Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 sandst_a
|
184f01302d |
+4
-30
@@ -1,16 +1,4 @@
|
||||
#- 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)
|
||||
|
||||
|
||||
#- ############################################################################
|
||||
#- 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} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=cfg/axis_vax6_YGAP.yaml, AX_ID=${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()'")
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=../common/axis_vax5_YCEN.yaml, AX_ID=${AX_NUM=12}"
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=../common/axis_vax6_YGAP.yaml, AX_ID=${AX_NUM=13}"
|
||||
@@ -0,0 +1,7 @@
|
||||
## Panel
|
||||
```
|
||||
caqtdm -macro "IOC=c6025a" ecmcMain.ui
|
||||
```
|
||||
|
||||
## TODO
|
||||
Test with motor record.
|
||||
@@ -0,0 +1,30 @@
|
||||
|
||||
#- Configuration scripts
|
||||
require ecmccfg,"ENG_MODE=1,EC_RATE=100"
|
||||
|
||||
#- Components lib
|
||||
require ecmccomp
|
||||
|
||||
#- Syncronization configs
|
||||
require ecmc_master_slave sandst_a
|
||||
|
||||
#- 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_RA=${GRP_realAxes_ID}, GRP_ID_VA=${GRP_virtualAxes_ID}'"
|
||||
|
||||
#- #################################################################
|
||||
#- go active
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
|
||||
|
||||
#- #############################################################################
|
||||
#- reset all errors
|
||||
afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")
|
||||
@@ -0,0 +1,29 @@
|
||||
#- Configuration scripts
|
||||
require ecmccfg,"ENG_MODE=1,EC_RATE=100"
|
||||
|
||||
#- Components lib
|
||||
require ecmccomp
|
||||
|
||||
#- Syncronization configs
|
||||
require ecmc_master_slave sandst_a
|
||||
|
||||
#- Only output errors
|
||||
asynSetTraceMask(${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}, PLC_MACROS='PLC_ID=1, AX_M1=12, AX_M2=13, AX_S1=5, AX_S2=6, GRP_ID_RA=${GRP_realAxes_ID}, GRP_ID_VA=${GRP_virtualAxes_ID}'"
|
||||
|
||||
#- #################################################################
|
||||
#- go active
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
|
||||
|
||||
#- #############################################################################
|
||||
#- reset all errors
|
||||
afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")
|
||||
@@ -1,19 +0,0 @@
|
||||
# Test ioc for a slit system
|
||||
Note: Motor record disabled in this test system
|
||||
|
||||
## Changes
|
||||
1. Use ecmc/ecmccfg version 9.5.4 or newer.
|
||||
2. Divide statemachine and kinematics into separate include files (add INC param to loadPLCFile.cmd needed)
|
||||
3. Use extsetpos in kinematics
|
||||
4. Use new axis group functions in statemachine to make it generic (no direct access to axes in statemachine)
|
||||
5. Set allow source change when enabled in axis yaml cfg (remove in startup script)
|
||||
6. Remove encoder.position in virtual axis (not needed anymore)
|
||||
7. Remove filter cfgs in yaml files
|
||||
|
||||
## Panel
|
||||
```
|
||||
caqtdm -macro "IOC=c6025a" ecmcMain.ui
|
||||
```
|
||||
|
||||
## TODO
|
||||
Test with motor record.
|
||||
@@ -1,79 +0,0 @@
|
||||
# https://paulscherrerinstitute.github.io/ecmccfg/manual/axis/axisyaml/
|
||||
|
||||
axis:
|
||||
id: 5
|
||||
group: realAxes
|
||||
mode: CSV
|
||||
features:
|
||||
allowSrcChangeWhenEnabled: true
|
||||
|
||||
epics:
|
||||
name: TR_LO
|
||||
precision: 4
|
||||
unit: mm
|
||||
motorRecord:
|
||||
description: "Low"
|
||||
fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
|
||||
|
||||
drive:
|
||||
numerator: 10 # max velo in EGU/s
|
||||
denominator: 32768 # MAX_INT for a 16-bit register, always this for this stepper drive!
|
||||
type: 0
|
||||
control: ec0.s$(DRV_SLAVE).driveControl01
|
||||
status: ec0.s$(DRV_SLAVE).driveStatus01
|
||||
setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01
|
||||
|
||||
encoder:
|
||||
numerator: 1 # 1egu = 1mm
|
||||
denominator: 12800 # Number of ticks when motor moves numerator (=1mm): 1 mm / 50 nm = 20000
|
||||
type: 0 # Type: 0=Incremental, 1=Absolute
|
||||
bits: 16 # Total bit count of encoder raw data
|
||||
absBits: 0 # Absolute bit count (for abs enc) always least significant part of 'bits'
|
||||
absOffset: 0.0000 # Encoder offset in eng units (for absolute encoders)
|
||||
position: ec0.s$(ENC_SLAVE).positionActual$(ENC_CHANNEL)
|
||||
|
||||
controller:
|
||||
Kp: 10.00
|
||||
Ki: 0.001
|
||||
Kd: 0.000
|
||||
Kff: 1.00
|
||||
|
||||
trajectory:
|
||||
axis:
|
||||
velocity: 1.0
|
||||
acceleration: 1.0
|
||||
deceleration: 1.0
|
||||
|
||||
input:
|
||||
limit:
|
||||
forward: ec0.s$(DRV_SLAVE).driveStatus01.12 # 1119994 cnts // 55.9997 mm
|
||||
backward: ec0.s$(DRV_SLAVE).driveStatus01.11 # 98010 cnts // 4.9005 mm
|
||||
home: ec0.s$(DRV_SLAVE).ONE.0 # unused
|
||||
interlock: ec0.s$(DRV_SLAVE).ONE.0 # unused
|
||||
|
||||
softlimits:
|
||||
enable: false
|
||||
backwardEnable: true
|
||||
forwardEnable: true
|
||||
forward: 55.8
|
||||
backward: 5.1
|
||||
|
||||
monitoring:
|
||||
lag:
|
||||
enable: true
|
||||
tolerance: 0.05
|
||||
time: 100
|
||||
target:
|
||||
enable: true
|
||||
tolerance: 0.05
|
||||
time: 100
|
||||
velocity:
|
||||
enable: true
|
||||
max: 5
|
||||
time:
|
||||
trajectory: 100
|
||||
drive: 200
|
||||
|
||||
plc:
|
||||
enable: true
|
||||
externalCommands: true
|
||||
@@ -1,79 +0,0 @@
|
||||
# https://paulscherrerinstitute.github.io/ecmccfg/manual/axis/axisyaml/
|
||||
|
||||
axis:
|
||||
id: 6
|
||||
group: realAxes
|
||||
mode: CSV
|
||||
features:
|
||||
allowSrcChangeWhenEnabled: true
|
||||
|
||||
epics:
|
||||
name: TR_HI
|
||||
precision: 4
|
||||
unit: mm
|
||||
motorRecord:
|
||||
description: "Hi"
|
||||
fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
|
||||
|
||||
drive:
|
||||
numerator: 10 # max velo in EGU/s
|
||||
denominator: 32768 # MAX_INT for a 16-bit register, always this for this stepper drive!
|
||||
type: 0
|
||||
control: ec0.s$(DRV_SLAVE).driveControl01
|
||||
status: ec0.s$(DRV_SLAVE).driveStatus01
|
||||
setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01
|
||||
|
||||
encoder:
|
||||
numerator: 1 # 1egu = 1mm
|
||||
denominator: 12800 # Number of ticks when motor moves numerator (=1mm): 1 mm / 50 nm = 20000
|
||||
type: 0 # Type: 0=Incremental, 1=Absolute
|
||||
bits: 16 # Total bit count of encoder raw data
|
||||
absBits: 0 # Absolute bit count (for abs enc) always least significant part of 'bits'
|
||||
absOffset: 0.0000 # Encoder offset in eng units (for absolute encoders)
|
||||
position: ec0.s$(ENC_SLAVE).positionActual$(ENC_CHANNEL)
|
||||
|
||||
controller:
|
||||
Kp: 2.000
|
||||
Ki: 0.001
|
||||
Kd: 0.000
|
||||
Kff: 1.00
|
||||
|
||||
trajectory:
|
||||
axis:
|
||||
velocity: 1.0
|
||||
acceleration: 1.0
|
||||
deceleration: 1.0
|
||||
|
||||
input:
|
||||
limit:
|
||||
forward: ec0.s$(DRV_SLAVE).driveStatus01.12 # 1111969 cnts // 55.5984 mm
|
||||
backward: ec0.s$(DRV_SLAVE).driveStatus01.11 # 109007 cnts // 5.4504 mm
|
||||
home: ec0.s$(DRV_SLAVE).ONE.0 # unused
|
||||
interlock: ec0.s$(DRV_SLAVE).ONE.0 # unused
|
||||
|
||||
softlimits:
|
||||
enable: false
|
||||
backwardEnable: true
|
||||
forwardEnable: true
|
||||
forward: 55.4
|
||||
backward: 5.7
|
||||
|
||||
monitoring:
|
||||
lag:
|
||||
enable: true
|
||||
tolerance: 0.05
|
||||
time: 100
|
||||
target:
|
||||
enable: true
|
||||
tolerance: 0.05
|
||||
time: 100
|
||||
velocity:
|
||||
enable: true
|
||||
max: 5
|
||||
time:
|
||||
trajectory: 100
|
||||
drive: 200
|
||||
|
||||
plc:
|
||||
enable: true
|
||||
externalCommands: true
|
||||
@@ -1,65 +0,0 @@
|
||||
axis:
|
||||
id: ${AX_ID}
|
||||
group: virtualAxes
|
||||
type: end effector
|
||||
|
||||
epics:
|
||||
name: CENTERY
|
||||
precision: 4
|
||||
unit: mm
|
||||
motorRecord:
|
||||
description: "Center (Virtual)"
|
||||
fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
|
||||
|
||||
encoder:
|
||||
type: 1
|
||||
source: 1
|
||||
numerator: 1
|
||||
bits: 32
|
||||
|
||||
trajectory:
|
||||
axis:
|
||||
velocity: 0.5
|
||||
acceleration: 0.25
|
||||
jerk: 0.25
|
||||
|
||||
input:
|
||||
limit:
|
||||
forward: ec0.s0.ONE.0 # unused
|
||||
backward: ec0.s0.ONE.0 # unused
|
||||
home: ec0.s0.ONE.0 # unused
|
||||
interlock: ec0.s0.ONE.0 # unused
|
||||
|
||||
softlimits:
|
||||
enable: false
|
||||
forwardEnable: true
|
||||
backwardEnable: true
|
||||
forward: 52
|
||||
backward: 8
|
||||
|
||||
monitoring:
|
||||
lag:
|
||||
enable: yes
|
||||
tolerance: 0.02
|
||||
time: 100
|
||||
target:
|
||||
enable: yes
|
||||
tolerance: 0.02
|
||||
time: 100
|
||||
velocity:
|
||||
enable: yes
|
||||
max: 0.6
|
||||
time:
|
||||
trajectory: 100
|
||||
drive: 100
|
||||
|
||||
plc:
|
||||
enable: true
|
||||
externalCommands: true
|
||||
filter:
|
||||
velocity:
|
||||
enable: false
|
||||
size: 10
|
||||
trajectory:
|
||||
enable: false
|
||||
size: 10
|
||||
@@ -1,65 +0,0 @@
|
||||
axis:
|
||||
id: ${AX_ID}
|
||||
group: virtualAxes
|
||||
type: end effector
|
||||
|
||||
epics:
|
||||
name: GAPY
|
||||
precision: 4
|
||||
unit: mm
|
||||
motorRecord:
|
||||
description: "Gap (Virtual)"
|
||||
fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
|
||||
|
||||
encoder:
|
||||
type: 1
|
||||
source: 1
|
||||
numerator: 1
|
||||
bits: 32
|
||||
|
||||
trajectory:
|
||||
axis:
|
||||
velocity: 0.5
|
||||
acceleration: 0.25
|
||||
jerk: 0.25
|
||||
|
||||
input:
|
||||
limit:
|
||||
forward: ec0.s0.ONE.0 # unused
|
||||
backward: ec0.s0.ONE.0 # unused
|
||||
home: ec0.s0.ONE.0 # unused
|
||||
interlock: ec0.s0.ONE.0 # unused
|
||||
|
||||
softlimits:
|
||||
enable: false
|
||||
forwardEnable: true
|
||||
backwardEnable: true
|
||||
forward: 20
|
||||
backward: -20
|
||||
|
||||
monitoring:
|
||||
lag:
|
||||
enable: yes
|
||||
tolerance: 0.02
|
||||
time: 100
|
||||
target:
|
||||
enable: yes
|
||||
tolerance: 0.02
|
||||
time: 100
|
||||
velocity:
|
||||
enable: yes
|
||||
max: 0.6
|
||||
time:
|
||||
trajectory: 100
|
||||
drive: 100
|
||||
|
||||
plc:
|
||||
enable: true
|
||||
externalCommands: true
|
||||
filter:
|
||||
velocity:
|
||||
enable: false
|
||||
size: 10
|
||||
trajectory:
|
||||
enable: false
|
||||
size: 10
|
||||
@@ -1,19 +0,0 @@
|
||||
# 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
|
||||
```
|
||||
|
||||
## TODO
|
||||
Test with motor record.
|
||||
@@ -1,85 +0,0 @@
|
||||
#- Configuration scripts
|
||||
require ecmccfg,"ENG_MODE=1,EC_RATE=100"
|
||||
|
||||
#- Components lib
|
||||
require ecmccomp
|
||||
|
||||
#- Syncronization configs
|
||||
require ecmc_master_slave sandst_a
|
||||
|
||||
#- Only output errors
|
||||
asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
|
||||
|
||||
|
||||
#- ############################################################################
|
||||
#- add slaves
|
||||
#- list of slaves (4 axis test motion box)
|
||||
# Master0
|
||||
# 0 0:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
|
||||
# 1 0:1 PREOP + EL9227-5500 �berstromschutz 24V DC, 2K., max. 10A (Summe), eins
|
||||
# 2 0:2 PREOP + EL5042 2Ch. BiSS-C Encoder
|
||||
# 3 0:3 PREOP + EL5042 2Ch. BiSS-C Encoder
|
||||
# 4 0:4 PREOP + EL3204 4K. Ana. Eingang PT100 (RTD)
|
||||
# 5 0:5 PREOP + EL2008 8K. Dig. Ausgang 24V, 0.5A
|
||||
# 6 0:6 PREOP + EL1008 8K. Dig. Eingang 24V, 3ms
|
||||
# 7 0:7 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
|
||||
# 8 0:8 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
|
||||
# 9 0:9 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
|
||||
# 10 0:10 PREOP + EL7041 1Ch. Stepper motor output stage (50V, 5A)
|
||||
#
|
||||
|
||||
# 0:0 - EK1100 EtherCAT coupler
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EK1100"
|
||||
|
||||
# 0:1 - EL9227-5500
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL9227-5500"
|
||||
|
||||
# 0:2 - EL5042 2Ch BiSS-C Encoder
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL5042"
|
||||
|
||||
# 0:3 - EL5042 2Ch BiSS-C Encoder
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL5042"
|
||||
|
||||
# 0:4 - EL3204
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL3204"
|
||||
|
||||
# 0:5 - EL2008
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL2008"
|
||||
|
||||
# 0:6 - EL1008 8K. Dig. Eingang 24V, 3ms
|
||||
${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"
|
||||
|
||||
# 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"
|
||||
|
||||
# 0:9 - EL7041 1Ch Stepper
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL7041-0052"
|
||||
|
||||
# 0:10 - EL7041 1Ch Stepper
|
||||
${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} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=cfg/axis_vax6_YGAP.yaml, AX_ID=${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_M1=12, AX_M2=13, AX_S1=5, AX_S2=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()'")
|
||||
Reference in New Issue
Block a user