motion/ecmc_plugin_safety
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Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety

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sandst_a
2024-03-20 09:29:59 +01:00
parent 0c5f9a4091 5d1ff4fc99
commit 7550551cc4
6 changed files with 33 additions and 67 deletions
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55
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
@@ -183,20 +183,3 @@ monitoring:
# 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

9
iocsh/plc/plc_cfg.yaml
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@@ -1,9 +0,0 @@
macros: LIMIT=1000,TYPE=1 # Macros to pass to this file (also plc.file)
plc:
id: 1
enable: yes
rateMilliseconds: 1
file: ${PLC_PATH}test.plc
code:
- "if(static.counter % ${LIMIT} == 0){println('PLC: Appended');static.counter:=0;};" # calculate set pos for physical axis
- "if(not(static.plc_code_loaded)) {static.counter:=static.counter+1;};"

9
iocsh/plc/plc_no_ec_fft_sin.plc
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@@ -1,9 +0,0 @@
###############################################################################################
# For help on syntax, variables and functions, please read the file: "plcSyntaxHelp.plc"
#
# PLC Functionality Demo:
# No hardware related variables
#
static.time:=ec_get_time()/1E9;
static.sineval:=sin(2*pi*${FREQ=10}*static.time);

9
iocsh/plc/test.plc
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@@ -1,9 +0,0 @@
static.counter:=static.counter+1;
static.plc_code_loaded:=1;
if(static.counter % ${LIMIT} == 0) {
if(${TYPE}=0) {
println('AX PLC: File');
} else {
println('PLC : File');
};
};

7
iocsh/test_4ax_box.script
View File

@@ -45,13 +45,12 @@ ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
## AXIS 1
#
epicsEnvSet("DEV", "$(IOC)")
epicsEnvSet("PLC_PATH", "/ioc/c6025a5a/ecmccfg/examples/test/ecmccomp/plc/")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"
##############################################################################
## Load safety plugin
#
require ecmc_plugin_safety safety3
require ecmc_plugin_safety sandst_a
# Create SS1 group
#- EC_RAMP_DOWN : Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
@@ -62,14 +61,14 @@ epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
epicsEnvSet(EC_AXES_REST,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
epicsEnvSet(EC_AXES_MAX_VELO,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ONE.0")
epicsEnvSet(SAFETY_TIMEOUT,500)
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_REST=${EC_AXES_REST},${EC_AXES_MAX_VELO},DELAY_MS=${SAFETY_TIMEOUT}"
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_REST=${EC_AXES_REST},EC_AXES_MAX_VELO=${EC_AXES_MAX_VELO=empty},DELAY_MS=${SAFETY_TIMEOUT}"
#- Add axis
#- AX_ID : Axis ID
#- VELO_REST_LIM : Velocity at rest limit [unit same as EGU of axis]
#- VELO_MAX_LIM : Velocity maximum limit, -1 to disable [unit same as EGU of axis]
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=1,VELO_MAX_LIM=100"
#${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=1"
##############################################################################
## Configure diagnostics:

11
src/ecmcSS1SafetyGroup.cpp
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@@ -291,6 +291,10 @@ void ecmcSS1SafetyGroup::connectToDataSources() {
throw std::runtime_error( "Safety: EtherCAT entry for rampdown I/O NULL.");
}
if(bitRampDown_ >= ecEntryRampDown_->getBits()) {
throw std::runtime_error( "Safety: Bit out of range for rampdown ethercat entry.");
}
// standstill
slave = ecMaster_->findSlave(slaveIdStandStill_);
if(!slave) {
@@ -302,6 +306,9 @@ void ecmcSS1SafetyGroup::connectToDataSources() {
throw std::runtime_error( "Safety: EtherCAT entry for standstill I/O NULL.");
};
if(bitStandStill_ >= ecEntryStandstill_->getBits()) {
throw std::runtime_error( "Safety: Bit out of range for standstill ethercat entry.");
}
// Limit velo
if( limitMaxVeloEnable_ ) {
@@ -314,6 +321,10 @@ void ecmcSS1SafetyGroup::connectToDataSources() {
if(!ecEntryLimitVelo_) {
throw std::runtime_error( "Safety: EtherCAT entry for limit velo I/O NULL.");
};
if(bitLimitVelo_ >= ecEntryLimitVelo_->getBits()) {
throw std::runtime_error( "Safety: Bit out of range for limit velo ethercat entry.");
}
}
dataSourcesLinked_ = 1;