RE: EtherCAT newbie question

["Wallace, Alex" <awallace@slac.stanford.edu>]

I think anyone considering the Beckhoff EL terminals should look into the EK9000. As Scott Stubbs has already mentioned, we're working on the driver. Using the EtherCAT master is overkill if you don't need realtime control.

---

From: tech-talk-bounces@aps.anl.gov <tech-talk-bounces@aps.anl.gov> on behalf of tech-talk-request@aps.anl.gov <tech-talk-request@aps.anl.gov>
Sent: Friday, March 9, 2018 10:00 AM
To: tech-talk@aps.anl.gov
Subject: Tech-talk Digest, Vol 12, Issue 131

 

Send Tech-talk mailing list submissions to
        tech-talk@aps.anl.gov

To subscribe or unsubscribe via the World Wide Web, visit
        https://mailman.aps.anl.gov/mailman/listinfo/tech-talk
or, via email, send a message with subject or body 'help' to
        tech-talk-request@aps.anl.gov

You can reach the person managing the list at
        tech-talk-owner@aps.anl.gov

When replying, please edit your Subject line so it is more specific
than "Re: Contents of Tech-talk digest..."


Today's Topics:

   1. RE: EtherCAT newbie question (Linda.Pratt@diamond.ac.uk)
   2. Mako G-234B (6408) - Prosilica Area Detector question
      (Mark Engbretson)
   3. problem using motor record and SNL (Hovanes Egiyan)
   4. RE: problem using motor record and SNL (Mark Rivers)


----------------------------------------------------------------------

Message: 1
Date: Fri, 9 Mar 2018 10:44:45 +0000
From: <Linda.Pratt@diamond.ac.uk>
To: <rivers@cars.uchicago.edu>, <tech-talk@aps.anl.gov>
Subject: RE: EtherCAT newbie question
Message-ID: <8EFA35F526EF5844AC9901A91B73BBBB0104E3BFBE@exchmbx01>
Content-Type: text/plain; charset="iso-8859-1"

Mark,

There are series of Beckhoff EtherCAT modules in different physical formats, which do similar functions.  Ronaldo has listed module numbers we would deploy on a beamline.
 https://www.beckhoff.com/english/ethercat/ethercat_terminals.htm?id=235616333
We deploy them together in chains of EtherCAT nodes, each needs a coupler module.

However Beckhoff also produce a format called EtherCAT Box, which we have used at DLS in smaller numbers.
https://www.beckhoff.com/english/fieldbus_box/news_ethercat_box.htm?id=23562552546

EtherCAT Box - Beckhoff

www.beckhoff.com

The EtherCAT Box modules in protection class IP 67 extend the Beckhoff Fieldbus Box system. Through the integrated EtherCAT interface the modules can be connected ...

Depending what you want to do with your system, but if you literally want a minimal lab system to play with some EtherCAT software, you might be better off selecting from this series because each EtherCAT box unit is its own coupler, constituting an EtherCAT node in its own right,  so no extra coupler unit is required.  The wiring connectors are different.

Also there is a series of digital combi units, which we would not deploy but which can do input and output and would reduce the minimum number of modules to buy still further to 3 (excluding your motion requirement)
https://www.beckhoff.com/english/fieldbus_box/digcombi.htm?id=197298967461991

Beckhoff Fieldbus Box - EtherCAT Box: Digital I/O

www.beckhoff.com

EtherCAT Box: Digital I/O EtherCAT Box: Digital I/O: Kombi : M8: M12 : 24 V DC: 8-channel 4 input + 4 output

Linda

-----Original Message-----
From: tech-talk-bounces@aps.anl.gov [mailto:tech-talk-bounces@aps.anl.gov] On Behalf Of ronaldo.mercado@diamond.ac.uk
Sent: 07 February 2018 09:36
To: torsten.bogershausen@esss.se; rivers@cars.uchicago.edu; tech-talk@aps.anl.gov
Subject: RE: EtherCAT newbie question

Hi Mark,

As Torsten and Jeong Han have already said, the Diamond Ethercat EPICS support is available [1], but it does not support motion.

For some digital I/O and analog I/O we would use kit from our supported set [2].

The master in our setup runs on a Dell R310, using Redhat MRG (real time pre-empt rt kernel).
The minimal ethercat kit would be:  EK1100 coupler, EL1014 (digital input), EL3104 (analogue input), EL2024 (digital output), EL4134 (analogue output).

Best regards,

Ronaldo

[1] https://github.com/dls-controls/ethercat

GitHub - dls-controls/ethercat: EPICS support to read ... github.com EPICS support to read/write to ethercat based hardware

[2] See https://epics.anl.gov/tech-talk/2015/msg01665.php

-----Original Message-----
From: tech-talk-bounces@aps.anl.gov [mailto:tech-talk-bounces@aps.anl.gov] On Behalf Of Torsten B?gershausen
Sent: 07 February 2018 05:29
To: Mark Rivers; tech-talk@aps.anl.gov
Subject: Re: EtherCAT newbie question

Hej Mark,
this is what we use for our motion control test/development crates:

# CPU: CX5130
# Configure EL1018 digital input terminal # Configure EL2808 digital output terminal # Configure EL5101 incremental encoder terminal, motor 1 # Configure EL5101 incremental encoder terminal, motor 2 # Configure EL9505 Power supply terminal 5V # Configure EL1252 digital input terminal # Configure EL7037 stepper drive terminal, motor 1 # Configure EL7037 stepper drive terminal, motor 2

(No analog IO in our motion crates ;-)

No sure if you have access to this page about other terminals for motion:
https://confluence.esss.lu.se/display/MCAG/Motion+Controller

HTH
/Torsten

PS:
As Han Lee pointed out, there are different SW packages:
- Beckhoff TwinCAT
- Linux ("scanner" from DLS and ecat2 from PSI) (but no motion control)
- Linux ECMC from ESS http://icalepcs2017.vrws.de/talks/mocpl05_talk.pdf

ECMC: Open Source Mo/on Control at ESS

icalepcs2017.vrws.de

ECMC: Open Source Mo/on Control at ESS Based on the open source EtherCAT master by IgH (etherlab) Anders Sandström ESS Mo/on Control and Automaon Group

And we are happy to help.




On 06/02/18 20:37, Mark Rivers wrote:
> I am interested in trying out EtherCAT with a simple inexpensive
> setup.? What are the minimum parts I need to buy if I want to use the
> EPICS EtherCAT driver to control some digital I/O, analog I/O, and a
> stepper motor?? I looked at the Beckhoff website, but I find it overwhelming.
>
> Thanks,
>
> Mark
>

--
This e-mail and any attachments may contain confidential, copyright and or privileged material, and are for the use of the intended addressee only. If you are not the intended addressee or an authorised recipient of the addressee please notify us of receipt by returning the e-mail and do not use, copy, retain, distribute or disclose the information in or attached to the e-mail.
Any opinions expressed within this e-mail are those of the individual and not necessarily of Diamond Light Source Ltd.
Diamond Light Source Ltd. cannot guarantee that this e-mail or any attachments are free from viruses and we cannot accept liability for any damage which you may sustain as a result of software viruses which may be transmitted in or with the message.
Diamond Light Source Limited (company no. 4375679). Registered in England and Wales with its registered office at Diamond House, Harwell Science and Innovation Campus, Didcot, Oxfordshire, OX11 0DE, United Kingdom



------------------------------

Message: 2
Date: Fri, 9 Mar 2018 09:36:33 -0600
From: "Mark Engbretson" <engbretson@anl.gov>
To: <tech-talk@aps.anl.gov>,    "'Mark Rivers'"
        <rivers@cars.uchicago.edu>
Subject: Mako G-234B (6408) - Prosilica Area Detector question
Message-ID: <003201d3b7bc$679ea060$36dbe120$@anl.gov>
Content-Type: text/plain; charset="us-ascii"

Mark,

 

I recently deployed  a GigE camera Mako G-234B from Allied Vision with the
Prosilica Area Detector but noticed a bit of oddness with the expected frame
rate. The camera data sheet lists 41.2 FPS as the readout rate,10-bit sensor
readout but the Xml file from the camera shows feature(s) of

 

<Feature Name="AcquisitionFrameRateAbs" Type="Float"
Access="R/W">31.872511</Feature>

<Feature Name="PixelFormat" Type="Enumeration" Access="R/W">Mono8</Feature>

<Feature Name="SensorReadoutMode" Type="Enumeration"
Access="R/W">Readout12Bits</Feature>

 

Which is the frame rate which Area Detector seems to acquiring at.

 

I am assuming that I would have to implement "SensorReadoutMode" to be able
to get the expected FPS, or am I missing an existing parameter that might
already do this?

 

Me

 

-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://mailman.aps.anl.gov/pipermail/tech-talk/attachments/20180309/c80b03d5/attachment.html>

------------------------------

Message: 3
Date: Fri, 9 Mar 2018 11:35:50 -0500
From: Hovanes Egiyan <hovanes.egiyan@gmail.com>
To: tech-talk@aps.anl.gov
Cc: Vanik Kakoyan <kakoyan@jlab.org>
Subject: problem using motor record and SNL
Message-ID: <3c778bb1-2722-1fa8-ec2f-1c9b9aa377b4@gmail.com>
Content-Type: text/plain; charset=utf-8; format=flowed

Hi,

we are trying to move a motor and then stop it using EPICS sequencer
code and motor record.
The state code dials the desired location into the VAL field via pvPut()
and makes
the motor move. If the user requests the motion to be aborted during the
motion, the
state code attempts to stop the motor either using STOP field or SPMG
fields. And for some reason this does not work. Actual change of the
SPMG field to
"Stop" only happens when the motor motion is complete, and setting
STOP field to 1 from the state code does not have any effect.

But if either moving the motor is done using caput to the VAL field or
the stopping the motor is done via caput to the STOP or SPMG fields, it
works. What is
the reason for such a behavior? Is this expected? Any advice would be
appreciated.

We are using motorR6-8 and seq-2.1.12 for this with R3-14-12-3 on RHEL6.

Thanks,
 ??? Hovanes Egiyan.



------------------------------

Message: 4
Date: Fri, 9 Mar 2018 17:23:45 +0000
From: Mark Rivers <rivers@cars.uchicago.edu>
To: 'Hovanes Egiyan' <hovanes.egiyan@gmail.com>,
        "tech-talk@aps.anl.gov" <tech-talk@aps.anl.gov>
Cc: Vanik Kakoyan <kakoyan@jlab.org>
Subject: RE: problem using motor record and SNL
Message-ID: <79b9f21d01ca49ce93ca9b51760b6800@cars.uchicago.edu>
Content-Type: text/plain; charset="utf-8"

The problem must be that your SNL code is effectively doing a ca_put_callback when it writes to the VAL field.  That will wait for the motor to complete the move.  Are you using the "SYNC" option on pvPut()?  If so you should remove it.

Mark


> -----Original Message-----
> From: tech-talk-bounces@aps.anl.gov [mailto:tech-talk-bounces@aps.anl.gov] On Behalf
> Of Hovanes Egiyan
> Sent: Friday, March 09, 2018 10:36 AM
> To: tech-talk@aps.anl.gov
> Cc: Vanik Kakoyan <kakoyan@jlab.org>
> Subject: problem using motor record and SNL
>
> Hi,
>
> we are trying to move a motor and then stop it using EPICS sequencer
> code and motor record.
> The state code dials the desired location into the VAL field via pvPut()
> and makes
> the motor move. If the user requests the motion to be aborted during the
> motion, the
> state code attempts to stop the motor either using STOP field or SPMG
> fields. And for some reason this does not work. Actual change of the
> SPMG field to
> "Stop" only happens when the motor motion is complete, and setting
> STOP field to 1 from the state code does not have any effect.
>
> But if either moving the motor is done using caput to the VAL field or
> the stopping the motor is done via caput to the STOP or SPMG fields, it
> works. What is
> the reason for such a behavior? Is this expected? Any advice would be
> appreciated.
>
> We are using motorR6-8 and seq-2.1.12 for this with R3-14-12-3 on RHEL6.
>
> Thanks,
>  ??? Hovanes Egiyan.


------------------------------

_______________________________________________
Tech-talk mailing list Tech-talk@aps.anl.gov
https://mailman.aps.anl.gov/mailman/listinfo/tech-talk

Tech-talk Info Page - Argonne National Laboratory

mailman.aps.anl.gov

Your email address: Your name (optional): You may enter a privacy password below. This provides only mild security, but should prevent others from messing ...

End of Tech-talk Digest, Vol 12, Issue 131
******************************************