Compare commits
16 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
| 48c6070a62 | |||
| dd1b229322 | |||
| 10d5b1deb7 | |||
| f68a2602d5 | |||
| ed84fa26e3 | |||
| 8f3a9d5b59 | |||
| 0eb4a8032e | |||
| f9cf3e1fe2 | |||
| 68210c6e40 | |||
| c7a147b219 | |||
| 7f28d95db4 | |||
| 0d22b4f935 | |||
| 19a46aa738 | |||
| added6a7cd | |||
| 611dce9c7a | |||
| 72c4bf0697 |
@@ -43,5 +43,5 @@ HEADERS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.h))
|
||||
DBDS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.dbd))
|
||||
SCRIPTS += $(BASE_DIR)/startup.cmd
|
||||
SCRIPTS += $(BASE_DIR)/scripts/addSS1Group.cmd
|
||||
SCRIPTS += $(BASE_DIR)/scripts/addAxisToGroup.cmd
|
||||
SCRIPTS += $(BASE_DIR)/scripts/addAxisToSafetyGroup.cmd
|
||||
TEMPLATES += $(wildcard $(DB_DIR)/*.template)
|
||||
|
||||
48
README.md
48
README.md
@@ -18,11 +18,12 @@ The plugin supports stopping axes according to a concept described as SS1-t, see
|
||||
Basically the safey system is interfaced with two binary signals (ethercat I/O):
|
||||
* Ramp down command (from safety system to ecmc)
|
||||
* Axis stand still status (to safety system from ecmc)
|
||||
|
||||
If, for instance, an safety event is triggerd by the safety system, it will immediately command this plugin to rampdown velocity of all axes (that a configured to stop). When all axes, that are configured to rampdown, have stopped then this plugin will disable the axes and set an ethercat output informing the safety system that the axes are standstill. After a certain timout the safety system will make sure power is removed from the motion axes by triggering an STO or removing power. The removal of power or triggering of STO will made regardless if the axes are at rest or not. A reset of the safety system, allowing power to the drives, will only be possible once the safety system gets a confirmation that all axes are at rest.
|
||||
|
||||
The configuration is made by two commands:
|
||||
1. ecmcAddSS1SafetyGroup()
|
||||
2. ecmcAddAxisToSafetyGroup()
|
||||
1. ecmcAddSS1SafetyGroup() wrapped into addSS1Group.cmd
|
||||
2. ecmcAddAxisToSafetyGroup() wrapped in snippet addAxisToSafetyGroup.cmd
|
||||
|
||||
## ecmcAddSS1SafetyGroup()
|
||||
|
||||
@@ -37,9 +38,21 @@ ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<time_de
|
||||
Each group is interfacing the safety system through the same I/O (ethercat).
|
||||
Axes that needs the SS1 fucntionality can be added to this group with the ecmcAddAxisToSafetyGroup() command.
|
||||
|
||||
This command is also wrapped in a snippet:
|
||||
* addSS1Group.cmd
|
||||
This command is also wrapped in a snippet addSS1Group.cmd with the follwoing parameters:
|
||||
* NAME : Name of group
|
||||
* EC_RAMP_DOWN : Ethercat input of ramp down signal from safety PLC
|
||||
* EC_AXES_STANDSTILL : Ethercat output for signaling safetysystem that all axes are at rest.
|
||||
* DELAY_MS : Safety system delay time of STO or removal of power
|
||||
|
||||
Example:
|
||||
```
|
||||
# Create SS1 group
|
||||
epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
|
||||
epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
|
||||
epicsEnvSet(SAFETY_TIMEOUT,500)
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_STANDSTILL=${EC_AXES_STANDSTILL},DELAY_MS=${SAFETY_TIMEOUT}"
|
||||
|
||||
```
|
||||
## ecmcAddAxisToSafetyGroup()
|
||||
With the "ecmcAddAxisToSafetyGroup()" command an ecmc axis can be added to a safety group.
|
||||
All axes linked to a certain group will act on command from the safety system (initiation of velocity rampdown).
|
||||
@@ -56,8 +69,15 @@ Note: The "filter_time" parameter is not used right now. As soon as the axis is
|
||||
|
||||
Note: The plugin checks the trajectory generated velocity setpoint and not the actual velocity.
|
||||
|
||||
This command is also wrapped in a snippet:
|
||||
* addAxisToGroup.cmd
|
||||
This command is also wrapped in a snippet addAxisToSafetyGroup.cmd with the following parameters:
|
||||
* NAME : Name of group to add axis to (group must be created first with addSS1Group.cmd)
|
||||
* AX_ID : ecmc axis index of axis to add
|
||||
* VELO_LIM : Velocity limit [EGU of axis], default 0. If setpoint and actual velocity is lower or equal than VELO_LIM the axis is considered to be at rest
|
||||
|
||||
Example:
|
||||
```
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
|
||||
```
|
||||
|
||||
# Example of startup script:
|
||||
```
|
||||
@@ -72,8 +92,18 @@ epicsEnvSet(STANDSTILL_STAT,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1")
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${RAMP_DOWN_CMD},EC_STANDSTILL_STAT=${STANDSTILL_STAT},DELAY_MS=500"
|
||||
|
||||
# Add axes to group "first"
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=2,VELO_LIM=1"
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=3,VELO_LIM=1"
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd.cmd "NAME=first,AX_ID=2,VELO_LIM=1"
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd.cmd "NAME=first,AX_ID=3,VELO_LIM=1"
|
||||
....
|
||||
```
|
||||
|
||||
# Test
|
||||
Triggering of e-stop:
|
||||
* Velo 500mm/s
|
||||
* Stop ramp 1200mm/s/s
|
||||
|
||||
[Test data](docs/data_log.txt)
|
||||
|
||||
|
||||
|
||||
|
||||
425
docs/data_log.txt
Normal file
425
docs/data_log.txt
Normal file
@@ -0,0 +1,425 @@
|
||||
c6025a:m0s006-BI08 2024-02-28 12:07:05.294742 1
|
||||
c6025a:m0s005-BO07 2024-02-28 12:07:05.294742 1
|
||||
c6025a:Axis1-EnaAct 2024-02-28 12:07:05.294742 0
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:05.294742 0
|
||||
c6025a:Axis1-EnaAct 2024-02-28 12:07:05.294742 1
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.894679 0.28125
|
||||
c6025a:m0s005-BO07 2024-02-28 12:07:06.894708 0
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.904782 0.5625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.914794 1.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.924633 1.96875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.934677 2.8125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.944878 3.9375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.954778 5.34375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.964832 6.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.974675 8.4375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.984744 10.4063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:06.994771 12.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.004719 14.3438
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.014668 16.3125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.024860 18.2812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.034780 20.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.044877 22.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.054717 24.4688
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.064741 26.4375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.074748 28.6875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.084629 30.6563
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.094523 32.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.104632 34.5937
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.114639 36.5625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.124609 38.5313
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.134548 40.7812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.144687 42.4687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.154661 44.7187
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.164621 46.9687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.174524 48.6562
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.184630 50.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.194575 52.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.204647 54.8437
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.214532 57.0937
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.224681 59.0625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.234638 61.0313
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.244621 63
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.254531 64.9688
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.264625 66.9375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.274624 69.1875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.284604 71.1562
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.294620 73.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.304609 75.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.314694 77.0625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.324532 79.3125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.334747 81.2813
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.344719 83.5313
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.354545 85.2187
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.364593 87.4687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.374513 89.4375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.384706 91.4062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.394533 93.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.404724 95.3438
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.414536 97.5938
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.424718 99.2812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.434576 101.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.444675 103.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.454711 105.469
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.464727 107.438
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.474662 109.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.484694 111.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.494580 113.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.504554 115.594
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.514593 117.562
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.524542 119.812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.534518 121.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.544705 123.469
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.554553 125.719
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.564548 127.687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.574571 129.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.584575 131.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.594579 133.594
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.604569 135.563
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.614496 137.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.624543 139.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.634565 141.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.644578 143.719
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.654534 145.687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.664575 147.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.674540 149.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.684578 151.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.694520 153.563
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.704569 155.812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.714592 157.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.724494 159.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.734526 161.719
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.744597 163.688
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.754577 165.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.764576 167.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.774517 169.594
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.784631 171.281
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.794569 173.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.804553 175.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.814502 177.469
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.824549 179.437
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.834559 181.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.844593 183.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.854506 185.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.864635 187.312
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.874661 189.563
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.884596 191.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.894512 193.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.904671 195.188
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.914657 197.156
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.924587 199.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.934617 201.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.944662 203.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.954738 205.031
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.964674 207.281
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.974606 208.969
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.984655 211.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.994602 212.906
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.004556 215.156
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.014613 217.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.024574 218.812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.034573 221.063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.044554 223.031
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.054509 225.281
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.064582 226.969
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.074572 228.937
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.084616 230.906
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.094522 232.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.104545 234.844
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.114632 236.812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.124551 239.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.134601 240.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.144662 242.719
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.154610 244.688
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.164547 246.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.174630 248.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.184625 250.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.194636 252.844
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.204622 254.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.214551 256.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.224561 258.469
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.234632 260.719
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.244638 262.969
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.254549 264.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.264547 266.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.274631 268.594
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.284625 270.281
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.294527 272.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.304614 274.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.314635 276.469
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.324638 278.438
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.334528 280.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.344631 282.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.354587 284.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.364635 286.594
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.374554 288.562
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.384685 290.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.394625 292.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.404630 294.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.414552 296.719
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.424636 298.969
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.434677 300.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.444640 302.906
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.454526 304.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.464783 306.844
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.474788 309.094
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.484778 311.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.494686 312.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.504781 315
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.514644 316.969
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.524646 318.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.534652 321.188
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.544703 322.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.554719 324.844
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.564640 327.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.574526 329.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.584638 330.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.594675 333.281
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.604566 335.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.614530 337.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.624670 339.187
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.634730 340.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.644675 343.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.654589 345.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.664629 347.063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.674658 349.031
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.684631 351.281
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.694558 353.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.704666 355.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.714633 356.906
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.724594 359.438
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.734569 361.687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.744528 363.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.754723 365.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.764646 367.312
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.774660 369.281
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.784783 371.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.794773 373.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.804756 375.188
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.814574 377.719
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.824743 379.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.834760 381.094
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.844610 383.063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.854743 385.594
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.864865 387.281
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.874783 389.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.884777 391.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.894662 393.188
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.904839 395.437
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.914789 397.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.924780 399.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.934554 401.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.944572 403.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.954670 405.281
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.964716 407.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.974672 408.937
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.984756 411.188
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:08.994706 413.438
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.004777 415.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.014692 417.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.024787 419.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.034704 421.312
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.044693 423
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.054529 425.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.064598 427.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.074568 429.469
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.084623 430.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.094540 433.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.104589 435.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.114614 437.063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.124543 439.312
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.134559 441.562
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.144724 443.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.154719 445.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.164719 447.188
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.174616 449.437
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.184700 451.688
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.194669 453.094
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.204819 455.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.214639 457.594
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.224767 459.281
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.234744 461.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.244766 463.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.254707 465.188
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.264731 467.156
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.274712 469.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.284713 471.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.294630 473.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.304679 474.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.314716 477
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.324576 478.687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.334664 481.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.344739 483.187
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.354767 484.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.364750 487.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.374593 489.094
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.384798 491.063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.394769 493.313
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.404718 494.719
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.414746 496.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.424742 497.812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.434777 498.094
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.444781 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.454631 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.464793 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.474788 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.484871 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.494809 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.524798 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.544762 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.564858 500.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.574713 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.594788 500.063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.605067 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.614688 500.063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.624776 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.644627 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.654623 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.664624 500.063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.674660 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.684688 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.694677 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.704654 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.714659 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.724708 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.734636 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.744752 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.764665 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.774628 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.784686 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.794617 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.834628 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.844649 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.854550 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.864618 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.874694 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.884521 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.894502 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.904675 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.914546 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.934575 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.944676 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.954656 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.964621 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.974529 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.984651 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:09.994613 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.004640 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.014519 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.024644 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.034712 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.044862 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.054593 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.064688 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.074866 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.084742 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.094637 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.104632 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.114668 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.124553 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.134645 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.144672 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.154658 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.164493 499.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.174558 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.184658 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.194675 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.204634 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.214565 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.224550 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.234716 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.244661 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.264668 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.284644 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.294536 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.304630 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.314639 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.324658 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.334527 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.344702 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.354650 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.364544 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.384659 499.5
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.394639 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.414495 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.424640 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.434609 500.063
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.444591 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.454518 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.464662 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.474641 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.484634 500.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.494591 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.524641 500.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.534561 500.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.544647 499.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.554678 500.344
|
||||
c6025a:m0s006-BI08 2024-02-28 12:07:10.574556 0
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.584617 500.062
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.594646 498.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.604644 496.687
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.614528 493.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.624638 489.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.634658 484.031
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.644652 478.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.654683 470.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.664770 462.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.674767 453.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.684621 443.531
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.694674 433.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.704723 423
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.714780 412.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.724635 402.75
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.734512 392.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.744636 382.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.754596 372.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.764606 362.812
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.774654 352.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.784561 342
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.794658 332.156
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.804674 322.312
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.814531 311.906
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.824686 301.781
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.834649 291.656
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.844586 281.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.854558 271.406
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.864770 261
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.874783 251.156
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.884754 241.031
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.894669 230.625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.904844 220.219
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.914783 210.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.924773 200.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.934565 190.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.944765 180
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.954775 169.875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.964800 159.469
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.974678 149.344
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.984575 138.938
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:10.994651 129.094
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.004591 118.969
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.014573 108.844
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.024572 98.7187
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.034612 88.5938
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.044612 78.1875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.054502 68.0625
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.064659 58.2187
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.074643 48.0937
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.084611 38.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.094559 29.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.104667 21.375
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.114636 14.3437
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.124627 9
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.134527 4.78125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.144553 1.6875
|
||||
c6025a:Axis1-EnaAct 2024-02-28 12:07:11.154581 0
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.154623 -0.5625
|
||||
c6025a:m0s005-BO07 2024-02-28 12:07:11.154636 1
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.164637 -1.96875
|
||||
c6025a:m0s005-BO07 2024-02-28 12:07:11.164653 0
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.174543 -2.25
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.184536 -1.6875
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.194595 -1.125
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.204578 -0.5625
|
||||
c6025a:m0s005-BO07 2024-02-28 12:07:11.204628 1
|
||||
c6025a:Axis1-VelAct 2024-02-28 12:07:11.214568 0
|
||||
BIN
docs/digital.png
Normal file
BIN
docs/digital.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 141 KiB |
BIN
docs/velo.png
Normal file
BIN
docs/velo.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 65 KiB |
@@ -123,7 +123,7 @@ trajectory:
|
||||
velocity: 500 # Default velo for axis
|
||||
acceleration: 200 # Default acc for axis
|
||||
deceleration: 200 # Default dec for axis
|
||||
emergencyDeceleration: 1000 # Deceleration when axis in error state
|
||||
emergencyDeceleration: 1200 # Deceleration when axis in error state
|
||||
jerk: 10 # Default jerk for axis
|
||||
jog:
|
||||
velocity: 5 # Default velo fro JOG (motor record)
|
||||
|
||||
22
iocsh/readme.md
Normal file
22
iocsh/readme.md
Normal file
@@ -0,0 +1,22 @@
|
||||
# Start IOC
|
||||
```
|
||||
sudo iocsh test_4ax_box.script
|
||||
```
|
||||
|
||||
# Collect data
|
||||
```
|
||||
camon -d -t -nostat -nounit -int c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct c6025a:Axis1-VelAct
|
||||
|
||||
# for classic camonitor format:
|
||||
/usr/local/epics/base-7.0.7/bin/RHEL8-x86_64/camonitor -n c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct c6025a:Axis1-VelAct
|
||||
```
|
||||
# Plot
|
||||
```
|
||||
Must be in "classic" camonitor format to use plotCaMonitor.py
|
||||
|
||||
Velo:
|
||||
cat data_log.txt | grep Vel | python3 ~/myhome/sources/ecmccomgui/pyDataManip/plotCaMonitor.py
|
||||
|
||||
Digital:
|
||||
cat data_log.txt | grep -v Vel | python3 ~/myhome/sources/ecmccomgui/pyDataManip/plotCaMonitor.py
|
||||
```
|
||||
@@ -12,7 +12,7 @@
|
||||
##
|
||||
|
||||
epicsEnvSet(IOC,c6025a)
|
||||
require ecmccfg v9.0.1_RC4,"ECMC_VER=v9.0.1_RC4,ENG_MODE=1"
|
||||
require ecmccfg "ENG_MODE=1"
|
||||
|
||||
##############################################################################
|
||||
## Load components lib
|
||||
@@ -48,15 +48,15 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml,LIMIT=1
|
||||
##############################################################################
|
||||
## Load safety plugin
|
||||
#
|
||||
require ecmc_plugin_safety v9.0.1_RC4
|
||||
require ecmc_plugin_safety
|
||||
|
||||
# Create SS1 group
|
||||
epicsEnvSet(RAMP_DOWN_CMD,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0")
|
||||
epicsEnvSet(STANDSTILL_STAT,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1")
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${RAMP_DOWN_CMD},EC_STANDSTILL_STAT=${STANDSTILL_STAT},DELAY_MS=500"
|
||||
epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0")
|
||||
epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1")
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_STANDSTILL=${EC_AXES_STANDSTILL},DELAY_MS=500"
|
||||
|
||||
#- Add axis
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
|
||||
|
||||
##############################################################################
|
||||
## Configure diagnostics:
|
||||
|
||||
78
iocsh/test_4ax_box.script
Normal file
78
iocsh/test_4ax_box.script
Normal file
@@ -0,0 +1,78 @@
|
||||
##############################################################################
|
||||
## 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
|
||||
##
|
||||
|
||||
epicsEnvSet(IOC,c6025a)
|
||||
require ecmccfg "ENG_MODE=1"
|
||||
|
||||
##############################################################################
|
||||
## Load components lib
|
||||
#
|
||||
require ecmccomp
|
||||
|
||||
##############################################################################
|
||||
## Configure hardware
|
||||
|
||||
epicsEnvSet("DRV_SLAVE", "7")
|
||||
${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", "2")
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
|
||||
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C"
|
||||
|
||||
epicsEnvSet("BO_SLAVE", "5")
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SLAVE), HW_DESC=EL2008"
|
||||
# This hardware box need to set BO6 to get power
|
||||
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${BO_SLAVE},binaryOutput06,1)"
|
||||
|
||||
epicsEnvSet("BI_SLAVE", "6")
|
||||
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BI_SLAVE), HW_DESC=EL1008"
|
||||
|
||||
#Apply hardware configuration
|
||||
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
|
||||
|
||||
##############################################################################
|
||||
## AXIS 1
|
||||
#
|
||||
epicsEnvSet("DEV", "$(IOC)")
|
||||
epicsEnvSet("PLC_PATH", "/ioc/c6025a5a/ecmccfg/examples/test/ecmccomp/plc/")
|
||||
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"
|
||||
|
||||
##############################################################################
|
||||
## Load safety plugin
|
||||
#
|
||||
require ecmc_plugin_safety
|
||||
|
||||
# Create SS1 group
|
||||
epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
|
||||
epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
|
||||
epicsEnvSet(SAFETY_TIMEOUT,500)
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_STANDSTILL=${EC_AXES_STANDSTILL},DELAY_MS=${SAFETY_TIMEOUT}"
|
||||
|
||||
#- Add axis
|
||||
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
|
||||
|
||||
##############################################################################
|
||||
## Configure diagnostics:
|
||||
#
|
||||
ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
|
||||
ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
|
||||
ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
|
||||
ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)"
|
||||
ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)"
|
||||
ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
|
||||
|
||||
##############################################################################
|
||||
## go active
|
||||
#
|
||||
$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
|
||||
@@ -1,6 +1,6 @@
|
||||
|
||||
#==============================================================================
|
||||
# addAxisToGroup.cmd
|
||||
# addAxisToSafetyGroup.cmd
|
||||
#-
|
||||
#- !!!!!!!!!!!!! IMPORTANT !!!!!!!!!
|
||||
#- This plugin has _NO_ safety rated functionalities.
|
||||
@@ -403,12 +403,20 @@ bool ecmcSS1SafetyGroup::checkAxesStandstill() {
|
||||
|
||||
// Check standstill axis
|
||||
bool ecmcSS1SafetyGroup::checkAxisStandstill(safetyAxis* axis) {
|
||||
double velo = 1;
|
||||
int err = getAxisTrajVelo(axis->axisId_, &velo);
|
||||
double traj = 1;
|
||||
|
||||
int err = getAxisTrajVelo(axis->axisId_, &traj);
|
||||
if(err) {
|
||||
return 0;
|
||||
}
|
||||
return std::abs(velo) <= axis->veloLimit_;
|
||||
|
||||
double enc = 1;
|
||||
err = getAxisEncVelo(axis->axisId_, &enc);
|
||||
if(err) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
return std::abs(traj) <= axis->veloLimit_ && std::abs(enc) <= axis->veloLimit_;
|
||||
}
|
||||
|
||||
// Check standstill and disable
|
||||
@@ -469,7 +477,8 @@ void ecmcSS1SafetyGroup::addAxis(int axisId, double veloLimit,int standStillTime
|
||||
|
||||
|
||||
if(cfgDbgMode_) {
|
||||
printf("Safety %s: Added axis %d to safety group\n",sName_,axisId);
|
||||
printf("Safety %s: Added axis %d to safety group (velo limit = %lf, standstill filter : %d)\n"
|
||||
,sName_,axisId,veloLimit,standStillTimeMs);
|
||||
}
|
||||
|
||||
return;
|
||||
|
||||
Reference in New Issue
Block a user