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Merge branch 'test' into 'master'

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Test

See merge request motion/ecmc_plugin_safety!1
This commit is contained in:
sandst_a
2025-02-24 14:02:20 +01:00
parent adc421ba42 7431834bd3
commit 7893207cb6
9 changed files with 195 additions and 375 deletions
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7
GNUmakefile
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@@ -2,11 +2,14 @@ include /ioc/tools/driver.makefile
MODULE = ecmc_plugin_safety
# "Transfer" module name to plugin
USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}
BUILDCLASSES = Linux
ARCH_FILTER = deb10%
# Run 7.0.6 for now
EXCLUDE_VERSIONS+=3 7.0.5 7.0.6
EXCLUDE_VERSIONS+=3 7.0.5 7.0.6 7.0.7
IGNORE_MODULES += asynMotor
IGNORE_MODULES += motorBase
@@ -16,7 +19,7 @@ OPT_CXXFLAGS_YES = -O3
# dependencies
ECmasterECMC_VERSION = v1.1.0
ecmc_VERSION = 9.6
ecmc_VERSION = v10.0.0_RC1
################################################################################
# THIS RELATES TO THE EtherCAT MASTER LIBRARY

219
iocsh/cfg/axis.yaml
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@@ -1,189 +1,94 @@
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: 'powerAutoOnOff=2;powerOffDelay=4;powerOnDelay=4;' # 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
id: ${AXIS_ID=1} # Axis id
parameters: 'powerAutoOnOff=2;powerOffDelay=-1;'
# feedSwitchesOutput: ec0.s${BO_SID}.binaryOutput${BO_CH=01} # Ethercat entry for feed switches
epics:
name: Axis1 # Axis anme
name: ${AX_NAME=M1} # Axis anme
precision: 3 # Decimal count
description: very important motor axis # Axis description
description: Test cfg # Axis description
unit: mm # Unit
motorRecord:
enable: true
description: This is MR
fieldInit: 'TWV=1000' # Extra config for Motor record
fieldInit: 'RTRY=0,FOFF=Frozen' # Extra config for Motor record
drive:
numerator: 3600 # Fastest speed in engineering units
denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
# type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
control: ec0.s$(DRV_SLAVE).driveControl01 # Control word ethercat entry
numerator: 10 # Fastest speed in eng. units (2000 Fullsteps/s==10mm/s)
denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET (normally +-16bit)
type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
setpoint: ec0.s$(DRV_SID).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP
control: ec0.s$(DRV_SID).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)
reset: 1 # Reset bit in control word (if no drive reset bit then leave empty)
reduceTorque: 2 # Reduce torque bit in drive control word
reduceTorqueEnable: True # Enable reduce torque functionality
status: ec0.s$(DRV_SID).driveStatus01 # Status word ethercat entry
enabled: 1 # Enabled bit index in status word (not used if DS402)
warning: 2 # Warning bit in status word (if no drive warning bit then leave empty)
error: # max 3 error bits in status word
- 3 # Error 0 (if no drive error bit then leave empty)
- 7 # Error 1 (if no drive error bit then leave empty)
- 14 # Error 2 (if no drive error bit then leave empty)
encoder:
numerator: 720 # 2mm Scaling numerator example 360 deg/rev
denominator: 8192 # Scaling denominator example 4096 ticks per 360 degree
# type: 0 # Type: 0=Incremental, 1=Absolute
bits: 16 # Total bit count of encoder raw data
# absBits: 0 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
# absOffset: 0 # Encoder offset in eng units (for absolute encoders)
# mask: '0xFFF00' # Mask applied to raw encoder value
position: ec0.s$(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)
# 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)
desc: BISS-C
numerator: 1 # Scaling numerator example 1 mm/rev
denominator: 4096 # Scaling denominator example 4096 ticks per 360 degree
type: 1 # Type: 0=Incremental, 1=Absolute
bits: 32 # Total bit count of encoder raw data
absBits: 26 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
absOffset: -15615 # Encoder offset in eng units (for absolute encoders)
position: ec0.s$(ENC_SID).positionActual${ENC_CH=01} # Ethercat entry for actual position input (encoder)
status: ec0.s$(ENC_SID).encoderStatus${ENC_CH=01} # mandatory only if 'warning' or 'error' are used
ready: 2 # Bit in encoder status word for encoder ready
warning: 0 # Warning (optional)
error: # max 3 (optional)
- 1 # Error 0
delayComp: # Delay compensation for time between application of setpoint to reading of encoder (normally atleast 2 cycles)
time: 0 # Delay time between set and act [cycles]
enable: true # enable (defaults to 1 if not set)
controller:
Kp: 1 # Kp proportinal gain
Ki: 0.02 # Ki integral gain
Kd: 0 # Kd derivative gain
limits:
minIntegral: -10000
maxIntegral: 10000
# 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
Kp: 10 # Kp proportinal gain
Ki: 0 # Ki integral gain
Kd: 0 # Kd derivative gain
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
velocity: 2 # Default velo for axis
acceleration: 2 # Default acc for axis
deceleration: 2 # Default dec for axis
emergencyDeceleration: 5 # 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
velocity: 1 # Default velo fro JOG (motor record)
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
forward: ec0.s$(DRV_SID).driveStatus01.12 # Ethercat entry for low limit switch input
backward: ec0.s$(DRV_SID).driveStatus01.11 # Ethercat entry for high limit switch input
home: 'ec0.s$(DRV_SID).ONE.0' # Ethercat entry for home switch
interlock: 'ec0.s$(DRV_SID).ONE.0' # Ethercat entry for interlock switch input
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
enable: true # Enable soft limits
forward: 30 # Soft limit position fwd
forwardEnable: true # Soft limit position fwd enable
backward: -30 # Soft limit position bwd
backwardEnable: true # Soft limit position bwd enable
monitoring:
lag:
enable: true # Enable position lag monitoring (following error)
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: 0.1 # Allowed tolerance
time: 10 # Filter time inside tolerance to be at target
time: 10 # Allowed time outside tolerance target:
velocity:
enable: true # Enable velocity monitoring
max: 1000 # Allowed max velocity
enable: false # Enable velocity monitoring
max: 8 # 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
target:
enable: true # Enable at target monitoring (needs to be enabled if using motor record)
tolerance: 0.01 # Allowed tolerance
time: 10 # Filter time inside tolerance to be at target

12
iocsh/cfg/enc_open_loop.yaml Normal file
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@@ -0,0 +1,12 @@
encoder:
desc: 'Open loop'
unit: mm
numerator: 1 # Scaling numerator
denominator: 12800 # Scaling denominator
type: 0 # Type: 0=Incremental, 1=Absolute
bits: 16 # Total bit count of encoder raw data
absBits: 0 # Absolute bit count (for absolute encoders)
absOffset: 0 # Encoder offset in eng units (for absolute encoders)
position: ec0.s$(ENC_SID).positionActual01 # Ethercat entry for actual position input (encoder)
homing:
refToEncIDAtStartup: 1 # Ref encoder at startup (to BISS value)

22
iocsh/test_4ax_box.script
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@@ -11,8 +11,7 @@
## camon c6025a:SS1-first-Err c6025a:SS1-first-RmpDwnCmdAct c6025a:SS1-first-AxsStndStllAct
##
#epicsEnvSet(IOC,c6025a)
require ecmccfg "ENG_MODE=1,MASTER_ID=1"
require ecmccfg "ENG_MODE=1,MASTER_ID=0"
##############################################################################
## Load components lib
@@ -54,23 +53,22 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"
require ecmc_plugin_safety
# Create SS1 group
#- EC_RAMP_DOWN : Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
#- EC_AXES_REST : Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
#- EC_AXES_MAX_VELO : Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
epicsEnvSet(EC_RAMP_DOWN,"ec${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${BO_SLAVE}.ONE.0")
#- EC_RAMP_DOWN_CMD : EtherCAT entry for ramp down command, input to ecmc (command from safety PLC/system)
#- EC_REST_STAT : EtherCAT entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
#- EC_RED_VEL_CMD : EtherCAT entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
epicsEnvSet(EC_RAMP_DOWN_CMD,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
epicsEnvSet(EC_REST_STAT,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
epicsEnvSet(EC_RED_VEL_CMD,"ec${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=${EC_AXES_REST},EC_AXES_MAX_VELO=${EC_AXES_MAX_VELO=empty},DELAY_MS=${SAFETY_TIMEOUT}"
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${EC_RAMP_DOWN_CMD},EC_REST_STAT=${EC_REST_STAT},EC_RED_VEL_CMD=${EC_RED_VEL_CMD=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]
#- VELO_MAX_LIM : Velocity maximum limit when EC_RED_VEL_CMD, set to -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"
##############################################################################
## Configure diagnostics:
#

75
iocsh/test_lab_rack.script Normal file
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@@ -0,0 +1,75 @@
##############################################################################
#- test config for ecmc_plugin_safety
#-
#- In this config the interface to safety system is liked to simulated ethercat entries:
#- * To allow motion:
#- caput c6025a:m0s013-Zero 3
#- * To simulate interlock from safety system:
#- caput c6025a:m0s013-Zero 0
#-
#- Monitor status with:
#- camon c6025a:SS1-first-Err c6025a:SS1-first-RmpDwnCmdAct c6025a:SS1-first-AxsStndStllAct
#-
#- ethercat slaves
#- 0 0:0 PREOP + EK1100 EtherCAT Coupler (2A E-Bus)
#- 1 0:1 PREOP + EL2068 8Ch. Dig Output 24V, 0.5A
#- 2 0:2 PREOP + EL2819 16K. Dig. Ausgang 24V, 0,5A, Diagnose
#- 3 0:3 PREOP + EL5001 1K. SSI Encoder
#- 4 0:4 PREOP + EL6224 (IO Link Master)
#- 5 0:5 PREOP + EL2008 8K. Dig. Ausgang 24V, 0.5A
#- 6 0:6 PREOP + EL2522 2K. Pulse Train Ausgang
#- 7 0:7 PREOP + EL5072 2Ch. Inductive sensor interface (LVDT, Half Bridge)
#- 8 0:8 PREOP + EL1008 8K. Dig. Eingang 24V, 3ms
#- 9 0:9 PREOP + EL5042 2Ch. BiSS-C Encoder
#- 10 0:10 PREOP + EL6692 EtherCAT Bridge-Klemme (Prim<69>r)
#- 11 0:11 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
#- 12 0:12 PREOP + EL7031 1K. Schrittmotor-Endstufe (24V, 1.5A)
#- 13 0:13 PREOP + EL7201 1K. MDP742 Servo-Motor-Endstufe (50V, 4A)
#- 14 0:14 PREOP + EL7041-0052 1Ch. Stepper motor output stage (50V, 5A)
#- 15 0:15 PREOP + EL7342 2Ch. DC motor output stage (50V, 3.5A)
#- 16 0:16 PREOP + EL7411 BLDC Terminal with incremental encoder/Hall, 50 V DC, 4.
#- 17 0:17 PREOP + EL7211-9014 1K. MDP742 Servo-Motor-Endstufe mit OCT (50V, 4,5A
#- 18 0:18 PREOP + EL9576 Bremschopper Klemme
require ecmccfg v10.0.0_RC1 "ENG_MODE=1,MASTER_ID=0,ECMC_VER=v10.0.0_RC1"
# 0:14 - EL7041 1Ch Stepper
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=14,HW_DESC=EL7041-0052"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1500, I_STDBY_MA=1000, U_NOM_MV=48000, R_COIL_MOHM=1230'"
epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
# 0:9 - EL5042 2Ch BiSS-C Encoder, RLS-LA11
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=9,HW_DESC=EL5042"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=2"
epicsEnvSet(ENC_SID,${ECMC_EC_SLAVE_NUM})
${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml, DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${DRV_SID}, ENC_SID=${ENC_SID}, ENC_CH=01"
${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlEnc.cmd, "FILE=./cfg/enc_open_loop.yaml, DEV=${IOC}, ENC_SID=${DRV_SID}"
##############################################################################
## Load safety plugin
require ecmc_plugin_safety v10.0.0_RC1
# simulate inputs and outputs in drive "ZERO" and ONE dummy-entry
epicsEnvSet(BI_SLAVE,${DRV_SID})
epicsEnvSet(BO_SLAVE,${DRV_SID})
# Create SS1 group
#- EC_RAMP_DOWN_CMD : Digital Input: Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
#- EC_AXES_AT_REST_STAT : Digital Output: Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
#- EC_AXES_LIM_VELO_CMD : Digital Input: Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
epicsEnvSet(EC_RAMP_DOWN_CMD,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.ONE.0")
epicsEnvSet(EC_AXES_AT_REST_STAT,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ZERO.0")
epicsEnvSet(EC_AXES_LIM_VELO_CMD,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ONE.1")
epicsEnvSet(SAFETY_TIMEOUT,500)
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${EC_RAMP_DOWN_CMD},EC_AXES_AT_REST_STAT=${EC_AXES_AT_REST_STAT},EC_AXES_LIM_VELO_CMD=${EC_AXES_LIM_VELO_CMD=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=0.01,VELO_MAX_LIM=0.1"

4
scripts/addAxisToSafetyGroup.cmd
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@@ -18,7 +18,7 @@
#- NAME : Name of safety group
#- 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]
#- VELO_MAX_LIM : Velocity maximum limit when EC_RED_VEL_CMD, set to -1 to disable [unit same as EGU of axis]
#-
#################################################################################
@@ -26,7 +26,7 @@
#- <name> : Name of safety group to add axis to.
#- <Axis id> : Axis index to add (ecmc axis index).
#- <velo_rest_limit> : Axis at rest velo limit [unit of axis].
#- <velo_max_limit> : Axis max velo limit [unit of axis].
#- <velo_max_limit> : Velocity maximum limit when EC_RED_VEL_CMD, set to -1 to disable [unit same as EGU of axis]
#- <filter_time> : NOT USED (for future implemenation). Time for axis to be below velo limit [ms].
ecmcAddAxisToSafetyGroup("${NAME}",${AX_ID},${VELO_REST_LIM=0},0,${VELO_MAX_LIM=0.0})

14
scripts/addSS1Group.cmd
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@@ -15,11 +15,11 @@
#-###############################################################################
#-
#- Arguments:
#- NAME : Name of safety group
#- EC_RAMP_DOWN : Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
#- EC_AXES_REST : Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
#- EC_AXES_MAX_VELO : Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
#- NAME : Name of safety group
#- EC_RAMP_DOWN_CMD : Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
#- EC_AXES_REST_STAT : Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
#- EC_AXES_LIM_VELO_CMD : Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
#-
#################################################################################
@@ -27,10 +27,10 @@
#- <name> : Name of group
#- <ec_rampdown_cmd> : Ethercat entry input for rampdown cmd
#- <ec_standstill_status> : Ethercat entry output for group standstill status
#- <ec_max_velo_cmd> : Ethercat entry input for activation of maximum velo limitation (set to "empty" to disable)
#- <ec_red_velo_cmd> : Ethercat entry input for activation of maximum velo limitation (set to "empty" to disable)
#- <time_delay_ms> : Time delay of STO [ms]
ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN}","${EC_AXES_REST}","${EC_AXES_MAX_VELO=empty}",${DELAY_MS=0})
ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN_CMD}","${EC_AXES_AT_REST_STAT}","${EC_AXES_LIM_VELO_CMD=empty}",${DELAY_MS=0})
#- Load SS1 group records
dbLoadRecords("ss1.template","P=${ECMC_PREFIX},NAME=${NAME}")

209
src/ecmcPluginSafety.c
View File

@@ -8,11 +8,14 @@
* Created on: jan 29, 2024
* Author: anderssandstrom
*
* Instructions:
* - IMPORTANT: Add "USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}" to GNUMakefile
* - All functions and ecmcPluginData struct must be declared static
\*************************************************************************/
// Needed to get headers in ecmc right...
#define ECMC_IS_PLUGIN
#define ECMC_PLUGIN_VERSION 0
#define ECMC_PLUGIN_VERSION 1
#ifdef __cplusplus
extern "C" {
@@ -31,11 +34,11 @@ static int alreadyLoaded = 0;
static int destructs_ = 0;
/** Optional.
* Will be called once after successfull load into ecmc.
* Will be called once after successful load into ecmc.
* Return value other than 0 will be considered error.
* configStr can be used for configuration parameters.
**/
int safetyConstruct(char *configStr)
static int construct(char *configStr)
{
if(alreadyLoaded) {
@@ -50,19 +53,19 @@ int safetyConstruct(char *configStr)
/** Optional function.
* Will be called once at unload.
**/
void safetyDestruct(void)
static void safetyDestruct(void)
{
destructs_ = 1;
deleteAllSafetyGroups();
}
/** Optional function.
* Will be called each realtime cycle if definded
* ecmcError: Error code of ecmc. Makes it posible for
* Will be called each realtime cycle if defined
* ecmcError: Error code of ecmc. Makes it possible for
* this plugin to react on ecmc errors
* Return value other than 0 will be considered to be an error code in ecmc.
**/
int safetyRealtime(int ecmcError)
static int safetyRealtime(int ecmcError)
{
if(destructs_) return 0;
@@ -71,10 +74,10 @@ int safetyRealtime(int ecmcError)
return 0;
}
/** Link to data source here since all sources should be availabe at this stage
/** Link to data source here since all sources should be available at this stage
* (for example ecmc PLC variables are defined only at enter of realtime)
**/
int safetyEnterRT(){
static int safetyEnterRT(){
return validate();
}
@@ -82,37 +85,12 @@ int safetyEnterRT(){
* Will be called once just before leaving realtime mode
* Return value other than 0 will be considered error.
**/
int safetyExitRT(void){
static int safetyExitRT(void){
return 0;
}
//// Plc function for clear of buffers
//double fft_clear(double index) {
// return (double)clearFFT((int)index);
//}
//
//// Plc function for enable
//double fft_enable(double index, double enable) {
// return (double)enableFFT((int)index, (int)enable);
//}
//
//// Plc function for trigg new measurement (will clear buffers)
//double fft_trigg(double index) {
// return (double)triggFFT((int)index);
//}
//
//// Plc function for enable
//double fft_mode(double index, double mode) {
// return (double)modeFFT((int)index, (FFT_MODE)((int)mode));
//}
//
//// Plc function for enable
//double fft_stat(double index) {
// return (double)statFFT((int)index);
//}
// Register data for plugin so ecmc know what to use
struct ecmcPluginData pluginDataDef = {
static struct ecmcPluginData pluginDataDef = {
// Allways use ECMC_PLUG_VERSION_MAGIC
.ifVersion = ECMC_PLUG_VERSION_MAGIC,
// Name
@@ -124,170 +102,19 @@ struct ecmcPluginData pluginDataDef = {
,
// Plugin version
.version = ECMC_PLUGIN_VERSION,
// Optional construct func, called once at load. NULL if not definded.
.constructFnc = safetyConstruct,
// Optional destruct func, called once at unload. NULL if not definded.
// Optional construct func, called once at load. NULL if not defined.
.constructFnc = construct,
// Optional destruct func, called once at unload. NULL if not defined.
.destructFnc = safetyDestruct,
// Optional func that will be called each rt cycle. NULL if not definded.
// Optional func that will be called each rt cycle. NULL if not defined.
.realtimeFnc = safetyRealtime,
// Optional func that will be called once just before enter realtime mode
.realtimeEnterFnc = safetyEnterRT,
// Optional func that will be called once just before exit realtime mode
.realtimeExitFnc = safetyExitRT,
// PLC funcs
// .funcs[0] =
// { /*----fft_clear----*/
// // Function name (this is the name you use in ecmc plc-code)
// .funcName = "fft_clear",
// // Function description
// .funcDesc = "double fft_clear(index) : Clear/reset fft[index].",
// /**
// * 7 different prototypes allowed (only doubles since reg in plc).
// * Only funcArg${argCount} func shall be assigned the rest set to NULL.
// **/
// .funcArg0 = NULL,
// .funcArg1 = fft_clear,
// .funcArg2 = NULL,
// .funcArg3 = NULL,
// .funcArg4 = NULL,
// .funcArg5 = NULL,
// .funcArg6 = NULL,
// .funcArg7 = NULL,
// .funcArg8 = NULL,
// .funcArg9 = NULL,
// .funcArg10 = NULL,
// .funcGenericObj = NULL,
// },
// .funcs[1] =
// { /*----fft_enable----*/
// // Function name (this is the name you use in ecmc plc-code)
// .funcName = "fft_enable",
// // Function description
// .funcDesc = "double fft_enable(index, enable) : Set enable for fft[index].",
// /**
// * 7 different prototypes allowed (only doubles since reg in plc).
// * Only funcArg${argCount} func shall be assigned the rest set to NULL.
// **/
// .funcArg0 = NULL,
// .funcArg1 = NULL,
// .funcArg2 = fft_enable,
// .funcArg3 = NULL,
// .funcArg4 = NULL,
// .funcArg5 = NULL,
// .funcArg6 = NULL,
// .funcArg7 = NULL,
// .funcArg8 = NULL,
// .funcArg9 = NULL,
// .funcArg10 = NULL,
// .funcGenericObj = NULL,
// },
// .funcs[2] =
// { /*----fft_trigg----*/
// // Function name (this is the name you use in ecmc plc-code)
// .funcName = "fft_trigg",
// // Function description
// .funcDesc = "double fft_trigg(index) : Trigg new measurement for fft[index]. Will clear buffers.",
// /**
// * 7 different prototypes allowed (only doubles since reg in plc).
// * Only funcArg${argCount} func shall be assigned the rest set to NULL.
// **/
// .funcArg0 = NULL,
// .funcArg1 = fft_trigg,
// .funcArg2 = NULL,
// .funcArg3 = NULL,
// .funcArg4 = NULL,
// .funcArg5 = NULL,
// .funcArg6 = NULL,
// .funcArg7 = NULL,
// .funcArg8 = NULL,
// .funcArg9 = NULL,
// .funcArg10 = NULL,
// .funcGenericObj = NULL,
// },
// .funcs[3] =
// { /*----fft_mode----*/
// // Function name (this is the name you use in ecmc plc-code)
// .funcName = "fft_mode",
// // Function description
// .funcDesc = "double fft_mode(index, mode) : Set mode Cont(1)/Trigg(2) for fft[index].",
// /**
// * 7 different prototypes allowed (only doubles since reg in plc).
// * Only funcArg${argCount} func shall be assigned the rest set to NULL.
// **/
// .funcArg0 = NULL,
// .funcArg1 = NULL,
// .funcArg2 = fft_mode,
// .funcArg3 = NULL,
// .funcArg4 = NULL,
// .funcArg5 = NULL,
// .funcArg6 = NULL,
// .funcArg7 = NULL,
// .funcArg8 = NULL,
// .funcArg9 = NULL,
// .funcArg10 = NULL,
// .funcGenericObj = NULL,
// },
// .funcs[4] =
// { /*----fft_stat----*/
// // Function name (this is the name you use in ecmc plc-code)
// .funcName = "fft_stat",
// // Function description
// .funcDesc = "double fft_stat(index) : Get status of fft (NO_STAT, IDLE, ACQ, CALC) for fft[index].",
// /**
// * 7 different prototypes allowed (only doubles since reg in plc).
// * Only funcArg${argCount} func shall be assigned the rest set to NULL.
// **/
// .funcArg0 = NULL,
// .funcArg1 = fft_stat,
// .funcArg2 = NULL,
// .funcArg3 = NULL,
// .funcArg4 = NULL,
// .funcArg5 = NULL,
// .funcArg6 = NULL,
// .funcArg7 = NULL,
// .funcArg8 = NULL,
// .funcArg9 = NULL,
// .funcArg10 = NULL,
// .funcGenericObj = NULL,
// },
.funcs[0] = {0}, // last element set all to zero..
// PLC consts
/* CONTINIOUS MODE = 1 */
// .consts[0] = {
// .constName = "fft_CONT",
// .constDesc = "FFT Mode: Continious",
// .constValue = CONT
// },
// /* TRIGGERED MODE = 2 */
// .consts[1] = {
// .constName = "fft_TRIGG",
// .constDesc = "FFT Mode :Triggered",
// .constValue = TRIGG
// },
// /* TRIGGERED MODE = 2 */
// .consts[2] = {
// .constName = "fft_NO_STAT",
// .constDesc = "FFT Status: Invalid state",
// .constValue = NO_STAT,
// },
// /* TRIGGERED MODE = 2 */
// .consts[3] = {
// .constName = "fft_IDLE",
// .constDesc = "FFT Status: Idle state (waiting for trigger)",
// .constValue = IDLE
// },
// /* TRIGGERED MODE = 2 */
// .consts[4] = {
// .constName = "fft_ACQ",
// .constDesc = "FFT Status: Acquiring data",
// .constValue = ACQ
// },
// /* TRIGGERED MODE = 2 */
// .consts[5] = {
// .constName = "fft_CALC",
// .constDesc = "FFT Status: Calculating result",
// .constValue = CALC
// },
.consts[0] = {0}, // last element set all to zero..
};

8
src/ecmcSafetyPlgWrap.h
View File

@@ -25,11 +25,11 @@ int setCfgString(const char* cfgString);
* \param[in] name Name of safety group.\n
* \param[in] ec_rampdown_cmd Name of ethercat entry for ramp down command\n
* \param[in] ec_standstill_status Name of ethercat entry all axis standstill status\n
* \param[in] time_delay_ms Timedelay between ec_rampdown_cmd going high untill STO is triggered by safety relay.\n
* \param[in] time_delay_ms Timedelay between ec_ramp-down_cmd going high until STO is triggered by safety relay.\n
*
* \return 0 if success or otherwise an error code.\n
*/
//int createSafetyGroup(name,ec_rampdown_cmd,ec_standstill_status, time_delay_ms);
//int createSafetyGroup(name,ec_ramp-down_cmd,ec_standstill_status, time_delay_ms);
/** \brief Deletes all created objects\n
*
@@ -41,8 +41,8 @@ void deleteAllSafetyGroups();
*
* This tells the safety lib to connect to ecmc to find it's data sources.\n
* This function should be called just before entering realtime since then all\n
* data sources in ecmc will be definded (plc sources are compiled just before runtime\n
* so are only fist accesible now).\n
* data sources in ecmc will be defined (plc sources are compiled just before runtime\n
* so are only fist accessible now).\n
* \return 0 if success or otherwise an error code.\n
*/
int validate();