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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,189 @@ | ||
| axis: | ||
| id: 1 # Axis id | ||
| type: joint # this is for future selection of axis type | ||
| # mode: CSV # supported mode, CSV and CSP, defaults CSV | ||
| # parameters: 'axisPar' # Additional params to motor record driver | ||
| #healthOutput: ec0... # Ethercat entry for health output | ||
| # autoMode: # Switch drive modes automaticaly for normal motion and homing (smaract for instance) | ||
| # modeSet: ec0.. # Ethercat entry drive mode write (set CSV,CSP,homing) | ||
| # modeAct: ec0.. # Ethercat entry drive mode reading (set CSV,CSP,homing) | ||
| # modeCmdMotion: 9 # Drive mode value for normal motion (written to axis.drvMode.modeSet when normal motion) | ||
| # modeCmdHome: 10 # Drive mode value for when homing (written to axis.drvMode.modeSet when homing) | ||
| # features: | ||
| # blockCom: false # Block communication to axis | ||
| # allowedFunctions: | ||
| # homing: true # Allow homing | ||
| # constantVelocity: true # Allow constant velocity | ||
| # positioning: true # Allow positioning | ||
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||
| epics: | ||
| name: Axis1 # Axis anme | ||
| precision: 3 # Decimal count | ||
| description: very important motor axis # Axis description | ||
| unit: mm # Unit | ||
| # motorRecord: | ||
| # enable: true | ||
| # description: This is MR | ||
| # fieldInit: 'RRES=1.0,RTRY=2,RMOD=1,UEIP=0,RDBD=0.1,URIP=1,RDBL=$(IOC):$(ECMC_MOTOR_NAME)-PosActSim' # Extra config for Motor record | ||
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| drive: | ||
| numerator: 3600 # Fastest speed in engineering units | ||
| denominator: 32768 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET | ||
| # type: 0 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives) | ||
| control: ec0.s$(DRV_SLAVE).driveControl01 # Control word ethercat entry | ||
| enable: 0 # Enable bit index in control word (not used if DS402) | ||
| enabled: 1 # Enabled bit index in status word (not used if DS402) | ||
| status: ec0.s$(DRV_SLAVE).driveStatus01 # Status word ethercat entry | ||
| setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP | ||
| # reduceTorque: 2 # Reduce torque bit in drive control word | ||
| # reduceTorqueEnable: True # Enable reduce torque functionality | ||
| # brake: | ||
| # enable: true # Enable brake | ||
| # output: ec0... # Ethercat link to brake output | ||
| # openDelay: 0 # Brake timing parameter in cycles (default 1kHz) | ||
| # closeAhead: 0 # Brake timing parameter in cycles (default 1kHz) | ||
| # reset: 1 # Reset (if no drive reset bit then leave empty) | ||
| # warning: 2 # Warning (if no drive warning bit then leave empty) | ||
| # error: # max 3 | ||
| # - 3 # Error 0 (if no drive error bit then leave empty) | ||
| # - 7 # Error 1 (if no drive error bit then leave empty) | ||
| # - 14 # Error 2 (if no drive error bit then leave empty) | ||
|
|
||
| encoder: | ||
| numerator: 360 # Scaling numerator example 360 deg/rev | ||
| denominator: 12800 # Scaling denominator example 4096 ticks per 360 degree | ||
| # type: 0 # Type: 0=Incremental, 1=Absolute | ||
| bits: 16 # Total bit count of encoder raw data | ||
| # absBits: 0 # Absolute bit count (for absolute encoders) always least significant part of 'bits' | ||
| # absOffset: 0 # Encoder offset in eng units (for absolute encoders) | ||
| # mask: '0xFFF00' # Mask applied to raw encoder value | ||
| position: ec0.s$(DRV_SLAVE).positionActual01 # Ethercat entry for actual position input (encoder) | ||
| control: ec0.s$(DRV_SLAVE).encoderControl01 # mandatory only if 'reset' is used | ||
| status: ec0.s$(DRV_SLAVE).encoderStatus01 # mandatory only if 'warning' or 'error' are used | ||
| # ready: 10 # Bit in encoder status word for encoder ready | ||
| # source: 0 # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC | ||
| # reset: 1 # Reset (optional) | ||
| # warning: 2 # Warning (optional) | ||
| # error: # max 3 (optional) | ||
| # - 5 # Error 0 | ||
| # - 9 # Error 1 | ||
| # - 11 # Error 2 | ||
| # filter: | ||
| # velocity: | ||
| # size: 100 # Filter size for velocity | ||
| # enable: true # enable velocity filter | ||
| # position: | ||
| # size: 100 # Filter size for encoder value | ||
| # enable: true # enable encoder value filter | ||
| # latch: | ||
| # position: '' # Link to latched value. Used for some homing seqs | ||
| # control: 0 # Bit in encoder control word to arm latch. Used for some homing seqs | ||
| # status: 0 # Bit in encoder status word for latch triggered status. Used for some homing seqs | ||
| # primary: 1 # Use this encoder as primary (for control) | ||
| # homing: | ||
| # type: 3 # Homing sequence type | ||
| # position: -30 # Position to reference encoder to | ||
| # velocity: | ||
| # to: 10 # Velocity to cam/sensor (used for some homing seqs) | ||
| # from: 5 # Velocity from cam/sensor (used for some homing seqs) | ||
| # acceleration: 20 # Acceleration during homing | ||
| # deceleration: 100 # 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 | ||
| # trigg: ec0.. # Ethercat entry for triggering drive internal homing seq (seq id 26) | ||
| # ready: ec0.. # Ethercat entry for readinf drive internal homing seq ready (seq id 26) | ||
|
|
||
| controller: | ||
| Kp: 10 # Kp proportinal gain | ||
| Ki: 0.2 # Ki integral gain | ||
| Kd: 0 # Kd derivative gain | ||
| # Kff: 1 # Feed forward gain | ||
| # deadband: | ||
| # tol: 0.01 # Stop control if within this distance from target for the below time | ||
| # time: 100 | ||
| # limits: | ||
| # minOutput: -100 # Minimum controller output | ||
| # maxOutput: 100 # Maximum controller output | ||
| # minIntegral: -100 # Minimum integral output | ||
| # maxIntegral: 100 # Maximum integral output | ||
| # inner: | ||
| # Kp: 0.1 # Kp for when close to target | ||
| # Ki: 0.1 # Ki for when close to target | ||
| # Kd: 0.1 # Kd for when close to target | ||
| # tol: 0.1 # Distance from target for when inner PID params will be used, defaults to atTarget tol | ||
|
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||
| trajectory: | ||
| # type: 1 # Default 0 = trapetz, 1 = S-curve (ruckig) | ||
| axis: | ||
| velocity: 500 # Default velo for axis | ||
| acceleration: 2000 # Default acc for axis | ||
| deceleration: 2000 # Default dec for axis | ||
| # emergencyDeceleration: 0.05 # Deceleration when axis in error state | ||
| jerk: 10 # Default jerk for axis | ||
| jog: | ||
| velocity: 5 # Default velo fro JOG (motor record) | ||
| # modulo: | ||
| # range: 360 # Modulo range 0..360 | ||
| # type: 0 # Modulo type | ||
|
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| input: | ||
| limit: | ||
| forward: ec0.s$(DRV_SLAVE).driveStatus01.12 # Ethercat entry for low limit switch input | ||
| # forwardPolarity: 0 # Polarity of forward limit switch | ||
| backward: ec0.s$(DRV_SLAVE).driveStatus01.11 # Ethercat entry for high limit switch input | ||
| # backwardPolarity: 0 # Polarity of forward limit switch | ||
| home: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for home switch | ||
| # homePolarity: 0 # Polarity of home switch | ||
| interlock: 'ec0.s$(DRV_SLAVE).ONE.0' # Ethercat entry for interlock switch input | ||
| # interlockPolarity: 0 # Polarity of interlock switch | ||
| analog: | ||
| interlock: 'ec0.s$(DRV_SLAVE).ZERO' # Ethercat entry for analog interlock | ||
| #interlockPolarity: 1 # 0: High value is bad, 1 = Low value is bad | ||
| rawLimit: 2000 # Analog raw limit | ||
| # enable: true | ||
| # homing: | ||
| # type: 3 # Homing sequence type | ||
| # position: -30 # Position to reference encoder to | ||
| # velocity: | ||
| # to: 10 # Velocity to cam/sensor (used for some homing seqs) | ||
| # from: 5 # Velocity from cam/sensor (used for some homing seqs) | ||
| # acc: 20 # Acceleration during homing | ||
| # dec: 100 # 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 | ||
| # timeout: 100 # Sequence timeout | ||
|
|
||
| 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: 3 # Allowed tolerance | ||
| time: 10 # Allowed time outside tolerance target: | ||
| velocity: | ||
| enable: false # Enable velocity monitoring | ||
| max: 100 # 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: 0.5 # Allowed tolerance | ||
| time: 10 # Filter time inside tolerance to be at target | ||
| # velocityDifference: | ||
| # enable: true # Enable velocity diff monitoring (velo set vs velo act) | ||
| # max: 100 # Allowed max difference | ||
| # time: | ||
| # trajectory: 100 # Time allowed outside max diff velo before system init halt | ||
| # drive: 200 # Time allowed outside max diff velo before system disables drive |
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