78 lines
4.4 KiB
Plaintext
78 lines
4.4 KiB
Plaintext
##############################################################################
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#- test config for ecmc_plugin_safety
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#-
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#- In this config the interface to safety system is liked to simulated ethercat entries:
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#- * To allow motion:
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#- caput c6025a:m0s013-Zero 3
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#- * To simulate interlock from safety system:
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#- caput c6025a:m0s013-Zero 0
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#-
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#- Monitor status with:
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#- camon c6025a:SS1-first-Err c6025a:SS1-first-RmpDwnCmdAct c6025a:SS1-first-AxsStndStllAct
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#-
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#- ethercat slaves
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#- 0 0:0 PREOP + EK1100 EtherCAT Coupler (2A E-Bus)
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#- 1 0:1 PREOP + EL2068 8Ch. Dig Output 24V, 0.5A
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#- 2 0:2 PREOP + EL2819 16K. Dig. Ausgang 24V, 0,5A, Diagnose
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#- 3 0:3 PREOP + EL5001 1K. SSI Encoder
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#- 4 0:4 PREOP + EL6224 (IO Link Master)
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#- 5 0:5 PREOP + EL2008 8K. Dig. Ausgang 24V, 0.5A
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#- 6 0:6 PREOP + EL2522 2K. Pulse Train Ausgang
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#- 7 0:7 PREOP + EL5072 2Ch. Inductive sensor interface (LVDT, Half Bridge)
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#- 8 0:8 PREOP + EL1008 8K. Dig. Eingang 24V, 3ms
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#- 9 0:9 PREOP + EL5042 2Ch. BiSS-C Encoder
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#- 10 0:10 PREOP + EL6692 EtherCAT Bridge-Klemme (Prim<69>r)
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#- 11 0:11 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
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#- 12 0:12 PREOP + EL7031 1K. Schrittmotor-Endstufe (24V, 1.5A)
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#- 13 0:13 PREOP + EL7201 1K. MDP742 Servo-Motor-Endstufe (50V, 4A)
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#- 14 0:14 PREOP + EL7041-0052 1Ch. Stepper motor output stage (50V, 5A)
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#- 15 0:15 PREOP + EL7342 2Ch. DC motor output stage (50V, 3.5A)
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#- 16 0:16 PREOP + EL7411 BLDC Terminal with incremental encoder/Hall, 50 V DC, 4.
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#- 17 0:17 PREOP + EL7211-9014 1K. MDP742 Servo-Motor-Endstufe mit OCT (50V, 4,5A
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#- 18 0:18 PREOP + EL9576 Bremschopper Klemme
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require ecmccfg v10.0.0_RC1 "ENG_MODE=1,MASTER_ID=0,ECMC_VER=v10.0.0_RC1"
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# 0:14 - EL7041 1Ch Stepper
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=14,HW_DESC=EL7041-0052"
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${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1500, I_STDBY_MA=1000, U_NOM_MV=48000, R_COIL_MOHM=1230'"
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epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
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# 0:9 - EL5042 2Ch BiSS-C Encoder, RLS-LA11
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${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=9,HW_DESC=EL5042"
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${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1"
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${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=2"
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epicsEnvSet(ENC_SID,${ECMC_EC_SLAVE_NUM})
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml, DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${DRV_SID}, ENC_SID=${ENC_SID}, ENC_CH=01"
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${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlEnc.cmd, "FILE=./cfg/enc_open_loop.yaml, DEV=${IOC}, ENC_SID=${DRV_SID}"
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##############################################################################
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## Load safety plugin
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require ecmc_plugin_safety v10.0.0_RC1
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# simulate inputs and outputs in drive "ZERO" and ONE dummy-entry
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epicsEnvSet(BI_SLAVE,${DRV_SID})
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epicsEnvSet(BO_SLAVE,${DRV_SID})
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# Create SS1 group
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#- EC_RAMP_DOWN_CMD : Digital Input: Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
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#- EC_AXES_AT_REST_STAT : Digital Output: Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
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#- EC_AXES_LIM_VELO_CMD : Digital Input: Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
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#- DELAY_MS : Time between rampdown command and STO
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epicsEnvSet(EC_RAMP_DOWN_CMD,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.ONE.0")
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epicsEnvSet(EC_AXES_AT_REST_STAT,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ZERO.0")
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epicsEnvSet(EC_AXES_LIM_VELO_CMD,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ONE.1")
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epicsEnvSet(SAFETY_TIMEOUT,500)
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${EC_RAMP_DOWN_CMD},EC_AXES_AT_REST_STAT=${EC_AXES_AT_REST_STAT},EC_AXES_LIM_VELO_CMD=${EC_AXES_LIM_VELO_CMD=empty},DELAY_MS=${SAFETY_TIMEOUT}"
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#- Add axis
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#- AX_ID : Axis ID
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#- VELO_REST_LIM : Velocity at rest limit [unit same as EGU of axis]
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#- VELO_MAX_LIM : Velocity maximum limit, -1 to disable [unit same as EGU of axis]
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${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=0.01,VELO_MAX_LIM=1"
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ecmcEpicsEnvSetCalc(S_ID, "${DRV_SID}", "%03d")
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afterInit "dbpf ${IOC}:m${ECMC_EC_MASTER_ID=0}s${S_ID}-One 0"
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