ELM7231 and AM8123

db/Beckhoff_7XXX/ecmcELM7231-0010.substitutions

@@ -0,0 +1,11 @@
+file "ecmcEL72XX_DRV.template"
+{
+  pattern {CH_ID}
+          {01   }
+}
+
+file "ecmcEL72XX_ENC.template"
+{
+  pattern {CH_ID}
+          {01   }
+}

examples/test/elm7321/cfg/AM8123.yaml

@@ -0,0 +1,70 @@
+axis:
+  id: 1
+  type: joint # this is for future selection of axis type
+  mode: CSV # supported mode, CSV and CSP
+
+epics:
+  name: axis
+  precision: 3
+  unit: deg
+  motorRecord:
+    description: AM8123 CSV
+
+drive:
+  numerator: 2880000 # Fastest speed in engineering units
+  denominator: 2147483648 # 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$(DRV_SLAVE).driveControl01
+  status: ec0.s$(DRV_SLAVE).driveStatus01
+  setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01
+  # control bit for reset in 'control'
+  reset: 7
+  # status bit for warning in 'status'
+  warning: 7
+  # list of error bits in 'status', or if type==string, complete EC-link
+  error:
+    - 3 # Error
+    - 7 # Warning as Error
+
+encoder:
+  numerator: 360
+  denominator: 1048576
+  type: 1 # Type: 0=Incremental, 1=Absolute
+  bits: 32 # Total bit count of encoder raw data
+  absBits: 25 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
+  absOffset: 0 # Encoder offset in eng units (for absolute encoders)
+  position: ec0.s$(DRV_SLAVE).positionActual01 # Ethercat entry for actual position input (encoder)
+
+controller:
+  Kp: 10
+  Ki: 0.05
+
+trajectory:
+  type: 1
+  axis:
+    velocity: 36000 # 5000 rpm (web page), 7883 rpm (name plate) => 47298 deg/s
+    acceleration: 144000
+    jerk: 360000
+
+input:
+  limit:
+    forward: ec0.s$(DRV_SLAVE).ONE.0 #  Ethercat entry for low limit switch input
+    backward: ec0.s$(DRV_SLAVE).ONE.0 #  Ethercat entry for high limit switch input
+  home: ec0.s$(DRV_SLAVE).ONE.0 #  Ethercat entry for home switch input
+  interlock: ec0.s$(ENC_SLAVE).ONE.0 #  Ethercat entry for interlock switch input
+
+monitoring:
+  lag:
+    enable: true
+    tolerance: 360
+    time: 100
+  target:
+    enable: yes
+    tolerance: 0.1
+    time: 100
+  velocity:
+    enable: true
+    max: 40000
+    time:
+      trajectory: 100
+      drive: 200

examples/test/elm7321/startup.iocsh

@@ -0,0 +1,21 @@
+require ecmccfg,ELM7231 "ENG_MODE=1,ECMC_VER=9.2.0"
+
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}configureSlave.cmd, "HW_DESC=ELM7231-0010, SLAVE_ID=20, CONFIG=-Motor-Beckhoff-AM8123-1NH1-0000"
+
+epicsEnvSet("DRV_SLAVE", ${ECMC_EC_SLAVE_NUM})
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd,   "FILE=cfg/AM813.yaml, DEV=${DEV=${IOC}}, DRV_SLAVE=${DRV_SLAVE}"
+
+#- #############################################################################
+#- apply configuration
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applyConfig.cmd
+#- #############################################################################
+#- go active
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}setAppMode.cmd
+
+#- be quiet
+asynSetTraceMask(MC_CPU1, -1, 0x01)
+asynSetTraceIOMask(MC_CPU1, -1, 6)
+asynSetTraceInfoMask(MC_CPU1, -1, 1)
+
+#- reset all errors
+ecmcConfigOrDie "ControllerErrorReset()"

hardware/Beckhoff_7XXX/ELM/ecmcELM7231-0010.cmd

@@ -0,0 +1,62 @@
+#-d /**
+#-d   \brief hardware script for ELM7231-0010
+#-d   \details ELM7231-0010 Servo terminal with OCT feedback
+#-d   \author Niko Kivel
+#-d   \file
+#-d   \note SDOS
+#-d   \param [out] SDO 0x1011:01 --> 1684107116 \b reset
+#-d */
+
+#- ###########################################################
+#- ############ Information:
+#-  Description: ELM7231-0010 Servo terminal with OCT feedback
+#-
+#-  Note: The sync mode can not be written to in newer firmwares:
+#-        (0x1C32,0x1,0x1C33,0x1). So then these lines below needs
+#-        to be removed or commented out.
+#-        The log will then show error like:
+#-           EtherCAT ERROR 0-46: SDO download 0x1C32:01 (2 bytes) aborted.
+#-           EtherCAT ERROR 0-46: SDO abort message 0x06090030: "Value range of parameter exceeded".
+#-           EtherCAT ERROR 0-46: SDO configuration failed.
+#-
+#- ###########################################################
+
+epicsEnvSet("ECMC_EC_HWTYPE"             "ELM7231-0010_CSV")
+epicsEnvSet("ECMC_EC_VENDOR_ID"          "0x2")
+epicsEnvSet("ECMC_EC_PRODUCT_ID"         "0x502275f9")
+epicsEnvSet("ECMC_EC_COMP_TYPE"          "EL7231_OCT")
+
+#- verify slave, including reset
+${SCRIPTEXEC} ${ecmccfg_DIR}slaveVerify.cmd "RESET=true"
+
+#- Activly choose CSV mode
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x7010,0x3,9,1)"
+
+#- ############  read electronic nameplate
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x1,1,1)"
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x2,1,1)"
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x3,1,1)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1610,0x7010,0x01,U16,driveControl01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1612,0x7010,0x06,S32,velocitySetpoint01)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x11,U32,positionActual01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a10,0x6010,0x01,U16,driveStatus01)"
+
+#- ############ Distributed clocks config:
+#- Configure DC clock
+#- From TwinCAT: SYNC 0: User defined 62.5 us, SYNC 1: 4000 us <-- I set this to the cycle time below
+ecmcEpicsEnvSetCalc("ECMC_TEMP_PERIOD_NANO_SECS",1000/${ECMC_EC_SAMPLE_RATE=1000}*1E6)
+ecmcConfigOrDie "Cfg.EcSlaveConfigDC(${ECMC_EC_SLAVE_NUM},0x700,62500,${ECMC_SYNC_0_OFFSET_NS=0},${ECMC_TEMP_PERIOD_NANO_SECS},${ECMC_SYNC_1_OFFSET_NS=0})"
+epicsEnvUnset("ECMC_TEMP_PERIOD_NANO_SECS")
+
+#- watchdog
+${SCRIPTEXEC} ${ecmccfg_DIR}ecmcWatchDog.cmd
+
+#- Set 4000 ms delay of ethercat bus at startup:
+#- Somtimes the Ex72xx-xxxx will not report a correct encoder signal when transition from PREOP to OP. This is not reflected in any status word or bit
+#- This will result in problems sicne ecmc cannot know if teh value is correct or not after startup.
+#- For the drives with problems measurements have been made which concludes that after 2600ms after entering OP the EL72xx will give correct encoder position.
+#- For twincat probably this is not an isue since the terminals are not goung from PROP to OP so often. 
+#- Conclusion: Need to contact Beckhoff. Probably firmware bug.
+ecmcConfigOrDie "Cfg.EcSetDelayECOkAtStartup(${ECMC_EC_STARTUP_DELAY=4000})"

hardware/Beckhoff_7XXX/ecmcEX72XX_CSV.cmd

@@ -11,3 +11,32 @@ ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${EC
 #- For twincat probably this is not an isue since the terminals are not goung from PROP to OP so often. 
 #- Conclusion: Need to contact Beckhoff. Probably firmware bug.
 ecmcConfigOrDie "Cfg.EcSetDelayECOkAtStartup(${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"

hardware/Motors/ecmcELM7231-0010-Motor-Beckhoff-AM8123-1NH1-0000.cmd

@@ -0,0 +1,43 @@
+############################################################
+############# Parmetrization of ELM7231-XXXX for motor AM8122-0FH1-0000
+#- Motor WITH brake
+#-
+#- Note: For important parameters see TwinCAT CoE startup list for the 
+#-       motor terminal configuration.
+#-
+#- Macros (optional):
+#-d   \param I_MAX_MA : Maximum current in mA (defaults to 22400)
+#-d   \param I_RUN_MA : Running current in mA (defaults to 4000mA)
+#-d */
+
+#- Current loop integral time
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x12,21,2)"
+#- Current loop proportianal gain
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x13,58,2)"
+
+#- Motor max current
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x11,${I_MAX_MA=88400},4)"
+#- Motor rated current
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x12,${I_RUN_MA=14600},4)"
+#- Motor pole pairs
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x13,3,1)"
+#- Commutation offset
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x15,270,2)"
+#- Torque contstant
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x16,78,4)"
+#- Rotor moment of inertia
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x18,449,4)"
+#- Winding inductance
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x19,3,2)"
+#- Motor speed limitation
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1b,7883,4)"
+
+#- Motor Temperature warn level
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2b,1200,2)"
+#- Motor thermal time constant
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2d,832,2)"
+
+#- Release delay
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8012,0x11,25,2)"
+#- Application delay
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8012,0x12,8,2)"