motion/ecmc_plugin_safety
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

USe el7041 as test instead

Browse Source
This commit is contained in:
sandst_a
2024-01-31 12:27:57 +01:00
parent 108ce125a9
commit bbc018b19f
5 changed files with 6 additions and 307 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
iocsh/cfg/axis.yaml
View File

@@ -133,9 +133,9 @@ trajectory:
input:
limit:
forward: ec0.s$(DRV_SLAVE).ONE.0 # Ethercat entry for low limit switch input
forward: ec0.s$(DRV_SLAVE).driveStatus01.12 # Ethercat entry for low limit switch input
# forwardPolarity: 0 # Polarity of forward limit switch
backward: ec0.s$(DRV_SLAVE).ONE.0 # Ethercat entry for high limit switch input
backward: ec0.s$(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

204
iocsh/cfg/axis_latch.yaml
View File

@@ -1,204 +0,0 @@
macros: LIMIT=10000,TYPE=0,DRV_SLAVE=${DRV_SLAVE} # Macros for all below (evaluated before jinja linter)
axis:
id: 1 # Axis id
type: joint # this is for future selection of axis type
# mode: CSV # supported mode, CSV and CSP, defaults CSV
# parameters: 'axisPar' # additional parameters # Additional params to motor record driver
#healthOutput: ec0... # Ethercat entry for health output
# autoMode: # Switch drive modes automaticaly for normal motion and homing (smaract for instance)
# modeSet: ec0.. # Ethercat entry drive mode write (set CSV,CSP,homing)
# modeAct: ec0.. # Ethercat entry drive mode reading (set CSV,CSP,homing)
# modeCmdMotion: 9 # Drive mode value for normal motion (written to axis.drvMode.modeSet when normal motion)
# modeCmdHome: 10 # Drive mode value for when homing (written to axis.drvMode.modeSet when homing)
# features:
# blockCom: false # Block communication to axis
# allowedFunctions:
# homing: true # Allow homing
# constantVelocity: true # Allow constant velocity
# positioning: true # Allow positioning
epics:
name: Axis1 # Axis anme
precision: 3 # Decimal count
description: very important motor axis # Axis description
unit: mm # Unit
# motorRecord:
# enable: true
# description: This is MR
# fieldInit: 'RRES=1.0,RTRY=2,RMOD=1,UEIP=0,RDBD=0.1,URIP=1,RDBL=$(IOC):$(ECMC_MOTOR_NAME)-PosActSim' # Extra config for Motor record
drive:
numerator: 3600 # Fastest speed in engineering units
denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
# type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
control: ec0.s$(DRV_SLAVE).driveControl01 # Control word ethercat entry
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)
encoder:
numerator: 360 # Scaling numerator example 360 deg/rev
denominator: 12800 # 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$(DRV_SLAVE).encoderStatus01 # mandatory only if 'warning' or 'error' are used
# ready: 10 # Bit in encoder status word for encoder ready
# source: 0 # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC
# reset: 1 # Reset (optional)
# warning: 2 # Warning (optional)
# error: # max 3 (optional)
# - 5 # Error 0
# - 9 # Error 1
# - 11 # Error 2
# filter:
# velocity:
# size: 100 # Filter size for velocity
# enable: true # enable velocity filter
# position:
# size: 100 # Filter size for encoder value
# enable: true # enable encoder value filter
latch:
position: 'ec0.s$(DRV_SLAVE).encoderLatchPostion01' # 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: 12 # 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 reading drive internal homing seq ready (seq id 26)
latchCount: 1
controller:
Kp: 1 # Kp proportinal gain
Ki: 0.02 # Ki integral gain
Kd: 0 # Kd derivative gain
# 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
trajectory:
# type: 1 # Default 0 = trapetz, 1 = S-curve (ruckig)
axis:
velocity: 100 # Default velo for axis
acceleration: 100 # Default acc for axis
deceleration: 100 # Default dec for axis
# emergencyDeceleration: 0.05 # 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
input:
limit:
forward: ec0.s$(DRV_SLAVE).ONE.0 # Ethercat entry for low limit switch input
# forwardPolarity: 0 # Polarity of forward limit switch
backward: ec0.s$(DRV_SLAVE).ONE.0 # 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
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
monitoring:
lag:
enable: true # Enable position lag monitoring (following error)
tolerance: 2 # Allowed tolerance
time: 10 # Allowed time outside tolerance target:
enable: false # Enable at target monitoring (needs to be enabled if using motor record)
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
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
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

93
iocsh/cfg/el7031.ax
View File

@@ -1,93 +0,0 @@
#General
epicsEnvSet("ECMC_MOTOR_NAME", "Axis1")
epicsEnvSet("ECMC_R", "Axis1-")
epicsEnvSet("ECMC_AXIS_NO", "1")
epicsEnvSet("ECMC_DESC", "Test EL7037")
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 is larger than 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" "0") # Type: 0=Incremental, 1=Absolute
epicsEnvSet("ECMC_ENC_BITS" "16") # Total bit count of encoder raw data
epicsEnvSet("ECMC_ENC_ABS_BITS", "0") # 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$(DRV_ID).positionActual01") # Ethercat entry for actual position input (encoder)
epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset (if no encoder reset bit then leave empty)
epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 (if no encoder error bit then leave empty)
epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 (if no encoder error bit then leave empty)
epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 (if no encoder error bit then leave empty)
epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning (if no encoder warning bit then leave empty)
#Drive
epicsEnvSet("ECMC_DRV_TYPE" "0") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
epicsEnvSet("ECMC_DRV_SCALE_NUM" "3600") # Fastest speed in engineering units
epicsEnvSet("ECMC_DRV_SCALE_DENOM" "32768") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s$(DRV_ID).driveControl01.0") # Ethercat entry for control word or bit output
epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s$(DRV_ID).driveStatus01.1") # Ethercat entry for status word or bit input
epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s$(DRV_ID).velocitySetpoint01") # Ethercat entry for velocity setpoint output
epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "ec0.s$(DRV_ID).driveControl01.2") # Ethercat entry for reduce torque output
epicsEnvSet("ECMC_EC_DRV_BRAKE", "ec0.s$(DO_ID).binaryOutput01.0") # Ethercat entry for brake output
epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "1000") # Brake timing parameter in cycles (default 1kHz)
epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "2000") # Brake timing parameter in cycles (default 1kHz)
epicsEnvSet("ECMC_EC_DRV_RESET", "ec0.s$(DRV_ID).driveControl01.1") # Reset
epicsEnvSet("ECMC_EC_DRV_ALARM_0", "ec0.s$(DRV_ID).driveStatus01.3") # Error
epicsEnvSet("ECMC_EC_DRV_ALARM_1", "ec0.s$(DRV_ID).driveStatus01.7") # Stall
epicsEnvSet("ECMC_EC_DRV_ALARM_2", "ec0.s$(DRV_ID).driveStatus01.14") # Sync error
epicsEnvSet("ECMC_EC_DRV_WARNING", "ec0.s$(DRV_ID).driveStatus01.2") # Warning
#Trajectory
epicsEnvSet("ECMC_VELO", "360.0")
epicsEnvSet("ECMC_JOG_VEL", "360.0")
epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL
epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "360")
epicsEnvSet("ECMC_EMERG_DECEL", "1000") # Emergency deceleration
#Homing
epicsEnvSet("ECMC_HOME_PROC", "1")
epicsEnvSet("ECMC_HOME_POS", "0.0")
epicsEnvSet("ECMC_HOME_VEL_TO", "5")
epicsEnvSet("ECMC_HOME_VEL_FRM", "4")
epicsEnvSet("ECMC_HOME_ACC", "21")
epicsEnvSet("ECMC_HOME_DEC", "100")
epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "0") # Enable move to position after successfull homing
epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","0") # Target position to go to after successfull homing
#Controller
epicsEnvSet("ECMC_CNTRL_KP", "5.0")
epicsEnvSet("ECMC_CNTRL_KI", "0.02")
epicsEnvSet("ECMC_CNTRL_KD", "0.0")
epicsEnvSet("ECMC_CNTRL_KFF", "1.0")
#Monitoring
# Switches
epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s$(DRV_ID).ONE.0") # Ethercat entry for low limit switch input
epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s$(DRV_ID).ONE.0") # Ethercat entry for high limit switch inpuit
epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s$(DRV_ID).ONE.0") # Ethercat entry for home switch input
epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s$(DRV_ID).ONE.0") # Ethercat entry for external interlock input
# Softlimits (disable with 0,0,0)
epicsEnvSet("ECMC_SOFT_LOW_LIM", "$(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", "0.1")
epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100")
epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1")
# Velocity
epicsEnvSet("ECMC_MON_VELO_MAX", "21000.0")
epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100")
epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200")
epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "0")

10
iocsh/el7031.script → iocsh/el7042-0052.script
View File

@@ -10,17 +10,13 @@ require ecmccomp sandst_a
##############################################################################
## Configure hardware
epicsEnvSet("DRV_SLAVE", "4")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7031"
#- Apply motor config with some custom macros
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'"
epicsEnvSet("ENC_SLAVE", "14")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
#- Apply motor config with some custom macros
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-BISS-C"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit"
#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"

2
src/ecmcSafetyGroup.cpp
View File

@@ -185,7 +185,7 @@ void ecmcSafetyGroup::validateCfgs() {
slaveIdRampDown_,
aliasRampDown_,
bitRampDown_);
printf("\n");
printf("Safety: I/O link parsed:\n"
" name: %s\n"
" masterid: %d\n"