Festo cmmt:WIP

paulscherrerinstitute · Mar 21, 2024 · b848337 · b848337
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Showing 2 changed files with 15 additions and 4 deletions.
diff --git a/examples/test/festo/festo.script b/examples/test/festo/festo.script
@@ -4,18 +4,21 @@
 require ecmccfg "EC_RATE=500,MASTER_ID=1,ENG_MODE=1"
 # require ecmccfg v9.0.1_RC4,"EC_RATE=500,ECMC_VER=sandst_a,MASTER_ID=1,ENG_MODE=1"
 
-require ecmccomp
+require ecmccomp sandst_a
 
 epicsEnvSet("IOC" ,"$(IOC="c6025a")")
 epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
 
 # Configuration loaded via FoE
 epicsEnvSet(DRV_ID,0)
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=${DRV_ID}, HW_DESC=Festo-CMMT-ST"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1800,I_STDBY_MA=1000,L_COIL_UH=3300,R_COIL_MOHM=1750,U_NOM_MV=24000'"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='CTRL_MODE=2,I_MAX_MA=1000,I_STDBY_MA=200,L_COIL_UH=3300,R_COIL_MOHM=1750,U_NOM_MV=24000'"
 #${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Festo-EMMS-ST-42-S-SE-G2,MACROS='U_NOM_MV=24000,I_MAX_MA=1000,I_STDBY_MA=1000'"
-#${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-BISS-C,MACROS='CLK_FRQ_KHZ=2000'"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-INC"
+#${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-BISS-C,MACROS='ST_BITS=26,CLK_FRQ_KHZ=1000'"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,MACROS='FORCE_CLK_FRQ_HZ=6000000'"
+#${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-INC"
+
+#ecmcConfigOrDie "Cfg.EcAddSdoDT(0,0x21A2,0x0c,150000,U32)"
 
 ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
 

diff --git a/examples/test/festo/readme.md b/examples/test/festo/readme.md
@@ -15,3 +15,11 @@ Scalings are reverse engineered and could be tuned better.
 6. Press resart
 7. Answer yes to download parameters
 8. wait for restart, now etehrcat should be visible (etehrcat slaves)
+
+# Open loop
+Tghe drive will not update the openloop position if configured in CSV also confirmed by festo (support from festo in progress). However the eact velo updates.
+
+
+#  BISS
+
+* Seems will only work with 6MHz..