migrate from EPICS 3.14.12 to 7.0.7

2023-07-12 10:32:11 +02:00
parent 7d2cfaf209
commit 472a6fb7fc
8 changed files with 224 additions and 115 deletions
--- a/cfg/MX1_home.cfg
+++ b/cfg/MX1_home.cfg
@@ -21,6 +21,8 @@ open plc PLC_Homing
  Motor[1].FatalFeLimit=2000
  L12=Motor[1].JogSpeed
  Motor[1].JogSpeed=1
+  L13=Motor[1].pEncLoss
+  Motor[1].pEncLoss=0

  L20=Motor[2].MaxDac
  Motor[2].MaxDac=500
@@ -28,6 +30,8 @@ open plc PLC_Homing
  Motor[2].FatalFeLimit=2000
  L22=Motor[2].JogSpeed
  Motor[2].JogSpeed=1
+  L23=Motor[2].pEncLoss
+  Motor[2].pEncLoss=0


  Motor[1].PhaseFindingStep=1
@@ -119,9 +123,12 @@ N1: //ENDPLC
  Motor[1].MaxDac=L10
  Motor[1].FatalFeLimit=L11
  Motor[1].JogSpeed=L12
+  Motor[1].pEncLoss=L13
+
  Motor[2].MaxDac=L20
  Motor[2].FatalFeLimit=L21
  Motor[2].JogSpeed=L22
+  Motor[2].pEncLoss=L23
  send 1"homeing done\n"

  disable plc PLC_Homing
--- a/cfg/MX3_setup.cfg
+++ b/cfg/MX3_setup.cfg
@@ -8,24 +8,26 @@
 //#5: homeoffset: -47956.2759182

 !encoder_ssi(enc=1,numBits=18,posSf=-5625./4096)
-//!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=65477.)
+!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=65477.,FaultMode=0)

 !encoder_ssi(enc=2,numBits=18,posSf=-5625./4096)
-//!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-154370.)
+!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-154370.,FaultMode=0)

 !encoder_ssi(enc=3,numBits=18,posSf=-5625./4096)
-//!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-5248.)
+!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-5248.,FaultMode=0)

 !encoder_ssi(enc=4,numBits=18,posSf=-5625./4096)
-//!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-46620.)
+!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-46620.,FaultMode=0)

 !encoder_ssi(enc=5,numBits=18,posSf=-5625./4096)
-//!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=93168.)
+!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=93168.,FaultMode=0)
+
+Motor[1].Servo.BreakPosErr=0
+Motor[2].Servo.BreakPosErr=0
+Motor[3].Servo.BreakPosErr=0
+Motor[4].Servo.BreakPosErr=0
+Motor[5].Servo.BreakPosErr=0
+

 // PKP266D14BA2 1.4A 1.8deb/step
 //!encoder_sim(enc=6)
@@ -38,64 +40,37 @@
 !encoder_sim(enc=6,posSf=2000./102400)
 !motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=0.)

-define(SP_RelBrk='15',SP_LockBrk='16')

-// ---------- Custom Motion Programs ----------
+// break configuration
+// at the beginning brakes were handeled with 'custom motion', but this has been removed,
+// as it was possible to cofigure simple brake handling with the motor on a better approach
+// s.a. following implementation
+// ~/Documents/prj/SwissFEL/epics_ioc_modules/PBPG/cfg/motEnc-PBPG050.cfg
+//!holding_current template not needed. The brake stuff below turns off the amplifiers
+// brake
+// PowerBrick[0].GpioData[0].16 is GPIO-OUT[1]

-!cm_prem_post(ax=1,prem=15,post=16) //generates subprog 10,11,12,13
-!cm_prem_post(ax=2,prem=15,post=16) //generates subprog 20,21,22,23
-!cm_prem_post(ax=3,prem=15,post=16) //generates subprog 30,31,32,33
-!cm_prem_post(ax=4,prem=15,post=16) //generates subprog 40,41,42,43
-!cm_prem_post(ax=5,prem=15,post=16) //generates subprog 40,41,42,43
+Motor[1].pBrakeOut     = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
+Motor[1].BrakeOutBit   = 16
+Motor[1].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
+Motor[1].BrakeOnDelay  = 100 // delay in ms before the amplifier is disabled after motion has stopped

-!cm_prem_post(ax='X',axid=9,prem=15,post=16) //generates subprog 90,91,92,93
-!cm_prem_post(ax='Y',axid=10,prem=15,post=16) //generates subprog 100,101,102,103
-!cm_prem_post(ax='U',axid=11,prem=15,post=16) //generates subprog 110,111,112,113
-!cm_prem_post(ax='V',axid=12,prem=15,post=16) //generates subprog 120,121,122,123
-!cm_prem_post(ax='W',axid=13,prem=15,post=16) //generates subprog 120,121,122,123
+Motor[2].pBrakeOut     = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
+Motor[2].BrakeOutBit   = 17
+Motor[2].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
+Motor[2].BrakeOnDelay  = 100 // delay in ms before the amplifier is disabled after motion has stopped

-// ---------- PREM POST Programs ----------
-
-//prem
-open subprog SP_RelBrk
-  define(EndTime='L1'); // Local variable
-  Motor[1].IdCmd=1000;Motor[1].InPosBand=2
-  Motor[2].IdCmd=1000;Motor[2].InPosBand=2
-  Motor[3].IdCmd=1000;Motor[3].InPosBand=2
-  Motor[4].IdCmd=1000;Motor[4].InPosBand=2
-  Motor[5].IdCmd=1000;Motor[5].InPosBand=2
-  PowerBrick[0].GpioData[0].16.5=$1f
-  //send 1"wait\n"
-  //EndTime = Sys.Time + .1; // time + 10 sec.
-  //while (EndTime > Sys.Time){}
-  //send 1"wait done\n"
-close
-
-//post
-open subprog SP_LockBrk
-  define(EndTime='L1'); // Local variable
-  //wait until all motors are in pos
-  EndTime = Sys.Time + 10; // time + 10 sec.
-  //send 1"wait."
-  while (EndTime > Sys.Time)
-  {
-    if(Coord[1].InPos)
-    {
-      //send 1"inPos\n"
-      break
-    }
-    //if(Motor[1].InPos && Motor[2].InPos&& Motor[3].InPos&& Motor[4].InPos&& Motor[5].InPos)
-    //  break
-    //send 1"."
-  }
-  //send 1"done\n"
-
-  Motor[1].IdCmd=0;Motor[1].InPosBand=50
-  Motor[2].IdCmd=0;Motor[2].InPosBand=50
-  Motor[3].IdCmd=0;Motor[3].InPosBand=50
-  Motor[4].IdCmd=0;Motor[4].InPosBand=50
-  Motor[5].IdCmd=0;Motor[5].InPosBand=50
-  PowerBrick[0].GpioData[0].16.5=$0
-close
+Motor[3].pBrakeOut     = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
+Motor[3].BrakeOutBit   = 18
+Motor[3].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
+Motor[3].BrakeOnDelay  = 100 // delay in ms before the amplifier is disabled after motion has stopped

+Motor[4].pBrakeOut     = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
+Motor[4].BrakeOutBit   = 19
+Motor[4].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
+Motor[4].BrakeOnDelay  = 100 // delay in ms before the amplifier is disabled after motion has stopped

+Motor[5].pBrakeOut     = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
+Motor[5].BrakeOutBit   = 20
+Motor[5].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
+Motor[5].BrakeOnDelay  = 100 // delay in ms before the amplifier is disabled after motion has stopped
--- a/cfg/SAR-EXPMX3.cfg
+++ b/cfg/SAR-EXPMX3.cfg
@@ -26,15 +26,6 @@ Coord[1].AltFeedRate=1000
 Coord[1].Tm=-10000  //1000um/FeedTime -> 1mm/sec
 Coord[1].FeedTime=1000 //default value 1000um

- //motor current off (as cpxcall 16)
-Motor[1].IdCmd=0;Motor[1].InPosBand=10
-Motor[2].IdCmd=0;Motor[2].InPosBand=10
-Motor[3].IdCmd=0;Motor[3].InPosBand=10
-Motor[4].IdCmd=0;Motor[4].InPosBand=10
-Motor[5].IdCmd=0;Motor[5].InPosBand=10
-
-//#1..5hmz
-//#1..5j/
 &1

 //initialization code
@@ -60,8 +51,9 @@ close // plc 1

 enable plc 1

+#1..5dkill

-//motor 1..5 use custom code to kill motor and use brake
+//motor 1..5 use break setup to kill motor
 !holding_current(m6=[0,700])