Add PLC desc

Makefile

@@ -6,6 +6,12 @@ BUILDCLASSES = Linux
 ARCH_FILTER = deb10%
 EXCLUDE_VERSIONS+=3 7.0.5 7.0.6
 
+SCRIPTS    += startup.cmd
 SCRIPTS    += axis_sm.plc_inc
 SCRIPTS    += axis_kin_slit.plc_inc
 SCRIPTS    += axis_kin_mirror.plc_inc
+SCRIPTS    += axis_kin_2DoF.plc_inc
+SCRIPTS    += axis_kin_3DoF.plc_inc
+SCRIPTS    += axis_kin_4DoF.plc_inc
+SCRIPTS    += axis_kin_5DoF.plc_inc
+SCRIPTS    += axis_kin_6DoF.plc_inc

README.md

@@ -1,5 +1,89 @@
 # ecmc_master_slave
-Standard syncronization scripts for ecmc
+Standard syncronization scripts for ecmc. The module provides:
+* Syncronization scripts
+* Generic state machine 
+
+## Syncronization scripts
+Syncronazation can be done both by defining the forward adn inverse kinematcis as equations or by matrices.
+
+The module implement 5 generic syncronazation scripts based on the matrix approach:
+* axis_kin_2DoF.plc_inc  : Kinematics for a 2 Dof system (slits)
+* axis_kin_3DoF.plc_inc  : Kinematics for a 3 Dof system
+* axis_kin_4DoF.plc_inc  : Kinematics for a 4 Dof system
+* axis_kin_5DoF.plc_inc  : Kinematics for a 5 Dof system
+* axis_kin_6DoF.plc_inc  : Kinematics for a 6 Dof system
+
+and 2 dedicated:
+* axis_kin_slit.plc_inc    : Dedicated script for a slit system based on equations (including interlocks and softlimits)
+* axis_kin_mirror.plc_inc  : Dedicated script for a 5 DoF mirror system based on matrices
+
+### Generic scripts (axis_kin_\<index\>DoF.plc_inc)
+
+The generic scripts needs a few macros:
+* AX_S\<index\>  : Axis index for slave axes, index = 1..DoF
+* AX_M\<index\>  : Axis index for master axes, index = 1..DoF
+* FWD\<index\>   : Forward kinematics array, index = 1..DoF
+* INV\<index\>   : Inverse kinematics array, index = 1..DoF
+
+## State machine
+The state machine makes sure that master and slaved axes cannot run simultaneous. However, several master axes or several slave axes can run at the same time.
+The state machine is implemented in the file axis_sm.plc.inc in this module.
+
+The state machine needs two macros:
+* GRP_ID_MA : Group id for master axes (most often virtual axes)
+* GRP_ID_SA : Group id for slave axes (most often real axes)
+
+The easiest way to create a group is to just add it in the axis yaml configuration:
+```
+axis:
+  id: 5
+  group: realAxes
+```
+
+If the group does not exist, it will be created. The id of the group will be accessible through the environment variable "GRP_\<group_name\>_ID", in this case "GRP_realAxes_ID".
+This macro can the be used when loading the PLC-code.
+
+## Using the scripts
+The easiest way is to generate a main plc file and then use include to access the kinematic and state machine scripts.
+
+Example for a slit system:
+```
+/* Forward kinematics to calculate virtual axes from real axes
+   | CEN    |  = FWD *   | S1_LO |
+   | GAP    |            | S2_HI |
+   
+   Equations:
+     ax{AX_CEN}.enc.actpos:=(ax{AX_LO}.enc.actpos+ax{AX_HI}.enc.actpos)/2;
+     ax{AX_GAP}.enc.actpos:=ax{AX_HI}.enc.actpos-ax{AX_LO}.enc.actpos;
+*/
+var FWD1[2] := {0.5, 0.5};
+var FWD2[2] := { -1,  1 };
+
+/* Inverse kinematics to calculate real axes from virtal axes
+   | S1_LO    |  = INV *   | CEN |
+   | S2_HI    |            | GAP |
+
+   Equations:
+     ax{AX_LO}.traj.extsetpos:=ax{AX_CEN}.traj.setpos-ax{AX_GAP}.traj.setpos/2;
+     ax{AX_HI}.traj.extsetpos:=ax{AX_CEN}.traj.setpos+ax{AX_GAP}.traj.setpos/2;
+*/
+var INV1[2] := {  1,   -0.5};
+var INV2[2] := {  1,    0.5};
+
+# Kinematics for slit system. 
+include "axis_kin_2DoF.plc_inc"
+
+# State machine
+include "axis_sm.plc_inc"
+```
+
+The main plc file can then be loaded into ecmc with appropriate macros (also not the INC):
+```
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_M1=12, AX_M2=13, AX_S1=5, AX_S2=6, GRP_ID_SA=${GRP_realAxes_ID}, GRP_ID_MA=${GRP_virtualAxes_ID}'"
+```
+NOTE: Macros cannot not be used in the include statement. The path to this module needs to set in the INC parameter to loadPLCFile.cmd
+
+## Examples
 See examples dir for usage:
-* slits
+* slits (equations, 2DoFs matrix)
-* mirror
+* mirror (matrix)

axis_kin_2DoF.plc_inc

@@ -0,0 +1,13 @@
+#- Slave axes (normally physical/real axes): AX_S1, AX_S2
+var SLAVE_AXES[2] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos};
+
+#- Master axes (normally virtual axes): AX_M1, AX_M2
+var MASTER_AXES[2] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos};
+
+#- forward kinematics
+ax${AX_M1}.enc.actpos   := dot(FWD1, SLAVE_AXES);
+ax${AX_M2}.enc.actpos   := dot(FWD2, SLAVE_AXES);
+
+#- inverse kinematics
+ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
+ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);

axis_kin_3DoF.plc_inc

@@ -0,0 +1,16 @@
+
+#- Slave axes (normally physical/real axes): AX_S1, AX_S2, AX_S3
+var SLAVE_AXES[3] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos, ax${AX_S3}.enc.actpos};
+
+#- Master axes (normally virtual axes): AX_M1, AX_M2, AX_M3
+var MASTER_AXES[3] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos, ax${AX_M3}.traj.setpos};
+
+#- forward kinematics
+ax${AX_M1}.enc.actpos   := dot(FWD1, SLAVE_AXES);
+ax${AX_M2}.enc.actpos   := dot(FWD2, SLAVE_AXES);
+ax${AX_M3}.enc.actpos   := dot(FWD3, SLAVE_AXES);
+
+#- inverse kinematics
+ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
+ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);
+ax${AX_S3}.traj.extsetpos := dot(INV3, MASTER_AXES);

axis_kin_4DoF.plc_inc

@@ -0,0 +1,18 @@
+
+#- Slave axes (normally physical/real axes): AX_S1, AX_S2, AX_S3, AX_S4
+var SLAVE_AXES[4] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos, ax${AX_S3}.enc.actpos, ax${AX_S4}.enc.actpos};
+
+#- Master axes (normally virtual axes): AX_M1, AX_M2, AX_M3, AX_M4
+var MASTER_AXES[4] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos, ax${AX_M3}.traj.setpos, ax${AX_M4}.traj.setpos};
+
+#- forward kinematics
+ax${AX_M1}.enc.actpos   := dot(FWD1, SLAVE_AXES);
+ax${AX_M2}.enc.actpos   := dot(FWD2, SLAVE_AXES);
+ax${AX_M3}.enc.actpos   := dot(FWD3, SLAVE_AXES);
+ax${AX_M4}.enc.actpos   := dot(FWD4, SLAVE_AXES);
+
+#- inverse kinematics
+ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
+ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);
+ax${AX_S3}.traj.extsetpos := dot(INV3, MASTER_AXES);
+ax${AX_S4}.traj.extsetpos := dot(INV4, MASTER_AXES);

axis_kin_5DoF.plc_inc

@@ -0,0 +1,20 @@
+
+#- Slave axes (normally physical/real axes): AX_S1, AX_S2, AX_S3, AX_S4, AX_S5
+var SLAVE_AXES[5] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos, ax${AX_S3}.enc.actpos, ax${AX_S4}.enc.actpos, ax${AX_S5}.enc.actpos};
+
+#- Master axes (normally virtual axes): AX_M1, AX_M2, AX_M3, AX_M4, AX_M5
+var MASTER_AXES[5] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos, ax${AX_M3}.traj.setpos, ax${AX_M4}.traj.setpos, ax${AX_M5}.traj.setpos};
+
+#- forward kinematics
+ax${AX_M1}.enc.actpos   := dot(FWD1, SLAVE_AXES);
+ax${AX_M2}.enc.actpos   := dot(FWD2, SLAVE_AXES);
+ax${AX_M3}.enc.actpos   := dot(FWD3, SLAVE_AXES);
+ax${AX_M4}.enc.actpos   := dot(FWD4, SLAVE_AXES);
+ax${AX_M5}.enc.actpos   := dot(FWD5, SLAVE_AXES);
+
+#- inverse kinematics
+ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
+ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);
+ax${AX_S3}.traj.extsetpos := dot(INV3, MASTER_AXES);
+ax${AX_S4}.traj.extsetpos := dot(INV4, MASTER_AXES);
+ax${AX_S5}.traj.extsetpos := dot(INV5, MASTER_AXES);

axis_kin_6DoF.plc_inc

@@ -0,0 +1,22 @@
+
+#- Slave axes (normally physical/real axes): AX_S1, AX_S2, AX_S3, AX_S4, AX_S5, AX_S6
+var SLAVE_AXES[6] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos, ax${AX_S3}.enc.actpos, ax${AX_S4}.enc.actpos, ax${AX_S5}.enc.actpos, ax${AX_S6}.enc.actpos};
+
+#- Master axes (normally virtual axes): AX_M1, AX_M2, AX_M3, AX_M4, AX_M5, AX_M6
+var MASTER_AXES[6] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos, ax${AX_M3}.traj.setpos, ax${AX_M4}.traj.setpos, ax${AX_M5}.traj.setpos, ax${AX_M6}.traj.setpos};
+
+#- forward kinematics
+ax${AX_M1}.enc.actpos   := dot(FWD1, SLAVE_AXES);
+ax${AX_M2}.enc.actpos   := dot(FWD2, SLAVE_AXES);
+ax${AX_M3}.enc.actpos   := dot(FWD3, SLAVE_AXES);
+ax${AX_M4}.enc.actpos   := dot(FWD4, SLAVE_AXES);
+ax${AX_M5}.enc.actpos   := dot(FWD5, SLAVE_AXES);
+ax${AX_M6}.enc.actpos   := dot(FWD6, SLAVE_AXES);
+
+#- inverse kinematics
+ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
+ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);
+ax${AX_S3}.traj.extsetpos := dot(INV3, MASTER_AXES);
+ax${AX_S4}.traj.extsetpos := dot(INV4, MASTER_AXES);
+ax${AX_S5}.traj.extsetpos := dot(INV5, MASTER_AXES);
+ax${AX_S6}.traj.extsetpos := dot(INV6, MASTER_AXES);

axis_kin_mirror.plc_inc

@@ -16,4 +16,4 @@ ax${AX_Y1}.traj.extsetpos := dot(INV1, VIRT_AXES);
 ax${AX_Y2}.traj.extsetpos := dot(INV2, VIRT_AXES);
 ax${AX_Y3}.traj.extsetpos := dot(INV3, VIRT_AXES);
 ax${AX_X1}.traj.extsetpos := dot(INV4, VIRT_AXES);
-ax${AX_X2}.traj.extsetpos := dot(INV5, VIRT_AXES);
+ax${AX_X2}.traj.extsetpos := dot(INV5, VIRT_AXES);

axis_sm.plc_inc

@@ -12,7 +12,7 @@ if ( static.counter<0.105 ) {
   if ( static.counter>=0.105) { static.VMState:=0 };
 
   #- VMs in Internal mode, ready to listen
-  mc_grp_set_traj_src(${GRP_ID_VA},0);
+  mc_grp_set_traj_src(${GRP_ID_MA},0);
 };
 
 
@@ -26,19 +26,19 @@ if ( static.counter<0.105 ) {
 if(static.VMState==-1) {
   
   #- Trigg MR sync for all virt axes
-  mc_grp_set_mr_sync_next_poll(${GRP_ID_VA},1);
+  mc_grp_sync_act_set(${GRP_ID_MA},1);
 
   #- RM are no longer in motion
   #- -1 -> 0
   #- Trigger Condition:
   #-  - all RM are not busy
-  if( mc_grp_get_any_busy(${GRP_ID_RA})==0 ) {
+  if( mc_grp_get_any_busy(${GRP_ID_SA})==0 ) {
 
     #- disable real motors
-    mc_grp_set_enable(${GRP_ID_RA},0);
+    mc_grp_set_enable(${GRP_ID_SA},0);
 
     #- VMs in Internal mode, back to ground state
-    mc_grp_set_traj_src(${GRP_ID_VA},0);
+    mc_grp_set_traj_src(${GRP_ID_MA},0);
 
     #- state change
     println('-1 -> 0');
@@ -46,8 +46,8 @@ if(static.VMState==-1) {
   };
   
   #- If RM Motion is occuring, and user commands VM motion: simply disable the VMs to void the command.
-  if( mc_grp_get_any_enabled(${GRP_ID_VA})==1 and mc_grp_get_any_enable(${GRP_ID_VA})==1 ) {
+  if( mc_grp_get_any_enabled(${GRP_ID_MA})==1 and mc_grp_get_any_enable(${GRP_ID_MA})==1 ) {
-    mc_grp_set_enable(${GRP_ID_VA},0);
+    mc_grp_set_enable(${GRP_ID_MA},0);
   };
 }
 
@@ -60,10 +60,10 @@ else if(static.VMState==0) {
   #-  - all RM are in internal mode
   #-  - all VM are disabled
 
-  mc_grp_get_any_traj_src_ext(${GRP_ID_RA})==0
+  mc_grp_get_any_traj_src_ext(${GRP_ID_SA})==0
-  if( mc_grp_get_any_busy(${GRP_ID_RA})==1 and mc_grp_get_any_traj_src_ext(${GRP_ID_RA})==0 and mc_grp_get_any_enabled(${GRP_ID_VA})==0 ) {
+  if( mc_grp_get_any_busy(${GRP_ID_SA})==1 and mc_grp_get_any_traj_src_ext(${GRP_ID_SA})==0 and mc_grp_get_any_enabled(${GRP_ID_MA})==0 ) {
     #- VMs in PLC mode, so no following errors occur
-    mc_grp_set_traj_src(${GRP_ID_VA},0);
+    mc_grp_set_traj_src(${GRP_ID_MA},0);
 
     #- state change
     println('0 -> -1');
@@ -73,29 +73,29 @@ else if(static.VMState==0) {
   #- 0 -> 1
   #- Trigger Condition:
   #-  - at least 1 VM is enabled
-  else if( mc_grp_get_any_enabled(${GRP_ID_VA})==1 ) {
+  else if( mc_grp_get_any_enabled(${GRP_ID_MA})==1 ) {
 
     #- Exit Condition: all axes are on
-    if( mc_grp_get_enabled(${GRP_ID_RA})==1 and mc_grp_get_enabled(${GRP_ID_VA})==1 and mc_grp_get_any_busy(${GRP_ID_RA})==0 ) {
+    if( mc_grp_get_enabled(${GRP_ID_SA})==1 and mc_grp_get_enabled(${GRP_ID_MA})==1 and mc_grp_get_any_busy(${GRP_ID_SA})==0 ) {
 
-      if( mc_grp_get_any_busy(${GRP_ID_VA})==1 ) {
+      if( mc_grp_get_any_busy(${GRP_ID_MA})==1 ) {
-        mc_grp_set_traj_src(${GRP_ID_RA},1);
+        mc_grp_set_traj_src(${GRP_ID_SA},1);
         #- state change
         println('0 -> 1');
         static.VMState:=1;
         #- Disable MR sync for all virt axes
-        mc_grp_set_mr_sync_next_poll(${GRP_ID_VA},0);
+        mc_grp_sync_act_set(${GRP_ID_MA},0);
       };
     }
 
     #- Actions: If Exit Conditions not met
     else {
       #- enable motors
-      mc_grp_set_enable(${GRP_ID_VA},1);
+      mc_grp_set_enable(${GRP_ID_MA},1);
-      mc_grp_set_enable(${GRP_ID_RA},1);
+      mc_grp_set_enable(${GRP_ID_SA},1);
 
       #- halt real motors
-      mc_grp_halt(${GRP_ID_RA});
+      mc_grp_halt(${GRP_ID_SA});
     };
   };
 }
@@ -105,18 +105,18 @@ else if(static.VMState==1) {
 
   #- basically a done test
   #- 1 -> 0
-  if( mc_grp_get_any_busy(${GRP_ID_VA})==0 ) {
+  if( mc_grp_get_any_busy(${GRP_ID_MA})==0 ) {
 
     #- disable motors and set source
-    mc_grp_set_enable(${GRP_ID_VA},0);
+    mc_grp_set_enable(${GRP_ID_MA},0);
-    mc_grp_set_enable(${GRP_ID_RA},0);
+    mc_grp_set_enable(${GRP_ID_SA},0);
 
-    mc_grp_set_traj_src(${GRP_ID_RA},0);
+    mc_grp_set_traj_src(${GRP_ID_SA},0);
 
     #- once VMs are done, RMs need a bit longer to disable
-    if( mc_grp_get_any_busy(${GRP_ID_RA})==0 ) {
+    if( mc_grp_get_any_busy(${GRP_ID_SA})==0 ) {
       #- For some reason, an interlock is raised, but not sure why or what the implications are. It can be cleared this way.
-      mc_grp_reset_error(${GRP_ID_RA});
+      mc_grp_reset_error(${GRP_ID_SA});
 
       #- state change
       println('1 -> 0');

example/mirror/startup.script_X10SA-CPCL-ES1

@@ -63,7 +63,7 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd,     "FILE=cfg/ax10_ROLL.yaml"
 ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd,     "FILE=cfg/ax11_YAW.yaml"
 
 # load the VFM virtual axes PLC
-${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadPLCFile.cmd, "FILE=cfg/VFM.plc,PLC_ID=1,INC=.:${ecmc_master_slave_DIR},PLC_MACROS='PLC_ID=1,AX_Y1=1,AX_Y2=2,AX_Y3=3,AX_X1=4,AX_X2=5,AX_TRX=7,AX_TRY=8,AX_PITCH=9,AX_ROLL=10,AX_YAW=11,GRP_ID_RA=${GRP_VFM_REAL_ID=0},GRP_ID_VA=${GRP_VFM_VIRT_ID=0}'"
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadPLCFile.cmd, "FILE=cfg/VFM.plc,PLC_ID=1,INC=.:${ecmc_master_slave_DIR},PLC_MACROS='PLC_ID=1,AX_Y1=1,AX_Y2=2,AX_Y3=3,AX_X1=4,AX_X2=5,AX_TRX=7,AX_TRY=8,AX_PITCH=9,AX_ROLL=10,AX_YAW=11,GRP_ID_SA=${GRP_VFM_REAL_ID=0},GRP_ID_MA=${GRP_VFM_VIRT_ID=0}'"
 
 #- #############################################################################
 #- Temporary test

example/slit/common/cfgHW_and_motion.cmd

@@ -1,16 +1,4 @@
 #- Configuration scripts
-require ecmccfg sandst_a,"ECMC_VER=sandst_a,ENG_MODE=1,EC_RATE=100"
-
-#- Components lib
-require ecmccomp
-
-#- Syncronization configs
-require ecmc_master_slave
-
-#- Only output errors
-asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
-
-
 #- ############################################################################
 #- add slaves
 #- list of slaves (4 axis test motion box)
@@ -52,12 +40,12 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL1008"
 # 0:7 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
 ${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
-${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax5_LO.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=../common/axis_ax5_LO.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
 
 # 0:8 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
 ${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
-${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_ax6_HI.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=../common/axis_ax6_HI.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
 
 # 0:9 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
@@ -67,19 +55,5 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
 
 #- #################################################################
 #- Virtual axes
-${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_vax5_YCEN.yaml, AX_ID=${AX_NUM=12}"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=../common/axis_vax5_YCEN.yaml, AX_ID=${AX_NUM=12}"
-${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=cfg/axis_vax6_YGAP.yaml, AX_ID=${AX_NUM=13}"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=../common/axis_vax6_YGAP.yaml, AX_ID=${AX_NUM=13}"
-
-#- #################################################################
-#- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
-#- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
-${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_CEN=12, AX_GAP=13, AX_LO=5, AX_HI=6, GRP_ID_RA=${GRP_realAxes_ID}, GRP_ID_VA=${GRP_virtualAxes_ID}'"
-
-#- #################################################################
-#- go active
-${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
-${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
-
-#- #############################################################################
-#- reset all errors
-afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")

example/slit/readme.md

@@ -1,15 +1,3 @@
-# Test ioc for a slit system
-Note: Motor record disabled in this test system
-
-## Changes
-1. Use ecmc/ecmccfg version 9.5.4 or newer.
-2. Divide statemachine and kinematics into separate include files (add INC param to loadPLCFile.cmd needed)
-3. Use extsetpos in kinematics 
-4. Use new axis group functions in statemachine to make it generic (no direct access to axes in statemachine)
-5. Set allow source change when enabled in axis yaml cfg (remove in startup script)
-6. Remove encoder.position in virtual axis (not needed anymore)
-7. Remove filter cfgs in yaml files
-
 ## Panel
 ```
 caqtdm -macro "IOC=c6025a" ecmcMain.ui

example/slit/slit_equations/startup.script_ecmc

@@ -0,0 +1,30 @@
+
+#- Configuration scripts
+require ecmccfg,"ENG_MODE=1,EC_RATE=100"
+
+#- Components lib
+require ecmccomp
+
+#- Syncronization configs
+require ecmc_master_slave
+
+#- Only output errors
+asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
+
+#- #################################################################
+# Configure Hardware and Motion
+< ../common/cfgHW_and_motion.cmd
+
+#- #################################################################
+#- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
+#- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_CEN=12, AX_GAP=13, AX_LO=5, AX_HI=6, GRP_ID_SA=${GRP_realAxes_ID}, GRP_ID_MA=${GRP_virtualAxes_ID}'"
+
+#- #################################################################
+#- go active
+${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
+${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
+
+#- #############################################################################
+#- reset all errors
+afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")

example/slit/slit_matrix/cfg/EPICSVERSION

@@ -0,0 +1 @@
+7.0.7

example/slit/slit_matrix/cfg/axis_main.plc

@@ -0,0 +1,31 @@
+/* Forward kinematics to calculate virtual axes from real axes
+   | CEN    |  = FWD *   | S1_LO |
+   | GAP    |            | S2_HI |
+   
+   Equations:
+     ax{AX_CEN}.enc.actpos:=(ax{AX_LO}.enc.actpos+ax{AX_HI}.enc.actpos)/2;
+     ax{AX_GAP}.enc.actpos:=ax{AX_HI}.enc.actpos-ax{AX_LO}.enc.actpos;
+*/
+
+var FWD1[2] := {0.5, 0.5};
+var FWD2[2] := { -1,  1 };
+
+/* Inverse kinematics to calculate real axes from virtal axes
+   | S1_LO    |  = INV *   | CEN |
+   | S2_HI    |            | GAP |
+
+   Equations:
+     ax{AX_LO}.traj.extsetpos:=ax{AX_CEN}.traj.setpos-ax{AX_GAP}.traj.setpos/2;
+     ax{AX_HI}.traj.extsetpos:=ax{AX_CEN}.traj.setpos+ax{AX_GAP}.traj.setpos/2;
+*/
+
+var INV1[2] := {  1,   -0.5};
+var INV2[2] := {  1,    0.5};
+
+####### Kinematics for slit system. 
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_kin_2DoF.plc_inc"
+
+####### State machine
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_sm.plc_inc"

example/slit/slit_matrix/startup.script

@@ -0,0 +1,11 @@
+# The following lines were generated by "ioc install"
+# Generated at: 2024-08-07 16:32:41.171272
+
+epicsEnvSet IOC c6025a
+epicsEnvSet ENGINEER sandst_a
+< /ioc/startup/startup.script_linux
+
+# ---- ioc/system specific startup script(s)
+< startup.script_ecmc
+
+iocInit

example/slit/slit_matrix/startup.script_ecmc

@@ -0,0 +1,29 @@
+#- Configuration scripts
+require ecmccfg sandst_a "ENG_MODE=1,EC_RATE=100"
+
+#- Components lib
+require ecmccomp
+
+#- Syncronization configs
+require ecmc_master_slave
+
+#- Only output errors
+asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
+
+#- #################################################################
+# Configure Hardware and Motion
+< ../common/cfgHW_and_motion.cmd
+
+#- #################################################################
+#- PLCs with kinematics (note the INC var including dirs to search for include files)
+#- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, DESC='Slit Kinematics and Statemachine', PLC_MACROS='PLC_ID=1, AX_M1=12, AX_M2=13, AX_S1=5, AX_S2=6, GRP_ID_SA=${GRP_realAxes_ID}, GRP_ID_MA=${GRP_virtualAxes_ID}'"
+
+#- #################################################################
+#- go active
+${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
+${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
+
+#- #############################################################################
+#- reset all errors
+afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")