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18 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
| fec9293520 | |||
| 9bd3a2b124 | |||
| 48c6070a62 | |||
| dd1b229322 | |||
| 10d5b1deb7 | |||
| f68a2602d5 | |||
| ed84fa26e3 | |||
| 8f3a9d5b59 | |||
| 0eb4a8032e | |||
| f9cf3e1fe2 | |||
| 68210c6e40 | |||
| c7a147b219 | |||
| 7f28d95db4 | |||
| 0d22b4f935 | |||
| 19a46aa738 | |||
| added6a7cd | |||
| 611dce9c7a | |||
| 72c4bf0697 |
@@ -16,9 +16,7 @@ OPT_CXXFLAGS_YES = -O3
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# dependencies
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ECmasterECMC_VERSION = v1.1.0
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# motorECMC_VERSION = 7.0.7-ESS
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#ecmc_VERSION = v9.0.1_RC4
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ecmc_VERSION = 9.1.0
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ecmc_VERSION = 9.2.0
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################################################################################
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# THIS RELATES TO THE EtherCAT MASTER LIBRARY
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@@ -43,5 +41,5 @@ HEADERS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.h))
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DBDS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.dbd))
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SCRIPTS += $(BASE_DIR)/startup.cmd
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SCRIPTS += $(BASE_DIR)/scripts/addSS1Group.cmd
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SCRIPTS += $(BASE_DIR)/scripts/addAxisToGroup.cmd
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SCRIPTS += $(BASE_DIR)/scripts/addAxisToSafetyGroup.cmd
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TEMPLATES += $(wildcard $(DB_DIR)/*.template)
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48
README.md
48
README.md
@@ -18,11 +18,12 @@ The plugin supports stopping axes according to a concept described as SS1-t, see
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Basically the safey system is interfaced with two binary signals (ethercat I/O):
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* Ramp down command (from safety system to ecmc)
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* Axis stand still status (to safety system from ecmc)
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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.
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The configuration is made by two commands:
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1. ecmcAddSS1SafetyGroup()
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2. ecmcAddAxisToSafetyGroup()
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1. ecmcAddSS1SafetyGroup() wrapped into addSS1Group.cmd
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2. ecmcAddAxisToSafetyGroup() wrapped in snippet addAxisToSafetyGroup.cmd
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## ecmcAddSS1SafetyGroup()
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@@ -37,9 +38,21 @@ ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<time_de
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Each group is interfacing the safety system through the same I/O (ethercat).
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Axes that needs the SS1 fucntionality can be added to this group with the ecmcAddAxisToSafetyGroup() command.
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This command is also wrapped in a snippet:
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* addSS1Group.cmd
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This command is also wrapped in a snippet addSS1Group.cmd with the follwoing parameters:
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* NAME : Name of group
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* EC_RAMP_DOWN : Ethercat input of ramp down signal from safety PLC
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* EC_AXES_STANDSTILL : Ethercat output for signaling safetysystem that all axes are at rest.
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* DELAY_MS : Safety system delay time of STO or removal of power
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Example:
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```
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# Create SS1 group
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epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
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epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
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epicsEnvSet(SAFETY_TIMEOUT,500)
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${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}"
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```
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## ecmcAddAxisToSafetyGroup()
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With the "ecmcAddAxisToSafetyGroup()" command an ecmc axis can be added to a safety group.
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All axes linked to a certain group will act on command from the safety system (initiation of velocity rampdown).
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@@ -56,8 +69,15 @@ Note: The "filter_time" parameter is not used right now. As soon as the axis is
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Note: The plugin checks the trajectory generated velocity setpoint and not the actual velocity.
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This command is also wrapped in a snippet:
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* addAxisToGroup.cmd
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This command is also wrapped in a snippet addAxisToSafetyGroup.cmd with the following parameters:
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* NAME : Name of group to add axis to (group must be created first with addSS1Group.cmd)
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* AX_ID : ecmc axis index of axis to add
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* 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
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Example:
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```
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
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```
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# Example of startup script:
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```
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@@ -72,8 +92,18 @@ epicsEnvSet(STANDSTILL_STAT,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1")
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${RAMP_DOWN_CMD},EC_STANDSTILL_STAT=${STANDSTILL_STAT},DELAY_MS=500"
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# Add axes to group "first"
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=2,VELO_LIM=1"
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=3,VELO_LIM=1"
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd.cmd "NAME=first,AX_ID=2,VELO_LIM=1"
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd.cmd "NAME=first,AX_ID=3,VELO_LIM=1"
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....
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```
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# Test
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Triggering of e-stop:
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* Velo 500mm/s
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* Stop ramp 1200mm/s/s
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[Test data](docs/data_log.txt)
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425
docs/data_log.txt
Normal file
425
docs/data_log.txt
Normal file
@@ -0,0 +1,425 @@
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c6025a:m0s006-BI08 2024-02-28 12:07:05.294742 1
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c6025a:m0s005-BO07 2024-02-28 12:07:05.294742 1
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c6025a:Axis1-EnaAct 2024-02-28 12:07:05.294742 0
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c6025a:Axis1-VelAct 2024-02-28 12:07:05.294742 0
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c6025a:Axis1-EnaAct 2024-02-28 12:07:05.294742 1
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c6025a:Axis1-VelAct 2024-02-28 12:07:06.894679 0.28125
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c6025a:m0s005-BO07 2024-02-28 12:07:06.894708 0
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c6025a:Axis1-VelAct 2024-02-28 12:07:06.904782 0.5625
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c6025a:Axis1-VelAct 2024-02-28 12:07:06.914794 1.125
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c6025a:Axis1-VelAct 2024-02-28 12:07:06.924633 1.96875
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c6025a:Axis1-VelAct 2024-02-28 12:07:06.934677 2.8125
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c6025a:Axis1-VelAct 2024-02-28 12:07:06.944878 3.9375
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c6025a:Axis1-VelAct 2024-02-28 12:07:06.954778 5.34375
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c6025a:Axis1-VelAct 2024-02-28 12:07:06.964832 6.75
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c6025a:Axis1-VelAct 2024-02-28 12:07:06.974675 8.4375
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c6025a:Axis1-VelAct 2024-02-28 12:07:06.984744 10.4063
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c6025a:Axis1-VelAct 2024-02-28 12:07:06.994771 12.375
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.004719 14.3438
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.014668 16.3125
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.024860 18.2812
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.034780 20.25
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.044877 22.5
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.054717 24.4688
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.064741 26.4375
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.074748 28.6875
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.084629 30.6563
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.094523 32.625
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.104632 34.5937
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.114639 36.5625
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.124609 38.5313
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.134548 40.7812
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.144687 42.4687
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.154661 44.7187
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.164621 46.9687
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.174524 48.6562
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.184630 50.625
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c6025a:Axis1-VelAct 2024-02-28 12:07:07.194575 52.875
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.204647 54.8437
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.214532 57.0937
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.224681 59.0625
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.234638 61.0313
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.244621 63
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.254531 64.9688
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.264625 66.9375
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.274624 69.1875
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.284604 71.1562
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.294620 73.125
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.304609 75.375
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.314694 77.0625
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.324532 79.3125
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.334747 81.2813
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.344719 83.5313
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.354545 85.2187
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||||
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
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||||
c6025a:Axis1-VelAct 2024-02-28 12:07:07.394533 93.375
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||||
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
|
||||
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||||
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