Add PLC desc

Makefile

@@ -6,6 +6,7 @@ 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

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_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_sync_act_set(${GRP_ID_VA},1);
+  mc_grp_sync_act_set(${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_sync_act_set(${GRP_ID_VA},0);
+        mc_grp_sync_act_set(${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,"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

@@ -0,0 +1,7 @@
+## Panel
+```
+caqtdm -macro "IOC=c6025a" ecmcMain.ui
+```
+
+## TODO
+Test with motor record.

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/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()'")

example/slit_equations/readme.md

@@ -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.

example/slit_matrix/cfg/axis_ax5_LO.yaml

@@ -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

example/slit_matrix/cfg/axis_ax6_HI.yaml

@@ -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

example/slit_matrix/cfg/axis_vax5_YCEN.yaml

@@ -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

example/slit_matrix/cfg/axis_vax6_YGAP.yaml

@@ -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

example/slit_matrix/readme.md

@@ -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.

example/slit_matrix/startup.script_ecmc

@@ -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()'")