79 lines
1.8 KiB
YAML
79 lines
1.8 KiB
YAML
# https://paulscherrerinstitute.github.io/ecmccfg/manual/axis/axisyaml/
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axis:
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id: 5
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mode: CSV
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features:
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allowSrcChangeWhenEnabled: true
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epics:
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name: TRYB
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precision: 4
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unit: mm
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motorRecord:
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enable: false
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description: "Test Y Bottom"
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drive:
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numerator: 10 # max velo in EGU/s
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denominator: 32768 # MAX_INT for a 16-bit register, always this for this stepper drive!
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type: 0
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control: ec0.s$(DRV_SLAVE).driveControl01
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status: ec0.s$(DRV_SLAVE).driveStatus01
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setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01
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encoder:
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numerator: 1 # 1egu = 1mm
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denominator: 12800 # Number of ticks when motor moves numerator (=1mm): 1 mm / 50 nm = 20000
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type: 0 # Type: 0=Incremental, 1=Absolute
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bits: 16 # Total bit count of encoder raw data
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absBits: 0 # Absolute bit count (for abs enc) always least significant part of 'bits'
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absOffset: 0.0000 # Encoder offset in eng units (for absolute encoders)
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position: ec0.s$(ENC_SLAVE).positionActual$(ENC_CHANNEL)
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controller:
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Kp: 10.00
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Ki: 0.001
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Kd: 0.000
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Kff: 1.00
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trajectory:
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axis:
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velocity: 1.0
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acceleration: 1.0
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deceleration: 1.0
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input:
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limit:
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forward: ec0.s$(DRV_SLAVE).driveStatus01.12 # 1119994 cnts // 55.9997 mm
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backward: ec0.s$(DRV_SLAVE).driveStatus01.11 # 98010 cnts // 4.9005 mm
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home: ec0.s$(DRV_SLAVE).ONE.0 # unused
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interlock: ec0.s$(DRV_SLAVE).ONE.0 # unused
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softlimits:
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enable: false
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backwardEnable: true
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forwardEnable: true
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forward: 55.8
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backward: 5.1
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monitoring:
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lag:
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enable: true
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tolerance: 0.05
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time: 100
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target:
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enable: true
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tolerance: 0.05
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time: 100
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velocity:
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enable: true
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max: 5
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time:
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trajectory: 100
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drive: 200
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plc:
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enable: true
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externalCommands: true
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