https://github.com/epics-modules/ecmc
EPICS Support for EtherCAT Motion Controller (ECMC) and Generic IO Controller
https://github.com/epics-modules/ecmc
Last synced: 3 months ago
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EPICS Support for EtherCAT Motion Controller (ECMC) and Generic IO Controller
- Host: GitHub
- URL: https://github.com/epics-modules/ecmc
- Owner: epics-modules
- License: lgpl-3.0
- Created: 2019-09-07T11:53:45.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2025-12-15T10:15:40.000Z (6 months ago)
- Last Synced: 2025-12-18T10:18:09.701Z (6 months ago)
- Language: C++
- Homepage:
- Size: 3.94 MB
- Stars: 31
- Watchers: 8
- Forks: 20
- Open Issues: 7
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
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.
(more info here: https://paulscherrerinstitute.github.io/ecmccfg/manual/plc_cfg/)
* 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://github.com/paulscherrerinstitute/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
ECMC is configured via EPICS-iocsh:
* iocsh commands:
* Create an ECMC application:
* ecmcAsynPortDriverConfigure \,\, \, \, \
* Configure ECMC application. Exit ECMC if returns error:
* ecmcConfigOrDie \
* Configure ECMC application.
* ecmcConfig \
* Print availabe asyn parameters and other info:
* ecmcReport \
* asynReport \. Same as ecmcReport but also calls asynReport in other modules.
* ASCII-cmds (see doxygen documentation for more information):
* Motion configs. Example:
* ecmcConfigOrDie "Cfg.CreateAxis(\,1,\)"
* ecmcConfigOrDie "Cfg.SetAxisCntrlKp(\,\)"
* ...
* Ethercat bus configs. Example:
* ecmcConfigOrDie "Cfg.EcAddEntryComplete(\,\,\,\,\,\,\,\,\,\)"
* ...
* Ethercat slave configs (SDO,SoE). Example set max motor current for EL7037 to 1500mA:
* ecmcConfigOrDie "Cfg.EcAddSdo(\,0x8010,0x1,1500,2)"
* PLC configuration:
* ecmcConfigOrDie "Cfg.CreatePLC(\,\)"
* ecmcConfigOrDie "Cfg.LoadPLCFile(\,\)"
* ecmcConfigOrDie "Cfg.AppendPLCExpr(\)=ax1.enc.homepos:=25#"
* ...
# Documentation
[Manual](https://paulscherrerinstitute.github.io/ecmccfg/manual/)
[Examples](https://github.com/paulscherrerinstitute/ecmccfg/tree/master/examples/PSI/best_practice)
# Environment
ECMC runs best under certain conditions:
* PSI require (or ESS-e3)
* RT-patch
* configuration by ecmccfg: https://github.com/paulscherrerinstitute/ecmccfg
# Needed EPICS modules
* Open source ethercat master: https://etherlab.org/
* ExprTK: https://github.com/paulscherrerinstitute/exprtk-ecmc
* Motor: https://github.com/EuropeanSpallationSource/motor
* Asyn driver: https://github.com/epics-modules/asyn
* ecmccfg https://github.com/paulscherrerinstitute/ecmccfg
* ruckig https://github.com/anderssandstrom/ruckig
# Optional modules
* ecmccomp https://github.com/paulscherrerinstitute/ecmccomp
# 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/paulscherrerinstitute/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
* DAQ plugon https://github.com/paulscherrerinstitute/ecmc_plugin_daq
# 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 model 3 driver (preferred) : Anders Sandström, anders.sandstroem@psi.ch