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18 changes: 6 additions & 12 deletions
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examples/PSI/best_practice/motion/stepper_bissc/startup_local_hw.cmd
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,25 +1,19 @@ | ||
| ############################################################################## | ||
| ## Example config for EL7041 and EL5042 | ||
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| require ecmccfg "ENG_MODE=1" | ||
| require ecmccomp | ||
| require ecmccfg "ENG_MODE=1,MASTER_ID=1" | ||
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| # 0:7 - EL7041 1Ch Stepper | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=13,HW_DESC=EL7041-0052" | ||
| ${SCRIPTEXEC} ${ecmccomp_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'" | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=14,HW_DESC=EL7041-0052" | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1500, I_STDBY_MA=1000, U_NOM_MV=48000, R_COIL_MOHM=1230'" | ||
| epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM}) | ||
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| # 0:2 - EL5042 2Ch BiSS-C Encoder, RLS-LA11 | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=14,HW_DESC=EL5042" | ||
| ${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1" | ||
| ${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=2" | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=9,HW_DESC=EL5042" | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1" | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=2" | ||
| epicsEnvSet(ENC_SID,${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" | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlEnc.cmd, "FILE=./cfg/enc_open_loop.yaml, DEV=${IOC}, DRV_SID=${DRV_SID}" | ||
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| #- ########################################################################### | ||
| #- go active | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,81 @@ | ||
| axis: | ||
| id: ${AXIS_ID=1} # Axis id | ||
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| epics: | ||
| name: ${AX_NAME=M1} # Axis anme | ||
| precision: 3 # Decimal count | ||
| description: Test cfg # Axis description | ||
| unit: deg # Unit | ||
| motorRecord: | ||
| fieldInit: 'RTRY=0,FOFF=Frozen' # Extra config for Motor record | ||
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| # Seems the setting is in deg/s?!? | ||
| # num=1 and denom=1 works PERFECT (controller params zero and following setpoint perfect). | ||
| # For twincat the manual where it states the output should be: | ||
| # With inc encoder: | ||
| # output_scaling = 360/enc_st_res/4*125 | ||
| # Without in encoder: | ||
| # output_scaling = 360/35535*125 | ||
| # Twincat is recalculating behind the scenes... | ||
| drive: | ||
| numerator: 1 # Fastest speed in eng. units (2000 Fullsteps/s==10mm/s) | ||
| denominator: 1 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET (normally +-16bit) | ||
| type: 1 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives) | ||
| setpoint: ec0.s$(DRV_SID).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP | ||
| control: ec0.s$(DRV_SID).driveControl01 # Control word ethercat entry | ||
| status: ec0.s$(DRV_SID).driveStatus01 # Status word ethercat entry | ||
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| encoder: | ||
| desc: Incremental | ||
| numerator: 360 # Scaling numerator example 1 mm/rev | ||
| denominator: 4096 # Scaling denominator example 4096 ticks per 360 degree | ||
| type: 0 # Type: 0=Incremental, 1=Absolute | ||
| bits: 32 # Total bit count of encoder raw data | ||
| position: ec0.s$(DRV_SID).positionActual${ENC_CH=01} # Ethercat entry for actual position input (encoder) | ||
| status: ec0.s$(DRV_SID).encoderStatus${ENC_CH=01} # mandatory only if 'warning' or 'error' are used | ||
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| controller: | ||
| Kp: 5 # Kp proportinal gain | ||
| Ki: 0 # Ki integral gain | ||
| Kd: 0 # Kd derivative gain | ||
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| trajectory: | ||
| type: 1 | ||
| axis: | ||
| velocity: 1720 # Default velo for axis | ||
| acceleration: 1720 # Default acc for axis | ||
| deceleration: 1720 # Default dec for axis | ||
| emergencyDeceleration: 1720 # Deceleration when axis in error state | ||
| jerk: 1720 # Default jerk for axis | ||
| jog: | ||
| velocity: 1720 # Default velo fro JOG (motor record) | ||
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| input: | ||
| limit: | ||
| forward: ec0.s$(DRV_SID).ONE.0 # Ethercat entry for low limit switch input | ||
| backward: ec0.s$(DRV_SID).ONE.0 # 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 | ||
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| 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 | ||
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| monitoring: | ||
| lag: | ||
| enable: true # Enable position lag monitoring (following error) | ||
| tolerance: 360 # Allowed tolerance | ||
| time: 100 # Allowed time outside tolerance target: | ||
| velocity: | ||
| enable: true # Enable velocity monitoring | ||
| max: 15000 # 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: 0.1 # Allowed tolerance | ||
| time: 100 # Filter time inside tolerance to be at target |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| ############################################################################## | ||
| ## Example config for el7411 with Qmot BLDC motor (incremental encoder) | ||
| ## Note, the encoder needed to be inverted to fit motor rotation (otherwise the motor will act strange, however no real error..) | ||
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| require ecmccfg sandst_a "MASTER_ID=1,ENG_MODE=1" | ||
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| #-############################################################################# | ||
| ## Configure hardware | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd "SLAVE_ID=16, HW_DESC=EL7411" | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Motor-QMot-4208-61-04-013-DS, MACROS='I_MAX_MA=2000,VELO_KP=1000,VELO_TI=100,CURR_KP=100,CURR_TI=50'" | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Encoder-Generic-INC, MACROS='ST_ENC_RES=4096, INV_DIR=1'" | ||
| ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd "FILE=./cfg/axis.yaml, DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${ECMC_EC_SLAVE_NUM}" |
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