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Adapt test to PSI test hardware

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sandst_a
2023-09-12 13:21:56 +02:00
parent 424ee71b63
commit 8d555a1597
3 changed files with 214 additions and 52 deletions
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95
iocsh/cfg/X_psi.ax Normal file
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#General
epicsEnvSet("ECMC_MOTOR_NAME", "X")
epicsEnvSet("ECMC_R", "X-")
epicsEnvSet("ECMC_AXIS_NO", "1")
epicsEnvSet("ECMC_DESC", "Axis 1: X")
epicsEnvSet("ECMC_EGU", "deg") # Motor Record Unit
epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision
epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver
epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0)
epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE)
epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE>0: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance
#Encoder
epicsEnvSet("ECMC_ENC_SCALE_NUM" "360")
epicsEnvSet("ECMC_ENC_SCALE_DENOM" "12800")
epicsEnvSet("ECMC_ENC_TYPE" "1") # Type: 0=Incremental, 1=Absolute
epicsEnvSet("ECMC_ENC_BITS" "16") # Total bit count of encoder raw data
epicsEnvSet("ECMC_ENC_ABS_BITS", "16") # Absolute bit count (for absolute encoders) always least significant part of ECMC_ENC_BITS
epicsEnvSet("ECMC_ENC_ABS_OFFSET" "90") # Encoder offset in eng units (for absolute encoders)
epicsEnvSet("ECMC_EC_ENC_ACTPOS", "ec0.s${DRV_SID}.positionActual01") # Ethercat entry for actual position input (encoder)
epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset (if no encoder reset bit then leave empty)
epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 (if no encoder error bit then leave empty)
epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 (if no encoder error bit then leave empty)
epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 (if no encoder error bit then leave empty)
epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning (if no encoder warning bit then leave empty)
#epicsEnvSet("ECMC_EC_ENC_READY", "ec0.s3.ZERO.0") # Ready (encoder ready bit)
#Drive
epicsEnvSet("ECMC_DRV_TYPE" "0") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
epicsEnvSet("ECMC_DRV_SCALE_NUM" "3600.0") # Fastest speed in engineering units
epicsEnvSet("ECMC_DRV_SCALE_DENOM" "32768.0") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s${DRV_SID}.driveControl01.0") # Ethercat entry for control word or bit output
epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s${DRV_SID}.driveStatus01.1") # Ethercat entry for status word or bit input
epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s${DRV_SID}.velocitySetpoint01") # Ethercat entry for velocity setpoint output
epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "ec0.s${DRV_SID}.driveControl01.2") # Ethercat entry for reduce torque output
epicsEnvSet("ECMC_EC_DRV_BRAKE", "") # Ethercat entry for brake output
epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "0") # Brake timing parameter in cycles (default 1kHz)
epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "0") # Brake timing parameter in cycles (default 1kHz)
epicsEnvSet("ECMC_EC_DRV_RESET", "ec0.s${DRV_SID}.driveControl01.1") # Reset
epicsEnvSet("ECMC_EC_DRV_ALARM_0", "ec0.s${DRV_SID}.driveStatus01.3") # Error
epicsEnvSet("ECMC_EC_DRV_ALARM_1", "ec0.s${DRV_SID}.driveStatus01.7") # Stall
epicsEnvSet("ECMC_EC_DRV_ALARM_2", "ec0.s${DRV_SID}.driveStatus01.14") # Sync error
epicsEnvSet("ECMC_EC_DRV_WARNING", "ec0.s${DRV_SID}.driveStatus01.2") # Warning
#Trajectory
epicsEnvSet("ECMC_VELO", "720.0")
epicsEnvSet("ECMC_JOG_VEL", "720.0")
epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL
epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "100")
epicsEnvSet("ECMC_EMERG_DECEL", "1000") # Emergency deceleration
#Homing
epicsEnvSet("ECMC_HOME_PROC", "0")
epicsEnvSet("ECMC_HOME_POS", "0.0")
epicsEnvSet("ECMC_HOME_VEL_TO", "5")
epicsEnvSet("ECMC_HOME_VEL_FRM", "4")
epicsEnvSet("ECMC_HOME_ACC", "21")
epicsEnvSet("ECMC_HOME_DEC", "100")
epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "0") # Enable move to position after successfull homing
epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","0") # Target position to go to after successfull homing
#Controller
epicsEnvSet("ECMC_CNTRL_KP", "15.0")
epicsEnvSet("ECMC_CNTRL_KI", "0.02")
epicsEnvSet("ECMC_CNTRL_KD", "0.0")
epicsEnvSet("ECMC_CNTRL_KFF", "1.0")
#Monitoring
# Switches
epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s${DRV_SID}.ONE.0") # Ethercat entry for low limit switch input
epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s${DRV_SID}.ONE.0") # Ethercat entry for high limit switch inpuit
epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s${DRV_SID}.ONE.0") # Ethercat entry for home switch input
epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s${DRV_SID}.ONE.0") # Ethercat entry for external interlock input
# Softlimits (disable with 0,0,0)
epicsEnvSet("ECMC_SOFT_LOW_LIM", "-100")
epicsEnvSet("ECMC_SOFT_HIGH_LIM", "3000")
epicsEnvSet("ECMC_DXLM_ENABLE", "0")
# Position lag
epicsEnvSet("ECMC_MON_LAG_MON_TOL", "5")
epicsEnvSet("ECMC_MON_LAG_MON_TIME", "100")
epicsEnvSet("ECMC_MON_LAG_MON_ENA", "1")
# At target
epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "0.003")
epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100")
epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1")
# Velocity
epicsEnvSet("ECMC_MON_VELO_MAX", "5000.0")
epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100")
epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200")
epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "0")

93
iocsh/cfg/Y_psi.ax Normal file
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#General
epicsEnvSet("ECMC_MOTOR_NAME", "Y")
epicsEnvSet("ECMC_R", "Y-")
epicsEnvSet("ECMC_AXIS_NO", "2")
epicsEnvSet("ECMC_DESC", "Axis 2: Y")
epicsEnvSet("ECMC_EGU", "mm") # Motor Record Unit
epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision
epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver
epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0)
epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE)
epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE !=0: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance
#Encoder
epicsEnvSet("ECMC_ENC_SCALE_NUM" "360")
epicsEnvSet("ECMC_ENC_SCALE_DENOM" "1048576")
epicsEnvSet("ECMC_ENC_TYPE" "0") # Type: 0=Incremental, 1=Absolute (in this case its single turn absolute (needs homing))
epicsEnvSet("ECMC_ENC_BITS" "32") # Total bit count of encoder raw data
epicsEnvSet("ECMC_ENC_ABS_BITS", "20") # Absolute bit count (for absolute encoders) always least significant part of ECMC_ENC_BITS
epicsEnvSet("ECMC_ENC_ABS_OFFSET" "0") # Encoder offset in eng units (for absolute encoders)
epicsEnvSet("ECMC_EC_ENC_ACTPOS", "ec0.s$(DRV_SID).positionActual01") # Ethercat entry for actual position input (encoder)
epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset handled by DS402 statemachine
epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 handled by DS402 statemachine
epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 handled by DS402 statemachine
epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 handled by DS402 statemachine
epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning handled by DS402 statemachine
#Drive
epicsEnvSet("ECMC_DRV_TYPE" "1") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
# Scalings: Amplifier Max 8000Hz = 2880000 deg/s (8kHz Reverse engineered)
epicsEnvSet("ECMC_DRV_SCALE_NUM" "2880000") # Fastest speed in engineering units
epicsEnvSet("ECMC_DRV_SCALE_DENOM" "2147483648") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s$(DRV_SID).driveControl01") # Ethercat entry for control word or bit output
epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s$(DRV_SID).driveStatus01") # Ethercat entry for status word or bit input
epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s$(DRV_SID).velocitySetpoint01")# Ethercat entry for velocity setpoint output
epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "") # Ethercat entry for reduce torque output
epicsEnvSet("ECMC_EC_DRV_BRAKE", "") # Ethercat entry for brake output
epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "0") # Brake timing parameter in cycles (default 1kHz)
epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "0") # Brake timing parameter in cycles (default 1kHz)
epicsEnvSet("ECMC_EC_DRV_RESET", "") # Reset (handled by ds402 statemachine, but this bit can be used anyway if needed)
epicsEnvSet("ECMC_EC_DRV_ALARM_0", "") # Error 0 (handled by ds402 statemachine, but this bit can be used anyway if needed)
epicsEnvSet("ECMC_EC_DRV_ALARM_1", "") # Error 1 (handled by ds402 statemachine, but this bit can be used anyway if needed)
epicsEnvSet("ECMC_EC_DRV_ALARM_2", "") # Error 2 (handled by ds402 statemachine, but this bit can be used anyway if needed)
epicsEnvSet("ECMC_EC_DRV_WARNING", "") # Warning (handled by ds402 statemachine, but this bit can be used anyway if needed)
#Trajectory
epicsEnvSet("ECMC_VELO", "1000.0")
epicsEnvSet("ECMC_JOG_VEL", "360")
epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL
epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "1000")
epicsEnvSet("ECMC_EMERG_DECEL", "1000") # Emergency deceleration
#Homing
epicsEnvSet("ECMC_HOME_PROC", "1")
epicsEnvSet("ECMC_HOME_POS", "0.0")
epicsEnvSet("ECMC_HOME_VEL_TO", "5")
epicsEnvSet("ECMC_HOME_VEL_FRM", "4")
epicsEnvSet("ECMC_HOME_ACC", "21")
epicsEnvSet("ECMC_HOME_DEC", "100")
epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "0") # Enable move to position after successfull homing
epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","0") # Target position to go to after successfull homing
#Controller
epicsEnvSet("ECMC_CNTRL_KP", "10")
epicsEnvSet("ECMC_CNTRL_KI", "0.1")
epicsEnvSet("ECMC_CNTRL_KD", "0.0")
epicsEnvSet("ECMC_CNTRL_KFF", "1.0")
#Monitoring
# Switches
epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s$(DRV_SID).ONE.0") # Ethercat entry for low limit switch input
epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s$(DRV_SID).ONE.0") # Ethercat entry for high limit switch inpuit
epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s$(DRV_SID).ONE.0") # Ethercat entry for home switch input
epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s$(DRV_SID).ONE.0") # Ethercat entry for external interlock input
# Softlimits (disable with 0,0,0)
epicsEnvSet("ECMC_SOFT_LOW_LIM", "$(SM_DLLM=0)")
epicsEnvSet("ECMC_SOFT_HIGH_LIM", "$(SM_DHLM=0)")
epicsEnvSet("ECMC_DXLM_ENABLE", "0")
# Position lag
epicsEnvSet("ECMC_MON_LAG_MON_TOL", "5")
epicsEnvSet("ECMC_MON_LAG_MON_TIME", "100")
epicsEnvSet("ECMC_MON_LAG_MON_ENA", "0")
# At target
epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "1")
epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100")
epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1")
# Velocity
epicsEnvSet("ECMC_MON_VELO_MAX", "100.0")
epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100")
epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200")
epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "0")

78
iocsh/test_xy_PSI.script
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require ecmccfg v9.0.1_RC1 "ECMC_VER=v9.0.1_RC1"
require ecmc_plugin_grbl sandst_a
exit
##############################################################################
## Configure hardware:
# Hardware for X and Y in ESS crate
$(SCRIPTEXEC) $(ecmccfg_DIR)ecmcMCU1021_coupler.cmd
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=1, HW_DESC=EL3004"
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=2, HW_DESC=EL5001"
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=3, HW_DESC=EL1008"
${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=4, HW_DESC=EL7031, CONFIG=-Motor-Trinamic-QMot-QSH4218-41-10-035"
epicsEnvSet(X_DRV_SID,${ECMC_EC_SLAVE_NUM})
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
## Use EL7211 as spindle
#epicsEnvSet("ECMC_EC_SLAVE_NUM", "11")
#epicsEnvSet("ECMC_EC_SLAVE_NUM_SPINDLE", "$(ECMC_EC_SLAVE_NUM)")
#
#${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7211-0010"
#
## Apply local 24V config (local here)
#${SCRIPTEXEC} ${ecmccfg_DIR}applySlaveConfig.cmd, "LOCAL_CONFIG=./ecmcEL7211-0010-Motor-Beckhoff-AM8121-0F00-0000_24V.cmd"
#
##Apply hardware configuration (wrong here, should only be done once (also done in ecmcMCU1021_coupler), but will work)
#ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
#- HWE for EP7211
epicsEnvSet("BO_SID", "6")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SID), HW_DESC=EL2008"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${BO_SID},binaryOutput02,1)"
#Does not work. Known issue DC-patch for etherlab manster needed...
#ecmcConfigOrDie "Cfg.EcSelectReferenceDC(0,$(ECMC_EC_SLAVE_NUM))"
# Limit torque to 50% of motor rated torque
#- Rated current = 2710mA (see motor config file, "0x8011 0x12 Rated current (mA)")
#- Set to 50% of 2710 = 1355mA (0x8011 0x11 Max current (mA))
epicsEnvSet("Y_DRV_SID", "11")
${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=$(Y_DRV_SID), HW_DESC=EP7211-0034_ALL, CONFIG=-Motor-Beckhoff-AM8111-0F20-0000,CFG_MACROS='I_MAX_MA=1355'"
# ADDITIONAL SETUP
# Set all outputs to feed switches
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput01,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput02,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput03,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput04,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput05,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput06,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput07,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput08,1)"
# END of ADDITIONAL SETUP
#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
##############################################################################
## AXIS 1: X-axis
#
## AXIS 1: X
# Configure Motion
epicsEnvSet("DRV_SID", "${X_DRV_SID}")
epicsEnvSet("DEV", "$(IOC)")
$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/x.ax)
# Set external setpoints
$(SCRIPTEXEC) ($(ecmccfg_DIR)applyAxisSynchronization.cmd, CONFIG=./cfg/x.sax)
${SCRIPTEXEC} ${ecmccfg_DIR}configureAxis.cmd, "CONFIG=./cfg/X_psi.ax"
##############################################################################
## AXIS 2: Y-axis
#
#epicsEnvSet("DEV", "$(IOC)")
$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/y.ax)
# Set external setpoints
$(SCRIPTEXEC) ($(ecmccfg_DIR)applyAxisSynchronization.cmd, CONFIG=./cfg/y.sax)
##############################################################################
## AXIS 3: Spindle
#
#epicsEnvSet("DEV", "$(IOC)")
#$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/spindle.ax)
# Block motor driver printouts
asynSetTraceMask(MC_CPU1, -1, 0x0)
# AXIS 2: Y
epicsEnvSet("DRV_SID", "${Y_DRV_SID}")
epicsEnvSet("DEV", "$(IOC)")
$(SCRIPTEXEC) $(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/Y_psi.ax
##############################################################################
## Load plugin:
epicsEnvSet("PLUGIN_VER" ,"develop")
require ecmc_plugin_grbl $(PLUGIN_VER)
epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_grbl/$(PLUGIN_VER)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_grbl.so")
epicsEnvSet(ECMC_PLUGIN_FILNAME,"${ecmc_plugin_grbl_DIR}lib/${EPICS_HOST_ARCH}/libecmc_plugin_grbl.so")
epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;AUTO_ENABLE=0;AUTO_START=0;")
${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
epicsEnvUnset(ECMC_PLUGIN_FILNAME)