ecmccfg

A configuration framework for ECMC Motion Control Module for EPICS.

Purpose

The configuration framework contains the necessary files to configure an EPICS IOC for EtherCAT based motion control and DAQ.

Topics

provided common user commands

  • addAxis.cmd
  • addDataStorage.cmd
  • addMaster.cmd
  • addSlave.cmd
  • addSlaveKL.cmd
  • addVirtualAxis.cmd
  • applyAxisSynchronization.cmd
  • applyConfig.cmd
  • applySlaveConfig.cmd
  • configureAxis.cmd
  • configureSlave.cmd
  • configureVirtualAxis.cmd
  • loadPLCFile.cmd
  • loadPlugin.cmd
  • setAppMode.cmd
  • setDiagnostics.cmd

Example IOC

  1. require the configuration module with optional version
require ecmccfg <VERSION>
  1. add a coupler and slave
# slave 0 {ecmcEK1100}
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EK1100"
# SLAVE_ID is automatically incremented
# slave 1 {ecmcEL1018}
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EL1018"
# skip slaves 2..6
# slave 7 {ecmcEL2008}, with optional SLAVE_ID
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=E2008, SLAVE_ID=7"
#-- ATTENTION, this only work for certain slaves, as the EPICS templates have to be migrated before
# slave 9 {ecmcEL2008}, with optional SLAVE_ID and P_SCRIPT
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=E2008, SLAVE_ID=9, P_SCRIPT=mXsXXX"
  1. add more slaves and apply configuration to the slaves
# slave 10 {ecmcEL7062}, add slave and apply component
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7062"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepper, CH_ID=1, MACROS='I_MAX_MA=1000, I_STDBY_MA=100, U_NOM_MV=24000, R_COIL_MOHM=1230,L_COIL_UH=500'"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepper, CH_ID=2, MACROS='I_MAX_MA=1000, I_STDBY_MA=100, U_NOM_MV=24000, R_COIL_MOHM=1230,L_COIL_UH=500'"

# For two channel drives, both channels must be configured (ensure correct motor cfgs are used). If channel is not in use, then apply the "Generic-Ch-Not-Used" component.
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7062"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepper, CH_ID=1, MACROS='I_MAX_MA=1000, I_STDBY_MA=100, U_NOM_MV=24000, R_COIL_MOHM=1230,L_COIL_UH=500'"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Generic-Ch-Not-Used"

# Just ignore some slaves (increase SLAVE_ID with 4)
${SCRIPTEXEC} ${ecmccfg_DIR}ignoreSlaves.cmd    "COUNT=4"

# slave 16 {ecmcEL7037}, configure slave with optional SLAVE_ID. Please use applyComponent.cmd instead
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,  "HW_DESC=EL7037"
${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepper, CH_ID=1, MACROS='I_MAX_MA=1000, I_STDBY_MA=100, U_NOM_MV=24000, R_COIL_MOHM=1230,L_COIL_UH=500'"

# slave 17 {ecmcEL7037}, addSlave, with immediate call off applySlaveConfig. Please use applyComponent.cmd instead
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EL7037"
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applySlaveConfig,   "CONFIG=-Motor-Nanotec-ST4118L1804-B"

# slave with local configuration, in this case provided by the module `ECMC_AGIR`
epicsEnvSet("CFG_ROOT", "${ECMC_AGIR_DIR}/")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EP7211-0034_ALL"
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applySlaveConfig.cmd, "LOCAL_CONFIG=${CFG_ROOT}AM8211_AGIR.cfg"
  1. additional configuration

manually set binaryOutput01 to 1

ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput01,1)"

If a limit switch needs to be fed from a binary output then this can be configured in the yaml configuration for the axis by setting (cleaner solution):

axis: 
  feedSwitchesOutput: ec0.s1.binaryOutput04
  1. adding a physical motor axis
  • yaml config
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./AM8111_CSV_minimum.yaml, ECMC_TMPDIR=/tmp/"
  • classic config, please use yaml config instead.
epicsEnvSet("DEV",      "STEST-MYDEVICE")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}configureAxis.cmd,  "CONFIG=./cfg/axis_1"
  1. adding a virtual motor axis, please use yaml config instead.
${SCRIPTEXEC} ${ecmccfg_DIR}configureVirtualAxis.cmd,     "CONFIG=./cfg/axis_11_virt"
  1. adding synchronization, can be simpler to add the code in a normal PLC, see.
${SCRIPTEXEC} ${ecmccfg_DIR}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_1_sync"
${SCRIPTEXEC} ${ecmccfg_DIR}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_11_sync"
  1. loading a PLC from file
  • classic PLC-file
${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd, "PLC_ID=0, FILE=./plc/homeSlit.plc, SAMPLE_RATE_MS=100"
  • pure yaml based PLC, please use classic PLC-file load instead
${SCRIPTEXEC} "${ECMC_CONFIG_ROOT}loadYamlPlc.cmd" "FILE=./plc1.yaml, ECMC_TMPDIR=/tmp/"
  • pure yaml based PLC, please use classic PLC-file load instead, with classic PLC-file, Note: file key in yaml config will overwrite anything in the code key!
${SCRIPTEXEC} "${ECMC_CONFIG_ROOT}loadYamlPlc.cmd" "FILE=./plc1File.yaml, ECMC_TMPDIR=/tmp/"