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

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sandst_a
2024-03-11 10:03:20 +01:00
parent fec9293520 1c051995c3
commit a5c2b5a4b3
2 changed files with 7 additions and 11 deletions
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8
iocsh/cfg/axis.yaml
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@@ -1,10 +1,8 @@
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
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)
@@ -174,8 +172,8 @@ monitoring:
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
enable: true # Enable velocity monitoring
max: 1000 # 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

10
iocsh/test.script
View File

@@ -12,16 +12,13 @@
##
epicsEnvSet(IOC,c6025a)
require ecmccfg "ENG_MODE=1"
require ecmccfg safety2 "ECMC_VER=safety2_v7.0.9ESS,ENG_MODE=1"
##############################################################################
## Load components lib
#
require ecmccomp
##############################################################################
## Configure hardware
epicsEnvSet("DRV_SLAVE", "13")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7041-0052"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_STDBY_MA=200,I_MAX_MA=1000,R_COIL_MOHM=1700'"
@@ -43,12 +40,13 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml,LIMIT=1
##############################################################################
## PLC 1
#
#-${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlPlc.cmd, "FILE=./plc/plc_cfg.yaml,LIMIT=5000,TYPE=1"
epicsEnvSet(PLC_PATH,"./plc/")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlPlc.cmd, "FILE=./plc/plc_cfg.yaml,LIMIT=5000,TYPE=1"
##############################################################################
## Load safety plugin
#
require ecmc_plugin_safety
require ecmc_plugin_safety safety2_v7.0.9ESS
# Create SS1 group
epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0")