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Add homing test cfg
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@anderssandstrom
anderssandstrom committed Oct 30, 2024
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93 changes: 93 additions & 0 deletions examples/PSI/lab_setup/homing/legacy_axis/cfg/el704X_1.ax
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#General
epicsEnvSet("ECMC_MOTOR_NAME", "Axis1")
epicsEnvSet("ECMC_R", "Axis1-")
epicsEnvSet("ECMC_AXIS_NO", "1")
epicsEnvSet("ECMC_DESC", "Test homing")
epicsEnvSet("ECMC_EGU", "deg") # Motor Record Unit
epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision
epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver
epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0)
epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE)
epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE>0: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance

#Encoder
epicsEnvSet("ECMC_ENC_SCALE_NUM" "1")
epicsEnvSet("ECMC_ENC_SCALE_DENOM" "12800")
epicsEnvSet("ECMC_ENC_TYPE" "0") # Type: 0=Incremental, 1=Absolute
epicsEnvSet("ECMC_ENC_BITS" "16") # Total bit count of encoder raw data
epicsEnvSet("ECMC_ENC_ABS_BITS", "0") # Absolute bit count (for absolute encoders) always least significant part of ECMC_ENC_BITS
epicsEnvSet("ECMC_ENC_ABS_OFFSET" "0") # Encoder offset in eng units (for absolute encoders)
epicsEnvSet("ECMC_EC_ENC_ACTPOS", "ec0.s$(DRV_ID).positionActual01") # Ethercat entry for actual position input (encoder)
epicsEnvSet("ECMC_EC_ENC_RESET", "") # Reset handled by DS402 statemachine
epicsEnvSet("ECMC_EC_ENC_ALARM_0", "") # Error 0 handled by DS402 statemachine
epicsEnvSet("ECMC_EC_ENC_ALARM_1", "") # Error 1 handled by DS402 statemachine
epicsEnvSet("ECMC_EC_ENC_ALARM_2", "") # Error 2 handled by DS402 statemachine
epicsEnvSet("ECMC_EC_ENC_WARNING", "") # Warning handled by DS402 statemachine

#Drive
epicsEnvSet("ECMC_DRV_TYPE" "0") # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
epicsEnvSet("ECMC_DRV_SCALE_NUM" "10") # Fastest speed in engineering units
epicsEnvSet("ECMC_DRV_SCALE_DENOM" "32768") # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
epicsEnvSet("ECMC_EC_DRV_CONTROL", "ec0.s$(DRV_ID).driveControl01.0") # Ethercat entry for control word or bit output
epicsEnvSet("ECMC_EC_DRV_STATUS", "ec0.s$(DRV_ID).driveStatus01.1") # Ethercat entry for status word or bit input
epicsEnvSet("ECMC_EC_DRV_VELOCITY", "ec0.s$(DRV_ID).velocitySetpoint01") # Ethercat entry for velocity setpoint output
epicsEnvSet("ECMC_EC_DRV_REDUCE_TORQUE", "ec0.s$(DRV_ID).driveControl01.2") # Ethercat entry for reduce torque output
epicsEnvSet("ECMC_EC_DRV_BRAKE", "") # Ethercat entry for brake output
epicsEnvSet("ECMC_DRV_BRAKE_OPEN_DLY_TIME", "0") # Brake timing parameter in cycles (default 1kHz)
epicsEnvSet("ECMC_DRV_BRAKE_CLOSE_AHEAD_TIME", "0") # Brake timing parameter in cycles (default 1kHz)
epicsEnvSet("ECMC_EC_DRV_RESET", "ec0.s$(DRV_ID).driveControl01.1") # Reset
epicsEnvSet("ECMC_EC_DRV_ALARM_0", "ec0.s$(DRV_ID).driveStatus01.3") # Error
epicsEnvSet("ECMC_EC_DRV_ALARM_1", "")
epicsEnvSet("ECMC_EC_DRV_ALARM_2", "ec0.s$(DRV_ID).driveStatus01.14") # Sync error
epicsEnvSet("ECMC_EC_DRV_WARNING", "ec0.s$(DRV_ID).driveStatus01.2") # Warning

#Trajectory
epicsEnvSet("ECMC_VELO", "5")
epicsEnvSet("ECMC_JOG_VEL", "5")
epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL
epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "10")
epicsEnvSet("ECMC_EMERG_DECEL", "10") # Emergency deceleration

#Homing
epicsEnvSet("ECMC_HOME_PROC", "1")
epicsEnvSet("ECMC_HOME_POS", "0.0")
epicsEnvSet("ECMC_HOME_VEL_TO", "2")
epicsEnvSet("ECMC_HOME_VEL_FRM", "1")
epicsEnvSet("ECMC_HOME_ACC", "10")
epicsEnvSet("ECMC_HOME_DEC", "10")
epicsEnvSet("ECMC_HOME_POS_MOVE_ENA", "1") # Enable move to position after successfull homing
epicsEnvSet("ECMC_HOME_POS_MOVE_TARG_POS","10") # Target position to go to after successfull homing

#Controller
epicsEnvSet("ECMC_CNTRL_KP", "5.0")
epicsEnvSet("ECMC_CNTRL_KI", "0.02")
epicsEnvSet("ECMC_CNTRL_KD", "0.0")
epicsEnvSet("ECMC_CNTRL_KFF", "1.0")

#Monitoring
# Switches
epicsEnvSet("ECMC_EC_MON_LOWLIM", "ec0.s$(DRV_ID).driveStatus01.11") # Ethercat entry for low limit switch input
epicsEnvSet("ECMC_EC_MON_HIGHLIM", "ec0.s$(DRV_ID).driveStatus01.12") # Ethercat entry for high limit switch inpuit
epicsEnvSet("ECMC_EC_MON_HOME_SWITCH", "ec0.s$(DRV_ID).ONE.0") # Ethercat entry for home switch input
epicsEnvSet("ECMC_EC_MON_EXT_INTERLOCK", "ec0.s$(DRV_ID).ONE.0") # Ethercat entry for external interlock input

# Softlimits (disable with 0,0,0)
epicsEnvSet("ECMC_SOFT_LOW_LIM", "0")
epicsEnvSet("ECMC_SOFT_HIGH_LIM", "0")
epicsEnvSet("ECMC_DXLM_ENABLE", "0")

# Position lag
epicsEnvSet("ECMC_MON_LAG_MON_TOL", "0.1")
epicsEnvSet("ECMC_MON_LAG_MON_TIME", "100")
epicsEnvSet("ECMC_MON_LAG_MON_ENA", "1")

# At target
epicsEnvSet("ECMC_MON_AT_TARGET_TOL", "0.01")
epicsEnvSet("ECMC_MON_AT_TARGET_TIME", "100")
epicsEnvSet("ECMC_MON_AT_TARGET_ENA", "1")

# Velocity
epicsEnvSet("ECMC_MON_VELO_MAX", "10.0")
epicsEnvSet("ECMC_MON_VELO_MAX_TRAJ_TIME","100")
epicsEnvSet("ECMC_MON_VELO_MAX_DRV_TIME", "200")
epicsEnvSet("ECMC_MON_VELO_MAX_ENA", "1")
22 changes: 22 additions & 0 deletions examples/PSI/lab_setup/homing/legacy_axis/startup.cmd
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##############################################################################
# Test homing on legacy axis cfg
#
require ecmccfg v9.6.2_RC1 "ENG_MODE=1,ECMC_VER=v9.6.2_RC1"
require ecmccomp

##############################################################################
## Configure hardware

epicsEnvSet("DRV_ID", "13")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_ID),HW_DESC=EL7041-0052"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=48000, R_COIL_MOHM=1230,SPEED_RANGE=1'"

##############################################################################
## AXIS 1
epicsEnvSet("DEV", "$(IOC)")
$(SCRIPTEXEC) $(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el704X_1.ax

#- ###########################################################################
#- go active
${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
98 changes: 98 additions & 0 deletions examples/PSI/lab_setup/homing/yaml_axis/cfg/axis_open_loop.yaml
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axis:
id: ${AXIS_ID=1} # Axis id
#feedSwitchesOutput: ec0.s${BO_SID}.binaryOutput${BO_CH=01} # Ethercat entry for feed switches

epics:
name: ${AX_NAME=M1} # Axis anme
precision: 3 # Decimal count
description: Test cfg # Axis description
unit: mm # Unit
motorRecord:
fieldInit: 'RTRY=0,FOFF=Frozen' # Extra config for Motor record

drive:
numerator: 10 # Fastest speed in eng. units (2000 Fullsteps/s==10mm/s)
denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET (normally +-16bit)
type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
setpoint: ec0.s$(DRV_SID).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP
control: ec0.s$(DRV_SID).driveControl01 # Control word ethercat entry
enable: 0 # Enable bit index in control word (not used if DS402)
reset: 1 # Reset bit in control word (if no drive reset bit then leave empty)
reduceTorque: 2 # Reduce torque bit in drive control word
reduceTorqueEnable: True # Enable reduce torque functionality
status: ec0.s$(DRV_SID).driveStatus01 # Status word ethercat entry
enabled: 1 # Enabled bit index in status word (not used if DS402)
warning: 2 # Warning bit in status word (if no drive warning bit then leave empty)
error: # max 3 error bits in status word
- 3 # Error 0 (if no drive error bit then leave empty)
- 7 # Error 1 (if no drive error bit then leave empty)
- 14 # Error 2 (if no drive error bit then leave empty)

encoder:
desc: Openloop
numerator: 1 # Scaling numerator example 1 mm/rev
denominator: 12800 # Scaling denominator example 4096 ticks per 360 degree
type: 0 # Type: 0=Incremental, 1=Absolute
bits: 16 # Total bit count of encoder raw data
absBits: 0 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
position: ec0.s$(ENC_SID).positionActual${ENC_CH=01} # Ethercat entry for actual position input (encoder)
status: ec0.s$(ENC_SID).encoderStatus${ENC_CH=01} # mandatory only if 'warning' or 'error' are used
primary: 1 # Use this encoder as primary (for control)
homing:
type: 1 # Homing sequence type
position: 0 # Position to reference encoder to
velocity:
to: 2 # Velocity to cam/sensor (used for some homing seqs)
from: 1 # Velocity from cam/sensor (used for some homing seqs)
acceleration: 10 # Acceleration during homing
deceleration: 10 # Deceleration during homing
refToEncIDAtStartup: 1 # At startup then set the start value of this encoder to actpos of this encoder id
refAtHome: 1 # If homing is executed then set position of this encoder
tolToPrim: 0 # If set then this is the max allowed tolerance between prim encoder and this encoder
postMoveEnable: yes # Enable move after successfull homing
postMovePosition: 10 # Position to move to after successfull homing

controller:
Kp: 10 # Kp proportinal gain
Ki: 0 # Ki integral gain
Kd: 0 # Kd derivative gain

trajectory:
axis:
velocity: 3 # Default velo for axis
acceleration: 10 # Default acc for axis
deceleration: 10 # Default dec for axis
emergencyDeceleration: 10 # Deceleration when axis in error state
jerk: 20 # Default jerk for axis
jog:
velocity: 1 # Default velo fro JOG (motor record)

input:
limit:
forward: ec0.s$(DRV_SID).driveStatus01.12 # Ethercat entry for low limit switch input
backward: ec0.s$(DRV_SID).driveStatus01.11 # Ethercat entry for high limit switch input
home: 'ec0.s$(DRV_SID).ONE.0' # Ethercat entry for home switch
interlock: 'ec0.s$(DRV_SID).ONE.0' # Ethercat entry for interlock switch input

softlimits:
enable: false # Enable soft limits
forward: 100 # Soft limit position fwd
forwardEnable: false # Soft limit position fwd enable
backward: -100 # Soft limit position bwd
backwardEnable: false # Soft limit position bwd enable

monitoring:
lag:
enable: true # Enable position lag monitoring (following error)
tolerance: 0.1 # Allowed tolerance
time: 100 # Allowed time outside tolerance target:
velocity:
enable: true # Enable velocity monitoring
max: 8 # Allowed max velocity
time:
trajectory: 100 # Time allowed outside max velo before system init halt
drive: 200 # Time allowed outside max velo before system disables drive
target:
enable: true # Enable at target monitoring (needs to be enabled if using motor record)
tolerance: 0.01 # Allowed tolerance
time: 10 # Filter time inside tolerance to be at target
17 changes: 17 additions & 0 deletions examples/PSI/lab_setup/homing/yaml_axis/startup.cmd
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##############################################################################
## Example config for open loop only

require ecmccfg v9.6.2_RC1 "ENG_MODE=1,ECMC_VER=v9.6.2_RC1"
require ecmccomp

# 0:13 - EL7041 1Ch Stepper
epicsEnvSet("DRV_SID", "13")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SID),HW_DESC=EL7041-0052"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=48000, R_COIL_MOHM=1230,SPEED_RANGE=1'"
epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=./cfg/axis_open_loop.yaml, DEV=${IOC}, AX_NAME=Axis1, AXIS_ID=1, DRV_SID=${DRV_SID}, ENC_SID=${DRV_SID}, ENC_CH=01"

#- ###########################################################################
#- go active
${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd

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