Added encoder scaling and offset to the NC configuration list of expo…

…sed parameters.
pcdshub · Apr 8, 2024 · 2e33fab · 2e33fab
1 parent 23e72f1
commit 2e33fab
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Showing 5 changed files with 31 additions and 5 deletions.
diff --git a/lcls-twincat-motion/Library/DUTs/ST_AxisParameterSetExposed.TcDUT b/lcls-twincat-motion/Library/DUTs/ST_AxisParameterSetExposed.TcDUT
@@ -69,6 +69,21 @@ STRUCT
         field: DESC Maximum commandable position of the axis in EU.
     '}
     fEncSoftEndMax              : LREAL; // Maximum commandable position of the axis in EU.
+
+    // Encoder Evaluation
+    {attribute 'pytmc' := '
+        pv: EncScaling
+        io: i
+        field: DESC Encoder scaling numerator / denominator in EU/COUNT.
+    '}
+    fEncScaleFactorInternal      : LREAL; // Encoder scaling numerator / denominator in EU/COUNT.
+    {attribute 'pytmc' := '
+        pv: EncOffset
+        io: i
+        field: DESC Encoder offset in EU.
+    '}
+    fEncOffset                   : LREAL; // Encoder offset in EU.
+
 END_STRUCT
 END_TYPE
 ]]></Declaration>

diff --git a/lcls-twincat-motion/Library/POUs/Motion/FB_MotionStageNCParams.TcPOU b/lcls-twincat-motion/Library/POUs/Motion/FB_MotionStageNCParams.TcPOU
@@ -44,6 +44,8 @@ stMotionStage.stAxisParametersExposed.fDecelerationMax              := stMotionS
 stMotionStage.stAxisParametersExposed.fEncSoftEndMax                := stMotionStage.stAxisParameters.fEncSoftEndMax;
 stMotionStage.stAxisParametersExposed.fEncSoftEndMin                := stMotionStage.stAxisParameters.fEncSoftEndMin;
 stMotionStage.stAxisParametersExposed.fVeloMaximum                  := stMotionStage.stAxisParameters.fVeloMaximum;
+stMotionStage.stAxisParametersExposed.fEncOffset               		:= stMotionStage.stAxisParameters.fEncOffset;
+stMotionStage.stAxisParametersExposed.fEncScaleFactorInternal       := stMotionStage.stAxisParameters.fEncScaleFactorInternal;
 
 IF mcReadParams.ErrorID <> 0 THEN
     nLatchErrId := 0;

diff --git a/lcls-twincat-motion/Library/Tests/FB_AxisParameterSetExposed_Test.TcPOU b/lcls-twincat-motion/Library/Tests/FB_AxisParameterSetExposed_Test.TcPOU
@@ -65,6 +65,8 @@ IF bLocalInit THEN
     stMotionStage.stAxisParametersExposed.fEncSoftEndMax                := 107;
     stMotionStage.stAxisParametersExposed.fEncSoftEndMin                := 108;
     stMotionStage.stAxisParametersExposed.fVeloMaximum                  := 109;
+    stMotionStage.stAxisParametersExposed.fEncOffset					:= 110;
+    stMotionStage.stAxisParametersExposed.fEncScaleFactorInternal		:= 111;
 
     bLocalInit := FALSE;
 
@@ -78,7 +80,9 @@ IF bLocalInit THEN
         stMotionStage.stAxisParametersExposed.fDecelerationMax              <> stMotionStage.stAxisParameters.fDecelerationMax AND
         stMotionStage.stAxisParametersExposed.fEncSoftEndMax                <> stMotionStage.stAxisParameters.fEncSoftEndMax AND
         stMotionStage.stAxisParametersExposed.fEncSoftEndMin                <> stMotionStage.stAxisParameters.fEncSoftEndMin AND
-        stMotionStage.stAxisParametersExposed.fVeloMaximum                  <> stMotionStage.stAxisParameters.fVeloMaximum;
+        stMotionStage.stAxisParametersExposed.fVeloMaximum                  <> stMotionStage.stAxisParameters.fVeloMaximum AND
+        stMotionStage.stAxisParametersExposed.fEncOffset                	<> stMotionStage.stAxisParameters.fEncOffset AND
+        stMotionStage.stAxisParametersExposed.fEncScaleFactorInternal       <> stMotionStage.stAxisParameters.fEncScaleFactorInternal;
 
     AssertTrue(
         Condition:=bAllModified,
@@ -96,7 +100,9 @@ bReady :=
         stMotionStage.stAxisParameters.fDecelerationMax              <> 0 AND
         stMotionStage.stAxisParameters.fEncSoftEndMax                <> 0 AND
         stMotionStage.stAxisParameters.fEncSoftEndMin                <> 0 AND
-        stMotionStage.stAxisParameters.fVeloMaximum                  <> 0;
+        stMotionStage.stAxisParameters.fVeloMaximum                  <> 0 AND
+        stMotionStage.stAxisParameters.fEncOffset					 <> 0 AND
+        stMotionStage.stAxisParameters.fEncScaleFactorInternal       <> 0;
 
 IF bReady THEN
     bDone :=
@@ -109,7 +115,9 @@ IF bReady THEN
         stMotionStage.stAxisParametersExposed.fDecelerationMax              = stMotionStage.stAxisParameters.fDecelerationMax AND
         stMotionStage.stAxisParametersExposed.fEncSoftEndMax                = stMotionStage.stAxisParameters.fEncSoftEndMax AND
         stMotionStage.stAxisParametersExposed.fEncSoftEndMin                = stMotionStage.stAxisParameters.fEncSoftEndMin AND
-        stMotionStage.stAxisParametersExposed.fVeloMaximum                  = stMotionStage.stAxisParameters.fVeloMaximum;
+        stMotionStage.stAxisParametersExposed.fVeloMaximum                  = stMotionStage.stAxisParameters.fVeloMaximum AND
+        stMotionStage.stAxisParametersExposed.fEncOffset                	= stMotionStage.stAxisParameters.fEncOffset AND
+        stMotionStage.stAxisParametersExposed.fEncScaleFactorInternal       = stMotionStage.stAxisParameters.fEncScaleFactorInternal;
 END_IF
 
 IF bDone OR tonTimer.Q THEN

diff --git a/lcls-twincat-motion/_Config/NC/Axes/Axis_AxisParameter_Test.xti b/lcls-twincat-motion/_Config/NC/Axes/Axis_AxisParameter_Test.xti
@@ -1433,7 +1433,7 @@ External Setpoint Generation:
 			<OtherSettings AllowMotionCmdToSlave="true"/>
 		</AxisPara>
 		<Encoder Name="Enc" EncType="1">
-			<EncPara>
+			<EncPara Offset="12">
 				<SoftEndMinControl Enable="true" Range="4"/>
 				<SoftEndMaxControl Enable="true" Range="5"/>
 			</EncPara>
@@ -1496,6 +1496,7 @@ External Setpoint Generation:
 		<Drive Name="Drive" DrvType="5">
 			<DrvPara>
 				<Analog TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
+				<TimeComp TaskDelayCycles="1"/>
 			</DrvPara>
 			<Vars VarGrpType="1">
 				<Name>Inputs</Name>

diff --git a/lcls-twincat-motion/_Config/PLC/Library.xti b/lcls-twincat-motion/_Config/PLC/Library.xti
@@ -983,7 +983,7 @@ External Setpoint Generation:
 		</DataType>
 	</DataTypes>
 	<Project GUID="{E61EF94A-CFE8-4DDF-B7C9-5F7AD2CF9D83}" Name="Library" PrjFilePath="..\..\Library\Library.plcproj" TmcFilePath="..\..\Library\Library.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e">
-		<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="Library\Library.tmc" TmcHash="{9F81EE59-2E83-1EF8-1B24-7CFFA46FBA87}">
+		<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="Library\Library.tmc" TmcHash="{BFB542FD-B00A-A7FC-78AF-21772328A255}">
 			<Name>Library Instance</Name>
 			<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 			<Vars VarGrpType="1">