ecmccfg

A configuration framework for ECMC Motion Control Module for EPICS.

License

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA

Purpose

The configuration framework contains the necessary files to configure an EPICS IOC for EtherCAT based motion control and DAQ.

provided common user commands

• addMaster.cmd
• addSlave.cmd
• applySlaveConfig.cmd
• configureSlave.cmd
• applyConfig.cmd
• loadPLCFile.cmd
• setAppMode.cmd

Example IOC

1. require the configuration module

   require ecmccfg <VERSION>

2. add a coupler and slave

     # slave 0 {ecmcEK1100}
     ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EK1100"
     # slave 1 {ecmcEL1018}, with optional SLAVE_ID
     ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL1018, SLAVE_ID=1"

3. add more slaves and apply configuration to the slaves

     # slave 8 {ecmcEL7037}, configure slave with optional SLAVE_ID
     ${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "HW_DESC=EL7037, CONFIG=-Motor-Nanotec-ST4118L1804-B, SLAVE_ID=8"
     # slave 9 {ecmcEL7037}, addSlave, with immediate call off applySlaveConfig
     ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7037"
     ${SCRIPTEXEC} ${ecmccfg_DIR}applySlaveConfig,   "CONFIG=-Motor-Nanotec-ST4118L1804-B"

4. apply the configuration

      ${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd

5. additional configuration

      EthercatMCConfigController ${ECMC_MOTOR_PORT}, "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},BO_1,1)"

6. adding a physical motor axis

      epicsEnvSet("DEV",      "STEST-MYDEVICE")
      ${SCRIPTEXEC} ${ecmccfg_DIR}configureAxis.cmd,            "CONFIG=./cfg/axis_1"

7. adding a virtual motor axis

      ${SCRIPTEXEC} ${ecmccfg_DIR}configureVirtualAxis.cmd,     "CONFIG=./cfg/axis_11_virt"

8. adding synchronization

      ${SCRIPTEXEC} ${ecmccfg_DIR}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_1_sync"
      ${SCRIPTEXEC} ${ecmccfg_DIR}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_11_sync"

9. loading a PLC from file

      ${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd, "PLC_ID=0, FILE=./plc/homeSlit.plc, SAMPLE_RATE_MS=100"

10. go active

      ${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd