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Merge branch 'master' of github.com:paulscherrerinstitute/ecmccfg
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@anderssandstrom
anderssandstrom committed Dec 11, 2024
2 parents 280e016 + 1a9cc09 commit 545c8d4
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Showing 14 changed files with 2,715 additions and 85 deletions.
16 changes: 8 additions & 8 deletions db/Technosoft/ecmciPOS4808BX_2.substitutions
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,8 @@ file "ecmc_controlWord-chX.template"
# Drive Velocity setpoint
file "ecmc_analogOutput-chX.template"
{
pattern {CH_ID, KEY, suffix, sourceName, DESC }
{01, "Drv", "-VeloSet", "velocitySetpoint", "Drive Velocity setpoint"}
pattern {CH_ID, KEY, suffix, sourceName, EGU, DESC }
{01, "Drv", "-Spd", "velocitySetpoint", RAW, "Drive Velocity setpoint"}
}

# Drive Status word
Expand Down Expand Up @@ -53,22 +53,22 @@ file "ecmc_binaryInputArray-chX.template"
# currentActual
file "ecmc_analogInput-chX.template"
{
pattern {CH_ID, KEY, suffix, sourceName, LINR, ESLO, EGU }
{01, "Drv", "-Curr", "currentActual", "SLOPE", 0.0006105, "A" }
pattern {CH_ID, KEY, suffix, sourceName, LINR, ESLO, EGU, PREC }
{01, "Drv", "-TrqAct", "currentActual", "SLOPE", 0.0006105, "A", 3 }
}

# voltageActual, ESLO= 102.3/65520 (see manual)
file "ecmc_analogInput-chX.template"
{
pattern {CH_ID, KEY, suffix, sourceName, LINR, ESLO, EGU }
{01, "Drv", "-Volt", "voltageActual", "SLOPE", 0.0015614, "V" }
pattern {CH_ID, KEY, suffix, sourceName, LINR, ESLO, EGU, PREC }
{01, "Drv", "-VolAct", "voltageActual", "SLOPE", 0.0015614, "V", 3 }
}

# temperatureActual, ESLO= 102.3/65520 (see manual)
file "ecmc_analogInput-chX.template"
{
pattern {CH_ID, KEY, suffix, sourceName, LINR, ESLO, EGU }
{01, "Drv", "-Temp", "temperatureActual", "SLOPE", 0.001221, "DegC" }
pattern {CH_ID, KEY, suffix, sourceName, LINR, ESLO, EGU ,PREC}
{01, "Drv", "-TmpAct", "temperatureActual", "SLOPE", 0.001221, "DegC" ,2}
}

# analogInputActual (analog drive feedback)
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10 changes: 10 additions & 0 deletions db/core/ecmcAxis.db
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Expand Up @@ -486,6 +486,16 @@ record(bo,"${P}${AXIS_NAME}-SftLimFwdEna"){
field(TSE, "0")
}

record(bo,"${P}${AXIS_NAME}-DbgPrntEna"){
field(DESC, "${AXIS_NAME}: Enable printouts")
field(OUT, "${P}${AXIS_NAME}-Cmd_.BA")
field(ZNAM, "Disable")
field(ONAM, "Enable")
field(SCAN, "Passive")
field(FLNK, "${P}${AXIS_NAME}-Cmd_.PROC")
field(TSE, "0")
}

record(ao,"${P}${AXIS_NAME}-TgtPosCmd"){
field(DESC, "${AXIS_NAME}: Target Position Cmd")
field(DTYP, "asynFloat64")
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Binary file added hardware/Technosoft_slaves/config/CoE/easy_motion_studio_2/4808_stepper_OL_48V.e2pf
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Binary file not shown.
3 changes: 3 additions & 0 deletions hardware/Technosoft_slaves/ecmciPOS4808BX_2.cmd
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Original file line number Diff line number Diff line change
Expand Up @@ -48,3 +48,6 @@ epicsThreadSleep(0.01)
#Set action if communication is lost (Quickstop=3, Diasble voltage=2, Execute fault routine = 1, No action (continue running)=0)
ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x6007,0x0,3,2)"
epicsThreadSleep(0.01)

#- Default panel
epicsEnvSet("ECMC_HW_PANEL" "iPOSXXXX")
4 changes: 4 additions & 0 deletions hugo/content/manual/motion_cfg/axisYaml.md
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Original file line number Diff line number Diff line change
Expand Up @@ -512,6 +512,10 @@ encoder:
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)
latchCount: 1 # latch number to ref on (1=ref on first latch)
lookuptable:
filename: ./cfg/enc.corr # Load correction lockuptable file (default enabled if loaded)
# enable: 1 # Enable correction table
# mask: '0x3FF' # Encoder raw mask to apply correction (example single turn bits or period bits of EL5021)

controller:
Kp: 15 # Kp proportional gain
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135 changes: 62 additions & 73 deletions qt/ecmcGraph_v1.ui
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Original file line number Diff line number Diff line change
@@ -1,67 +1,66 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>Form</class>
<widget class="QWidget" name="Form">
<class>Dialog</class>
<widget class="QDialog" name="Dialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>412</width>
<height>449</height>
<width>431</width>
<height>453</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="windowTitle">
<string>Form</string>
<string>Dialog</string>
</property>
<widget class="caStripPlot" name="castripplot">
<widget class="caLabel" name="calabel">
<property name="geometry">
<rect>
<x>5</x>
<y>30</y>
<width>401</width>
<height>381</height>
<y>5</y>
<width>411</width>
<height>26</height>
</rect>
</property>
<property name="Title" stdset="0">
<string notr="true">$(TITLE)</string>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="channels" stdset="0">
<string>$(PV)</string>
<property name="text">
<string>IOC: $(IOC)</string>
</property>
<property name="YAxisScaling" stdset="0">
<enum>caStripPlot::autoScale</enum>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="color_1">
<color>
<red>138</red>
<green>226</green>
<blue>52</blue>
</color>
</widget>
<widget class="caLabel" name="calabel_5">
<property name="geometry">
<rect>
<x>-15</x>
<y>425</y>
<width>80</width>
<height>20</height>
</rect>
</property>
<property name="foreground">
<color>
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
<property name="text">
<string>Value:</string>
</property>
</widget>
<widget class="caLineEdit" name="calineedit">
<property name="geometry">
<rect>
<x>65</x>
<y>420</y>
<x>70</x>
<y>425</y>
<width>216</width>
<height>20</height>
</rect>
Expand All @@ -86,47 +85,37 @@
<bool>true</bool>
</property>
</widget>
<widget class="caLabel" name="calabel_5">
<widget class="caStripPlot" name="castripplot">
<property name="geometry">
<rect>
<x>-20</x>
<y>420</y>
<width>80</width>
<height>20</height>
<x>10</x>
<y>35</y>
<width>401</width>
<height>381</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
<property name="text">
<string>Value:</string>
<property name="Title" stdset="0">
<string notr="true">$(TITLE)</string>
</property>
</widget>
<widget class="caLabel" name="calabel">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>411</width>
<height>26</height>
</rect>
<property name="channels" stdset="0">
<string>$(PV)</string>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
<property name="YAxisScaling" stdset="0">
<enum>caStripPlot::autoScale</enum>
</property>
<property name="text">
<string>IOC: $(IOC)</string>
<property name="color_1">
<color>
<red>138</red>
<green>226</green>
<blue>52</blue>
</color>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
<property name="foreground">
<color>
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</property>
</widget>
</widget>
Expand Down
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