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Integrated Pax Motors #64

Merged
merged 18 commits into from
May 22, 2024
Merged

Integrated Pax Motors #64

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610852a
WIP:PAX motors: IO linking
jyotiphy Mar 14, 2024
288c948
added NC Axis and linked I/O for PAX Motors
jozamudi Mar 28, 2024
ccea0e0
latest, changed CoE for SP1K2:TAR X Y Z
jozamudi Apr 25, 2024
a6d3fdd
Fixed CoE settings for Encoders and NC Parameters for motors
jozamudi Apr 25, 2024
487e849
linked NC to PLC for TAR X,Y, and Z. Also for BB-Y 1 and 2. I disable…
jozamudi Apr 25, 2024
d313768
ran precommit
jozamudi Apr 25, 2024
b46169d
fixed not NC for MAIN.35?
jozamudi Apr 25, 2024
f343d18
build ioc
Apr 25, 2024
4311fce
add prg for pax motors
jozamudi Apr 30, 2024
32cb0e0
Fixed TAR Z speed issue and added frame motion
jozamudi May 2, 2024
f360492
add offset
jozamudi May 3, 2024
e34c2a7
Fixed SP1K2-PAX-FRAME-X linking and CoE setting
jozamudi May 9, 2024
3023027
update twincat-motion lib version to 4.0.8
jozamudi May 14, 2024
6704dd4
build new IOC
May 14, 2024
7703993
Updated PMPS lib version to latest V3.2.1
jozamudi May 21, 2024
508c33e
Updated PMPS lib version to latest V3.2.1
jozamudi May 21, 2024
1989374
Merge branch 'pax-motors' of github.com:jozamudi/lcls-plc-kfe-rix-mot…
jozamudi May 21, 2024
97ce82e
build IOC
May 21, 2024
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2 changes: 1 addition & 1 deletion iocBoot/ioc-kfe-rix-motion/envPaths
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Original file line number Diff line number Diff line change
Expand Up @@ -10,5 +10,5 @@ epicsEnvSet("ASYN","/reg/g/pcds/epics//R7.0.2-2.0/modules/asyn/R4.35-0.0.1")
epicsEnvSet("ADS","/reg/g/pcds/epics//R7.0.2-2.0/modules/twincat-ads/R2.0.0-0.0.7")
epicsEnvSet("CAPUTLOG","/reg/g/pcds/epics//R7.0.2-2.0/modules/caPutLog/R3.7-1.0.0")
epicsEnvSet("EPICS_BASE","/reg/g/pcds/epics//base/R7.0.2-2.0")
epicsEnvSet("IOC_TOP", "/cds/home/z/zlentz/github/lcls-plc-kfe-rix-motion/iocBoot/ioc-kfe-rix-motion")
epicsEnvSet("IOC_TOP", "/reg/g/pcds/epics-dev/jozamudi/rix/lcls-plc-kfe-rix-motion/iocBoot/ioc-kfe-rix-motion")
epicsEnvSet("IOC_DATA", "/cds/data/iocData")
752 changes: 752 additions & 0 deletions iocBoot/ioc-kfe-rix-motion/kfe_rix_motion.archive
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9,558 changes: 9,558 additions & 0 deletions iocBoot/ioc-kfe-rix-motion/kfe_rix_motion.db
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184 changes: 167 additions & 17 deletions iocBoot/ioc-kfe-rix-motion/st.cmd
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,8 @@
# Project: plc-kfe-rix-motion.tsproj
# PLC name: kfe_rix_motion (kfe_rix_motion Instance)
# Generated using: pytmc 2.16.0
# Project version: 01a4dd5
# Project hash: 01a4dd553c9c8a5f6e35dfdb74814522a0d49f74
# Project version: 1989374
# Project hash: 198937406e9b28c0b64723011a70463c1abcab63
# PLC IP/host: 172.21.140.70
# PLC Net ID: 172.21.140.70.1.1
# ** Production mode IOC **
Expand All @@ -14,10 +14,10 @@
# Libraries:
#
# LCLS General: * -> 2.10.0 (SLAC)
# lcls-twincat-common-components: * -> 3.3.0 (SLAC)
# lcls-twincat-motion: * -> 4.0.5 (SLAC)
# lcls-twincat-common-components: * -> 3.4.0 (SLAC)
# lcls-twincat-motion: * -> 4.0.8 (SLAC)
# lcls-twincat-physics: * -> 0.1.0 (SLAC)
# PMPS: * -> 3.0.14 (SLAC - LCLS)
# PMPS: * -> 3.2.1 (SLAC - LCLS)
# Tc2_Standard: * -> 3.3.3.0 (Beckhoff Automation GmbH)
# Tc2_System: * -> 3.4.26.0 (Beckhoff Automation GmbH)
# Tc3_Module: * -> 3.3.21.0 (Beckhoff Automation GmbH)
Expand All @@ -27,7 +27,7 @@

epicsEnvSet("ADS_IOC_TOP", "$(TOP)" )

epicsEnvSet("ENGINEER", "zlentz" )
epicsEnvSet("ENGINEER", "jozamudi" )
epicsEnvSet("LOCATION", "PLC:RIX:MOTION" )
epicsEnvSet("IOCSH_PS1", "$(IOC)> " )
epicsEnvSet("ACF_FILE", "$(ADS_IOC_TOP)/iocBoot/templates/unrestricted.acf")
Expand All @@ -43,7 +43,7 @@ epicsEnvSet("ASYN_PORT", "ASYN_PLC")
epicsEnvSet("IPADDR", "172.21.140.70")
epicsEnvSet("AMSID", "172.21.140.70.1.1")
epicsEnvSet("AMS_PORT", "851")
epicsEnvSet("ADS_MAX_PARAMS", "12639")
epicsEnvSet("ADS_MAX_PARAMS", "13391")
epicsEnvSet("ADS_SAMPLE_MS", "50")
epicsEnvSet("ADS_MAX_DELAY_MS", "100")
epicsEnvSet("ADS_TIMEOUT_MS", "1000")
Expand Down Expand Up @@ -82,7 +82,7 @@ cd "$(ADS_IOC_TOP)/db"

epicsEnvSet("MOTOR_PORT", "PLC_ADS")
epicsEnvSet("PREFIX", "PLC:RIX:MOTION:")
epicsEnvSet("NUMAXES", "27")
epicsEnvSet("NUMAXES", "37")
epicsEnvSet("MOVE_POLL_RATE", "200")
epicsEnvSet("IDLE_POLL_RATE", "1000")

Expand Down Expand Up @@ -503,6 +503,156 @@ dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")

epicsEnvSet("AXIS_NO", "28")
epicsEnvSet("MOTOR_PREFIX", "SP1K2:PAX:MMS:Y:")
epicsEnvSet("MOTOR_NAME", "01")
epicsEnvSet("DESC", "Main.M28 / Axis 28 SP1K2-PAX-FRAME-MMS-Y-01")
epicsEnvSet("EGU", "mm")
epicsEnvSet("PREC", "3")
epicsEnvSet("AXISCONFIG", "")
epicsEnvSet("ECAXISFIELDINIT", "")
epicsEnvSet("AMPLIFIER_FLAGS", "")

EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)", "$(AMPLIFIER_FLAGS)", "$(AXISCONFIG)")
dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC), EGU=$(EGU) $(ECAXISFIELDINIT)")
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")

epicsEnvSet("AXIS_NO", "29")
epicsEnvSet("MOTOR_PREFIX", "SP1K2:PAX:MMS:Y:")
epicsEnvSet("MOTOR_NAME", "02")
epicsEnvSet("DESC", "Main.M29 / Axis 29 SP1K2-PAX-FRAME-MMS-Y-02")
epicsEnvSet("EGU", "mm")
epicsEnvSet("PREC", "3")
epicsEnvSet("AXISCONFIG", "")
epicsEnvSet("ECAXISFIELDINIT", "")
epicsEnvSet("AMPLIFIER_FLAGS", "")

EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)", "$(AMPLIFIER_FLAGS)", "$(AXISCONFIG)")
dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC), EGU=$(EGU) $(ECAXISFIELDINIT)")
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")

epicsEnvSet("AXIS_NO", "30")
epicsEnvSet("MOTOR_PREFIX", "SP1K2:PAX:MMS:Y:")
epicsEnvSet("MOTOR_NAME", "03")
epicsEnvSet("DESC", "Main.M30 / Axis 30 SP1K2-PAX-FRAME-MMS-Y-03")
epicsEnvSet("EGU", "mm")
epicsEnvSet("PREC", "3")
epicsEnvSet("AXISCONFIG", "")
epicsEnvSet("ECAXISFIELDINIT", "")
epicsEnvSet("AMPLIFIER_FLAGS", "")

EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)", "$(AMPLIFIER_FLAGS)", "$(AXISCONFIG)")
dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC), EGU=$(EGU) $(ECAXISFIELDINIT)")
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")

epicsEnvSet("AXIS_NO", "31")
epicsEnvSet("MOTOR_PREFIX", "SP1K2:PAX:MMS:X:")
epicsEnvSet("MOTOR_NAME", "01")
epicsEnvSet("DESC", "Main.M31 / Axis 31 SP1K2-PAX-FRAME-MMS-X")
epicsEnvSet("EGU", "mm")
epicsEnvSet("PREC", "3")
epicsEnvSet("AXISCONFIG", "")
epicsEnvSet("ECAXISFIELDINIT", "")
epicsEnvSet("AMPLIFIER_FLAGS", "")

EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)", "$(AMPLIFIER_FLAGS)", "$(AXISCONFIG)")
dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC), EGU=$(EGU) $(ECAXISFIELDINIT)")
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")

epicsEnvSet("AXIS_NO", "32")
epicsEnvSet("MOTOR_PREFIX", "SP1K2:PAX:MMS:X:")
epicsEnvSet("MOTOR_NAME", "02")
epicsEnvSet("DESC", "Main.M32 / Axis 32 SP1K2-PAX-TAR-MMS-X")
epicsEnvSet("EGU", "mm")
epicsEnvSet("PREC", "3")
epicsEnvSet("AXISCONFIG", "")
epicsEnvSet("ECAXISFIELDINIT", "")
epicsEnvSet("AMPLIFIER_FLAGS", "")

EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)", "$(AMPLIFIER_FLAGS)", "$(AXISCONFIG)")
dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC), EGU=$(EGU) $(ECAXISFIELDINIT)")
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")

epicsEnvSet("AXIS_NO", "33")
epicsEnvSet("MOTOR_PREFIX", "SP1K2:PAX:MMS:Y:")
epicsEnvSet("MOTOR_NAME", "04")
epicsEnvSet("DESC", "Main.M33 / Axis 33 SP1K2-PAX-TAR-MMS-Y")
epicsEnvSet("EGU", "mm")
epicsEnvSet("PREC", "3")
epicsEnvSet("AXISCONFIG", "")
epicsEnvSet("ECAXISFIELDINIT", "")
epicsEnvSet("AMPLIFIER_FLAGS", "")

EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)", "$(AMPLIFIER_FLAGS)", "$(AXISCONFIG)")
dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC), EGU=$(EGU) $(ECAXISFIELDINIT)")
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")

epicsEnvSet("AXIS_NO", "34")
epicsEnvSet("MOTOR_PREFIX", "SP1K2:PAX:MMS:Z:")
epicsEnvSet("MOTOR_NAME", "01")
epicsEnvSet("DESC", "Main.M34 / Axis 34 SP1K2-PAX-TAR-MMS-Z")
epicsEnvSet("EGU", "mm")
epicsEnvSet("PREC", "3")
epicsEnvSet("AXISCONFIG", "")
epicsEnvSet("ECAXISFIELDINIT", "")
epicsEnvSet("AMPLIFIER_FLAGS", "")

EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)", "$(AMPLIFIER_FLAGS)", "$(AXISCONFIG)")
dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC), EGU=$(EGU) $(ECAXISFIELDINIT)")
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")

epicsEnvSet("AXIS_NO", "35")
epicsEnvSet("MOTOR_PREFIX", "SP1K2:PAX:MMS:RY:")
epicsEnvSet("MOTOR_NAME", "01")
epicsEnvSet("DESC", "Main.M35 / Axis 35 SP1K2-PAX-TAR-MMS-RY")
epicsEnvSet("EGU", "mm")
epicsEnvSet("PREC", "3")
epicsEnvSet("AXISCONFIG", "")
epicsEnvSet("ECAXISFIELDINIT", "")
epicsEnvSet("AMPLIFIER_FLAGS", "")

EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)", "$(AMPLIFIER_FLAGS)", "$(AXISCONFIG)")
dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC), EGU=$(EGU) $(ECAXISFIELDINIT)")
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")

epicsEnvSet("AXIS_NO", "36")
epicsEnvSet("MOTOR_PREFIX", "SP1K2:PAX:MMS:Y:")
epicsEnvSet("MOTOR_NAME", "05")
epicsEnvSet("DESC", "Main.M36 / Axis 36 SP1K2-PAX-BB-MMS-Y-01")
epicsEnvSet("EGU", "mm")
epicsEnvSet("PREC", "3")
epicsEnvSet("AXISCONFIG", "")
epicsEnvSet("ECAXISFIELDINIT", "")
epicsEnvSet("AMPLIFIER_FLAGS", "")

EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)", "$(AMPLIFIER_FLAGS)", "$(AXISCONFIG)")
dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC), EGU=$(EGU) $(ECAXISFIELDINIT)")
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")

epicsEnvSet("AXIS_NO", "37")
epicsEnvSet("MOTOR_PREFIX", "SP1K2:PAX:MMS:Y:")
epicsEnvSet("MOTOR_NAME", "06")
epicsEnvSet("DESC", "Main.M37 / Axis 37 SP1K2-PAX-BB-MMS-Y-02")
epicsEnvSet("EGU", "mm")
epicsEnvSet("PREC", "3")
epicsEnvSet("AXISCONFIG", "")
epicsEnvSet("ECAXISFIELDINIT", "")
epicsEnvSet("AMPLIFIER_FLAGS", "")

EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)", "$(AMPLIFIER_FLAGS)", "$(AXISCONFIG)")
dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC), EGU=$(EGU) $(ECAXISFIELDINIT)")
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")


dbLoadRecords("iocSoft.db", "IOC=PLC:RIX:MOTION")
dbLoadRecords("save_restoreStatus.db", "P=PLC:RIX:MOTION:")
Expand All @@ -512,18 +662,18 @@ dbLoadRecords("caPutLog.db", "IOC=$(IOC)")
dbLoadRecords("TwinCAT_TaskInfo.db", "PORT=$(ASYN_PORT),PREFIX=PLC:RIX:MOTION,IDX=1")
dbLoadRecords("TwinCAT_AppInfo.db", "PORT=$(ASYN_PORT), PREFIX=PLC:RIX:MOTION")

dbLoadRecords("TwinCAT_Project.db", "PREFIX=PLC:RIX:MOTION,PROJECT=plc-kfe-rix-motion.tsproj,HASH=01a4dd5,VERSION=01a4dd5,PYTMC=2.16.0,PLC_HOST=172.21.140.70")
dbLoadRecords("TwinCAT_Project.db", "PREFIX=PLC:RIX:MOTION,PROJECT=plc-kfe-rix-motion.tsproj,HASH=1989374,VERSION=1989374,PYTMC=2.16.0,PLC_HOST=172.21.140.70")

# LCLS General: * -> 2.10.0 (SLAC)
dbLoadRecords("TwinCAT_Dependency.db", "PREFIX=PLC:RIX:MOTION,DEPENDENCY=LCLS_General,VERSION=2.10.0,VENDOR=SLAC")
# lcls-twincat-common-components: * -> 3.3.0 (SLAC)
dbLoadRecords("TwinCAT_Dependency.db", "PREFIX=PLC:RIX:MOTION,DEPENDENCY=lcls-twincat-common-components,VERSION=3.3.0,VENDOR=SLAC")
# lcls-twincat-motion: * -> 4.0.5 (SLAC)
dbLoadRecords("TwinCAT_Dependency.db", "PREFIX=PLC:RIX:MOTION,DEPENDENCY=lcls-twincat-motion,VERSION=4.0.5,VENDOR=SLAC")
# lcls-twincat-common-components: * -> 3.4.0 (SLAC)
dbLoadRecords("TwinCAT_Dependency.db", "PREFIX=PLC:RIX:MOTION,DEPENDENCY=lcls-twincat-common-components,VERSION=3.4.0,VENDOR=SLAC")
# lcls-twincat-motion: * -> 4.0.8 (SLAC)
dbLoadRecords("TwinCAT_Dependency.db", "PREFIX=PLC:RIX:MOTION,DEPENDENCY=lcls-twincat-motion,VERSION=4.0.8,VENDOR=SLAC")
# lcls-twincat-physics: * -> 0.1.0 (SLAC)
dbLoadRecords("TwinCAT_Dependency.db", "PREFIX=PLC:RIX:MOTION,DEPENDENCY=lcls-twincat-physics,VERSION=0.1.0,VENDOR=SLAC")
# PMPS: * -> 3.0.14 (SLAC - LCLS)
dbLoadRecords("TwinCAT_Dependency.db", "PREFIX=PLC:RIX:MOTION,DEPENDENCY=PMPS,VERSION=3.0.14,VENDOR=SLAC - LCLS")
# PMPS: * -> 3.2.1 (SLAC - LCLS)
dbLoadRecords("TwinCAT_Dependency.db", "PREFIX=PLC:RIX:MOTION,DEPENDENCY=PMPS,VERSION=3.2.1,VENDOR=SLAC - LCLS")
# Tc2_Standard: * -> 3.3.3.0 (Beckhoff Automation GmbH)
dbLoadRecords("TwinCAT_Dependency.db", "PREFIX=PLC:RIX:MOTION,DEPENDENCY=Tc2_Standard,VERSION=3.3.3.0,VENDOR=Beckhoff Automation GmbH")
# Tc2_System: * -> 3.4.26.0 (Beckhoff Automation GmbH)
Expand All @@ -536,8 +686,8 @@ cd "$(IOC_TOP)"
## PLC Project Database files ##
dbLoadRecords("kfe_rix_motion.db", "PORT=$(ASYN_PORT),PREFIX=PLC:RIX:MOTION:,IOCNAME=$(IOC),IOC=$(IOC)")

# Total records: 11639
callbackSetQueueSize(25278)
# Total records: 12391
callbackSetQueueSize(26782)

# Autosave and archive settings:
save_restoreSet_status_prefix("PLC:RIX:MOTION:")
Expand Down
1 change: 1 addition & 0 deletions plc-kfe-rix-motion/_Config/IO/PLC Rail (EtherCAT).xti
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@
</Box>
<EtherCAT EnableVirtualSwitch="true" MaxSwitchPorts="3" MaxSwitchFrames="140">
<SuNamePreDef>IM2K2</SuNamePreDef>
<SuNamePreDef>PAX</SuNamePreDef>
<SyncUnit Name="AT1K2" NoDeleteIfUnused="true"/>
</EtherCAT>
</Device>
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3 changes: 3 additions & 0 deletions ...herCAT)/Power (EK1200)/Fiber Coupler (EK1521-0010)/Term 123 (EK1100)/Term 73 (EK1122).xti
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<Name>__FILENAME__</Name>
<ImageId>1000</ImageId>
<EtherCAT SlaveType="1" PdiType="#x0d00" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x04622c52" RevisionNo="#x00120000" PortPhys="4883" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EK1122 2 port EtherCAT junction" Desc="EK1122"/>
<Box File="PAX-DRL-02 (EK1100).xti" Id="305">
<EtherCAT PortABoxInfo="#x03000049"/>
</Box>
</Box>
</TcSmItem>
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