Hands on Session www.europeanspallationsource.se 19-05-03.

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Presentation transcript:

Hands on Session www.europeanspallationsource.se 19-05-03

Hardware: Test Crates 19’’- 6HU – subcrate, depth 175mm Different configurations for 1 or 2 axes Standardized set of IOs per axis Mechanics included For both OS versions (W7/TwinCAT and Linux/Open Source/ECMC ) We will use 19” test crates Some with one and some with two axes

Hardware: CX5130 CPU Embedded PC with Intel® Atom™ processor, 1.75 GHz, 2 cores (TC3: 40) Flash memory slot for CFast card Integrated 1-second UPS (1 MB persistent memory on CFast card) 3 network ports (2 RJ45 and 1 dedicated EtherCAT) 4 USB ports DVI connection Diagnostic LEDs (for TwinCAT only) CPU

Hardware: EL7037 Drive Card 2 phase stepper drive 24V, 1.5A Incremental Encoder (TTL) 2 Inputs Distributed clock Modes: Open Loop (step counter) Closed Loop with encoder Vector Control (closed loop with current control) Supported Control Modes: Cyclic Synchronous Position Cyclic Synchronous Velocity Positioning Interface

Hardware: EL5101 Incremental Encoder Differential Incremental Encoder Interface (A, A/, B, B/, C, C/) 1 Input Distributed clock Encoder supply Latch, Gate functionalities (can be used as inputs)

Hardware: EL1018, EL2808 Digital Inputs 24V 10 micro seconds filter EL2808: 8 outputs 24V, 0.5A

Power Concept Power concept. Divide so that drive cards get power from one supply and control logic from other supply. This to minimize EMC issues. smb://fileserver01.esss.lu.se/Share/Science Directorate/Neutron Technologies division/MCAG/Motion/MCA HW Standards/MC Controller/Terminals/Standard_Terminals_Selection_Levels_v1-1.docx Note: We have a standard document describing standard hardware setups (with instructions)

Tasks Get familiar with hardware Clone ecmctraining repository Follow instructions in ecmctraining/doc/hands_on_session_1 Commission one axis in closed loop Commission one axis in open loop … More detailed information in hands_on_session_1! GOOD LUCK! The instructions are not covering 100% of everything that needs to be done so therefore one person from MCAG will “supervise/support” each group” And finally. Don’t expect miracles. GOOD LUCK

Acknowledgments Igh open source EtherCAT master (www.etherlab.org) EPICS community (base, motor, asyn, stream device) ExprTK C++ Mathematical Expression Library (www.partow.net/programming/exprtk) Questions? Thanks 9