ecmccomp: Components library for ecmc

This repo contains component configurations for ecmc. A component can be a motor, encoder or a special configuration. Component configurations/parameters are stored in engineering units in files. Only one file per component is needed.

The applyComponent.cmd applies a component to a ethercat slave including:

• Validation that the slave supports the componenet. For instance a motor component can be applied to a drive-slave but not a encoder-slave.
• Validates that the custom macros are supported by the slave and component combination
• Applies the configuration (including conversion from engineering units to the units needed by the slave)

The same component configuration can therefore be used for differet types of ethercat slaves.

Examples

Some examples:

...
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=14, HW_DESC=EL5042"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C, CH_ID=1"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C, CH_ID=2"
...
...
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7031"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,  MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=24000, R_COIL_MOHM=1230,SPEED_RANGE=2'"
...
...
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7041-0052"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,  MACROS='I_MAX_MA=1500, I_STDBY_MA=1000, U_NOM_MV=48000, R_COIL_MOHM=1230'"
...
...
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7211-9014_ALL_INPUTS"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Beckhoff-AM8111-XFX0,    MACROS='I_MAX_MA=1355'"
...
...
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL9227-5500"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Over-Curr-Prot, CH_ID=1,       MACROS='I_MAX_MA=4000'"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Over-Curr-Prot, CH_ID=2,       MACROS='I_MAX_MA=2000'"
...

Apply a component to a slave

#- Execute directly after addSlave.cmd then only COMP macro is needed:
iocshLoad addSlave.cmd, "HW_DESC=EL7037"
iocshLoad applyComponent.cmd "COMP=Motor-OrientalMotor-PK267JB-Parallel"

#- Execute for a cutsom slave id then COMP_S_ID is needed:
iocshLoad applyComponent.cmd "COMP_S_ID=12,EC_COMP_TYPE=EL7037,COMP=Motor-OrientalMotor-PK267JB-Parallel"

#- CH and custom macros to the cfg can be added
iocshLoad applyComponent.cmd ",EC_COMP_TYPE=EL7037,COMP=Motor-OrientalMotor-PK267JB-Parallel,CH_ID=1,MACROS='I_MAX_MA=500,I_STDBY_MA=100'"

Component types

The components are sorted into types:

Motors:

• 2PH_STEPPER : 2 phase stepper motors
• EL72XX_OCT_SERVO : Beckhoff motors for use with EL72XX OCT drives
• EL72XX_RES_SERVO : Beckhoff motors for use with EL72XX RES drives

Encoders:

• BISS_C_ENC
• SSI_ENC

Misc:

• OVER_CURR_PROT : Over current protection (EL9227-5500)

Slave configurations

Each type of ethercat slave has:

• A defintion file defining what is supported. For instance, the EL7037 slave supports the component types "2PH_STEPPER" and "INC_ENC". Also, max current and voltage are listed here.
• A file containg conversions from the engineering unit parameter in the configuration file to actual values sent to hardware (SDOS)

2PH_STEPPER

The following variables needs to defined for a 2 phase stepper Example:

#-d /**
#-d   \brief hardware script for Motor-OrientalMotor-PK267JB-Parallel
#-d   \details Parametrization of motor Oriental Motor PK267JB
#-d   \author Anders Sanddtröm
#-d   \file
#-d   \note Max current= 2 A
#-d   \note Max voltage= 48 V
#-d   \note Inductance per phase =3.54mH
#-d   \note Resistance = 2.4 Ohm
#-d */

#- Max Current [mA]
epicsEnvSet(MOT_I_MAX_MA,2000)

#- Nominal Current [mA]
epicsEnvSet(MOT_I_RUN_MA,${MOT_I_MAX_MA})

#- Standby Current [mA] (30% of max)
ecmcEpicsEnvSetCalc(MOT_I_STDBY_MA,"${MOT_I_RUN_MA}*0.3","%d")

#- Max Voltage [mV]
epicsEnvSet(MOT_U_MAX_MV,48000)

#- Motor Voltage at MOT_I_MAX_MA [mV]
epicsEnvSet(MOT_U_MV,4800)

#- Phase resistance [mOhm]
epicsEnvSet(MOT_R_COIL_MOHM,2400)

#- Phase inductance [uH]
epicsEnvSet(MOT_L_COIL_UH,4540)

#- Max Torque [Nmm]
epicsEnvSet(MOT_TRQ_MAX_NMM,1700)

#- Motor steps []
epicsEnvSet(MOT_STEPS,200)

#- Component TYPE []
epicsEnvSet(COMP_TYPE,2PH_STEPPER)

BISS_C_ENC

WIP

Slave types

2PH_STEPPER

#-d /**
#-d   \brief SDOS for EL7037 drive
#-d   \details Parametrization of EL7037
#-d   \author Anders Sanddtröm
#-d   \file
#-d   \note Max current= 1.5 A
#-d   \note Max voltage= 24 V
#-d */

#- Currents
epicsEnvSet(DRV_I_MAX_MA,1500)

#- Voltage
epicsEnvSet(DRV_U_MAX_MV,24000)

#- SDOS script
epicsEnvSet(SLAVE_SCRIPT,"EL70X7_SDOS")

#- Channel count
epicsEnvSet(SLAVE_CHANNELS,"1")

#- Drive type
epicsEnvSet(SLAVE_TYPE,2PH_STEPPER_DRV)

BISS_C_ENC

WIP

Add a component to a slave

${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd, "HW_DESC=EL7037,COMP=Motor-OrientalMotor-PK267JB-Parallel,MACROS='I_RUN_MA=1000'"

The HW_DESC must be of a type similar type as the component

Validation

When a componet is applied to a slave a validation procedure is executed.

The follwoing validations are made for all components:

• Check that the CH_ID is supported by the slave drive
• Check that the user macros are supported by the slave type

Validation of 2PH_STEPPER component

• Check that the defined current is NOT higher than the allowed by both the motor component and the slave drive.
• Check that the defined voltage is NOT higher than the allowed by both the motor component and the slave drive.
• Check that the component type matches the slave type (2PH_STEPPER_DRV).

Note: If defined desired current/voltage is higher than either what is supported by the slave drive or by the motor/component then the setting will be automatically reduced without warning(or stopping the IOC).

Known Issues