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Merge pull request #7 from Mbosum/22_dev
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Merge latest running code for CVMI Motion into pcdshub master
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@Mbosum
Mbosum authored Jul 6, 2022
2 parents 0c22e81 + c53a38a commit 83c3061
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Showing 18 changed files with 615 additions and 378 deletions.
8 changes: 7 additions & 1 deletion lcls-plc-cvmi-motion/_Config/IO/Device 1 (EtherCAT)/CVMI_EK1200_CX0.xti
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Expand Up @@ -10,9 +10,15 @@
<Box File="CVMI_EL2202_E1.xti" Id="2">
<EtherCAT PortABoxInfo="#x01000001"/>
</Box>
<Box File="CVMI_EL6070_E2.xti" Id="3">
<Box File="LED_CH1-2_EL2502.xti" Id="20">
<EtherCAT PortABoxInfo="#x01000002"/>
</Box>
<Box File="LED_CH3-4_EL2502.xti" Id="21">
<EtherCAT PortABoxInfo="#x01000014"/>
</Box>
<Box File="CVMI_EL6070_E2.xti" Id="3">
<EtherCAT PortABoxInfo="#x01000015"/>
</Box>
<Box File="Bridge01_E3.xti" Id="4">
<EtherCAT PortABoxInfo="#x01000003"/>
</Box>
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2 changes: 1 addition & 1 deletion lcls-plc-cvmi-motion/_Config/IO/Device 1 (EtherCAT)/CVMI_EK1200_CX0/Bridge01_E3.xti
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Expand Up @@ -35,7 +35,7 @@
<Box Id="4" BoxType="9099" BoxFlags="#x00000020">
<Name>__FILENAME__</Name>
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<EtherCAT SlaveType="3" AdsServerAddress="ac15845a0205eb03" PdiType="#x0008" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="47" EoeType="1" FoeType="1" VendorId="#x00000002" ProductCode="#x1a273052" RevisionNo="#x00050000" InfoDataAddr="true" InfoDataNetId="true" TimeoutMailbox2="2000" GenerateOwnNetId="true" CheckRevisionNoType="3" PortPhys="51" DcTimeLoopControlOnly="true" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL6695 EtherCAT Bridge terminal (Primary)" Desc="EL6695">
<EtherCAT SlaveType="3" AdsServerAddress="ac15845a0205ed03" PdiType="#x0008" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="47" EoeType="1" FoeType="1" VendorId="#x00000002" ProductCode="#x1a273052" RevisionNo="#x00050000" InfoDataAddr="true" InfoDataNetId="true" TimeoutMailbox2="2000" GenerateOwnNetId="true" CheckRevisionNoType="3" PortPhys="51" DcTimeLoopControlOnly="true" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL6695 EtherCAT Bridge terminal (Primary)" Desc="EL6695">
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<SyncMan>0016000422000100020000008000da050004001622010000</SyncMan>
<SyncMan>001c00006400000003000000000000000000001c64010000</SyncMan>
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75 changes: 75 additions & 0 deletions lcls-plc-cvmi-motion/_Config/IO/Device 1 (EtherCAT)/CVMI_EK1200_CX0/LED_CH1-2_EL2502.xti
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@@ -0,0 +1,75 @@
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
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<Entry Name="PWM period" Index="#x7000" Sub="#x12">
<Type>UINT</Type>
</Entry>
</Pdo>
<Pdo Name="PWM Outputs Channel 2" Index="#x1603" InOut="1" Flags="#x0010">
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<Entry Name="PWM output" Index="#x7010" Sub="#x11">
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</Pdo>
<Pdo Name="PWM Outputs Channel 1" Index="#x1604" InOut="1" Flags="#x0010">
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<Entry Name="PWM output" Index="#x7000" Sub="#x11">
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<Entry Name="PWM period 1Hz" Index="#x7000" Sub="#x13">
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</Pdo>
<Pdo Name="PWM Outputs Channel 2" Index="#x1605" InOut="1" Flags="#x0010">
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<Type>UDINT</Type>
</Entry>
</Pdo>
<CoeProfile ProfileNo="16389001"/>
<CoeProfile ProfileNo="16389001"/>
</EtherCAT>
</Box>
</TcSmItem>
75 changes: 75 additions & 0 deletions lcls-plc-cvmi-motion/_Config/IO/Device 1 (EtherCAT)/CVMI_EK1200_CX0/LED_CH3-4_EL2502.xti
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<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmItem" TcSmVersion="1.0" TcVersion="3.1.4022.30" ClassName="CFlbTermDef" SubType="9099">
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<Box Id="21" BoxType="9099" BoxFlags="#x00000020">
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<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="7" FoeType="1" VendorId="#x00000002" ProductCode="#x09c63052" RevisionNo="#x001a0000" InfoDataAddr="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL2502 2Ch. PWM output, 24V" Desc="EL2502">
<SyncMan>001080002600010001000000800080008000001026010000</SyncMan>
<SyncMan>801080002200010002000000800080008000801022010000</SyncMan>
<SyncMan>001104002400010003000000000000000400001124010000</SyncMan>
<SyncMan>801100000000000004000000000000000000801100000000</SyncMan>
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
<BootStrapData>0010f400f410f400</BootStrapData>
<Pdo Name="PWM Outputs Channel 1" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
<ExcludePdo>#x1602</ExcludePdo>
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<Entry Name="PWM output" Index="#x7000" Sub="#x11">
<Type>UINT</Type>
</Entry>
</Pdo>
<Pdo Name="PWM Outputs Channel 2" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
<ExcludePdo>#x1603</ExcludePdo>
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<Entry Name="PWM output" Index="#x7010" Sub="#x11">
<Type>UINT</Type>
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</Pdo>
<Pdo Name="PWM Outputs Channel 1" Index="#x1602" InOut="1" Flags="#x0010">
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</Entry>
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<Entry Name="PWM period" Index="#x7010" Sub="#x12">
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<Pdo Name="PWM Outputs Channel 1" Index="#x1604" InOut="1" Flags="#x0010">
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<Entry Name="PWM output" Index="#x7000" Sub="#x11">
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</Entry>
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</Entry>
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<Entry Name="PWM output" Index="#x7010" Sub="#x11">
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<Entry Name="PWM period 1Hz" Index="#x7010" Sub="#x13">
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</Entry>
</Pdo>
<CoeProfile ProfileNo="16389001"/>
<CoeProfile ProfileNo="16389001"/>
</EtherCAT>
</Box>
</TcSmItem>
2 changes: 1 addition & 1 deletion lcls-plc-cvmi-motion/_Config/IO/Device 1 (EtherCAT)/Coupler01-EK1100/GasJetX-EL7041.xti
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Expand Up @@ -94,7 +94,7 @@
<MBoxUserCmdData>004003000c0000000000000000000000000000000000000000000000000000002081f001040000000000190000</MBoxUserCmdData>
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4 changes: 2 additions & 2 deletions lcls-plc-cvmi-motion/_Config/IO/Device 1 (EtherCAT)/Coupler01-EK1100/GasJetY-EL7041.xti
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Expand Up @@ -94,10 +94,10 @@
<MBoxUserCmdData>004003000c0000000000000000000000000000000000000000000000000000002081f001040000000000190000</MBoxUserCmdData>
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2 changes: 1 addition & 1 deletion lcls-plc-cvmi-motion/_Config/IO/Device 1 (EtherCAT)/Coupler01-EK1100/GasJetZ-EL7041.xti
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Expand Up @@ -94,7 +94,7 @@
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3 changes: 1 addition & 2 deletions lcls-plc-cvmi-motion/_Config/NC/Axes/GasJetX.xti
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Expand Up @@ -1356,8 +1356,7 @@ External Setpoint Generation:
</AxisPara>
<Encoder Name="Enc" EncType="4">
<EncPara ScaleFactorNumerator="3.90625e-05" Inverse="true" MaxCount="#x0000ffff">
<SoftEndMinControl Enable="true"/>
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<SoftEndMaxControl Range="16.1"/>
<Inc RefSoftSyncMask="#x0000ffff"/>
<ParameterChanged>14</ParameterChanged>
<ParameterChanged>11</ParameterChanged>
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7 changes: 3 additions & 4 deletions lcls-plc-cvmi-motion/_Config/NC/Axes/GasJetY.xti
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Expand Up @@ -1356,9 +1356,8 @@ External Setpoint Generation:
<ParameterChanged>257</ParameterChanged>
</AxisPara>
<Encoder Name="Enc" EncType="4">
<EncPara ScaleFactorNumerator="3.90625e-05" MaxCount="#x0000ffff">
<SoftEndMinControl Enable="true"/>
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Expand Down Expand Up @@ -1431,7 +1430,7 @@ External Setpoint Generation:
</Encoder>
<Drive Name="Drive" DrvType="24">
<DrvPara>
<Analog VeloReferenz="5" ScaleFactorActTorque="0.1"/>
<Analog VeloReferenz="12" ScaleFactorActTorque="0.1"/>
<TimeComp TaskDelayCycles="1"/>
</DrvPara>
<Vars VarGrpType="1">
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3 changes: 1 addition & 2 deletions lcls-plc-cvmi-motion/_Config/NC/Axes/GasJetZ.xti
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Original file line number Diff line number Diff line change
Expand Up @@ -1357,8 +1357,7 @@ External Setpoint Generation:
</AxisPara>
<Encoder Name="Enc" EncType="4">
<EncPara ScaleFactorNumerator="9.375e-05" MaxCount="#x0000ffff">
<SoftEndMinControl Enable="true"/>
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<Inc RefSoftSyncMask="#x0000ffff"/>
<ParameterChanged>14</ParameterChanged>
<ParameterChanged>11</ParameterChanged>
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