Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 sandst_a
|
c485498cb7 | ||
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sandst_a
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184f01302d |
@@ -1,5 +1,88 @@
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# ecmc_master_slave
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Standard syncronization scripts for ecmc
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Standard syncronization scripts for ecmc. The module provides:
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* Syncronization scripts
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* Generic state machine
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## Syncronization scripts
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Syncronazation can be done both by defining the forward adn inverse kinematcis as equations or by matrices.
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The module implement 5 generic syncronazation scripts based on the matrix approach:
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* axis_kin_2DoF.plc_inc : Kinematics for a 2 Dof system (slits)
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* axis_kin_3DoF.plc_inc : Kinematics for a 3 Dof system (slits)
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* axis_kin_4DoF.plc_inc : Kinematics for a 4 Dof system (slits)
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* axis_kin_5DoF.plc_inc : Kinematics for a 5 Dof system (slits)
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* axis_kin_6DoF.plc_inc : Kinematics for a 6 Dof system (slits)
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and 2 dedicated:
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* axis_kin_slit.plc_inc : Dedicated script for a slit system based on equations (including interlocks and softlimits)
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* axis_kin_mirror.plc_inc : Dedicated script for a 5 DoF mirror based on matrices
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### Generic scripts (axis_kin_xDoF.plc_inc)
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The generic scripts needs a few macros:
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* AX_S\<index\> : Axis index for slave axes 1..DoF
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* AX_M\<index\> : Axis index for master axes 1..DoF
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* FWD\<index\ : Forward kinematics array 1..DoF
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* INV\<index\ : Inverse kinematics array 1..DoF
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## State machine
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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.
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The state machine is implemented in the file axis_sm.plc.inc in this module.
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The state machine needs two macros:
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* GRP_ID_MA : Group id for master axes (most often virtual axes)
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* GRP_ID_SA : Group id for slave axes (most often real axes)
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The easiest way to create a group is to just add it in the axis yaml configuration:
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```
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axis:
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id: 5
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group: realAxes
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```
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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".
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This macro can the be used when loading the PLC-code.
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## Using the scripts
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The easiest way is to generate a main plc file and then use include to access the kinematic and state machine scripts.
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Example for a slit system:
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```
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/* Forward kinematics to calculate virtual axes from real axes
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| CEN | = FWD * | S1_LO |
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| GAP | | S2_HI |
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Equations:
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ax{AX_CEN}.enc.actpos:=(ax{AX_LO}.enc.actpos+ax{AX_HI}.enc.actpos)/2;
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ax{AX_GAP}.enc.actpos:=ax{AX_HI}.enc.actpos-ax{AX_LO}.enc.actpos;
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*/
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var FWD1[2] := {0.5, 0.5};
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var FWD2[2] := { -1, 1 };
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/* Inverse kinematics to calculate real axes from virtal axes
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| S1_LO | = INV * | CEN |
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| S2_HI | | GAP |
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Equations:
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ax{AX_LO}.traj.extsetpos:=ax{AX_CEN}.traj.setpos-ax{AX_GAP}.traj.setpos/2;
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ax{AX_HI}.traj.extsetpos:=ax{AX_CEN}.traj.setpos+ax{AX_GAP}.traj.setpos/2;
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*/
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var INV1[2] := { 1, -0.5};
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var INV2[2] := { 1, 0.5};
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# Kinematics for slit system.
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include "axis_kin_2DoF.plc_inc"
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# State machine
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include "axis_sm.plc_inc"
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```
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The main plc file can then be loaded into ecmc with appropriate macros (also not the INC):
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```
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${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}'"
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```
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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
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## Examples
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See examples dir for usage:
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* slits
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* mirror
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* slits (equations, 2DoFs matrix)
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* mirror (matrix)
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+24
-24
@@ -12,7 +12,7 @@ if ( static.counter<0.105 ) {
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if ( static.counter>=0.105) { static.VMState:=0 };
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#- VMs in Internal mode, ready to listen
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mc_grp_set_traj_src(${GRP_ID_VA},0);
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mc_grp_set_traj_src(${GRP_ID_MA},0);
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};
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@@ -26,19 +26,19 @@ if ( static.counter<0.105 ) {
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if(static.VMState==-1) {
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#- Trigg MR sync for all virt axes
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mc_grp_sync_act_set(${GRP_ID_VA},1);
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mc_grp_sync_act_set(${GRP_ID_MA},1);
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#- RM are no longer in motion
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#- -1 -> 0
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#- Trigger Condition:
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#- - all RM are not busy
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if( mc_grp_get_any_busy(${GRP_ID_RA})==0 ) {
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if( mc_grp_get_any_busy(${GRP_ID_SA})==0 ) {
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#- disable real motors
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mc_grp_set_enable(${GRP_ID_RA},0);
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mc_grp_set_enable(${GRP_ID_SA},0);
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#- VMs in Internal mode, back to ground state
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mc_grp_set_traj_src(${GRP_ID_VA},0);
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mc_grp_set_traj_src(${GRP_ID_MA},0);
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#- state change
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println('-1 -> 0');
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@@ -46,8 +46,8 @@ if(static.VMState==-1) {
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};
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#- If RM Motion is occuring, and user commands VM motion: simply disable the VMs to void the command.
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if( mc_grp_get_any_enabled(${GRP_ID_VA})==1 and mc_grp_get_any_enable(${GRP_ID_VA})==1 ) {
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mc_grp_set_enable(${GRP_ID_VA},0);
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if( mc_grp_get_any_enabled(${GRP_ID_MA})==1 and mc_grp_get_any_enable(${GRP_ID_MA})==1 ) {
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mc_grp_set_enable(${GRP_ID_MA},0);
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};
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}
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@@ -60,10 +60,10 @@ else if(static.VMState==0) {
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#- - all RM are in internal mode
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#- - all VM are disabled
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mc_grp_get_any_traj_src_ext(${GRP_ID_RA})==0
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if( mc_grp_get_any_busy(${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 ) {
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mc_grp_get_any_traj_src_ext(${GRP_ID_SA})==0
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if( mc_grp_get_any_busy(${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 ) {
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#- VMs in PLC mode, so no following errors occur
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mc_grp_set_traj_src(${GRP_ID_VA},0);
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mc_grp_set_traj_src(${GRP_ID_MA},0);
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#- state change
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println('0 -> -1');
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@@ -73,29 +73,29 @@ else if(static.VMState==0) {
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#- 0 -> 1
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#- Trigger Condition:
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#- - at least 1 VM is enabled
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else if( mc_grp_get_any_enabled(${GRP_ID_VA})==1 ) {
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else if( mc_grp_get_any_enabled(${GRP_ID_MA})==1 ) {
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#- Exit Condition: all axes are on
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if( mc_grp_get_enabled(${GRP_ID_RA})==1 and mc_grp_get_enabled(${GRP_ID_VA})==1 and mc_grp_get_any_busy(${GRP_ID_RA})==0 ) {
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if( mc_grp_get_enabled(${GRP_ID_SA})==1 and mc_grp_get_enabled(${GRP_ID_MA})==1 and mc_grp_get_any_busy(${GRP_ID_SA})==0 ) {
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if( mc_grp_get_any_busy(${GRP_ID_VA})==1 ) {
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mc_grp_set_traj_src(${GRP_ID_RA},1);
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if( mc_grp_get_any_busy(${GRP_ID_MA})==1 ) {
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mc_grp_set_traj_src(${GRP_ID_SA},1);
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#- state change
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println('0 -> 1');
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static.VMState:=1;
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#- Disable MR sync for all virt axes
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mc_grp_sync_act_set(${GRP_ID_VA},0);
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mc_grp_sync_act_set(${GRP_ID_MA},0);
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};
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}
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#- Actions: If Exit Conditions not met
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else {
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#- enable motors
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mc_grp_set_enable(${GRP_ID_VA},1);
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mc_grp_set_enable(${GRP_ID_RA},1);
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mc_grp_set_enable(${GRP_ID_MA},1);
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mc_grp_set_enable(${GRP_ID_SA},1);
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#- halt real motors
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mc_grp_halt(${GRP_ID_RA});
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mc_grp_halt(${GRP_ID_SA});
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};
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};
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}
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@@ -105,18 +105,18 @@ else if(static.VMState==1) {
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#- basically a done test
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#- 1 -> 0
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if( mc_grp_get_any_busy(${GRP_ID_VA})==0 ) {
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if( mc_grp_get_any_busy(${GRP_ID_MA})==0 ) {
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#- disable motors and set source
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mc_grp_set_enable(${GRP_ID_VA},0);
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mc_grp_set_enable(${GRP_ID_RA},0);
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mc_grp_set_enable(${GRP_ID_MA},0);
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mc_grp_set_enable(${GRP_ID_SA},0);
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mc_grp_set_traj_src(${GRP_ID_RA},0);
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mc_grp_set_traj_src(${GRP_ID_SA},0);
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#- once VMs are done, RMs need a bit longer to disable
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if( mc_grp_get_any_busy(${GRP_ID_RA})==0 ) {
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if( mc_grp_get_any_busy(${GRP_ID_SA})==0 ) {
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#- For some reason, an interlock is raised, but not sure why or what the implications are. It can be cleared this way.
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mc_grp_reset_error(${GRP_ID_RA});
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mc_grp_reset_error(${GRP_ID_SA});
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#- state change
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println('1 -> 0');
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@@ -63,7 +63,7 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax10_ROLL.yaml"
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${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax11_YAW.yaml"
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# load the VFM virtual axes PLC
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${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}'"
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${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}'"
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#- #############################################################################
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#- Temporary test
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+4
-30
@@ -1,16 +1,4 @@
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#- Configuration scripts
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require ecmccfg,"ENG_MODE=1,EC_RATE=100"
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#- Components lib
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require ecmccomp
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#- Syncronization configs
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require ecmc_master_slave
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#- Only output errors
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asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
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#- ############################################################################
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#- add slaves
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#- list of slaves (4 axis test motion box)
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@@ -52,12 +40,12 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL1008"
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# 0:7 - EL7041 1Ch Stepper
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL7041-0052"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=cfg/axis_ax5_LO.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=../common/axis_ax5_LO.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
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# 0:8 - EL7041 1Ch Stepper
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL7041-0052"
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${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=cfg/axis_ax6_HI.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=../common/axis_ax6_HI.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
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# 0:9 - EL7041 1Ch Stepper
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL7041-0052"
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@@ -67,19 +55,5 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL7041-0052"
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#- #################################################################
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#- Virtual axes
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=cfg/axis_vax5_YCEN.yaml, AX_ID=${AX_NUM=12}"
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=cfg/axis_vax6_YGAP.yaml, AX_ID=${AX_NUM=13}"
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#- #################################################################
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#- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
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#- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
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${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}'"
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#- #################################################################
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#- go active
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${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
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${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
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#- #############################################################################
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#- reset all errors
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afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=../common/axis_vax5_YCEN.yaml, AX_ID=${AX_NUM=12}"
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=../common/axis_vax6_YGAP.yaml, AX_ID=${AX_NUM=13}"
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@@ -0,0 +1,7 @@
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## Panel
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```
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caqtdm -macro "IOC=c6025a" ecmcMain.ui
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```
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## TODO
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Test with motor record.
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@@ -0,0 +1,30 @@
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#- Configuration scripts
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require ecmccfg,"ENG_MODE=1,EC_RATE=100"
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#- Components lib
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require ecmccomp
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#- Syncronization configs
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require ecmc_master_slave sandst_a
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#- Only output errors
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asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
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#- #################################################################
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# Configure Hardware and Motion
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< ../common/cfgHW_and_motion.cmd
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#- #################################################################
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#- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
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#- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
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${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}'"
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#- #################################################################
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#- go active
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${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
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${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
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#- #############################################################################
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#- reset all errors
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afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")
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@@ -0,0 +1,29 @@
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#- Configuration scripts
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require ecmccfg,"ENG_MODE=1,EC_RATE=100"
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#- Components lib
|
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require ecmccomp
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#- Syncronization configs
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require ecmc_master_slave sandst_a
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#- Only output errors
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asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
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#- #################################################################
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# Configure Hardware and Motion
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< ../common/cfgHW_and_motion.cmd
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#- #################################################################
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#- PLCs with kinematics (note the INC var including dirs to search for include files)
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#- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
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${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}'"
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||||
#- #################################################################
|
||||
#- 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