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Update testscript

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sandst_a
2024-03-18 09:23:25 +01:00
parent 694be265d0
commit 05654f8917
2 changed files with 21 additions and 21 deletions
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38
iocsh/cfg/axis.yaml
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@@ -21,10 +21,10 @@ epics:
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
motorRecord:
enable: true
description: This is MR
fieldInit: 'TWV=1000' # Extra config for Motor record
drive:
numerator: 3600 # Fastest speed in engineering units
@@ -35,31 +35,31 @@ drive:
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
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)
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
numerator: 720 # Scaling numerator example 360 deg/rev
denominator: 8192 # 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$(DRV_SLAVE).encoderStatus01 # mandatory only if 'warning' or 'error' are used
position: ec0.s$(ENC_SLAVE).positionActual01 # Ethercat entry for actual position input (encoder)
control: ec0.s$(ENC_SLAVE).encoderControl01 # mandatory only if 'reset' is used
status: ec0.s$(ENC_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)
@@ -165,11 +165,11 @@ softlimits:
monitoring:
lag:
enable: true # Enable position lag monitoring (following error)
tolerance: 2 # Allowed tolerance
tolerance: 10 # 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
tolerance: 0.1 # Allowed tolerance
time: 10 # Filter time inside tolerance to be at target
velocity:
enable: true # Enable velocity monitoring

4
iocsh/test_4ax_box.script
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@@ -12,7 +12,7 @@
##
#epicsEnvSet(IOC,c6025a)
require ecmccfg safety3,"ECMC_VER=safety3,ENG_MODE=1,MASTER_ID=1"
require ecmccfg sandst_a,"ECMC_VER=safety3,ENG_MODE=1,MASTER_ID=1"
##############################################################################
## Load components lib
@@ -51,7 +51,7 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"
##############################################################################
## Load safety plugin
#
require ecmc_plugin_safety safety3
require ecmc_plugin_safety sandst_a
# Create SS1 group
#- EC_RAMP_DOWN : Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)