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<== Date ==> <== Thread ==>

Subject: RE: EK9000 Device Support
From: Dominic Oram - UKRI STFC via Tech-talk <tech-talk@aps.anl.gov>
To: GAGET Alexis <alexis.gaget@cea.fr>, "Lorelli, Jeremy J" <lorelli@slac.stanford.edu>, "tech-talk@aps.anl.gov" <tech-talk@aps.anl.gov>
Date: Fri, 20 Sep 2019 10:09:06 +0000

Hi Jeremy, Alexis,

At ISIS, ESS and JCNS we’ve been working on using Beckhoffs for motion.

We’ve started a collaboration that is currently working on writing some common PLC code between institutions
(https://bitbucket.org/europeanspallationsource/tc_generic_structure/src/master/)

 

We currently have two solutions for the EPICS communication layer. ISIS is using a library from LIGO called tcIoc (https://git.ligo.org/cds/tcIoc) and ESS/JCNS are investigating using an interface from FRM called PILS (https://forge.frm2.tum.de/public/doc/plc/master/singlehtml/index.html).

The aim of the project is to have a generic framework that will give users easy access to complex motion functions like dynamically synchronising axes, accurately timestamping motor positions etc.

 

Please get in touch if you are interested in joining the collaboration or would like to know more.

Thanks,
Dominic Oram
Senior Software Engineer

ISIS Neutron and Muon Source

 

From: Tech-talk <tech-talk-bounces@aps.anl.gov> On Behalf Of GAGET Alexis via Tech-talk
Sent: 20 September 2019 09:20
To: Lorelli, Jeremy J <lorelli@slac.stanford.edu>; tech-talk@aps.anl.gov
Subject: RE:EK9000 Device Support

 

Hi Jeremy,

Congrats on your work

Using the EK9000 for our development we are very interested, I will look into your code maybe next week.

For the motion terminals, I have tested myself without success (the motor moved, but not in the way I wanted and I suppose nobody want that way...)

The Beckhoff support (the french one) directed me to the p53 of the EK9000 manual

 

"I would like to operate the drive terminals/drives on the EK9000. Is that possible?

No, use a CX with a suitable performance for this, e.g. CX9020 or higher."



So for now we are using the CX8190 and TwinCAT, I'm able to control variable I've mapped throught Modbus using their ModbusServer Functions (TF6250 | TC3 Modbus TCP)

Finally we are happy with that solution, we let the process (motor, interlock..etc) in the CX and use EPICS just for configuration and to monitor information.

 

Cheers

 

Alexis GAGET

CEA Saclay

IRFU/DIS/LDISC




De : Tech-talk [tech-talk-bounces@aps.anl.gov] de la part de Lorelli, Jeremy J via Tech-talk [tech-talk@aps.anl.gov]
Envoyé : jeudi 19 septembre 2019 20:20
À :
tech-talk@aps.anl.gov
Objet : EK9000 Device Support

Hello everyone,

 

As my summer internship project I've been working on device support for the Beckhoff EK9000, and it's finally ready to be released. You can find the github page here: https://github.com/slaclab/EK9000

 

The module requires Modbus R3-0 at least to function, and was built and tested on EPICS R3-14, but it should work well on later versions too.

 

As of right now the module only supports EL10xx, EL11xx, El20xx, EL21xx, EL30xx, EL31xx, EL40xx and EL41xx terminals. Support for motor terminals is currently being worked on, but won't arrive for at least a couple of months. If you would like support for another terminal type, I'd be happy to implement it.

 

There isn't a ton of documentation, but I've provided both sample IOC setup and small manual in the repository. If you find any bugs or have any issues, please let me know via email or through an issue on the github repository.

 

Feedback is always welcome!

 

Cheers,

Jeremy Lorelli

 


References:
EK9000 Device Support Lorelli, Jeremy J via Tech-talk
RE:EK9000 Device Support GAGET Alexis via Tech-talk

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