ECMC Motion Control Module for EPICS

ECMC is a motion control and data acquisition module for use with EPICS system.

Initialize

git submodule update --init --reference ./

Features

• Motion Control
  • Motor record
    • Absolute Positioning
    • Relative Positioning
    • Constant velocity
    • Evaluation of limit and reference switches
    • Homing (several different sequences available)
      • Low limit (refId = 1)
      • High limit (refId = 2)
      • Ref. sensor via low limit (refId = 3)
      • Ref. sensor via high limit (refId = 4)
      • Ref. sensor center via low limit (refId = 5)
      • Ref. sensor center via high limit (refId = 6)
      • Encoder index via low limit (refId = 11)
      • Encoder index via high limit (refId = 12)
      • Set position dedicated for auto restore (refId = 15)
      • Single turn abs encoder (resolver) ref via low limit (refId = 21)
      • Single turn abs encoder (resolver) ref via high limit (refId = 22)
      • Set position (refId = 25)
  • Interlocks
    • Following error
    • Max speed
    • Ethercat I/O
    • Ethercat bus health
  • Trajectories:
    • Trapetzoidal
    • Jerk limited (ruckig, see below)
    • Custom:
      • Calculated in ecmc plc
      • Buffered positions from array (data storage)
  • Advanced features
    • Virtuel and normal axis
    • Modulo movements
    • Syncronization (to axis or any I/O) Handled through expressions
      • Example slaving "ax2.traj.setpos:=ax1.enc.actpos;"
      • Example sync "ax2.traj.setpos:=ax1.traj.setpos;"
      • Example phasing "ax2.traj.setpos:=ax1.traj.setpos+100;"
      • Example phasing "ax2.traj.setpos:=ax1.traj.setpos+ax3.traj.setpos;"
      • Advanced "ax2.traj.setpos:=ax1.traj.setpos*sin(ax3.traj.setpos/100)+ec0.s2.VALUE;"
      • Enable amps "ax2.drv.enable:=ax1.drv.enable;"
      • Interlocks "ax2.mon.ilockfwd:=ec0.s1.INPUT_1 or ax1.enc.actpos < 100;"
  • Data acquisition
    • Supoort of many different analog and digital slaves
    • Up to 100kHz analog and 1Mhz digital (oversampling slaves)
  • Control
    • PLC objects can be created with custom sample rate where logic (including motion) can be handled in realtime. (see examples in ecmccfg repository: https://gitlab.esss.lu.se/epics-modules/ecmccfg/-/tree/master/examples/test
    • Same syntax as for synchronization:
      • "ec0.s45.VALUE:=static.gain*77+ax2.traj.setpos/10;"
    • PLC variables can be accessed from EPICS.
  • Hardware support:
    • Drives: stepper, servo, pulse direction and analog
    • I/O: Several analog and digital terminals
    • Other: bus-couplers, system terminals
    • Current list: https://gitlab.esss.lu.se/epics-modules/ecmccfg/-/tree/master/hardware

How do I get set up?

Fastest and easiest way to get started is by using the configuration scripts accessible in ecmccfg repository: https://github.com/paulscherrerinstitute/ecmccfg (or ESS fork https://github.com/icshwi/ecmccfg)

ECMC is configured via EPICS-iocsh:

• iocsh commands:

  • Create an ECMC application:
    • ecmcAsynPortDriverConfigure <portName>,<paramTableSize>, <prio>, <disableAutoConnect>, <defaultSampleRateMS>
  • Configure ECMC application. Exit ECMC if returns error:
    • ecmcConfigOrDie <ecmc ASCII command>
  • Configure ECMC application.
    • ecmcConfig <ecmc ASCII command>
  • Print availabe asyn parameters and other info:
    • ecmcReport <detail>
    • asynReport <detail>. Same as ecmcReport but also calls asynReport in other modules.

• ASCII-cmds (see doxygen documentation for more information):

  • Motion configs. Example:
    • ecmcConfigOrDie "Cfg.CreateAxis(<axisid>,1,<type>)"
    • ecmcConfigOrDie "Cfg.SetAxisCntrlKp(<axisid>,<kp>)"
    • ...
  • Ethercat bus configs. Example:
    • ecmcConfigOrDie "Cfg.EcAddEntryComplete(<slaveid>,<vendorid>,<productid>,<dir>,<smid>,<pdoid>,<entryid>,<entrysubid>,<bits>,<name>)"
    • ...
  • Ethercat slave configs (SDO,SoE). Example set max motor current for EL7037 to 1500mA:
    • ecmcConfigOrDie "Cfg.EcAddSdo(<slaveid>,0x8010,0x1,1500,2)"
  • PLC configuration:
    • ecmcConfigOrDie "Cfg.CreatePLC(<plcid>,<sample rate ms>)"
    • ecmcConfigOrDie "Cfg.LoadPLCFile(<plcid>,<filename>)"
    • ecmcConfigOrDie "Cfg.AppendPLCExpr(<plcid>)=ax1.enc.homepos:=25#"
    • ...

Documentation

Command reference

Examples

Environment

ECMC runs best under certain conditions:

• E3 (ESS EPICS Environment)
• RT-patch
• Settings found in https://github.com/icshwi/realtime-config
• configuration by ecmccfg: https://github.com/paulscherrerinstitute/ecmccfg

Needed EPICS modules

• Open source ethercat master: https://etherlab.org/, https://github.com/icshwi/etherlabmaster
• ExprTK: https://github.com/icshwi/e3-exprtk (https://github.com/ArashPartow/exprtk)
• E3 (ESS EPICS Environment): https://github.com/icshwi/e3
• Real-time configuration: https://github.com/icshwi/realtime-config
• Motor: https://github.com/icshwi/e3-motor (https://github.com/EuropeanSpallationSource/motor)
• Asyn driver: https://github.com/icshwi/e3-asyn
• ecmccfg https://github.com/paulscherrerinstitute/ecmccfg
• ruckig https://github.com/anderssandstrom/e3-ruckig, https://github.com/anderssandstrom/ruckig

Plugins

Plugins with extra functionality that can be loaded during startup:

• CNC g-code support by grbl: https://github.com/anderssandstrom/ecmc_plugin_grbl
• SocketCAN support (inc. reduced CANOpen support): https://github.com/anderssandstrom/e3-ecmc_plugin_socketcan
• FFTs by kissfft: https://github.com/anderssandstrom/e3-ecmc_plugin_fft
• Raspi wiringPi support: https://github.com/anderssandstrom/e3-ecmc_plugin_raspi
• PVA support from ecmc-plc: https://github.com/anderssandstrom/e3-ecmc_plugin_pva
• Simple scope for ethercat dc slaves): https://github.com/anderssandstrom/e3-ecmc_plugin_scope

Issues/bug report

https://github.com/epics-modules/ecmc/issues

Support

• ECMC : Anders Sandström, anders.sandstroem@psi.ch
• Motor Record : Torsten Bögershausen, torsten.bogershausen@esss.se
  • ecmcMotorRecord driver (preferred) : Anders Sandström, anders.sandstroem@psi.ch
  • (EthercatMC driver : Torsten Bögershausen, torsten.bogershausen@esss.se)