Merge branch 'master' of github.com:paulscherrerinstitute/ecmccfg

examples/PSI/best_practice/motion/stepper_bissc/startup_local_hw.cmd

@@ -3,12 +3,12 @@
 
 require ecmccfg "ENG_MODE=1,MASTER_ID=1"
 
-# 0:7 - EL7041    1Ch Stepper
+# EL7041    1Ch Stepper
 ${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})
 
-# 0:2  - EL5042    2Ch BiSS-C Encoder, RLS-LA11
+# EL5042    2Ch BiSS-C Encoder, RLS-LA11
 ${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"

hardware/Beckhoff_7XXX/ecmcEX72XX_CSV.cmd

@@ -12,35 +12,6 @@ ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${EC
 #- Conclusion: Need to contact Beckhoff. Probably firmware bug.
 ecmcConfigOrDie "Cfg.EcSetDelayECOkAtStartup(${ECMC_EC_STARTUP_DELAY=4000})"
 
-# ethercat -p22 pdos
-# SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
-# SM1: PhysAddr 0x1100, DefaultSize  256, ControlRegister 0x22, Enable 1
-
-# SM2: PhysAddr 0x1200, DefaultSize   12, ControlRegister 0x24, Enable 1
-#   RxPDO 0x1610 "DRV RxPDO-Map Controlword Ch.1"
-#     PDO entry 0x7010:01, 16 bit, "Controlword"
-#   RxPDO 0x1611 "DRV RxPDO-Map Target position Ch.1"
-#     PDO entry 0x7010:05, 32 bit, "Target position"
-#   RxPDO 0x1650 "DRV RxPDO-Map Controlword Ch.2"
-#     PDO entry 0x7110:01, 16 bit, "Controlword"
-#   RxPDO 0x1651 "DRV RxPDO-Map Target position Ch.2"
-#     PDO entry 0x7110:05, 32 bit, "Target position"
-
-# SM3: PhysAddr 0x1600, DefaultSize   20, ControlRegister 0x20, Enable 1
-#   TxPDO 0x1a00 "FB TxPDO-Map Position Ch.1"
-#     PDO entry 0x6000:11, 32 bit, "Position"
-#   TxPDO 0x1a10 "DRV TxPDO-Map Statusword Ch.1"
-#     PDO entry 0x6010:01, 16 bit, "Statusword"
-#   TxPDO 0x1a11 "DRV TxPDO-Map Following error actual value Ch.1"
-#     PDO entry 0x6010:06, 32 bit, "Following error actual value"
-
-#   TxPDO 0x1a40 "FB TxPDO-Map Position Ch.2"
-#     PDO entry 0x6100:11, 32 bit, "Position"
-#   TxPDO 0x1a50 "DRV TxPDO-Map Statusword Ch.2"
-#     PDO entry 0x6110:01, 16 bit, "Statusword"
-#   TxPDO 0x1a51 "DRV TxPDO-Map Following error actual value Ch.2"
-#     PDO entry 0x6110:06, 32 bit, "Following error actual value"
-
 #- Default panel
 epicsEnvSet("ECMC_HW_PANEL"              "Ex72x1")
 

hugo/content/manual/introduction.md

@@ -19,14 +19,12 @@ Blindly restarting the IOC, with only partially working EtherCAT hardware, will
 The startup script has several steps:
 
 1. `require` [ecmccfg](#require-ecmccfg)
-1. [configure](#slave-configuration) the slaves on the EtherCAT bus
+2. [configure](#slave-configuration) the slaves on the EtherCAT bus
     - additional configuration
     - adding a physical motor axis
     - adding a virtual motor axis
     - adding synchronization
     - loading a PLC from file
-1. [apply](#apply-the-configuration) the configuration
-1. [go active](#go-active)
 
 #### require ecmccfg
   ```bash
@@ -70,7 +68,7 @@ This behaviour can be modified by arguments.
   ```bash
   # slave 8 {EL7037}, configure slave using applyComponent.cmd from ecmccomp module with optional SLAVE_ID.
   ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,        "HW_DESC=EL7037, SLAVE_ID=8"
-  ${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=500, U_NOM_MV=48000, R_COIL_MOHM=1230'"
+  ${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd   "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=500, U_NOM_MV=48000, R_COIL_MOHM=1230'"
   # slave 9 {EL7037}, addSlave, with immediate call off applySlaveConfig
   # slave with global configuration
   ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,         "HW_DESC=EL7037"
@@ -81,11 +79,6 @@ This behaviour can be modified by arguments.
   ${SCRIPTEXEC} ${ecmccfg_DIR}applySlaveConfig.cmd, "LOCAL_CONFIG=${CFG_ROOT}AM8211_AGIR.cfg"
   ```
 
-#### apply the configuration
-The configured process image is applied to the master
-  ```bash
-  ${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
-  ```
 
 ##### additional configuration
 Optionally, manual modifications can be made to the default configuration.
@@ -150,8 +143,3 @@ ECMC PLCs can be loaded from classical PLC files, from pure yaml files or from a
 {{% notice tip %}}
 See [plc cfg](../plc_cfg/best_practice/) for more information.
 {{% /notice %}}
-
-#### go active
-  ```bash
-  ${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
-  ```

qt/ecmcAxisExpert_v2.ui

@@ -3362,7 +3362,7 @@
        </rect>
       </property>
       <property name="macro">
-       <string notr="true">ENC_ID=05,SYS=$(SYS),Axis=$(Axis),IOC=$(IOC)</string>
+       <string notr="true">ENC_ID=04,SYS=$(SYS),Axis=$(Axis),IOC=$(IOC)</string>
       </property>
       <property name="visibility">
        <enum>caFrame::Calc</enum>
@@ -4016,9 +4016,9 @@
      <property name="geometry">
       <rect>
        <x>10</x>
-       <y>80</y>
+       <y>90</y>
        <width>336</width>
-       <height>156</height>
+       <height>151</height>
       </rect>
      </property>
      <property name="title">
@@ -4308,7 +4308,7 @@
        </size>
       </property>
       <property name="text">
-       <string>Mon limit home:</string>
+       <string>Mon home:</string>
       </property>
      </widget>
      <widget class="caLineEdit" name="calineedit_58">
@@ -4397,7 +4397,7 @@
        <x>10</x>
        <y>10</y>
        <width>215</width>
-       <height>65</height>
+       <height>76</height>
       </rect>
      </property>
      <property name="sizePolicy">
@@ -4425,7 +4425,7 @@
       <property name="geometry">
        <rect>
         <x>90</x>
-        <y>20</y>
+        <y>25</y>
         <width>100</width>
         <height>18</height>
        </rect>
@@ -4447,7 +4447,7 @@
       <property name="geometry">
        <rect>
         <x>5</x>
-        <y>20</y>
+        <y>25</y>
         <width>80</width>
         <height>18</height>
        </rect>
@@ -4460,7 +4460,7 @@
       <property name="geometry">
        <rect>
         <x>5</x>
-        <y>40</y>
+        <y>47</y>
         <width>80</width>
         <height>18</height>
        </rect>
@@ -4473,7 +4473,7 @@
       <property name="geometry">
        <rect>
         <x>195</x>
-        <y>10</y>
+        <y>25</y>
         <width>18</width>
         <height>18</height>
        </rect>
@@ -4492,7 +4492,7 @@
       <property name="geometry">
        <rect>
         <x>91</x>
-        <y>41</y>
+        <y>48</y>
         <width>65</width>
         <height>18</height>
        </rect>
@@ -4505,7 +4505,7 @@
       <property name="geometry">
        <rect>
         <x>158</x>
-        <y>43</y>
+        <y>50</y>
         <width>32</width>
         <height>18</height>
        </rect>

release.md

@@ -1,3 +1,7 @@
+# 9.6.6
+* Add wrapper to ecmccomp/applyComponent.cmd (automatically requires ecmccomp)
+* Cleanup in PSI best practices.
+
 # 9.6.5
 * Unset PLC_MACROS after loadPLCFile.cmd and loadPLCLib.cmd
 * Minor updates to manual

scripts/applyComponent.cmd

@@ -0,0 +1,27 @@
+#===============================================================================
+# applyComponent.cmd (ecmccfg, warpper to ecmccomp/applyComponent.cmd)
+#- Arguments: n/a
+#-d /**
+#-d   \brief Warpper for ecmccomp/applyComponent.cmd. 
+#-d   \details Checks if ecmccomp is loaded, if not loads, then calls ecmccomp/applyComponent.cmd. 
+#-d            Using this wrapper will ensure that ecmccomp is loaded and therefore minimizes the risks of missing hw config.
+#-d            NOTE: Only for use if the ecmccomp modeule is accessible (at PSI)
+#-d   \author Anders Sandström
+#-d   \file
+#-d   \param COMP Component name
+#-d   \param EC_COMP_TYPE   (optional) Hardware descriptor, i.e. EL7037, defaults to ECMC_EC_COMP_TYPE or ECMC_EC_HWTYPE set in ecmccfg/addSlave.cmd
+#-d   \param COMP_S_ID      (optional) Slave bus position, defaults to ECMC_EC_SLAVE_NUM set in ecmccfg/addSlave.cmd
+#-d   \param CH_ID          (optional) Channel of slave default to 1
+#-d   \param MACROS         (optional) Special macros, depending on component/slave type:
+#-d */
+
+#- Check if ecmccomp is loaded otherwise require it
+ecmcEpicsEnvSetCalcTernary(EXE,"'${ecmccomp_DIR=NAN}'=='NAN'","", "#-")
+${EXE}require ecmccomp ${ECMCCOMP_VER=''}
+#- Check again, now it should be there
+${EXE}ecmcEpicsEnvSetCalcTernary(EXE,"'${ecmccomp_DIR=NAN}'=='NAN'","", "#-")
+${EXE}ecmcExit Error: ecmccomp module not loaded and not found
+epicsEnvUnset(EXE)
+
+ecmcFileExist(${ecmccomp_DIR}applyComponent.cmd,1,1)
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd  "COMP=${COMP}, EC_COMP_TYPE=${EC_COMP_TYPE=${ECMC_EC_COMP_TYPE=${ECMC_EC_HWTYPE=NAN}}}, COMP_S_ID=${COMP_S_ID=${ECMC_EC_SLAVE_NUM=0}}, CH_ID=${CH_ID=1}, MACROS='${MACROS=}'"

startup.cmd

@@ -15,7 +15,7 @@
 #- SYS
 #-
 #- [optional]
-#- ECMC_VER          = 9.6.3
+#- ECMC_VER          = 9.6.6
 #- EthercatMC_VER    = 3.0.2 (obsolete)
 #- INIT              = initAll
 #- MASTER_ID         = 0 <-- put negatuve number to disable master, aka non ec-mode
@@ -54,7 +54,7 @@ on error halt
 #-
 #-------------------------------------------------------------------------------
 #- load required modules
-epicsEnvSet(ECMC_VER,${ECMC_VER=9.6.3})
+epicsEnvSet(ECMC_VER,${ECMC_VER=9.6.6})
 require ecmc "${ECMC_VER}"
 
 #- Require EthercatMC if used.