Experimental Physics and
Industrial Control System

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Today's Topics:

   1. RE: EtherCAT newbie question ([email protected])
   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: <[email protected]>
To: <[email protected]>, <[email protected]>
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

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


Linda

-----Original Message-----
From: [email protected] [mailto:[email protected]] On Behalf Of [email protected]
Sent: 07 February 2018 09:36
To: [email protected]; [email protected]; [email protected]
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

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

-----Original Message-----
From: [email protected] [mailto:[email protected]] On Behalf Of Torsten B?gershausen
Sent: 07 February 2018 05:29
To: Mark Rivers; [email protected]
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

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
>

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

Message: 2
Date: Fri, 9 Mar 2018 09:36:33 -0600
From: "Mark Engbretson" <[email protected]>
To: <[email protected]>,    "'Mark Rivers'"
        <[email protected]>
Subject: Mako G-234B (6408) - Prosilica Area Detector question
Message-ID: <[email protected]>
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

 

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Message: 3
Date: Fri, 9 Mar 2018 11:35:50 -0500
From: Hovanes Egiyan <[email protected]>
To: [email protected]
Cc: Vanik Kakoyan <[email protected]>
Subject: problem using motor record and SNL
Message-ID: <[email protected]>
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 <[email protected]>
To: 'Hovanes Egiyan' <[email protected]>,
        "[email protected]" <[email protected]>
Cc: Vanik Kakoyan <[email protected]>
Subject: RE: problem using motor record and SNL
Message-ID: <[email protected]>
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: [email protected] [mailto:[email protected]] On Behalf
> Of Hovanes Egiyan
> Sent: Friday, March 09, 2018 10:36 AM
> To: [email protected]
> Cc: Vanik Kakoyan <[email protected]>
> 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.


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

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