This fork is archived. The active ESS fork now can be found here: https://gitlab.esss.lu.se/epics-modules/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

1. require the configuration module with optional version

require ecmccfg <VERSION>

2. 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"

3. 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"

4. apply the configuration

${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applyConfig.cmd

5. additional configuration

manually set binaryOutput01 to 1

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

6. 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/"

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

• 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/"

10. go active

${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd