From afbaf221f5f1e636e4f901a3b2e630e069254de2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Fri, 22 Mar 2024 10:44:44 +0100 Subject: [PATCH 1/2] Festo cmmt-st: Update test scripts --- examples/test/festo/cfg/axis_CSP.yaml | 196 ++++++++++++++++++++++++++ examples/test/festo/festo.script | 5 +- examples/test/festo/festo_CSP.script | 41 ++++++ examples/test/festo/readme.md | 28 +++- 4 files changed, 265 insertions(+), 5 deletions(-) create mode 100644 examples/test/festo/cfg/axis_CSP.yaml create mode 100644 examples/test/festo/festo_CSP.script diff --git a/examples/test/festo/cfg/axis_CSP.yaml b/examples/test/festo/cfg/axis_CSP.yaml new file mode 100644 index 000000000..228f962fc --- /dev/null +++ b/examples/test/festo/cfg/axis_CSP.yaml @@ -0,0 +1,196 @@ +macros: + +axis: + id: 1 # Axis id + type: joint # this is for future selection of axis type + mode: CSP # supported mode, CSV and CSP, defaults CSV +# parameters: 'axisPar' # additional parameters # 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: 0 # Block communication to axis +# allowedFunctions: +# homing: 1 # Allow homing +# constantVelocity: 1 # Allow constant velocity +# positioning: 1 # Allow positioning + +epics: + name: Axis1 # Axis anme + precision: 3 # Decimal count + description: Festo drive test # Axis description + unit: deg # Unit + # 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 + +drive: + numerator: 1 # Fastest speed in engineering units + denominator: 100000 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET + type: 1 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives) + control: ec0.s$(DRV_ID).driveControl01 # Control word ethercat entry + # enable: 0 # Enable bit index in control word (not used if DS402) + # enabled: 1 # Enabled bit index in status word (not used if DS402) + status: ec0.s$(DRV_ID).driveStatus01 # Status word ethercat entry + setpoint: ec0.s$(DRV_ID).positionSetpoint01 # Velocity setpoint if CSV. Position setpoint if CSP + # reduceTorque: 2 # Reduce torque bit in drive control word + # brake: + # output: ec0... # Ethercat link to brake output + # openDelay: 0 # Brake timing parameter in cycles (default 1kHz) + # closeAhead: 0 # Brake timing parameter in cycles (default 1kHz) + # reset: 1 # Reset (if no drive reset bit then leave empty) + # warning: 2 # Warning (if no drive warning bit then leave empty) + # error: # max 3 + # - 3 # Error 0 (if no drive error bit then leave empty) + # - 7 # Error 1 (if no drive error bit then leave empty) + # - 14 # Error 2 (if no drive error bit then leave empty) + +encoder: + numerator: 1 # Scaling numerator example 360 deg/rev + denominator: 1000000 # Scaling denominator example 4096 ticks per 360 degree + type: 1 # Type: 0=Incremental, 1=Absolute + bits: 32 # Total bit count of encoder raw data + # absBits: 0 # Absolute bit count (for absolute encoders) always least significant part of 'bits' + # absOffset: 0 # Encoder offset in eng units (for absolute encoders) + # mask: 0xFFF00 # Mask applied to raw encoder value + position: ec0.s$(DRV_ID).positionActual01 # Ethercat entry for actual position input (encoder) + control: ec0.s$(DRV_ID).encoderControl01 # mandatory only if 'reset' is used + status: ec0.s$(DRV_ID).encoderStatus01 # mandatory only if 'warning' or 'error' are used + # ready: ec.. # Etehrcat entry 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: 1 # enable velocity filter + # position: + # size: 100 # Filter size for encoder value + # enable: 1 # enable encoder value filter + # latch: + # position: '' # Link to latched value. Used for some homing seqs + # control: '' # Latch control trigger ethercat entry bit. Used for some homing seqs + # status: '' # Latch status ethercat entry bit. Used for some homing seqs + # primary: 1 # Use this encoder as primary (for control) + homing: + type: 0 # 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: 1 # Kp proportinal gain + Ki: 0.02 # 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 + +trajectory: + # type: 1 # Default 0 = trapetz, 1 = S-curve (ruckig) + axis: + velocity: 720 # Default velo for axis + acceleration: 720 # Default acc for axis + deceleration: 720 # 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 + +input: + limit: + forward: ec0.s$(DRV_ID).ONE.0 # Ethercat entry for low limit switch input + # forwardPolarity: 0 # Polarity of forward limit switch + backward: ec0.s$(DRV_ID).ONE.0 # Ethercat entry for high limit switch input + # backwardPolarity: 0 # Polarity of forward limit switch + home: 'ec0.s$(DRV_ID).ONE.0' # Ethercat entry for home switch + # homePolarity: 0 # Polarity of home switch + interlock: 'ec0.s$(DRV_ID).ONE.0' # Ethercat entry for interlock switch input + # interlockPolarity: 0 # Polarity of interlock switch + +# 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: false # Enable position lag monitoring (following error) + tolerance: 0.5 # Allowed tolerance + time: 100 # Allowed time outside tolerance + 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 + velocity: + enable: false # Enable velocity monitoring + max: 2000 # 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 + # velocityDifference: + # enable: 1 # 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 + +# plc: +# enable: 1 # Enable axis plc +# externalCommands: 1 # Allow axis to inputs from PLC +# code: # Sync code +# - if(ax2.traj.source){ax2.drv.enable:=(ax10.drv.enable or ax11.drv.enable)}; # Enable axis if one of master axes is enabled +# - ax2.traj.setpos:=ax10.traj.setpos-ax11.traj.setpos/2; # calculate set pos for physical axis +# velocity_filter: # Filter used to smother velocity feedforward +# encoder: # Filter plc enc velo +# enable: false # Filter enable +# size: 100 # Filter size +# trajectory: # Filter plc traj velo +# enable: false # Filter enable +# size: 100 # Filter size diff --git a/examples/test/festo/festo.script b/examples/test/festo/festo.script index 1903a617c..af8011775 100644 --- a/examples/test/festo/festo.script +++ b/examples/test/festo/festo.script @@ -15,11 +15,9 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=${DRV_ID}, HW_DESC=Festo-CMM ${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} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-BISS-C,MACROS='ST_BITS=26,CLK_FRQ_KHZ=1000'" -${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,MACROS='FORCE_CLK_FRQ_HZ=6000000'" +${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,MACROS='FORCE_CLK_FRQ_HZ=6000000,ST_BITS=12,MT_BITS=14,INV_DIR=1'" #${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-INC" -#ecmcConfigOrDie "Cfg.EcAddSdoDT(0,0x21A2,0x0c,150000,U32)" - ecmcConfigOrDie "Cfg.EcApplyConfig(1)" # To check mode: @@ -27,7 +25,6 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addEcSdoRT.cmd, "SLAVE_ID=${DRV_ID},INDEX=0x6060,SUB # Configure Motion epicsEnvSet("DEV", "$(IOC)") -#- $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/rotary.ax) ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml" # Other diff --git a/examples/test/festo/festo_CSP.script b/examples/test/festo/festo_CSP.script new file mode 100644 index 000000000..6e22a9210 --- /dev/null +++ b/examples/test/festo/festo_CSP.script @@ -0,0 +1,41 @@ +# ecmc test system +# Anders Sandström + +require ecmccfg sandst_a "EC_RATE=500,MASTER_ID=1,ENG_MODE=1" +# require ecmccfg v9.0.1_RC4,"EC_RATE=500,ECMC_VER=sandst_a,MASTER_ID=1,ENG_MODE=1" + +require ecmccomp sandst_a + +epicsEnvSet("IOC" ,"$(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_CSP" +${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=200,L_COIL_UH=3300,R_COIL_MOHM=1750,U_NOM_MV=24000'" +#${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} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-BISS-C,MACROS='ST_BITS=26,CLK_FRQ_KHZ=1000'" +${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,MACROS='FORCE_CLK_FRQ_HZ=6000000,ST_BITS=12,MT_BITS=14'" +#${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-INC" + +ecmcConfigOrDie "Cfg.EcApplyConfig(1)" + +# To check mode: +${SCRIPTEXEC} ${ecmccfg_DIR}addEcSdoRT.cmd, "SLAVE_ID=${DRV_ID},INDEX=0x6060,SUBINDEX=0x0,DT=U8,NAME=DrvMode" + +# Configure Motion +epicsEnvSet("DEV", "$(IOC)") +${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_CSP.yaml" + +# Other +ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)" +ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)" +ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)" +ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)" +ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)" +ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)" + +# go active +$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd) + + diff --git a/examples/test/festo/readme.md b/examples/test/festo/readme.md index cd63cae43..60588695d 100644 --- a/examples/test/festo/readme.md +++ b/examples/test/festo/readme.md @@ -21,5 +21,31 @@ Tghe drive will not update the openloop position if configured in CSV also confi # BISS - * Seems will only work with 6MHz.. +* Bit count divided into single turn and multiturn.. + +# RLS LA11 test +* Real scaling of LA11 is 1/4096mm, leadscrew pitch 1mm/rev +* Bit count = 26 +* This means that the drive will see 4096 ticks per rev => ST_BITS=12bits,ST_BITS=14bits, +* Seems to work! + + + + + +# Todo test generic scalings +* 256 levels of microsetp=>51200 microsteps/rev for a 200 stepper +* Set single tun count as close as possible = 16bits = 65536 + + + +# Closed loop +Get error about "closed loop not permissable" reasomn should be that commutation angle is unknown.. + + + + + + + From 65c7b9c085a23e52369c15dac58494c586ee4642 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Fri, 22 Mar 2024 10:56:13 +0100 Subject: [PATCH 2/2] Festo cmmt-st: test, invert encoder dir --- examples/test/festo/festo_CSP.script | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/test/festo/festo_CSP.script b/examples/test/festo/festo_CSP.script index 6e22a9210..da63b1714 100644 --- a/examples/test/festo/festo_CSP.script +++ b/examples/test/festo/festo_CSP.script @@ -15,7 +15,7 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=${DRV_ID}, HW_DESC=Festo-CMM ${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=200,L_COIL_UH=3300,R_COIL_MOHM=1750,U_NOM_MV=24000'" #${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} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-BISS-C,MACROS='ST_BITS=26,CLK_FRQ_KHZ=1000'" -${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,MACROS='FORCE_CLK_FRQ_HZ=6000000,ST_BITS=12,MT_BITS=14'" +${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,MACROS='FORCE_CLK_FRQ_HZ=6000000,ST_BITS=12,MT_BITS=14,INV_DIR=1'" #${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Generic-INC" ecmcConfigOrDie "Cfg.EcApplyConfig(1)"