Merge pull request #206 from Canadian-Light-Source/Nanotec_ASA5618M42-W1

Nanotec ASA5618M42

db/Beckhoff_1XXX/ecmcEL1859.substitutions

@@ -0,0 +1,25 @@
+# binary inputs
+file "ecmc_binaryInput-chX.template"{
+  pattern {CH_ID}
+          {01   }
+          {02   }
+          {03   }
+          {04   }
+          {05   }
+          {06   }
+          {07   }
+          {08   }
+}
+
+file "ecmc_binaryOutput-chX.template"
+{
+  pattern {CH_ID}
+          {01   }
+          {02   }
+          {03   }
+          {04   }
+          {05   }
+          {06   }
+          {07   }
+          {08   }
+}

hardware/Beckhoff_1XXX/EL/ecmcEL1859.cmd

@@ -0,0 +1,19 @@
+#-d /**
+#-d   \brief hardware script for EL1859
+#-d   \details HD terminal 8 ch digital input/output
+#-d   \author Niko Kivel
+#-d   \file
+#-d */
+
+epicsEnvSet("ECMC_EC_HWTYPE"             "EL1859")
+epicsEnvSet("ECMC_EC_VENDOR_ID"          "0x2")
+epicsEnvSet("ECMC_EC_PRODUCT_ID"         "0x07433052")
+
+#- verify slave
+${SCRIPTEXEC} ${ecmccfg_DIR}slaveVerify.cmd
+
+#- binary inputs
+${SCRIPTEXEC} ${ecmccfg_DIR}ecmcEX1008.cmd SM=1
+
+#- binary outputs
+${SCRIPTEXEC} ${ecmccfg_DIR}ecmcEX2008.cmd

hardware/Beckhoff_1XXX/ecmcEX1008.cmd

@@ -1,9 +1,9 @@
 #- binary inputs
-ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,0,0x1a00,0x6000,0x1,B1,${KEY=binaryInput}01)"
-ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,0,0x1a01,0x6010,0x1,B1,${KEY=binaryInput}02)"
-ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,0,0x1a02,0x6020,0x1,B1,${KEY=binaryInput}03)"
-ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,0,0x1a03,0x6030,0x1,B1,${KEY=binaryInput}04)"
-ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,0,0x1a04,0x6040,0x1,B1,${KEY=binaryInput}05)"
-ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,0,0x1a05,0x6050,0x1,B1,${KEY=binaryInput}06)"
-ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,0,0x1a06,0x6060,0x1,B1,${KEY=binaryInput}07)"
-ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,0,0x1a07,0x6070,0x1,B1,${KEY=binaryInput}08)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,${SM=0},0x1a00,0x6000,0x1,B1,${KEY=binaryInput}01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,${SM=0},0x1a01,0x6010,0x1,B1,${KEY=binaryInput}02)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,${SM=0},0x1a02,0x6020,0x1,B1,${KEY=binaryInput}03)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,${SM=0},0x1a03,0x6030,0x1,B1,${KEY=binaryInput}04)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,${SM=0},0x1a04,0x6040,0x1,B1,${KEY=binaryInput}05)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,${SM=0},0x1a05,0x6050,0x1,B1,${KEY=binaryInput}06)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,${SM=0},0x1a06,0x6060,0x1,B1,${KEY=binaryInput}07)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,${SM=0},0x1a07,0x6070,0x1,B1,${KEY=binaryInput}08)"

hardware/Encoders/ecmcEL5042-Encoder-Nanotec-ASA5618M42.cmd

@@ -0,0 +1,58 @@
+#-d /**
+#-d   \brief hardware script for ecmcEL5042-Encoder-Nanotec-ASA5618M42
+#-d   \details SSI encoder used in Nanotec ASA5618M42 stepper motor, 17/16 bit
+#-d   \author Niko Kivel
+#-d   \file
+#-d   \pre Need the following varibales:
+#-d   \pre ECMC_EC_SLAVE_NUM    Slave index
+#-d   \pre ECMC_EC_SDO_INDEX    0x8008 for CH1, 0x8018 for CH2
+#-d   \note Supply:     4.75..15 V
+#-d   \note Resolution: 16 start bits + 17/16 => 49 bits total
+#-d */
+
+#- 0x80p8:01: Invert feedback direction (default 0)
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x1,0,1)"
+
+#- 0x80p8:12: Supply voltage
+#- 50: 5V (default)
+#- 90: 9V
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x12,50,1)"
+
+#- 0x80p8:13: Clock Frequency
+#- 0: 10 MHz (default)
+#- 1: 5 MHZ
+#- 2: 3.33 MHz
+#- 3: 2.5 MHz
+#- 4: 2 MHz
+#- 9: 1 MHz (Max for SSI)
+#- 17: 500 kHz
+#- 19: 250 kHz
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x13,9,1)"
+
+#- 0x80p8:14: Coding
+#- 0: Dual code active (default)
+#- 1: Gray code active
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x14,0,1)"
+
+#- total bit count:
+# 16 starting bits
+# 16 multi turn bits
+# 17 single turn bits
+# 2 status bits (which are _NOT_ used by the slave)
+#  ==> 49 bits total
+
+#- 0x80p8:15: Multiturn [Bit] Number of multiturn bits (16 start + 16 data)
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x15,32,1)"
+
+#- 0x80p8:16: Singleturn [Bit] Number of singleturn bits (17 data)
+#- WORKING with 33 bit
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x16,17,1)"
+
+#- 0x80p8:17: Offset LSB Bit [Bit] Number of “right aligned” Offset bits
+#- default 0
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x17,0,1)"
+
+#- 0x80p8:18: Mode
+#- 0: BiSS-C mode (default)
+#- 1: SSI mode
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},${ECMC_EC_SDO_INDEX},0x18,1,1)"

hardware/Encoders/ecmcEL5042-Encoder-ch1-Nanotec-ASA5618M42.cmd

@@ -0,0 +1,10 @@
+#-d /**
+#-d   \brief hardware script for ecmcEL5042-Encoder-ch1-Nanotec-ASA5618M42.cmd
+#-d   \details Parametrization of EL5042  channel 1 for encoder ASA5618M42
+#-d   \author Niko Kivel
+#-d   \file
+#-d */
+
+epicsEnvSet("ECMC_EC_SDO_INDEX"               "0x8008")     # CH1=0x8008. CH2=0x8018
+#- Call generic config file
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}ecmcEL5042-Encoder-Nanotec-ASA5618M42.cmd

hardware/Encoders/ecmcEL5042-Encoder-ch1-Renishaw_32-bit.cmd

@@ -1,6 +1,6 @@
 #-d /**
 #-d   \brief hardware script for ecmcEL5042-Encoder-ch1-Renishaw-32bit.cmd
-#-d   \details Parametrization of EL5042  channel 1 for encoder Renisahw 32bit
+#-d   \details Parametrization of EL5042  channel 1 for encoder Renishaw 32bit
 #-d   \author Niko Kivel
 #-d   \file
 #-d */

hardware/Encoders/ecmcEL5042-Encoder-ch2-Nanotec-ASA5618M42.cmd

@@ -0,0 +1,10 @@
+#-d /**
+#-d   \brief hardware script for ecmcEL5042-Encoder-ch1-Nanotec-ASA5618M42.cmd
+#-d   \details Parametrization of EL5042  channel 2 for encoder ASA5618M42
+#-d   \author Niko Kivel
+#-d   \file
+#-d */
+
+epicsEnvSet("ECMC_EC_SDO_INDEX"               "0x8018")     # CH1=0x8008. CH2=0x8018
+#- Call generic config file
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}ecmcEL5042-Encoder-Nanotec-ASA5618M42.cmd

hardware/Motors/ecmcEL7041-0052-Motor-Nanotec-ASA5618M42.cmd

@@ -0,0 +1,25 @@
+#-d /**
+#-d   \brief hardware script for ecmcEL7041-0052-Motor-Nanotec-ASA5618M42
+#-d   \details Parametrization of EL7041 for motor Nanotec ecmcEL7041-0052-Motor-Nanotec-ASA5618M42
+#-d   \author Niko Kivel
+#-d   \file
+#-d */
+
+#- Set max current to 4200mA (actually max current is 4.2A for this motor)
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x1,4200,2)"
+
+#- Reduced current 500mA
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x2,2000,2)"
+
+#- Nominal voltage 48V (unit 1mV)
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x3,48000,2)"
+
+#- Coil resistance 0.5 Ohm (unit 10mOhm)
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x4,50,2)"
+
+#- Motor full steps count 200
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x6,200,2)"
+
+#- Coil inductance 1.5mH (unit 0.01mH) NOT USED FOR EL7041
+#- ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0xA,150,2)"
+