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Merge pull request pcdshub#112 from tongju12/CF1K4
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adding third new motor CF1K4 in beamline
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@tongju12
tongju12 authored Mar 14, 2024
2 parents 3264680 + 883c68d commit b959735
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Showing 8 changed files with 2,336 additions and 1,293 deletions.
3 changes: 3 additions & 0 deletions ...)/PLC Coupler 2 (EK1100)/PLC Junction 9 (EK1122)/LI2K4-CF1K4 (EK1100)/CF1K4-EL5042-E5.xti
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Expand Up @@ -38,6 +38,9 @@
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
<DcMode>4443494e00000000000000000000000044432d53796e6368726f6e2028696e7075742062617365642900000000000000000000000000000000000000000000030100000000000000000001000000000000000000000000000000000000000000</DcMode>
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
<MBoxUserCmdData>02000300090000000e0000000300000000000000000000000000000000000000200880120100000032537570706c7920566f6c7461676500</MBoxUserCmdData>
<MBoxUserCmdData>02000300090000000f0000000300000000000000000000000000000000000000200880130100000000436c6f636b204672657175656e637900</MBoxUserCmdData>
<MBoxUserCmdData>020003000900000010000000030000000000000000000000000000000000000020088016010000002053696e676c657475726e205b4269745d00</MBoxUserCmdData>
<Pdo Name="FB Inputs Channel 1" Index="#x1a00" Flags="#x0010" SyncMan="3">
<ExcludePdo>#x1a02</ExcludePdo>
<Entry Name="Status__Warning" Index="#x6000" Sub="#x01">
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23 changes: 12 additions & 11 deletions plc-tmo-motion/_Config/NC/Axes/Axis 47 CF1K4-MMS-FILT.xti
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Expand Up @@ -1324,13 +1324,14 @@ External Setpoint Generation:
<Axis Id="47" CreateSymbols="true" AxisType="1" AxisFolder="CF1K4">
<Name>__FILENAME__</Name>
<AxisPara>
<Velo Maximum="35"/>
<Velo Maximum="27"/>
<PositionAreaControl Range="0.1"/>
<OtherSettings AllowMotionCmdToSlave="true"/>
</AxisPara>
<Encoder Name="Enc" EncType="29">
<EncPara MaxCount="#xffffffff">
<EncPara ScaleFactorDenominator="2" MaxCount="#xffffffff">
<Inc RefSoftSyncMask="#x0000ffff"/>
<ParameterChanged>8</ParameterChanged>
</EncPara>
<Vars VarGrpType="1">
<Name>Inputs</Name>
Expand Down Expand Up @@ -1373,7 +1374,7 @@ External Setpoint Generation:
</Encoder>
<Drive Name="Drive" DrvType="24">
<DrvPara>
<Analog VeloReferenz="31.25" ScaleFactorActTorque="0.1"/>
<Analog VeloReferenz="25.4" ScaleFactorActTorque="0.1"/>
<TimeComp TaskDelayCycles="1"/>
</DrvPara>
<Vars VarGrpType="1">
Expand Down Expand Up @@ -1463,7 +1464,7 @@ Drive Status 4 (manually linked):
</Drive>
<Controller Name="Ctrl" CtrType="1">
<CtrPara PriorControlFactor="1">
<PosDiffControl Range="0.8"/>
<PosDiffControl Range="0.3"/>
<Observer BandWidth="20"/>
</CtrPara>
</Controller>
Expand Down Expand Up @@ -1534,13 +1535,13 @@ External Setpoint Generation:
<OwnerB Name="TIID^Device 1 (EtherCAT)^Power (EK1200)^PLC Junction 2 (EK1122)^PLC Coupler 2 (EK1100)^PLC Junction 9 (EK1122)^LI2K4-CF1K4 (EK1100)^CF1K4-EL5042-E5">
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^WcState"/>
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Inputs Channel 2^Position"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Diag" Size="1" OffsA="12"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Error" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Input cycle counter" Size="2" OffsA="14"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Ready" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^TxPDO State" Size="1" OffsA="13"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Warning"/>
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Inputs Channel 1^Position"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Diag" Size="1" OffsA="12"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Error" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Input cycle counter" Size="2" OffsA="14"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Ready" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^TxPDO State" Size="1" OffsA="13"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Warning"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^Power (EK1200)^PLC Junction 2 (EK1122)^PLC Coupler 2 (EK1100)^PLC Junction 9 (EK1122)^LI2K4-CF1K4 (EK1100)^CF1K4-EL7047-E4">
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
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