From 24b2105c17989682b8610176eb59d82796f3b32b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstro=CC=88m?= <anders.sandstroem@psi.ch>
Date: Sun, 29 Sep 2024 22:00:58 +0200
Subject: [PATCH] cleanup
---
hugo/content/manual/PLC_cfg/syntax.md | 1484 ++++++++---------
hugo/content/manual/build.md | 2 +-
.../manual/general_cfg/best_practice.md | 2 +-
.../content/manual/general_cfg/iocsh_utils.md | 93 +-
hugo/content/manual/knowledgebase/host.md | 10 +-
5 files changed, 796 insertions(+), 795 deletions(-)
diff --git a/hugo/content/manual/PLC_cfg/syntax.md b/hugo/content/manual/PLC_cfg/syntax.md
index 19977bc5d..6ce81b439 100644
--- a/hugo/content/manual/PLC_cfg/syntax.md
+++ b/hugo/content/manual/PLC_cfg/syntax.md
@@ -61,372 +61,370 @@ Custom plc functions can be written in c in plugins.
### general
-```shell
-#
-# 1. Assignment:
-# ec0.s1.VALUE:=100;
-#
-# 2. if-else (note the equal sign):
-# if(ec0.s1.VALUE=100) {
-# # code
-# }
-# else {
-# # code
-# };
-#
-# 3. for loop:
-# for (static.i := 0; static.i < static.elements; static.i += 1) {
-# # code
-# };
-#
-# 4. printouts (minimize printouts or use only for debug):
-# print("The value of ec0.s1.VALUE is: ",ec0.s1.VALUE); # Without line feed
-# println("The value of ec0.s1.VALUE is: ",ec0.s1.VALUE); # With line feed
-#
-# Also see the "ec_print_bin()" and "ec_print_hex()" below.
+```text
+ 1. Assignment:
+ ec0.s1.VALUE:=100;
+
+ 2. if-else (note the equal sign):
+ if(ec0.s1.VALUE=100) {
+ # code
+ }
+ else {
+ # code
+ };
+
+ 3. for loop:
+ for (static.i := 0; static.i < static.elements; static.i += 1) {
+ # code
+ };
+
+ 4. printouts (minimize printouts or use only for debug):
+ print("The value of ec0.s1.VALUE is: ",ec0.s1.VALUE); # Without line feed
+ println("The value of ec0.s1.VALUE is: ",ec0.s1.VALUE); # With line feed
+
+ Also see the "ec_print_bin()" and "ec_print_hex()" below.
```
### variables
#### generic
-```shell
-# 1. static.<varname> Static variable. Initiated to 0. (rw)
-# Access only in the PLC where defined.
-# Will keep value between execution
-# loops.
-# 2. global.<varname> Global variable. Initiated to 0. (rw)
-# Access from all PLCs.
-# Will keep value between execution
-# loops.
-# 3. var <varname> Local variable (exprtk syntax) (rw)
-# Will NOT keep value between
-# execution loops.
+```text
+ 1. static.<varname> Static variable. Initiated to 0. (rw)
+ Access only in the PLC where defined.
+ Will keep value between execution
+ loops.
+ 2. global.<varname> Global variable. Initiated to 0. (rw)
+ Access from all PLCs.
+ Will keep value between execution
+ loops.
+ 3. var <varname> Local variable (exprtk syntax) (rw)
+ Will NOT keep value between
+ execution loops.
```
#### EtherCAT
-```shell
-# 1. ec<ecid>.s<sid>.<alias> ethetcat data (rw)
-# ecid: ethercat master index
-# sid: ethercat slave bus position
-# alias: entry name as defined in
-# "Cfg.EcAddEntryComplete()
-# 2. ec<ecid>.masterstatus Status of master (1=OK)
+```text
+ 1. ec<ecid>.s<sid>.<alias> ethetcat data (rw)
+ ecid: ethercat master index
+ sid: ethercat slave bus position
+ alias: entry name as defined in
+ "Cfg.EcAddEntryComplete()
+ 2. ec<ecid>.masterstatus Status of master (1=OK)
```
#### motion
-```shell
-# 1. ax<id>.id axis id (ro)
-# 2. ax<id>.reset reset axis error (rw)
-# 3. ax<id>.counter execution counter (ro)
-# 4. ax<id>.error error (ro)
-# 5. ax<id>.allowplccmd Allow writes to axis from PLC (rw)
-# 6. ax<id>.enc.actpos actual position (rw)
-# 7. ax<id>.enc.extactpos actual position from plc sync.
-# expression (ro)
-# 8. ax<id>.enc.actvel actual velocity (ro)
-# 9. ax<id>.enc.rawpos actual raw position (ro)
-# 10. ax<id>.enc.source internal source or expressions (rw)
-# source = 0: internal encoder
-# source > 0: actual pos from expr
-# 11. ax<id>.enc.homed encoder homed (rw)
-# 12. ax<id>.enc.homepos homing position (rw)
-# 13. ax<id>.traj.setpos curent trajectory setpoint (rw)
-# 14. ax<id>.traj.targetpos target position (rw)
-# 15. ax<id>.traj.extsetpos current trajecrory setpoint from
-# plc sync. expression (rw)
-# 16. ax<id>.traj.targetvel target velocity setpoint (rw)
-# 17. ax<id>.traj.targetacc target acceleration setpoint (rw)
-# 18. ax<id>.traj.targetdec target deceleration setpoint (rw)
-# 19. ax<id>.traj.setvel current velocity setpoint (ro)
-# 20. ax<id>.traj.setvelffraw feed forward raw velocity (ro)
-# 21. ax<id>.traj.command command (rw)
-# command=1: move velocity
-# command=2: move rel. pos
-# command=3: move abs. pos
-# command=10: homing
-# 22. ax<id>.traj.cmddata cmddat. Homing procedure
-# only valid if ax<id>.traj.command=10
-# cmddata=1 : ref low limit
-# cmddata=2 : ref high limit
-# cmddata=3 : ref home sensor
-# (via low limit)
-# cmddata=4 : ref home sensor
-# (via high limit)
-# cmddata=5 : ref center of home sensor
-# (via low limit)
-# cmddata=6 : ref center of home sensor
-# (via high limit)
-# cmddata=15 : direct homing
-# cmddata=21 : ref partly abs. encoder
-# (via low limit).
-# ref at abs bits.
-# over/under-flow..
-# cmddata=22 : ref partly abs. encoder
-# (via high limit).
-# ref at abs bits.
-# over/under-flow..
-# 23. ax<id>.traj.source internal source or expressions (rw)
-# source = 0: internal traj
-# source > 0: setpoints from expr
-# 24. ax<id>.traj.execute execute motion command (rw)
-# 25. ax<id>.traj.busy axis busy (ro)
-# 26. ax<id>.traj.dir axis setpoint direction (ro)
-# ax<id>.traj.dir>0: forward
-# ax<id>.traj.dir<0: backward
-# ax<id>.traj.dir=0: standstill
-# 27. ax<id>.cntrl.error actual controller error (ro)
-# 28. ax<id>.cntrl.poserror actual position error (ro)
-# 29. ax<id>.cntrl.output actual controller output (ro)
-# 30. ax<id>.drv.setvelraw actual raw velocity setpoint (ro)
-# 31. ax<id>.drv.enable enable drive command (rw)
-# 32. ax<id>.drv.enabled drive enabled (ro)
-# 33. ax<id>.seq.state sequence state (homing) (ro)
-# 34. ax<id>.mon.ilock motion interlock (both dir) (rw)
-# ax<id>.mon.ilock=1: motion allowed
-# ax<id>.mon.ilock=0: motion not allowed
-# 35. ax<id>.mon.ilockbwd motion interlock bwd dir (rw)
-# ax<id>.mon.ilockbwd=1: motion allowed
-# ax<id>.mon.ilockbwd=0: motion not allowed
-# 36. ax<id>.mon.ilockfwd motion interlock fwd dir (rw)
-# ax<id>.mon.ilockfwd=1: motion allowed
-# ax<id>.mon.ilockfwd=0: motion not allowed
-# 37. ax<id>.mon.attarget axis at taget (ro)
-# 38. ax<id>.mon.lowlim low limit switch (ro)
-# 39. ax<id>.mon.highlim high limit switch (ro)
-# 40. ax<id>.mon.homesensor home sensor (ro)
-# 41. ax<id>.mon.lowsoftlim low soft limit (rw)
-# 42. ax<id>.mon.highsoftlim high soft limit (rw)
-# 43. ax<id>.mon.lowsoftlimenable low soft limit enable (rw)
-# 44. ax<id>.mon.highsoftlimenable high soft limit enable (rw)
-# 45. ax<id>.blockcom Enables/disables "set" commands (rw)
-# via command parser (ascii commands)
-# Statuses can still be read.
-# Exceptions ("set"-commands) that
-# will work:
-# - "StopMotion(axid)"
-# - "Cfg.SetAxisBlockCom(axid,block)"
-# 46. ax<id>.ctrl.kp Set PID-controller kp (rw)
-# 47. ax<id>.ctrl.ki Set PID-controller ki (rw)
-# 48. ax<id>.ctrl.kd Set PID-controller kd (rw)
-# 49. ax<id>.ctrl.kff Set PID-controller kff (rw)
+```text
+ 1. ax<id>.id axis id (ro)
+ 2. ax<id>.reset reset axis error (rw)
+ 3. ax<id>.counter execution counter (ro)
+ 4. ax<id>.error error (ro)
+ 5. ax<id>.allowplccmd Allow writes to axis from PLC (rw)
+ 6. ax<id>.enc.actpos actual position (rw)
+ 7. ax<id>.enc.extactpos actual position from plc sync.
+ expression (ro)
+ 8. ax<id>.enc.actvel actual velocity (ro)
+ 9. ax<id>.enc.rawpos actual raw position (ro)
+ 10. ax<id>.enc.source internal source or expressions (rw)
+ source = 0: internal encoder
+ source > 0: actual pos from expr
+ 11. ax<id>.enc.homed encoder homed (rw)
+ 12. ax<id>.enc.homepos homing position (rw)
+ 13. ax<id>.traj.setpos curent trajectory setpoint (rw)
+ 14. ax<id>.traj.targetpos target position (rw)
+ 15. ax<id>.traj.extsetpos current trajecrory setpoint from
+ plc sync. expression (rw)
+ 16. ax<id>.traj.targetvel target velocity setpoint (rw)
+ 17. ax<id>.traj.targetacc target acceleration setpoint (rw)
+ 18. ax<id>.traj.targetdec target deceleration setpoint (rw)
+ 19. ax<id>.traj.setvel current velocity setpoint (ro)
+ 20. ax<id>.traj.setvelffraw feed forward raw velocity (ro)
+ 21. ax<id>.traj.command command (rw)
+ command=1: move velocity
+ command=2: move rel. pos
+ command=3: move abs. pos
+ command=10: homing
+ 22. ax<id>.traj.cmddata cmddat. Homing procedure
+ only valid if ax<id>.traj.command=10
+ cmddata=1 : ref low limit
+ cmddata=2 : ref high limit
+ cmddata=3 : ref home sensor
+ (via low limit)
+ cmddata=4 : ref home sensor
+ (via high limit)
+ cmddata=5 : ref center of home sensor
+ (via low limit)
+ cmddata=6 : ref center of home sensor
+ (via high limit)
+ cmddata=15 : direct homing
+ cmddata=21 : ref partly abs. encoder
+ (via low limit).
+ ref at abs bits.
+ over/under-flow..
+ cmddata=22 : ref partly abs. encoder
+ (via high limit).
+ ref at abs bits.
+ over/under-flow..
+ 23. ax<id>.traj.source internal source or expressions (rw)
+ source = 0: internal traj
+ source > 0: setpoints from expr
+ 24. ax<id>.traj.execute execute motion command (rw)
+ 25. ax<id>.traj.busy axis busy (ro)
+ 26. ax<id>.traj.dir axis setpoint direction (ro)
+ ax<id>.traj.dir>0: forward
+ ax<id>.traj.dir<0: backward
+ ax<id>.traj.dir=0: standstill
+ 27. ax<id>.cntrl.error actual controller error (ro)
+ 28. ax<id>.cntrl.poserror actual position error (ro)
+ 29. ax<id>.cntrl.output actual controller output (ro)
+ 30. ax<id>.drv.setvelraw actual raw velocity setpoint (ro)
+ 31. ax<id>.drv.enable enable drive command (rw)
+ 32. ax<id>.drv.enabled drive enabled (ro)
+ 33. ax<id>.seq.state sequence state (homing) (ro)
+ 34. ax<id>.mon.ilock motion interlock (both dir) (rw)
+ ax<id>.mon.ilock=1: motion allowed
+ ax<id>.mon.ilock=0: motion not allowed
+ 35. ax<id>.mon.ilockbwd motion interlock bwd dir (rw)
+ ax<id>.mon.ilockbwd=1: motion allowed
+ ax<id>.mon.ilockbwd=0: motion not allowed
+ 36. ax<id>.mon.ilockfwd motion interlock fwd dir (rw)
+ ax<id>.mon.ilockfwd=1: motion allowed
+ ax<id>.mon.ilockfwd=0: motion not allowed
+ 37. ax<id>.mon.attarget axis at taget (ro)
+ 38. ax<id>.mon.lowlim low limit switch (ro)
+ 39. ax<id>.mon.highlim high limit switch (ro)
+ 40. ax<id>.mon.homesensor home sensor (ro)
+ 41. ax<id>.mon.lowsoftlim low soft limit (rw)
+ 42. ax<id>.mon.highsoftlim high soft limit (rw)
+ 43. ax<id>.mon.lowsoftlimenable low soft limit enable (rw)
+ 44. ax<id>.mon.highsoftlimenable high soft limit enable (rw)
+ 45. ax<id>.blockcom Enables/disables "set" commands (rw)
+ via command parser (ascii commands)
+ Statuses can still be read.
+ Exceptions ("set"-commands) that
+ will work:
+ - "StopMotion(axid)"
+ - "Cfg.SetAxisBlockCom(axid,block)"
+ 46. ax<id>.ctrl.kp Set PID-controller kp (rw)
+ 47. ax<id>.ctrl.ki Set PID-controller ki (rw)
+ 48. ax<id>.ctrl.kd Set PID-controller kd (rw)
+ 49. ax<id>.ctrl.kff Set PID-controller kff (rw)
```
#### PLC
-```shell
-# 1. plc<id>.enable plc enable (rw)
-# (end exe with "plc<id>.enable:=0#"
-# Could be use full for startup
-# sequences)
-# 2. plc<id>.error plc error (rw)
-# Will be forwarded to user as
-# controller error.
-# 3. plc<id>.scantime plc sample time in seconds (ro)
-# 4. plc<id>.firstscan true during first plc scan only (ro)
-# use full for initiations of variables
-# 5. ax<id>.plc.enable Same as plc<id>.enable but for
-# axis <id> sync plc.
-# 6. ax<id>.plc.error Same as plc<id>.error but for
-# axis <id> sync plc.
-# 7. ax<id>.plc.scantime Same as plc<id>.scantime but for
-# axis<id> sync plc.
-# 8. ax<id>.plc.firstscan Same as plc<id>.firstscan but for
-# axis <id> sync plc.
+```text
+ 1. plc<id>.enable plc enable (rw)
+ (end exe with "plc<id>.enable:=0#"
+ Could be use full for startup
+ sequences)
+ 2. plc<id>.error plc error (rw)
+ Will be forwarded to user as
+ controller error.
+ 3. plc<id>.scantime plc sample time in seconds (ro)
+ 4. plc<id>.firstscan true during first plc scan only (ro)
+ use full for initiations of variables
+ 5. ax<id>.plc.enable Same as plc<id>.enable but for
+ axis <id> sync plc.
+ 6. ax<id>.plc.error Same as plc<id>.error but for
+ axis <id> sync plc.
+ 7. ax<id>.plc.scantime Same as plc<id>.scantime but for
+ axis<id> sync plc.
+ 8. ax<id>.plc.firstscan Same as plc<id>.firstscan but for
+ axis <id> sync plc.
```
### data storage
-```shell
-# 1. ds<id>.size Set/get size of data storage (rw)
-# Set will clear the data storage
-# 2. ds<id>.append Add new data at end (rw)
-# Current position index will be
-# increased
-# 3. ds<id>.data Set/get data ar current position (rw)
-# 4. ds<id>.index Set/get current position index (rw)
-# 5. ds<id>.error Data storage class error (ro)
-# 6. ds<id>.clear Data buffer clear (set to zero) (ro)
-# 7. ds<id>.full True if data storage is full (ro)
+```text
+ 1. ds<id>.size Set/get size of data storage (rw)
+ Set will clear the data storage
+ 2. ds<id>.append Add new data at end (rw)
+ Current position index will be
+ increased
+ 3. ds<id>.data Set/get data ar current position (rw)
+ 4. ds<id>.index Set/get current position index (rw)
+ 5. ds<id>.error Data storage class error (ro)
+ 6. ds<id>.clear Data buffer clear (set to zero) (ro)
+ 7. ds<id>.full True if data storage is full (ro)
```
### functions
#### EtherCAT
-```shell
-#
-# 1. retvalue = ec_set_bit(
-# <value>, : Value to change
-# <bitindex> : Bit index
-# );
-# Sets bit at bitindex position of value. Returns the new value.
-#
-# 2. retvalue = ec_wrt_bit(
-# <value>, : Value to change
-# <wrtValue>, : Value of bit to write
-# <bitindex> : Bit index
-# );
-# Write wrtValue to a bit at bitindex position of value. Returns the new value.
-#
-# 3. retvalue = ec_wrt_bits(
-# <value>, : Value to change
-# <wrtValue>, : Value of bit to write
-# <startBit> : Start bit index (lsb is bit 0)
-# <stopBit> : Stop bit index
-# );
-# Write wrtValue to a range of bits (statBit..stopBit) of value. Returns the new value.
-#
-# 4. retvalue = ec_clr_bit(
-# <value>, : Value to change
-# <bitindex> : Bit index
-# );
-# Clears bit at bitindex position of value. Returns the new value.
-#
-# 5. retvalue = ec_flp_bit(
-# <value>, : Value to change
-# <bitindex> : Bit index
-# );
-# Flips bit at bitindex position of value. Returns the new value.
-#
-# 6. retvalue = ec_chk_bit(
-# <value>, : Value to change
-# <bitindex> : Bit index
-# );
-# Checks bit at bitindex position of value. Returns the value of bit.
-#
-# 7. retvalue = ec_chk_bits(
-# <value>, : Value to change
-# <startBit> : Start bit index (lsb is bit 0)
-# <stopBit> : Stop bit index
-# );
-# Checks range of bits (startBit..stopBit) of value. Returns the value of bits.
-#
-# 8. retvalue = ec_print_hex(
-# <value>, : Value to print
-# <startBit> : Start bit index
-# <stopBit> : Stop bit index
-# );
-# Prints <startBit> to <stopBit> of <value> in hex format
-# Returns error code or 0 if success.
-#
-# 9. retvalue = ec_print_bin(
-# <value>, : Value to print
-# <startBit> : Start bit index
-# <stopBit> : Stop bit index
-# );
-# Prints <startBit> to <stopBit> of <value> in bin format
-# Returns error code or 0 if success.
-#
-# 10. retvalue = ec_mm_cp(
-# <srcId>, : Source memmap index
-# <sdestId> : Dest memmap index
-# );
-# Copies data from source memmap to dest memmap. The memmap ids are defined by the
-# order they are created (starting at 0). The smallest memmap size will define the
-# amount of data copied. Returns 0 for success or an error code.
-#
-# Note: The mmId can be retrieved by the bellow ecmc command (and feed into plc via macro):
-# ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
-# epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
-#
-#
-# 11. retvalue = ec_get_mm_type(
-# <srcId>, : Source memmap index
-# );
-# Returns data type of memmap:
-# 0 = Not defined (Use "Cfg.EcAddMemMapDT()" instead of "Cfg.EcAddMemMap()")
-# 1 = (Not valid for memmap)
-# 2 = (Not valid for memmap)
-# 3 = (Not valid for memmap)
-# 4 = (Not valid for memmap)
-# 5 = U8
-# 6 = S8
-# 7 = U16
-# 8 = S16
-# 9 = U32
-# 10 = S32
-# 11 = U64
-# 12 = S64
-# 13 = F32
-# 14 = F64
-#
-# Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
-# ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
-# epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
-#
-#
-# 12. retvalue = ec_get_mm_data(
-# <srcId>, : Source memmap index
-# <index> : Index of data element
-# );
-# Reads data element at index from memmap with srcId and returns value.
-#
-# Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
-# ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
-# epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
-#
-# 13. retvalue = ec_set_mm_data(
-# <srcId>, : Source memmap index
-# <index> : Index of data element
-# <data> : Data to write
-# );
-# Writes data element at index from memmap with srcId. Returns 0 for success or an error code.
-#
-# Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
-# ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
-# epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
-#
-# 14. retvalue = ec_get_mm_size(
-# <srcId>, : Source memmap index
-# );
-# Returns number of elements (of type "ec_get_mm_type()")in memmap with srcId.
-# If return value is less than zero it should be considered to be an error code.
-#
-# Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
-# ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
-# epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
-#
-# 14. retvalue = ec_mm_ds_append(
-# <mmId>, : Source memmap index
-# <dsId>); : Destination data storage index
-# Returns Error code or zero if success
-#
-# Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
-# ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
-# epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
-#
-# 15. retvalue = ec_mm_append_to_ds_scale_offset(
-# <mmId>, : Source memmap index
-# <dsId> : Destination data storage index
-# <scale> : Scale
-# <offset>); : Offset
-#
-# Returns Error code or zero if success
-#
-# Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
-# ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
-# epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
-#
-# 16. retvalue = ec_mm_push_asyn(
-# <mmId>) : Source memmap index.
-# push memap data to epics (can be used if T_SMP_MS=-1 for the param)
-# Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
-# ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
-# epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
-#
-# 17. retvalue = ec_get_time();
-# Returns current time in nano seconds (from 1 Jan 2000, same as EtherCAT DC:s).
-# If return value is less than zero it should be considered to be an error code.
-#
-# 18. retvalue = ec_get_time_l32();
-# Returns lower 32 bits of current time in nano seconds (from 1 Jan 2000, same as EtherCAT DC:s).
-# If return value is less than zero it should be considered to be an error code.
-#
-# 19. retvalue = ec_get_time_u32();
-# Returns upper 32 bits of current time in nano seconds (from 1 Jan 2000, same as EtherCAT DC:s).
-# If return value is less than zero it should be considered to be an error code.
-#
-# 20. retvalue=ec_get_err():
-# Returns error code from last lib call.
-#
-# 21. retvalue=ec_err_rst():
-# Resets error code for ec_lib.
+```text
+ 1. retvalue = ec_set_bit(
+ <value>, : Value to change
+ <bitindex> : Bit index
+ );
+ Sets bit at bitindex position of value. Returns the new value.
+
+ 2. retvalue = ec_wrt_bit(
+ <value>, : Value to change
+ <wrtValue>, : Value of bit to write
+ <bitindex> : Bit index
+ );
+ Write wrtValue to a bit at bitindex position of value. Returns the new value.
+
+ 3. retvalue = ec_wrt_bits(
+ <value>, : Value to change
+ <wrtValue>, : Value of bit to write
+ <startBit> : Start bit index (lsb is bit 0)
+ <stopBit> : Stop bit index
+ );
+ Write wrtValue to a range of bits (statBit..stopBit) of value. Returns the new value.
+
+ 4. retvalue = ec_clr_bit(
+ <value>, : Value to change
+ <bitindex> : Bit index
+ );
+ Clears bit at bitindex position of value. Returns the new value.
+
+ 5. retvalue = ec_flp_bit(
+ <value>, : Value to change
+ <bitindex> : Bit index
+ );
+ Flips bit at bitindex position of value. Returns the new value.
+
+ 6. retvalue = ec_chk_bit(
+ <value>, : Value to change
+ <bitindex> : Bit index
+ );
+ Checks bit at bitindex position of value. Returns the value of bit.
+
+ 7. retvalue = ec_chk_bits(
+ <value>, : Value to change
+ <startBit> : Start bit index (lsb is bit 0)
+ <stopBit> : Stop bit index
+ );
+ Checks range of bits (startBit..stopBit) of value. Returns the value of bits.
+
+ 8. retvalue = ec_print_hex(
+ <value>, : Value to print
+ <startBit> : Start bit index
+ <stopBit> : Stop bit index
+ );
+ Prints <startBit> to <stopBit> of <value> in hex format
+ Returns error code or 0 if success.
+
+ 9. retvalue = ec_print_bin(
+ <value>, : Value to print
+ <startBit> : Start bit index
+ <stopBit> : Stop bit index
+ );
+ Prints <startBit> to <stopBit> of <value> in bin format
+ Returns error code or 0 if success.
+
+ 10. retvalue = ec_mm_cp(
+ <srcId>, : Source memmap index
+ <sdestId> : Dest memmap index
+ );
+ Copies data from source memmap to dest memmap. The memmap ids are defined by the
+ order they are created (starting at 0). The smallest memmap size will define the
+ amount of data copied. Returns 0 for success or an error code.
+
+ Note: The mmId can be retrieved by the bellow ecmc command (and feed into plc via macro):
+ ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
+ epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
+
+
+ 11. retvalue = ec_get_mm_type(
+ <srcId>, : Source memmap index
+ );
+ Returns data type of memmap:
+ 0 = Not defined (Use "Cfg.EcAddMemMapDT()" instead of "Cfg.EcAddMemMap()")
+ 1 = (Not valid for memmap)
+ 2 = (Not valid for memmap)
+ 3 = (Not valid for memmap)
+ 4 = (Not valid for memmap)
+ 5 = U8
+ 6 = S8
+ 7 = U16
+ 8 = S16
+ 9 = U32
+ 10 = S32
+ 11 = U64
+ 12 = S64
+ 13 = F32
+ 14 = F64
+
+ Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
+ ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
+ epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
+
+
+ 12. retvalue = ec_get_mm_data(
+ <srcId>, : Source memmap index
+ <index> : Index of data element
+ );
+ Reads data element at index from memmap with srcId and returns value.
+
+ Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
+ ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
+ epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
+
+ 13. retvalue = ec_set_mm_data(
+ <srcId>, : Source memmap index
+ <index> : Index of data element
+ <data> : Data to write
+ );
+ Writes data element at index from memmap with srcId. Returns 0 for success or an error code.
+
+ Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
+ ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
+ epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
+
+ 14. retvalue = ec_get_mm_size(
+ <srcId>, : Source memmap index
+ );
+ Returns number of elements (of type "ec_get_mm_type()")in memmap with srcId.
+ If return value is less than zero it should be considered to be an error code.
+
+ Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
+ ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
+ epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
+
+ 14. retvalue = ec_mm_ds_append(
+ <mmId>, : Source memmap index
+ <dsId>); : Destination data storage index
+ Returns Error code or zero if success
+
+ Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
+ ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
+ epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
+
+ 15. retvalue = ec_mm_append_to_ds_scale_offset(
+ <mmId>, : Source memmap index
+ <dsId> : Destination data storage index
+ <scale> : Scale
+ <offset>); : Offset
+
+ Returns Error code or zero if success
+
+ Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
+ ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
+ epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
+
+ 16. retvalue = ec_mm_push_asyn(
+ <mmId>) : Source memmap index.
+ push memap data to epics (can be used if T_SMP_MS=-1 for the param)
+ Note: The mmId can be retrived by the bellow ecmc command (and feed into plc via macro):
+ ecmcConfig "EcGetMemMapId(ec0.s11.mm.analogInputArray01)"
+ epicsEnvSet(MM_CH_1_IN,${ECMC_CONFIG_RETURN_VAL})
+
+ 17. retvalue = ec_get_time();
+ Returns current time in nano seconds (from 1 Jan 2000, same as EtherCAT DC:s).
+ If return value is less than zero it should be considered to be an error code.
+
+ 18. retvalue = ec_get_time_l32();
+ Returns lower 32 bits of current time in nano seconds (from 1 Jan 2000, same as EtherCAT DC:s).
+ If return value is less than zero it should be considered to be an error code.
+
+ 19. retvalue = ec_get_time_u32();
+ Returns upper 32 bits of current time in nano seconds (from 1 Jan 2000, same as EtherCAT DC:s).
+ If return value is less than zero it should be considered to be an error code.
+
+ 20. retvalue=ec_get_err():
+ Returns error code from last lib call.
+
+ 21. retvalue=ec_err_rst():
+ Resets error code for ec_lib.
```
#### Master to Master communication (within same host)
@@ -434,412 +432,412 @@ Custom plc functions can be written in c in plugins.
Support for communication between different ecmc ioc:s running on the same host.
A shared memory buffer of 120 doubles can be accessed for read and write operations by alll ecmc ioc running on the same master.
-```shell
-# 1. retvalue = m2m_write(
-# <index>, : Mem buffer index (index must be 0..119)
-# <value>): : value to write
-# returns 0 if success or error code.
-# Write a value to an index of a common memory buffer accessible by all masters running on same host
-#
-# 2. retvalue = m2m_read(<index>); : Mem buffer index (index must be 0..119)
-#
-# returns the value stored at index in the shared mem buffer.
-#
-# 3. retvalue = m2m_stat();
-#
-# returns 1 if connection to shared memory is OK, else 0 or a negative value with an errro code.
-#
-# 4. m2m_err_rst();
-#
-# reset any m2m error codes.
-#
-# 5. retvalue = m2m_err_rst();
-#
-# returns current m2m error code.
-#
-# 6. retvalue = m2m_ioc_ec_ok(<master_index>);
-#
-# returns status etehrcat status of another ecmc ioc (1==op, 0==not op, -1==error).
-#
-# 7. retvalue = m2m_ioc_run(<master_index>);
-#
-# checks of a certian master is running (negative master id is ioc:s without ec master).
+```text
+ 1. retvalue = m2m_write(
+ <index>, : Mem buffer index (index must be 0..119)
+ <value>): : value to write
+ returns 0 if success or error code.
+ Write a value to an index of a common memory buffer accessible by all masters running on same host
+
+ 2. retvalue = m2m_read(<index>); : Mem buffer index (index must be 0..119)
+
+ returns the value stored at index in the shared mem buffer.
+
+ 3. retvalue = m2m_stat();
+
+ returns 1 if connection to shared memory is OK, else 0 or a negative value with an errro code.
+
+ 4. m2m_err_rst();
+
+ reset any m2m error codes.
+
+ 5. retvalue = m2m_err_rst();
+
+ returns current m2m error code.
+
+ 6. retvalue = m2m_ioc_ec_ok(<master_index>);
+
+ returns status etehrcat status of another ecmc ioc (1==op, 0==not op, -1==error).
+
+ 7. retvalue = m2m_ioc_run(<master_index>);
+
+ checks of a certian master is running (negative master id is ioc:s without ec master).
```
#### Motion
-```shell
-# 1. retvalue = mc_move_abs(
-# <axIndex>, : Axis index
-# <execute>, : Trigger
-# <pos>, : Target position
-# <vel>, : Target velocity
-# <acc>, : Acceleration
-# <dec> : Deceleration
-# ):
-# Absolute motion of axis.
-# Motion is triggerd with a positive edge on <execute> input.
-# returns 0 if success or error code.
-#
-# 2. retvalue = mc_move_rel(
-# <axIndex>, : Axis index
-# <execute>, : Trigger
-# <pos>, : Target position
-# <vel>, : Target velocity
-# <acc>, : Acceleration
-# <dec> : Deceleration
-# );
-# Relative motion of axis <axIndex>.
-# Motion is triggerd with a positive edge on <execute> input.
-# returns 0 if success or error code.
-#
-# 3. retvalue = mc_move_ext_pos(
-# <axIndex>, : Axis index
-# <execute>, : Trigger
-# <vel>, : Target velocity
-# <acc>, : Acceleration
-# <dec> : Deceleration
-# );
-# Move to current external plc position. Functions intended use is to
-# move to the start position for syncronized axes. This command is exactly
-# the same as issueing "mc_move_pos()" with the target postion ax<id>.traj.extsetpos.
-# Motion is triggerd with a positive edge on <execute> input.
-# returns 0 if success or error code.
-#
-#
-# 4. retvalue = mc_move_vel(
-# <axIndex>, : Axis index
-# <execute>, : Trigger
-# <vel>, : Target velocity
-# <acc>, : Acceleration
-# <dec> : Deceleration
-# );
-# Constant velocity motion of axis <axIndex>.
-# Motion is triggerd with a positive edge on <execute> input.
-# returns 0 if success or error code.
-#
-# 5. retvalue = mc_home(
-# <axIndex>, : Axis index
-# <execute>, : Trigger
-# <seqId>, : Motion sequence
-# <velTwoardsCam>, : Target Velocity twords cam
-# <velOffCam> : Target velocity off cam
-# );
-# Perform a homing sequence of axis <axIndex>.
-# Motion is triggerd with a positive edge on <execute> input.
-# returns 0 if success or error code.
-#
-# 6. retvalue = mc_home_pos(
-# <axIndex>, : Axis index
-# <execute>, : Trigger
-# <seqId>, : Motion sequence
-# <velTwoardsCam>, : Target Velocity twords cam
-# <velOffCam> : Target velocity off cam
-# <homePos> : Homing position
-# );
-# Perform a homing sequence of axis <axIndex>
-# Motion is triggerd with a positive edge on <execute> input.
-# returns 0 if success or error code.
-#
-# 7. retvalue = mc_halt(
-# <axIndex>, : Axis index
-# <execute>, : Trigger
-# );
-# Stop motion of axis <axIndex>.
-# Command is triggerd with a positive edge on <execute> input.
-# returns 0 if success or error code.
-#
-# 8. retvalue = mc_power(
-# <axIndex>, : Axis index
-# <enable>, : Enable power
-# );
-# Enable power of axis <axIndex>.
-# Motion is triggerd with a positive edge on <execute> input.
-# returns 0 if success or error code.
-#
-# 9. retvalue = mc_get_busy(
-# <axIndex>, : Axis index#
-# );
-# Check if axis is busy.
-# returns busy state of axis (1 if busy and 0 if not busy).
-#
-# 10. retvalue = mc_get_homed(
-# <axIndex>, : Axis index#
-# );
-# Check if axis is homed.
-# returns state of homed flag of axis (1 if homed and 0 if not homed).
-#
-# 11. retvalue = mc_get_err();
-# Returns error code for last lib call.
-#
-# 12. retvalue = mc_reset(<axIndex>);
-# Resets error of motion axis.
-#
-# 13. retvalue = mc_get_axis_err(<axIndex>);
-# Returns motion axis error code.
-#
-# 14. retvalue = mc_set_enable_motion_funcs(
-# <axIndex>, : Axis index
-# <enablePos>, : Enable positioning
-# <enableVelo>, : Enable const velo
-# <enableHome>, : Enable const homing
-# );
-#
-# Enables/disables motion functionalities. Returns error code.
-#
-# 15. retvalue = mc_get_act_pos(
-# <axIndex>, : Axis index
-# <encIndex> : Encoder index
-# );
-#
-# Returns encoder position for any of the configured encoders of an axis.
-#
-# 16. retvalue = mc_set_prim_enc(
-# <axIndex>, : Axis index
-# <encIndex> : Encoder index
-# );
-#
-# Sets primary and homing encoder index of the axis (the encoder used for control).
-# The primary encoder can only be changed when the axis is not busy.
-#
-# Returns motion axis error code.
-#
-# 17. retvalue = mc_get_prim_enc(
-# <axIndex>, : Axis index
-# );
-#
-# Returns primary encoder index of the axis (the encoder used for control).
-#
-# 18. mc_set_axis_error(
-# <axis_id>, : Axis index
-# <error_code> : Error code to set
-# );
-#
-# Sets an arbitrary error code to an axis object.
-#
-# 19. mc_set_slaved_axis_in_error(
-# <axis_id>, : Axis index
-# );
-#
-# Set axis error that indicates that a slaved axis is in error state (ERROR_AXIS_SLAVED_AXIS_IN_ERROR 0x1432B).
+```text
+ 1. retvalue = mc_move_abs(
+ <axIndex>, : Axis index
+ <execute>, : Trigger
+ <pos>, : Target position
+ <vel>, : Target velocity
+ <acc>, : Acceleration
+ <dec> : Deceleration
+ ):
+ Absolute motion of axis.
+ Motion is triggerd with a positive edge on <execute> input.
+ returns 0 if success or error code.
+
+ 2. retvalue = mc_move_rel(
+ <axIndex>, : Axis index
+ <execute>, : Trigger
+ <pos>, : Target position
+ <vel>, : Target velocity
+ <acc>, : Acceleration
+ <dec> : Deceleration
+ );
+ Relative motion of axis <axIndex>.
+ Motion is triggerd with a positive edge on <execute> input.
+ returns 0 if success or error code.
+
+ 3. retvalue = mc_move_ext_pos(
+ <axIndex>, : Axis index
+ <execute>, : Trigger
+ <vel>, : Target velocity
+ <acc>, : Acceleration
+ <dec> : Deceleration
+ );
+ Move to current external plc position. Functions intended use is to
+ move to the start position for syncronized axes. This command is exactly
+ the same as issueing "mc_move_pos()" with the target postion ax<id>.traj.extsetpos.
+ Motion is triggerd with a positive edge on <execute> input.
+ returns 0 if success or error code.
+
+
+ 4. retvalue = mc_move_vel(
+ <axIndex>, : Axis index
+ <execute>, : Trigger
+ <vel>, : Target velocity
+ <acc>, : Acceleration
+ <dec> : Deceleration
+ );
+ Constant velocity motion of axis <axIndex>.
+ Motion is triggerd with a positive edge on <execute> input.
+ returns 0 if success or error code.
+
+ 5. retvalue = mc_home(
+ <axIndex>, : Axis index
+ <execute>, : Trigger
+ <seqId>, : Motion sequence
+ <velTwoardsCam>, : Target Velocity twords cam
+ <velOffCam> : Target velocity off cam
+ );
+ Perform a homing sequence of axis <axIndex>.
+ Motion is triggerd with a positive edge on <execute> input.
+ returns 0 if success or error code.
+
+ 6. retvalue = mc_home_pos(
+ <axIndex>, : Axis index
+ <execute>, : Trigger
+ <seqId>, : Motion sequence
+ <velTwoardsCam>, : Target Velocity twords cam
+ <velOffCam> : Target velocity off cam
+ <homePos> : Homing position
+ );
+ Perform a homing sequence of axis <axIndex>
+ Motion is triggerd with a positive edge on <execute> input.
+ returns 0 if success or error code.
+
+ 7. retvalue = mc_halt(
+ <axIndex>, : Axis index
+ <execute>, : Trigger
+ );
+ Stop motion of axis <axIndex>.
+ Command is triggerd with a positive edge on <execute> input.
+ returns 0 if success or error code.
+
+ 8. retvalue = mc_power(
+ <axIndex>, : Axis index
+ <enable>, : Enable power
+ );
+ Enable power of axis <axIndex>.
+ Motion is triggerd with a positive edge on <execute> input.
+ returns 0 if success or error code.
+
+ 9. retvalue = mc_get_busy(
+ <axIndex>, : Axis index#
+ );
+ Check if axis is busy.
+ returns busy state of axis (1 if busy and 0 if not busy).
+
+ 10. retvalue = mc_get_homed(
+ <axIndex>, : Axis index#
+ );
+ Check if axis is homed.
+ returns state of homed flag of axis (1 if homed and 0 if not homed).
+
+ 11. retvalue = mc_get_err();
+ Returns error code for last lib call.
+
+ 12. retvalue = mc_reset(<axIndex>);
+ Resets error of motion axis.
+
+ 13. retvalue = mc_get_axis_err(<axIndex>);
+ Returns motion axis error code.
+
+ 14. retvalue = mc_set_enable_motion_funcs(
+ <axIndex>, : Axis index
+ <enablePos>, : Enable positioning
+ <enableVelo>, : Enable const velo
+ <enableHome>, : Enable const homing
+ );
+
+ Enables/disables motion functionalities. Returns error code.
+
+ 15. retvalue = mc_get_act_pos(
+ <axIndex>, : Axis index
+ <encIndex> : Encoder index
+ );
+
+ Returns encoder position for any of the configured encoders of an axis.
+
+ 16. retvalue = mc_set_prim_enc(
+ <axIndex>, : Axis index
+ <encIndex> : Encoder index
+ );
+
+ Sets primary and homing encoder index of the axis (the encoder used for control).
+ The primary encoder can only be changed when the axis is not busy.
+
+ Returns motion axis error code.
+
+ 17. retvalue = mc_get_prim_enc(
+ <axIndex>, : Axis index
+ );
+
+ Returns primary encoder index of the axis (the encoder used for control).
+
+ 18. mc_set_axis_error(
+ <axis_id>, : Axis index
+ <error_code> : Error code to set
+ );
+
+ Sets an arbitrary error code to an axis object.
+
+ 19. mc_set_slaved_axis_in_error(
+ <axis_id>, : Axis index
+ );
+
+ Set axis error that indicates that a slaved axis is in error state (ERROR_AXIS_SLAVED_AXIS_IN_ERROR 0x1432B).
```
#### Motion Group
-```shell
-# 1. mc_grp_get_enable(
-# <grp_id>, : Group index
-# );
-#
-# Returns true if all axes in the group have the enable bit set, else false.
-# Note: The axes do not need to be enabled if this function returns true, see mc_grp_get_enabled().
-#
-# 2. mc_grp_get_any_enable(
-# <grp_id>, : Group index
-# );
-#
-# Returns true if atleast one axis in the group has the enable bit set, else false.
-#
-# 3. mc_grp_get_enabled(
-# <grp_id>, : Group index
-# );
-#
-# Returns true if all axes in the group are in enabled state, else false.
-#
-# 4. mc_grp_get_any_enabled(
-# <grp_id>, : Group index
-# );
-#
-# Returns true if atleast one axis in the group is in enabled state, else false.
-#
-# 5. mc_grp_get_busy(
-# <grp_id>, : Group index
-# );
-#
-# Returns true if all axes in the group are in busy state, else false.
-#
-# 6. mc_grp_get_any_busy(
-# <grp_id>, : Group index
-# );
-#
-# Returns true if atleast one axis in the group is in busy state, else false.
-#
-# 7. mc_grp_get_any_error_id(
-# <grp_id>, : Group index
-# );
-#
-# Returns error id if atleast one axis in the group is in error state, else zero.
-#
-# 8. mc_grp_set_enable(
-# <grp_id>, : Group index
-# <enable> : Enable state
-# );
-#
-# Sets enable for all axes in group.
-# Returns 0 or error id.
-#
-# 9. mc_grp_set_traj_src(
-# <grp_id>, : Group index
-# <source> : Trajectory source (0 = internal, 1 = external/PLC )
-# );
-#
-# Sets trajectory source for all axes in group.
-# Returns 0 or error id.
-#
-# 10. mc_grp_set_enc_src(
-# <grp_id>, : Group index
-# <source> : Encoder source (0 = internal, 1 = external/PLC )
-# );
-#
-# Sets encoder source for all axes in group.
-# Returns 0 or error id.
-#
-# 11. mc_grp_reset_error(
-# <grp_id>, : Group index
-# );
-#
-# Resets error of all axes in group.
-#
-# 12. mc_grp_set_error(
-# <grp_id>, : Group index
-# <error_id> : Error Id
-# );
-#
-# Set error id of all axes in group.
-#
-# 13. mc_grp_set_slaved_axis_in_error(
-# <grp_id>, : Group index
-# );
-#
-# Set error id of all axes in group to ERROR_AXIS_SLAVED_AXIS_IN_ERROR (0x1432B)
-#
-# 14. mc_grp_halt(
-# <grp_id>, : Group index
-# );
-#
-# Halt all axes in group (only works if traj source = internal/0)
-#
-# 15. mc_grp_axis_in_grp(
-# <grp_id>, : Group index
-# <axis_id>, : Axis index
-# );
-#
-# Returns true if axis is in group, else false.
-#
-# 16. mc_grp_size(
-# <grp_id>, : Group index
-# );
-#
-# Returns the number of axes in group.
-#
-#
-# 17. mc_grp_get_traj_src_ext(
-# <grp_id>, : Group index
-# );
-#
-# Returns true if all axes in the group have trajectory source set to external.
-#
-# 18. mc_grp_get_any_traj_src_ext(
-# <grp_id>, : Group index
-# );
-# Returns true if atleast one axis in the group have trajectory source set to external.
-#
-# 19. mc_grp_set_allow_src_change_when_enabled(
-# <grp_id>, : Group index
-# <allow>, : Allow change of source
-# );
-# Allow source change for trajectory and encoder when axis is enabled.
-#
-# 20. mc_grp_sync_act_set(
-# <grp_id>, : Group index
-# <sync>, : Sync yes or no
-# );
-# 1. Sync ecmc current setpoint with actual value (if not enabled and internal mode)
-# 2. Sync MR at next poll (maximum once).
-#
+```text
+ 1. mc_grp_get_enable(
+ <grp_id>, : Group index
+ );
+
+ Returns true if all axes in the group have the enable bit set, else false.
+ Note: The axes do not need to be enabled if this function returns true, see mc_grp_get_enabled().
+
+ 2. mc_grp_get_any_enable(
+ <grp_id>, : Group index
+ );
+
+ Returns true if atleast one axis in the group has the enable bit set, else false.
+
+ 3. mc_grp_get_enabled(
+ <grp_id>, : Group index
+ );
+
+ Returns true if all axes in the group are in enabled state, else false.
+
+ 4. mc_grp_get_any_enabled(
+ <grp_id>, : Group index
+ );
+
+ Returns true if atleast one axis in the group is in enabled state, else false.
+
+ 5. mc_grp_get_busy(
+ <grp_id>, : Group index
+ );
+
+ Returns true if all axes in the group are in busy state, else false.
+
+ 6. mc_grp_get_any_busy(
+ <grp_id>, : Group index
+ );
+
+ Returns true if atleast one axis in the group is in busy state, else false.
+
+ 7. mc_grp_get_any_error_id(
+ <grp_id>, : Group index
+ );
+
+ Returns error id if atleast one axis in the group is in error state, else zero.
+
+ 8. mc_grp_set_enable(
+ <grp_id>, : Group index
+ <enable> : Enable state
+ );
+
+ Sets enable for all axes in group.
+ Returns 0 or error id.
+
+ 9. mc_grp_set_traj_src(
+ <grp_id>, : Group index
+ <source> : Trajectory source (0 = internal, 1 = external/PLC )
+ );
+
+ Sets trajectory source for all axes in group.
+ Returns 0 or error id.
+
+ 10. mc_grp_set_enc_src(
+ <grp_id>, : Group index
+ <source> : Encoder source (0 = internal, 1 = external/PLC )
+ );
+
+ Sets encoder source for all axes in group.
+ Returns 0 or error id.
+
+ 11. mc_grp_reset_error(
+ <grp_id>, : Group index
+ );
+
+ Resets error of all axes in group.
+
+ 12. mc_grp_set_error(
+ <grp_id>, : Group index
+ <error_id> : Error Id
+ );
+
+ Set error id of all axes in group.
+
+ 13. mc_grp_set_slaved_axis_in_error(
+ <grp_id>, : Group index
+ );
+
+ Set error id of all axes in group to ERROR_AXIS_SLAVED_AXIS_IN_ERROR (0x1432B)
+
+ 14. mc_grp_halt(
+ <grp_id>, : Group index
+ );
+
+ Halt all axes in group (only works if traj source = internal/0)
+
+ 15. mc_grp_axis_in_grp(
+ <grp_id>, : Group index
+ <axis_id>, : Axis index
+ );
+
+ Returns true if axis is in group, else false.
+
+ 16. mc_grp_size(
+ <grp_id>, : Group index
+ );
+
+ Returns the number of axes in group.
+
+
+ 17. mc_grp_get_traj_src_ext(
+ <grp_id>, : Group index
+ );
+
+ Returns true if all axes in the group have trajectory source set to external.
+
+ 18. mc_grp_get_any_traj_src_ext(
+ <grp_id>, : Group index
+ );
+ Returns true if atleast one axis in the group have trajectory source set to external.
+
+ 19. mc_grp_set_allow_src_change_when_enabled(
+ <grp_id>, : Group index
+ <allow>, : Allow change of source
+ );
+ Allow source change for trajectory and encoder when axis is enabled.
+
+ 20. mc_grp_sync_act_set(
+ <grp_id>, : Group index
+ <sync>, : Sync yes or no
+ );
+ 1. Sync ecmc current setpoint with actual value (if not enabled and internal mode)
+ 2. Sync MR at next poll (maximum once).
+
```
#### Data Storage
-```shell
-# 1. retvalue = ds_append_data(
-# <dsIndex>, : Data storage index
-# <data>, : Data
-# );
-# Append data to data storage.
-# returns 0 if success or error code.
-#
-# 2. retvalue = ds_clear_data(
-# <dsIndex>, : Data storage index
-# );
-# Clear data to data storage.
-# returns 0 if success or error code.
-#
-# 3. retvalue = ds_get_data(
-# <dsIndex>, : Data storage index
-# <bufferIndex>, : Buffer index
-# );
-# Returns data from buffer.
-#
-# 4. retvalue = ds_set_data(
-# <dsIndex>, : Data storage index
-# <bufferIndex>, : Buffer index
-# );
-# Sets data in data storage buffer.
-# returns 0 if success or error code.
-#
-# 5. retvalue = ds_get_buff_id(
-# <dsIndex>, : Data storage index
-# );
-# Returns current buffer index.
-#
-# 6. retvalue = ds_set_buff_id(
-# <dsIndex>, : Data storage index
-# <bufferIndex>, : Buffer index
-# );
-# Sets current buffer index in data storage buffer.
-# returns 0 if success or error code.
-#
-# 7. retvalue = ds_is_full(
-# <dsIndex>, : Data storage index
-# );
-# Returns true if buffer is full.
-#
-# 8. retvalue = ds_get_size(
-# <dsIndex>, : Data storage index
-# );
-# Returns buffer size of data storage.
-#
-# 9. retvalue = ds_get_err()
-# Returns error code for last lib call.
-#
-# 10. retvalue = ds_push_asyn(
-# <dsIndex>, : Data storage index
-# );
-# Triggers push of all asyn parameters in ds to EPICS (including data).
-#
-# 11. retvalue = ds_get_avg(
-# <dsIndex>, : Data storage index
-# );
-# Returns average of the values in the data storage.
-#
-# 12. retvalue = ds_get_min(
-# <dsIndex>, : Data storage index
-# );
-# Returns minimum of the values in the data storage.
-#
-# 13. retvalue = ds_get_max(
-# <dsIndex>, : Data storage index
-# );
-# Returns maximum of the values in the data storage.
-#
-# 14. retvalue=ds_append_to_ds(
-# <dsFromId>, : Source data storage index
-# <dsFromDataId>, : Source data element index
-# <elements>, : Number of elements to copy
-# <dsToId> : Destination data storage index
-# );
-# Appends data at the current position of the destination data storage (dsToId). The data source is defined by (dsFromId) and the selected tion (dsFromDataId) and element count (elements).
-#
-# 15. retvalue=ds_err_rst():
-# Resets error code for ds_lib.
-#
+```text
+ 1. retvalue = ds_append_data(
+ <dsIndex>, : Data storage index
+ <data>, : Data
+ );
+ Append data to data storage.
+ returns 0 if success or error code.
+
+ 2. retvalue = ds_clear_data(
+ <dsIndex>, : Data storage index
+ );
+ Clear data to data storage.
+ returns 0 if success or error code.
+
+ 3. retvalue = ds_get_data(
+ <dsIndex>, : Data storage index
+ <bufferIndex>, : Buffer index
+ );
+ Returns data from buffer.
+
+ 4. retvalue = ds_set_data(
+ <dsIndex>, : Data storage index
+ <bufferIndex>, : Buffer index
+ );
+ Sets data in data storage buffer.
+ returns 0 if success or error code.
+
+ 5. retvalue = ds_get_buff_id(
+ <dsIndex>, : Data storage index
+ );
+ Returns current buffer index.
+
+ 6. retvalue = ds_set_buff_id(
+ <dsIndex>, : Data storage index
+ <bufferIndex>, : Buffer index
+ );
+ Sets current buffer index in data storage buffer.
+ returns 0 if success or error code.
+
+ 7. retvalue = ds_is_full(
+ <dsIndex>, : Data storage index
+ );
+ Returns true if buffer is full.
+
+ 8. retvalue = ds_get_size(
+ <dsIndex>, : Data storage index
+ );
+ Returns buffer size of data storage.
+
+ 9. retvalue = ds_get_err()
+ Returns error code for last lib call.
+
+ 10. retvalue = ds_push_asyn(
+ <dsIndex>, : Data storage index
+ );
+ Triggers push of all asyn parameters in ds to EPICS (including data).
+
+ 11. retvalue = ds_get_avg(
+ <dsIndex>, : Data storage index
+ );
+ Returns average of the values in the data storage.
+
+ 12. retvalue = ds_get_min(
+ <dsIndex>, : Data storage index
+ );
+ Returns minimum of the values in the data storage.
+
+ 13. retvalue = ds_get_max(
+ <dsIndex>, : Data storage index
+ );
+ Returns maximum of the values in the data storage.
+
+ 14. retvalue=ds_append_to_ds(
+ <dsFromId>, : Source data storage index
+ <dsFromDataId>, : Source data element index
+ <elements>, : Number of elements to copy
+ <dsToId> : Destination data storage index
+ );
+ Appends data at the current position of the destination data storage (dsToId). The data source is defined by (dsFromId) and the selected tion (dsFromDataId) and element count (elements).
+
+ 15. retvalue=ds_err_rst():
+ Resets error code for ds_lib.
+
```
diff --git a/hugo/content/manual/build.md b/hugo/content/manual/build.md
index 473d58c28..fca00e7f0 100644
--- a/hugo/content/manual/build.md
+++ b/hugo/content/manual/build.md
@@ -9,7 +9,7 @@ These instructions only work at PSI!
{{% /notice %}}
## Build at PSI, using driver.makefile
-by default this module is only build for RHEL7 and Epics >=R7.0.5
+by default this module is only build for Debian 10 and Epics >=R7.0.6
### build on login cluster
```bash
diff --git a/hugo/content/manual/general_cfg/best_practice.md b/hugo/content/manual/general_cfg/best_practice.md
index af7c9afe4..f8c15d627 100644
--- a/hugo/content/manual/general_cfg/best_practice.md
+++ b/hugo/content/manual/general_cfg/best_practice.md
@@ -21,7 +21,7 @@ As a comparison, TwinCAT default EtherCAT rates are:
See [host/ecmc_server](../../knowledgebase/host/) for more information.
## ecmc server setup
-* If possible, make sure you use the native igb ethercat driver.
+* If possible, make sure the native igb ethercat driver is used.
For more information see:
* https://git.psi.ch/motion/ecmc_server_cfg
diff --git a/hugo/content/manual/general_cfg/iocsh_utils.md b/hugo/content/manual/general_cfg/iocsh_utils.md
index 8476b0d55..4e3f0a617 100644
--- a/hugo/content/manual/general_cfg/iocsh_utils.md
+++ b/hugo/content/manual/general_cfg/iocsh_utils.md
@@ -6,11 +6,11 @@ chapter = false
## ECMC Iocsh Utilities
-### Iocsh function "ecmcEpicsEnvSetCalc()"
- "ecmcEpicsEnvSetCalc()" is used to evaluate expressions and set result to EPCIS environment variables. Usefull for calculate:
+### ecmcEpicsEnvSetCalc
+ "ecmcEpicsEnvSetCalc()" is used to evaluate expressions and set result to EPCIS environment variables. Useful for calculate:
* slave offsets
- * sdo/pdo adresses (also in hex)
- * scalings in motion
+ * sdo/pdo addresses (also in hex)
+ * motion scaling
* record fields
* ...
@@ -31,11 +31,11 @@ ecmcEpicsEnvSetCalc -h
Restrictions:
- Some flags and/or width/precision combinations might not be supported.
- Hex numbers in the expression is not allowed (but hex as output by formating is OK).
- - Non floatingpoint values will be rounded to nearest int.
+ - Non floating point values will be rounded to nearest int.
```
#### Examples:
-```
+```text
#### Calculate addresses in HEX with specified width
# ecmcEpicsEnvSetCalc("test2", "$(test1)+1+2+3+4+5*10.1", "%03x")
ecmcEpicsEnvSetCalc("test2", "061+1+2+3+4+5*10.1", "%03x")
@@ -83,7 +83,7 @@ ecmcEpicsEnvSetCalc("result", "if('ecmcEL3002.cmd'='test.script') {RESULT:=1;}el
epicsEnvShow("result")
result=0
```
-### Iocsh function "ecmcEpicsEnvSetCalcTernary()"
+### ecmcEpicsEnvSetCalcTernary
"ecmcEpicsEnvSetCalcTernary()" is used o evaluate expressions and set EPCIS environment variables to different strings.
depending on if the expression evaluates to "true" or "false". Can be useful for:
* Choose different files to load like plc-files, axis configurations, db-files or..
@@ -107,7 +107,7 @@ ecmcEpicsEnvSetCalcTernary -h
```
#### Examples:
-```
+```text
### Simple true false
epicsEnvSet("VALUE",10)
# ecmcEpicsEnvSetCalcTernary("test_var", "${VALUE}+2+5/10","True","False")
@@ -134,32 +134,6 @@ epicsEnvShow("result")
result=no_use_this_file.cfg
```
-### Use return value of ecmcConfig(OrDie):
-
-The return value from ecmcConfig(OrDie) is stored in the EPICS environment variable
-"ECMC_CONFIG_RETURN_VAL". This value can be used to make som dynamic configuration.
-All ASCII configuration commands for ecmcConfig(OrDie) can be used in the same way.
-
-#### Example: Read firmware version of an EL7037 stepper drive
-Note: SDO reads need to be before "SetAppMode(1)"
-```
-ecmcConfig "EcReadSdo(${ECMC_SLAVE_NUM},0x100a,0x0,2)"
-epicsEnvShow(ECMC_CONFIG_RETURN_VAL)
-ECMC_CONFIG_RETURN_VAL=14640
-
-```
-The variable "ECMC_CONFIG_RETURN_VAL" then can be used to set record fields, name or alias for instance..
-
-### Example: Read "ID" PDO from EK1101 (shown in detail in aliasRecordFromPdoData.script)
-Note: PDO reads need to be after "SetAppMode(1)" since cyclic value
-```
-ecmcConfig "ReadEcEntryIDString(${ECMC_SLAVE_NUM},"ID")"
-## This is the value of the EK1101 ID switch
-epicsEnvShow(ECMC_CONFIG_RETURN_VAL)
-ECMC_CONFIG_RETURN_VAL=1024
-```
-The variable "ECMC_CONFIG_RETURN_VAL" then can be used to set record fields, name or alias for instance..
-
### ecmcIf(\<expression\>,\<optional true macro\>,\<optional false macro\>)
ecmcIf() set two macros depending on the value of the evaluated expression. If it evaluates to true:
1. IF_TRUE="" Allows execution of a line of code
@@ -169,20 +143,19 @@ If expression evaluates to false:
1. IF_TRUE="#-" Block execution of a line of code
2. IF_FALSE= "" Allows execution of a line of code
-Note: These macros is the default names for the macros (but can be changed by assignment of the 2 last params in call to ecmcIf()):
+Note: These macros are the default names for the macros (but can be changed by assignment of the 2 last params in call to ecmcIf()):
1. IF_TRUE for true
2. IF_FALSE for false
-### ecmcIf
-```
-ecmcEndIf(\<optional true macro\>,\<optional false macro\>)
+### ecmcEndIf
+```text
+ecmcEndIf()
```
-
The ecmcEndIf() command unsets the last used macros (for true and false), if different names are passed as arguments then then these macros are unset (for nested if statements).
-#### Example of of syntax
+#### Example of syntax
Example 1:
-```
+```text
ecmcIf("<expression>")
${IF_TRUE} # Code to execute if expression eval true
#- else
@@ -190,7 +163,7 @@ ${IF_FALSE} # Code to execute if expression eval false
ecmcEndIf()
```
Example 2:
-```
+```text
ecmcIf("$(VAL1)=$(VAL2)")
${IF_TRUE}epicsEnvSet(IS_EQUAL,"1")
#- else
@@ -204,7 +177,7 @@ Useful for:
* Large systems with many similar sub systems
* Configuring hardware with many PDOs (oversampling)
-```
+```text
"ecmcForLoop(<filename>, <macros>, <loopvar>, <from>, <to>, <step>)" to loop execution of file with a changing loop variable.
<filename> : Filename to execute in for loop.
<macros> : Macros to feed to execution of file.
@@ -216,7 +189,7 @@ Useful for:
```
Example ("ECMC_LOOP_IDX" as loop variable):
-```
+```text
ecmcForLoop(./loopStep.cmd,"",ECMC_LOOP_IDX,1,5,1)
ecmcEpicsEnvSetCalc("TESTING",1*10)
epicsEnvShow("TESTING")
@@ -235,7 +208,7 @@ epicsEnvShow("TESTING")
TESTING=50
```
where "loopStep.cmd" file looks like this (note the use of "ECMC_LOOP_IDX"):
-```
+```text
#- Commands tp execute in each loop of example ecmcForLoop.script
ecmcEpicsEnvSetCalc("TESTING",${ECMC_LOOP_IDX}*10)
epicsEnvShow("TESTING")
@@ -243,7 +216,7 @@ epicsEnvShow("TESTING")
### ecmcFileExist
Useful for checking that configuration files really exist and then can be loaded.
-```
+```text
ecmcFileExist(<filename>, <die>, <check EPICS dirs>, <dirs>)" to check if a file exists.
<filename> : Filename to check.
<die> : Exit EPICS if file not exist. Optional, defaults to 0.
@@ -252,7 +225,7 @@ ecmcFileExist(<filename>, <die>, <check EPICS dirs>, <dirs>)" to check if a file
result will be stored in the EPICS environment variable "ECMC_FILE_EXIST_RETURN_VAL"
```
Example:
-```
+```text
ecmcFileExist("file_exist.cfg")
epicsEnvShow(ECMC_FILE_EXIST_RETURN_VAL)
ECMC_FILE_EXIST_RETURN_VAL=1
@@ -268,6 +241,32 @@ ecmcFileExist("ecmcEK1100.substitutions",0,0,"/home/")
epicsEnvShow(ECMC_FILE_EXIST_RETURN_VAL)
ECMC_FILE_EXIST_RETURN_VAL=0
```
+### Use return value of ecmcConfig(OrDie):
+
+The return value from ecmcConfig(OrDie) is stored in the EPICS environment variable
+"ECMC_CONFIG_RETURN_VAL". This value can be used to make som dynamic configuration.
+All ASCII configuration commands for ecmcConfig(OrDie) can be used in the same way.
+
+#### Example: Read firmware version of an EL7037 stepper drive
+Note: SDO reads need to be before "SetAppMode(1)"
+```text
+ecmcConfig "EcReadSdo(${ECMC_SLAVE_NUM},0x100a,0x0,2)"
+epicsEnvShow(ECMC_CONFIG_RETURN_VAL)
+ECMC_CONFIG_RETURN_VAL=14640
+
+```
+The variable "ECMC_CONFIG_RETURN_VAL" then can be used to set record fields, name or alias for instance..
+
+### Example: Read "ID" PDO from EK1101 (shown in detail in aliasRecordFromPdoData.script)
+Note: PDO reads need to be after "SetAppMode(1)" since cyclic value
+```text
+ecmcConfig "ReadEcEntryIDString(${ECMC_SLAVE_NUM},"ID")"
+## This is the value of the EK1101 ID switch
+epicsEnvShow(ECMC_CONFIG_RETURN_VAL)
+ECMC_CONFIG_RETURN_VAL=1024
+```
+The variable "ECMC_CONFIG_RETURN_VAL" then can be used to set record fields, name or alias for instance..
+
### Todo
Add docs for:
* ecmcConfigOrDie
diff --git a/hugo/content/manual/knowledgebase/host.md b/hugo/content/manual/knowledgebase/host.md
index 86cbc012e..74b57bb4d 100644
--- a/hugo/content/manual/knowledgebase/host.md
+++ b/hugo/content/manual/knowledgebase/host.md
@@ -10,7 +10,7 @@ chapter = false
### latency issues / lost frames
-High latency, more than 10% of the ethercat cycle time, can in worse case result, in lost ethercat frames, which of course is not an ideal situation. High latency of the ecmc_rt thread can be related to:
+High latency, more than 30% of the ethercat cycle time, can result in lost ethercat frames, which means data are lost. High latency of the ecmc_rt thread can be related to:
1. The generic device driver is used
2. High load on system
3. ...
@@ -61,12 +61,16 @@ epicsThreadSetAffinity ecmc_rt 5
```
If more than one ecmc ioc is running on the server, then make sure the ecmc_rt threads run on different cores.
-Also other threads might take a lot of resources, for instance the epics thread "cbLow":
+Further tuning might include moving other cpu intensive threads to dedicated cores, for instance the epics thread ```cbLow```:
```
afterInit "epicsThreadSetAffinity cbLow 6"
```
{{% notice info %}}
-cbLow is created at iocInit, therefore the "epicsThreadSetAffinity" must be executed with the "afterInit" command.
+```cbLow``` is created at iocInit, therefore the "epicsThreadSetAffinity" must be executed with the "afterInit" command.
+{{% /notice %}}
+
+{{% notice note %}}
+The affinity can also be set with the tools accessible in the EPICS module MCoreUtils.
{{% /notice %}}
### EtherCAT rate (EC_RATE)