
fieldInit: 'RTRY=0,FOFF=Frozen' # Extra config for Motor record
drive:
numerator: 3600 # Fastest speed in engineering units
denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
# type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
control: ec0.s$(DRV_SLAVE).driveControl01 # Control word ethercat entry
enable: 0 # Enable bit index in control word (not used if DS402)
enabled: 1 # Enabled bit index in status word (not used if DS402)
status: ec0.s$(DRV_SLAVE).driveStatus01 # Status word ethercat entry
setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP
# reduceTorque: 2 # Reduce torque bit in drive control word
# reduceTorqueEnable: True # Enable reduce torque functionality
# brake:
# enable: true # Enable brake
# output: ec0... # Ethercat link to brake output
# openDelay: 0 # Brake timing parameter in cycles (default 1kHz)
# closeAhead: 0 # Brake timing parameter in cycles (default 1kHz)
# reset: 1 # Reset (if no drive reset bit then leave empty)
# warning: 2 # Warning (if no drive warning bit then leave empty)
# error: # max 3
# - 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:
numerator: 360 # Scaling numerator example 360 deg/rev
denominator: 12800 # Scaling denominator example 4096 ticks per 360 degree
# type: 0 # Type: 0=Incremental, 1=Absolute
bits: 16 # Total bit count of encoder raw data
# absBits: 0 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
# absOffset: 0 # Encoder offset in eng units (for absolute encoders)
# mask: '0xFFF00' # Mask applied to raw encoder value
position: ec0.s$(DRV_SLAVE).positionActual01 # Ethercat entry for actual position input (encoder)
control: ec0.s$(DRV_SLAVE).encoderControl01 # mandatory only if 'reset' is used
status: ec0.s$(DRV_SLAVE).encoderStatus01 # mandatory only if 'warning' or 'error' are used
# ready: 10 # Bit in encoder status word for encoder ready
# source: 0 # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC
# reset: 1 # Reset (optional)
# warning: 2 # Warning (optional)
# error: # max 3 (optional)
# - 5 # Error 0
# - 9 # Error 1
# - 11 # Error 2
# filter:
# velocity:
# size: 100 # Filter size for velocity
# enable: true # enable velocity filter
# position:
# size: 100 # Filter size for encoder value
# enable: true # enable encoder value filter
latch:
position: 'ec0.s$(DRV_SLAVE).encoderLatchPostion01' # Link to latched value. Used for some homing seqs
control: 0 # Bit in encoder control word to arm latch. Used for some homing seqs
status: 0 # Bit in encoder status word for latch triggered status. Used for some homing seqs
primary: 1 # Use this encoder as primary (for control)
homing:
type: 11 # Homing sequence type
position: -30 # Position to reference encoder to
velocity:
to: 10 # Velocity to cam/sensor (used for some homing seqs)
from: 5 # Velocity from cam/sensor (used for some homing seqs)
acceleration: 20 # Acceleration during homing
deceleration: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# trigg: ec0.. # Ethercat entry for triggering drive internal homing seq (seq id 26)
# ready: ec0.. # Ethercat entry for reading drive internal homing seq ready (seq id 26)
latchCount: 1
controller:
Kp: 1 # Kp proportinal gain
Ki: 0.02 # Ki integral gain
Kd: 0 # Kd derivative gain
# Kff: 1 # Feed forward gain
# deadband:
# tol: 0.01 # Stop control if within this distance from target for the below time
# time: 100
# limits:
# minOutput: -100 # Minimum controller output
# maxOutput: 100 # Maximum controller output
# minIntegral: -100 # Minimum integral output
# maxIntegral: 100 # Maximum integral output
# inner:
# Kp: 0.1 # Kp for when close to target
# Ki: 0.1 # Ki for when close to target
# Kd: 0.1 # Kd for when close to target
# tol: 0.1 # Distance from target for when inner PID params will be used, defaults to atTarget tol
trajectory:
# type: 1 # Default 0 = trapetz, 1 = S-curve (ruckig)
axis:
velocity: 100 # Default velo for axis
acceleration: 100 # Default acc for axis
deceleration: 100 # Default dec for axis
# emergencyDeceleration: 0.05 # Deceleration when axis in error state
jerk: 10 # Default jerk for axis
jog:
velocity: 5 # Default velo fro JOG (motor record)
# modulo:
# range: 360 # Modulo range 0..360
# type: 0 # Modulo type
input:
limit:
forward: ec0.s$(DRV_SLAVE).ONE.0 # Ethercat entry for low limit switch input
# forwardPolarity: 0 # Polarity of forward limit switch
backward: ec0.s$(DRV_SLAVE).ONE.0 # Ethercat entry for high limit switch input
# backwardPolarity: 0 # Polarity of forward limit switch
home: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for home switch
# homePolarity: 0 # Polarity of home switch
interlock: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for interlock switch input
# interlockPolarity: 0 # Polarity of interlock switch
# homing:
# type: 3 # Homing sequence type
# position: -30 # Position to reference encoder to
# velocity:
# to: 10 # Velocity to cam/sensor (used for some homing seqs)
# from: 5 # Velocity from cam/sensor (used for some homing seqs)
# acc: 20 # Acceleration during homing
# dec: 100 # Deceleration during homing
# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
# refAtHome: 1 # If homing is executed then set position of this encoder
# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
# postMoveEnable: yes # Enable move after successfull homing
# postMovePosition: 10 # Position to move to after successfull homing
# timeout: 100 # Sequence timeout
softlimits:
enable: false # Enable soft limits
forward: 100 # Soft limit position fwd
forwardEnable: false # Soft limit position fwd enable
backward: -100 # Soft limit position bwd
backwardEnable: false # Soft limit position bwd enable
monitoring:
lag:
enable: true # Enable position lag monitoring (following error)
tolerance: 2 # Allowed tolerance
time: 10 # Allowed time outside tolerance target:
velocity:
enable: false # Enable velocity monitoring
max: 100 # Allowed max velocity
time:
trajectory: 100 # Time allowed outside max velo before system init halt
drive: 200 # Time allowed outside max velo before system disables drive
target:
enable: true # Enable at target monitoring (needs to be enabled if using motor record)
tolerance: 0.5 # Allowed tolerance
time: 10 # Filter time inside tolerance to be at target
# velocityDifference:
# enable: true # Enable velocity diff monitoring (velo set vs velo act)
# max: 100 # Allowed max difference
# time:
# trajectory: 100 # Time allowed outside max diff velo before system init halt
# drive: 200 # Time allowed outside max diff velo before system disables drive

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##############################################################################
## Example config for el7031
require ecmccfg v9.0.1_RC4,"ECMC_VER=v9.0.1_RC4,ENG_MODE=1"
epicsEnvSet(IOC,c6025a)
# Load components lib
require ecmccomp sandst_a
##############################################################################
## Configure hardware
epicsEnvSet("DRV_SLAVE", "4")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7031"
#- Apply motor config with some custom macros
#${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_STDBY_MA=200,I_MAX_MA=1000,R_COIL_MOHM=1700'"
epicsEnvSet("ENC_SLAVE", "14")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
#- Apply motor config with some custom macros
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-BISS-C"
#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
##############################################################################
## AXIS 1
#
epicsEnvSet("DEV", "$(IOC)")
epicsEnvSet("PLC_PATH", "/ioc/c6025a/ecmccfg/examples/test/ecmccomp/plc/")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml,LIMIT=1000,TYPE=0"
##############################################################################
## PLC 1
#
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlPlc.cmd, "FILE=./plc/plc_cfg.yaml,LIMIT=5000,TYPE=1"
##############################################################################
############# Configure diagnostics:
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)

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##############################################################################
## Example config for el7031
require ecmccfg v9.0.1_RC4,"ECMC_VER=v9.0.1_RC4,ENG_MODE=1"
epicsEnvSet(IOC,c6025a)
# Load components lib
require ecmccomp
##############################################################################
## Configure hardware
epicsEnvSet("DRV_SLAVE", "4")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7031"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_STDBY_MA=200,I_MAX_MA=1000,R_COIL_MOHM=1700'"
epicsEnvSet("ENC_SLAVE", "14")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-BISS-C"
#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
##############################################################################
## AXIS 1
#
epicsEnvSet("DEV", "$(IOC)")
epicsEnvSet("PLC_PATH", "/ioc/c6025a/ecmccfg/examples/test/ecmccomp/plc/")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_latch.yaml,LIMIT=1000,TYPE=0"
##############################################################################
## PLC 1
#
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlPlc.cmd, "FILE=./plc/plc_cfg.yaml,LIMIT=5000,TYPE=1"
##############################################################################
############# Configure diagnostics:
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)

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##############################################################################
## Example config for el7031
require ecmccfg v9.0.1_RC4,"ECMC_VER=v9.0.1_RC4,ENG_MODE=1"
epicsEnvSet(IOC,c6025a)
# Load components lib
require ecmccomp
##############################################################################
## Configure hardware
epicsEnvSet("DRV_SLAVE", "4")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7031"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_STDBY_MA=200,I_MAX_MA=1000,R_COIL_MOHM=1700'"
epicsEnvSet("ENC_SLAVE", "14")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-BISS-C"
#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
##############################################################################
## AXIS 1
#
epicsEnvSet("DEV", "$(IOC)")
epicsEnvSet("PLC_PATH", "/ioc/c6025a/ecmccfg/examples/test/ecmccomp/plc/")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_latch_no_plc.yaml,LIMIT=1000,TYPE=0"
##############################################################################
############# Configure diagnostics:
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)

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co##############################################################################
## Example config for el7037
require ecmccfg sandst_a,"ECMC_VER=v9.0.1_RC3,ENG_MODE=1"
# Load components lib
require ecmccomp sandst_a
##############################################################################
## Configure hardware
epicsEnvSet("ECMC_EC_SLAVE_NUM", "12")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7037"
#- Apply motor config with some cutom macros
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-OrientalMotor-PK267JB-Series,MACROS='I_STDBY_MA=200,I_MAX_MA=1000'"
#${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-OrientalMotor-PK267JB-Series"
#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
##############################################################################
## AXIS 1
#
epicsEnvSet("DEV", "$(IOC)")
$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7037_1.ax)
##############################################################################
############# Configure diagnostics:
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)

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##############################################################################
## Example config for el7031
require ecmccfg "ENG_MODE=1"
# Load components lib
require ecmccomp
##############################################################################
## Configure hardware
epicsEnvSet("ENC_SLAVE", "3")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
#- Apply motor config with some custom macros
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Renishaw-32bit-BISS-C,CH_ID=2"
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=9, HW_DESC=EL7041-0052"
#- Apply motor config with some custom macros
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230,STEPS=400'"
epicsEnvSet("DRV_SLAVE", "10")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7041-0052"
#- Apply motor config with some custom macros
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230,STEPS=400'"
#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
##############################################################################
## AXIS 1
#
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_el7041_no_plc_analog_il.yaml"
##############################################################################
############# Configure diagnostics:
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)

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##############################################################################
## Example config for el7031
require ecmccfg sandst_a,"ECMC_VER=sandst_a,ENG_MODE=1,MAX_PARAM_COUNT=1000"
epicsEnvSet(IOC,c6025a)
# Load components lib
require ecmccomp sandst_a
##############################################################################
## Configure hardware
#-epicsEnvSet("ENC_SLAVE_1", "2")
#-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE_1), HW_DESC=EL5001"
#-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-SSI,CH_ID=1"
epicsEnvSet("DRV_SLAVE", "13")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7041-0052"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230,STEPS=400'"
epicsEnvSet("ENC_SLAVE_2", "14")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE_2), HW_DESC=EL5042"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C,CH_ID=1"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C,CH_ID=2"
#-epicsEnvSet("ENC_SLAVE_3", "15")
#-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE_3), HW_DESC=EL5002"
#-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-SSI,CH_ID=1"
#-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-SSI,CH_ID=2"
#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
##############################################################################
## AXIS 1
#
epicsEnvSet("DEV", "$(IOC)")
epicsEnvSet("PLC_PATH", "/ioc/c6025a/ecmccfg/examples/test/ecmccomp/plc/")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_el7041_no_plc.yaml,LIMIT=1000,TYPE=0"
##############################################################################
############# Configure diagnostics:
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)
#- ecmcConfig "Cfg.SetAxisErrorId(1,100000)"

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##############################################################################
## Example config for el7031
require ecmccfg v9.0.1_RC4,"ECMC_VER=v9.0.1_RC4,ENG_MODE=1"
epicsEnvSet(IOC,c6025a)
# Load components lib
require ecmccomp
##############################################################################
## Configure hardware
#-epicsEnvSet("ENC_SLAVE_1", "2")
#-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE_1), HW_DESC=EL5001"
#-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-SSI,CH_ID=1"
epicsEnvSet("DRV_SLAVE", "13")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7041-0052"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230,STEPS=400'"
epicsEnvSet("ENC_SLAVE_2", "14")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE_2), HW_DESC=EL5042"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C,CH_ID=1"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C,CH_ID=2"
#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
##############################################################################
## AXIS 1
#
epicsEnvSet("DEV", "$(IOC)")
epicsEnvSet("PLC_PATH", "/ioc/c6025a/ecmccfg/examples/test/ecmccomp/plc/")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_el7041_no_plc_analog_il.yaml,LIMIT=1000,TYPE=0"
##############################################################################
############# Configure diagnostics:
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)
#- ecmcConfig "Cfg.SetAxisErrorId(1,100000)"

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macros: LIMIT=1000,TYPE=1 # Macros to pass to this file (also plc.file)
plc:
id: 1
enable: yes
rateMilliseconds: 1
file: ${PLC_PATH}test.plc
code:
- "if(static.counter % ${LIMIT} == 0){println('PLC: Appended');static.counter:=0;};" # calculate set pos for physical axis
- "if(not(static.plc_code_loaded)) {static.counter:=static.counter+1;};"

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static.counter:=static.counter+1;
static.plc_code_loaded:=1;
if(static.counter % ${LIMIT} == 0) {
if(${TYPE}=0) {
println('AX PLC: File');
} else {
println('PLC : File');
};
};