From 54a99c198a855260c6cc7e8aa9e48ad076e25fdf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Mon, 4 Mar 2024 11:52:32 +0100 Subject: [PATCH] Add test script --- iocsh/cfg/axis.yaml | 204 ++++++++++++++++++++++++++++++++++++++++++++ iocsh/test.script | 2 +- 2 files changed, 205 insertions(+), 1 deletion(-) create mode 100644 iocsh/cfg/axis.yaml diff --git a/iocsh/cfg/axis.yaml b/iocsh/cfg/axis.yaml new file mode 100644 index 0000000..8826959 --- /dev/null +++ b/iocsh/cfg/axis.yaml @@ -0,0 +1,204 @@ +macros: LIMIT=10000,TYPE=0,DRV_SLAVE=${DRV_SLAVE} # Macros for all below (evaluated before jinja linter) + +axis: + id: 1 # Axis id + type: joint # this is for future selection of axis type + # mode: CSV # supported mode, CSV and CSP, defaults CSV + # parameters: 'axisPar' # additional parameters # Additional params to motor record driver + #healthOutput: ec0... # Ethercat entry for health output + # autoMode: # Switch drive modes automaticaly for normal motion and homing (smaract for instance) + # modeSet: ec0.. # Ethercat entry drive mode write (set CSV,CSP,homing) + # modeAct: ec0.. # Ethercat entry drive mode reading (set CSV,CSP,homing) + # modeCmdMotion: 9 # Drive mode value for normal motion (written to axis.drvMode.modeSet when normal motion) + # modeCmdHome: 10 # Drive mode value for when homing (written to axis.drvMode.modeSet when homing) + # features: + # blockCom: false # Block communication to axis + # allowedFunctions: + # homing: true # Allow homing + # constantVelocity: true # Allow constant velocity + # positioning: true # Allow positioning + +epics: + name: Axis1 # Axis anme + precision: 3 # Decimal count + description: very important motor axis # Axis description + unit: mm # Unit + # motorRecord: + # enable: true + # description: This is MR + # fieldInit: 'RRES=1.0,RTRY=2,RMOD=1,UEIP=0,RDBD=0.1,URIP=1,RDBL=$(IOC):$(ECMC_MOTOR_NAME)-PosActSim' # Extra config for Motor record + +drive: + numerator: 3600 # Fastest speed in engineering units + denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET + # type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives) + control: ec0.s$(DRV_SLAVE).driveControl01 # Control word ethercat entry + enable: 0 # Enable bit index in control word (not used if DS402) + enabled: 1 # Enabled bit index in status word (not used if DS402) + status: ec0.s$(DRV_SLAVE).driveStatus01 # Status word ethercat entry + setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP +# reduceTorque: 2 # Reduce torque bit in drive control word +# reduceTorqueEnable: True # Enable reduce torque functionality +# brake: +# enable: true # Enable brake +# output: ec0... # Ethercat link to brake output +# openDelay: 0 # Brake timing parameter in cycles (default 1kHz) +# closeAhead: 0 # Brake timing parameter in cycles (default 1kHz) +# reset: 1 # Reset (if no drive reset bit then leave empty) +# warning: 2 # Warning (if no drive warning bit then leave empty) +# error: # max 3 +# - 3 # Error 0 (if no drive error bit then leave empty) +# - 7 # Error 1 (if no drive error bit then leave empty) +# - 14 # Error 2 (if no drive error bit then leave empty) + +encoder: + numerator: 360 # Scaling numerator example 360 deg/rev + denominator: 12800 # Scaling denominator example 4096 ticks per 360 degree + # type: 0 # Type: 0=Incremental, 1=Absolute + bits: 16 # Total bit count of encoder raw data + # absBits: 0 # Absolute bit count (for absolute encoders) always least significant part of 'bits' + # absOffset: 0 # Encoder offset in eng units (for absolute encoders) + # mask: '0xFFF00' # Mask applied to raw encoder value + position: ec0.s$(DRV_SLAVE).positionActual01 # Ethercat entry for actual position input (encoder) + control: ec0.s$(DRV_SLAVE).encoderControl01 # mandatory only if 'reset' is used + status: ec0.s$(DRV_SLAVE).encoderStatus01 # mandatory only if 'warning' or 'error' are used + # ready: 10 # Bit in encoder status word for encoder ready + # source: 0 # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC + # reset: 1 # Reset (optional) + # warning: 2 # Warning (optional) + # error: # max 3 (optional) + # - 5 # Error 0 + # - 9 # Error 1 + # - 11 # Error 2 + # filter: + # velocity: + # size: 100 # Filter size for velocity + # enable: true # enable velocity filter + # position: + # size: 100 # Filter size for encoder value + # enable: true # enable encoder value filter + # latch: + # position: '' # Link to latched value. Used for some homing seqs + # control: 0 # Bit in encoder control word to arm latch. Used for some homing seqs + # status: 0 # Bit in encoder status word for latch triggered status. Used for some homing seqs + # primary: 1 # Use this encoder as primary (for control) + # homing: + # type: 3 # Homing sequence type + # position: -30 # Position to reference encoder to + # velocity: + # to: 10 # Velocity to cam/sensor (used for some homing seqs) + # from: 5 # Velocity from cam/sensor (used for some homing seqs) + # acceleration: 20 # Acceleration during homing + # deceleration: 100 # Deceleration during homing + # refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id + # refAtHome: 1 # If homing is executed then set position of this encoder + # tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder + # postMoveEnable: yes # Enable move after successfull homing + # postMovePosition: 10 # Position to move to after successfull homing + # trigg: ec0.. # Ethercat entry for triggering drive internal homing seq (seq id 26) + # ready: ec0.. # Ethercat entry for readinf drive internal homing seq ready (seq id 26) + +controller: + Kp: 1 # Kp proportinal gain + Ki: 0.02 # Ki integral gain + Kd: 0 # Kd derivative gain + # Kff: 1 # Feed forward gain + # deadband: + # tol: 0.01 # Stop control if within this distance from target for the below time + # time: 100 + # limits: + # minOutput: -100 # Minimum controller output + # maxOutput: 100 # Maximum controller output + # minIntegral: -100 # Minimum integral output + # maxIntegral: 100 # Maximum integral output + # inner: + # Kp: 0.1 # Kp for when close to target + # Ki: 0.1 # Ki for when close to target + # Kd: 0.1 # Kd for when close to target + # tol: 0.1 # Distance from target for when inner PID params will be used, defaults to atTarget tol + +trajectory: + # type: 1 # Default 0 = trapetz, 1 = S-curve (ruckig) + axis: + velocity: 500 # Default velo for axis + acceleration: 200 # Default acc for axis + deceleration: 200 # Default dec for axis + emergencyDeceleration: 1200 # Deceleration when axis in error state + jerk: 10 # Default jerk for axis + jog: + velocity: 5 # Default velo fro JOG (motor record) +# modulo: +# range: 360 # Modulo range 0..360 +# type: 0 # Modulo type + +input: + limit: + forward: ec0.s$(DRV_SLAVE).driveStatus01.12 # Ethercat entry for low limit switch input + # forwardPolarity: 0 # Polarity of forward limit switch + backward: ec0.s$(DRV_SLAVE).driveStatus01.11 # Ethercat entry for high limit switch input + # backwardPolarity: 0 # Polarity of forward limit switch + home: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for home switch + # homePolarity: 0 # Polarity of home switch + interlock: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for interlock switch input + # interlockPolarity: 0 # Polarity of interlock switch + +# homing: +# type: 3 # Homing sequence type +# position: -30 # Position to reference encoder to +# velocity: +# to: 10 # Velocity to cam/sensor (used for some homing seqs) +# from: 5 # Velocity from cam/sensor (used for some homing seqs) +# acc: 20 # Acceleration during homing +# dec: 100 # Deceleration during homing +# refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id +# refAtHome: 1 # If homing is executed then set position of this encoder +# tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder +# postMoveEnable: yes # Enable move after successfull homing +# postMovePosition: 10 # Position to move to after successfull homing +# timeout: 100 # Sequence timeout + +softlimits: + enable: false # Enable soft limits + forward: 100 # Soft limit position fwd + forwardEnable: false # Soft limit position fwd enable + backward: -100 # Soft limit position bwd + backwardEnable: false # Soft limit position bwd enable + +monitoring: + lag: + enable: true # Enable position lag monitoring (following error) + tolerance: 2 # Allowed tolerance + time: 10 # Allowed time outside tolerance target: + target: + enable: true # Enable at target monitoring (needs to be enabled if using motor record) + tolerance: 0.5 # Allowed tolerance + time: 10 # Filter time inside tolerance to be at target + velocity: + enable: false # Enable velocity monitoring + max: 100 # Allowed max velocity + time: + trajectory: 100 # Time allowed outside max velo before system init halt + drive: 200 # Time allowed outside max velo before system disables drive + # velocityDifference: + # enable: true # Enable velocity diff monitoring (velo set vs velo act) + # max: 100 # Allowed max difference + # time: + # trajectory: 100 # Time allowed outside max diff velo before system init halt + # drive: 200 # Time allowed outside max diff velo before system disables drive + +#plc: +# enable: true # Enable axis plc +# externalCommands: true # Allow axis to inputs from PLC +# file: ${PLC_PATH}test.plc +# code: # Sync code +# - "if(static.counter % ${LIMIT} == 0){println('AX PLC: Appended');static.counter:=0;};" # calculate set pos for physical axis +# - "if(not(static.plc_code_loaded)) {static.counter:=static.counter+1;};" +# - ec0.s$(DRV_SLAVE).ONE > 1; # Enable axis if one of master axes is enabled +# - ec0.s$(DRV_SLAVE).ZERO > 1; # calculate set pos for physical axis +# velocity_filter: # Filter used to smother velocity feedforward +# encoder: # Filter plc enc velo +# enable: false # Filter enable +# size: 100 # Filter size +# trajectory: # Filter plc traj velo +# enable: false # Filter enable +# size: 100 # Filter size diff --git a/iocsh/test.script b/iocsh/test.script index abd70d3..77271b1 100644 --- a/iocsh/test.script +++ b/iocsh/test.script @@ -43,7 +43,7 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml,LIMIT=1 ############################################################################## ## Load daq plugin # -require ecmc_plugin_daq "PLUGIN_ID=0" +require ecmc_plugin_daq sandst_a "PLUGIN_ID=0" ecmcAddDAQArray("test",PLUGIN.DAQ.test) ecmcAddDAQChannel(123)