ecmccfg

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

Build

by default this module is only build for RHEL7 and Epics >=R7.0.4

make [LIBVERSION] [clean] install

check the module loads for version dev, Epics R7+ and ECMC version dev, note MASTER_ID=-1 which runs ECMC in master-less mode. Make proper adjustements to match your needs in terms of versions.

iocsh -7 -r "ecmccfg,dev 'ECMC_VER=dev,MASTER_ID=-1'"

Purpose

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

provided common user commands

addAxis.cmd
addDataStorage.cmd
addMaster.cmd
addSlave.cmd
addSlaveKL.cmd
addVirtualAxis.cmd
applyAxisSynchronization.cmd
applyConfig.cmd
applySlaveConfig.cmd
configureAxis.cmd
configureSlave.cmd
configureVirtualAxis.cmd
loadPLCFile.cmd
loadPlugin.cmd
setAppMode.cmd
setDiagnostics.cmd

Example IOC

require the configuration module with optional version

require ecmccfg <VERSION>

add a coupler and slave

# slave 0 {ecmcEK1100}
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EK1100"
# SLAVE_ID is automatically incremented
# slave 1 {ecmcEL1018}
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EL1018"
# skip slaves 2..6
# slave 7 {ecmcEL2008}, with optional SLAVE_ID
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=E2008, SLAVE_ID=7"
#-- ATTENTION, this only work for certain slaves, as the EPICS templates have to be migrated before
# slave 9 {ecmcEL2008}, with optional SLAVE_ID and P_SCRIPT
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=E2008, SLAVE_ID=7, P_SCRIPT=mXsXXX"

add more slaves and apply configuration to the slaves

# slave 8 {ecmcEL7037}, configure slave with optional SLAVE_ID
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}configureSlave.cmd, "HW_DESC=EL7037, CONFIG=-Motor-Nanotec-ST4118L1804-B, SLAVE_ID=8"
# slave 9 {ecmcEL7037}, addSlave, with immediate call off applySlaveConfig
# slave with global configuration
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EL7037"
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applySlaveConfig,   "CONFIG=-Motor-Nanotec-ST4118L1804-B"
# slave with local configuration, in this case provided by the module `ECMC_AGIR`
epicsEnvSet("CFG_ROOT", "${ECMC_AGIR_DIR}/")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EP7211-0034_ALL"
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applySlaveConfig.cmd, "LOCAL_CONFIG=${CFG_ROOT}AM8211_AGIR.cfg"

apply the configuration

${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applyConfig.cmd

additional configuration

manually set binaryOutput01 to 1

ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput01,1)"

adding a physical motor axis

classic config

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

yaml config

${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addAxisYaml.cmd, "FILE=./AM8111_CSV_minimum.yaml, ECMC_TMPDIR=/tmp/"

adding a virtual motor axis

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

adding synchronization

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

loading a PLC from file

classic PLC-file

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

pure yaml based PLC

${SCRIPTEXEC} "${ECMC_CONFIG_ROOT}loadYamlPlc.cmd" "FILE=./plc1.yaml, ECMC_TMPDIR=/tmp/"

yaml definition, with classic PLC-file, Note: file key in yaml config will overwrite anything in the code key!

${SCRIPTEXEC} "${ECMC_CONFIG_ROOT}loadYamlPlc.cmd" "FILE=./plc1File.yaml, ECMC_TMPDIR=/tmp/"

go active

${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd