Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

MR1K1, MR1K2, SP1K1 State Movers With PMPS #126

Merged
merged 11 commits into from
Sep 25, 2024
Merged

MR1K1, MR1K2, SP1K1 State Movers With PMPS #126

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
11 commits
Select commit Hold shift + click to select a range
96be85c
ENH: add mr1k1 bend state positions
nrwslac Sep 20, 2024
e7ca834
ENH: add mr2k2 flat states
nrwslac Sep 20, 2024
9e6f7a8
ENH: add coating states for mr1k2
nrwslac Sep 20, 2024
153258c
ENH: all RIX FEE device state movers
nrwslac Sep 20, 2024
f48e5b9
ENH: all RIX FEE device state movers
nrwslac Sep 20, 2024
7f1a521
ENH: all RIX FEE device state movers
nrwslac Sep 20, 2024
094be3e
ENH: run mr1k2 and sp1k2 state movers
nrwslac Sep 23, 2024
1e0379d
MNT: states not loading pmps
nrwslac Sep 23, 2024
7137e74
ENH: upgrade motion lib for reading pmps for tcbsd
nrwslac Sep 24, 2024
fbb81cb
ENH: init mr1k1 states
nrwslac Sep 24, 2024
25a7d97
ENH: reduced OUT position delta to 50 micron for MR1K1. Fix some doc …
nrwslac Sep 25, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
149 changes: 37 additions & 112 deletions lcls-plc-rixs-optics/_Config/NC/Axes/M1K2-Yleft.xti
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmItem" TcSmVersion="1.0" TcVersion="3.1.4022.30" ClassName="CNcAxisDef" SubType="1">
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.35" ClassName="CNcAxisDef" SubType="1">
<DataTypes>
<DataType>
<Name GUID="{76EB036C-07A7-446B-91CB-CECCF6977DF3}" TcBaseType="true" HideType="true">UINTARR2_2</Name>
Expand Down Expand Up @@ -272,15 +272,13 @@
<SubItem>
<Name>nState4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<Comment>
<![CDATA[Drive Status 4 (automatically linked):
<Comment><![CDATA[Drive Status 4 (automatically linked):
0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')
Drive Status 4 (manually linked):
0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
]]>
</Comment>
]]></Comment>
<BitSize>8</BitSize>
<BitOffs>88</BitOffs>
</SubItem>
Expand Down Expand Up @@ -329,6 +327,8 @@ Drive Status 4 (manually linked):
<SubItem>
<Name>nState8</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<Comment><![CDATA[Digital Inputs 1..8
]]></Comment>
<BitSize>8</BitSize>
<BitOffs>248</BitOffs>
</SubItem>
Expand Down Expand Up @@ -499,7 +499,7 @@ Drive Status 4 (manually linked):
</Format>
</DataType>
<DataType>
<Name GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC" TcBaseType="true">PLCTONC_AXIS_REF</Name>
<Name GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC" TcBaseType="true">PLCTONC_AXIS_REF_OLD</Name>
<BitSize>1024</BitSize>
<SubItem>
<Name>ControlDWord</Name>
Expand Down Expand Up @@ -622,7 +622,7 @@ Drive Status 4 (manually linked):
</Relations>
</DataType>
<DataType>
<Name GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_STATE</Name>
<Name GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_STATE_OLD</Name>
<BitSize>32</BitSize>
<SubItem>
<Name>Operational</Name>
Expand Down Expand Up @@ -1014,11 +1014,11 @@ Drive Status 4 (manually linked):
</ArrayInfo>
</DataType>
<DataType>
<Name GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC" TcBaseType="true">NCTOPLC_AXIS_REF</Name>
<Name GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC" TcBaseType="true">NCTOPLC_AXIS_REF_OLD4</Name>
<BitSize>2048</BitSize>
<SubItem>
<Name>StateDWord</Name>
<Type GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC">NCTOPLC_AXIS_REF_STATE</Type>
<Type GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC">NCTOPLC_AXIS_REF_STATE_OLD</Type>
<BitSize>32</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
Expand All @@ -1031,8 +1031,7 @@ Drive Status 4 (manually linked):
<SubItem>
<Name>AxisState</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<Comment>
<![CDATA[Present State Of The Axis Movement (continuous axis):
<Comment><![CDATA[Present State Of The Axis Movement (continuous axis):
0 = INACTIVE: axis has no job
1 = RUNNING: axis is executing a motion job
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
Expand All @@ -1046,8 +1045,7 @@ Slaves only:
External Setpoint Generation:
41 = EXTSETGEN_MODE1: external setpoint generation active
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
]]>
</Comment>
]]></Comment>
<BitSize>32</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
Expand All @@ -1060,31 +1058,27 @@ External Setpoint Generation:
<SubItem>
<Name>HomingState</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<Comment>
<![CDATA[Axis Homing Status:
<Comment><![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]>
</Comment>
]]></Comment>
<BitSize>32</BitSize>
<BitOffs>128</BitOffs>
</SubItem>
<SubItem>
<Name>CoupleState</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<Comment>
<![CDATA[Axis Coupling Status:
<Comment><![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]>
</Comment>
]]></Comment>
<BitSize>32</BitSize>
<BitOffs>160</BitOffs>
</SubItem>
Expand Down Expand Up @@ -1310,13 +1304,13 @@ External Setpoint Generation:
<Type GUID="{F794B740-82D7-4637-848E-4F74A711D038}">NCAXLESTRUCT_TOPLC4</Type>
</Relation>
<Relation Priority="100">
<Type GUID="{40BD39B0-C3EA-4F74-9F4F-5F1982786F7C}"/>
<Type GUID="{40BD39B0-C3EA-4F74-9F4F-5F1982786F7C}"></Type>
</Relation>
<Relation Priority="100">
<Type GUID="{40BD39B2-C3EA-4F74-9F4F-5F1982786F7C}"/>
<Type GUID="{40BD39B2-C3EA-4F74-9F4F-5F1982786F7C}"></Type>
</Relation>
<Relation Priority="100">
<Type GUID="{8CDE0C45-AB9D-42DB-BC94-1CF7521AB268}"/>
<Type GUID="{8CDE0C45-AB9D-42DB-BC94-1CF7521AB268}"></Type>
</Relation>
</Relations>
</DataType>
Expand All @@ -1331,38 +1325,33 @@ External Setpoint Generation:
<OtherSettings AllowMotionCmdToSlave="true"/>
</AxisPara>
<Encoder Name="Enc" EncType="29">
<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="1000" Offset="-96270.56" MaxCount="#xffffffff">
<SoftEndMinControl Enable="true" Range="-8870.56"/>
<SoftEndMaxControl Enable="true" Range="16239.44"/>
<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="1000" Offset="-99172.35" MaxCount="#xffffffff">
<SoftEndMinControl Enable="true" Range="-11772.35"/>
<SoftEndMaxControl Enable="true" Range="13337.65"/>
<Inc RefSoftSyncMask="#x0000ffff"/>
</EncPara>
<Vars VarGrpType="1">
<Name>Inputs</Name>
<Var>
<Name>In</Name>
<Type GUID="{9ED17BA1-BC38-47CA-9DD2-F96861AB0266}" Namespace="MC">NCENCODERSTRUCT_IN3</Type>
<BitOffs>1024</BitOffs>
<SubVar>
<Name>nState1</Name>
<Comment>
<![CDATA[Encoder State 1 (automatically linked):
<Comment><![CDATA[Encoder State 1 (automatically linked):
0x0001 (Bit 0) = Warning
0x0002 (Bit 1) = Error
0x0004 (Bit 2) = Ready
0x1000 (Bit 12) = Diagnosis
0x2000 (Bit 13) = TxPDO State
0xC000 (Bit 14+15) = Input Cycle Counter
]]>
</Comment>
]]></Comment>
</SubVar>
<SubVar>
<Name>nComState</Name>
<Comment>
<![CDATA[Encoder Communication State (automatically linked):
<Comment><![CDATA[Encoder Communication State (automatically linked):
0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
]]>
</Comment>
]]></Comment>
</SubVar>
</Var>
</Vars>
Expand All @@ -1371,7 +1360,6 @@ External Setpoint Generation:
<Var>
<Name>Out</Name>
<Type GUID="{4AA66E19-7B91-4A09-817D-0357681B7869}" Namespace="MC">NCENCODERSTRUCT_OUT3</Type>
<BitOffs>2048</BitOffs>
</Var>
</Vars>
</Encoder>
Expand All @@ -1385,25 +1373,12 @@ External Setpoint Generation:
<Var>
<Name>In</Name>
<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
<BitOffs>1664</BitOffs>
<SubVar TypeFormatIndex="2">
<Name>nDataIn1</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn2</Name>
</SubVar>
<SubVar>
<Name>nState4</Name>
<Comment>
<![CDATA[Drive Status 4 (automatically linked):
0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')
Drive Status 4 (manually linked):
0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
]]>
</Comment>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn3</Name>
</SubVar>
Expand All @@ -1423,7 +1398,6 @@ Drive Status 4 (manually linked):
<Var>
<Name>Out</Name>
<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
<BitOffs>2688</BitOffs>
<SubVar TypeFormatIndex="2">
<Name>nDataOut1</Name>
</SubVar>
Expand All @@ -1432,23 +1406,19 @@ Drive Status 4 (manually linked):
</SubVar>
<SubVar>
<Name>nCtrl2</Name>
<Comment>
<![CDATA[Digital Outputs Setpoint Generator:
<Comment><![CDATA[Digital Outputs Setpoint Generator:
0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
0x80 (1000 0000) = Stop
]]>
</Comment>
]]></Comment>
</SubVar>
<SubVar>
<Name>nCtrl3</Name>
<Comment>
<![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
<Comment><![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
0x80 (1000 0000) = Stop
]]>
</Comment>
]]></Comment>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut3</Name>
Expand Down Expand Up @@ -1476,91 +1446,46 @@ Drive Status 4 (manually linked):
<Name>Inputs</Name>
<Var>
<Name>FromPlc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF_OLD</Type>
</Var>
</Vars>
<Vars VarGrpType="2" InsertType="1">
<Name>Outputs</Name>
<Var>
<Name>ToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
<SubVar>
<Name>AxisState</Name>
<Comment>
<![CDATA[Present State Of The Axis Movement (continuous axis):
0 = INACTIVE: axis has no job
1 = RUNNING: axis is executing a motion job
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
3 = PHASE_VELOCONST: axis is moving at constant velocity
4 = PHASE_ACCPOS: axis is accelerating
5 = PHASE_ACCNEG: axis is decelerating
Slaves only:
11 = PREPHASE: slave axis is in a motion pre-phase
12 = SYNCHRONIZING: slave axis is synchronizing
13 = SYNCHRONOUS: slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1: external setpoint generation active
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
]]>
</Comment>
</SubVar>
<SubVar>
<Name>HomingState</Name>
<Comment>
<![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]>
</Comment>
</SubVar>
<SubVar>
<Name>CoupleState</Name>
<Comment>
<![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]>
</Comment>
</SubVar>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF_OLD4</Type>
</Var>
</Vars>
</Axis>
<Mappings>
<OwnerA>
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 5 (EK1122)^EK1100_M1K2^EL5042_M1K2_Yleftright">
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^WcState"/>
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^WcState" Size="1"/>
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Inputs Channel 1^Position"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Diag" Size="1" OffsA="12"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Error" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Input cycle counter" Size="2" OffsA="14"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Ready" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^TxPDO State" Size="1" OffsA="13"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Warning"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Warning" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 5 (EK1122)^EK1100_M1K2^EL7047_M1K2_Yleft">
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Motor stall" Size="1" OffsA="7"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving negative" Size="1" OffsA="5"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving positive" Size="1" OffsA="4"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Ready" Size="1" OffsA="1"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Ready to enable"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Ready to enable" Size="1"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Torque reduced" Size="1" OffsA="6"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Warning" Size="1" OffsA="2"/>
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Digital input 1" Size="1" OffsA="3"/>
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Digital input 2" Size="1" OffsA="4"/>
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Sync error" Size="1" OffsA="5"/>
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^TxPDO Toggle" Size="1" OffsA="7"/>
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState"/>
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Enable"/>
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Enable" Size="1"/>
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reduce torque" Size="1" OffsA="2"/>
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reset" Size="1" OffsA="1"/>
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="STM Control^Control^Digital output 1" Size="1" OffsA="3"/>
Expand Down
Loading