I need a simple CSP example for CiA 402

scottlaird
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05 Apr 2024 01:07 #297616 by scottlaird

Replied by scottlaird on topic I need a simple CSP example for CiA 402

Okay, I have changes pending to add modParam descriptions to RTEC devices, as well as the EL3xxx temperature sensors and EL7041 driver. Most of the random EL* devices don't use modParams, and I don't want to go overboard, especially with devices that I don't have on hand. Here's a sample of what lcec_configgen now produces:

    <slave idx="15" type="EL3204" name="D16">
      <!-- Sensor type, Pt100|Ni100|Pt1000|Pt500|Pt200|Ni1000|Ni1000-TK5000|Ohm/16|Ohm/64 -->
      <modParam name="ch0Sensor" value="Pt100"/>

      <!-- Sensor resolution, Standard or High.  High reduces the range in some cases. -->
      <modParam name="ch0Resolution" value="Standard"/>

      <!-- Number of wires used for sensor connection.  2, 3, or 4 -->
      <modParam name="ch0Wires" value="2"/>

      <!-- Sensor type, Pt100|Ni100|Pt1000|Pt500|Pt200|Ni1000|Ni1000-TK5000|Ohm/16|Ohm/64 -->
      <modParam name="ch1Sensor" value="Pt100"/>
      ...

      <!-- Number of wires used for sensor connection.  2, 3, or 4 -->
      <modParam name="ch4Wires" value="2"/>

    </slave>
    ....
    <slave idx="19" type="EP7041" name="D20">
      <!-- Maximum Amps for stepper -->
      <modParam name="maxCurrent" value="5.0"/>

      <!-- Stepper steps per revolution (usually 200) -->
      <modParam name="motorFullsteps" value="200"/>

      <!-- Encoder steps per revolution (usually 4000) -->
      <modParam name="encoderIncrements" value="4000"/>

      <!-- Maximum speed in steps/second.  1000|2000|4000|8000|16000|32000. -->
      <modParam name="maxSpeed" value="2000"/>

      <!-- Enable encoder.  The EL7041 will fake an encoder if false. -->
      <modParam name="encoder" value="true"/>

    </slave>
    <slave idx="27" type="ECT60" name="D28">
      <!-- Enable support for Cyclic Synchronous Position mode. -->
      <modParam name="enableCSP" value="true"/>

      <!-- Enable support for Cyclic Synchronous Velocity mode. -->
      <modParam name="enableCSV" value="false"/>

      <!-- Maximum stepper Amps. -->
      <modParam name="peakCurrent_amps" value="6.0"/>

      <!-- Operation mode: openloop, closedloop, or foc. -->
      <modParam name="controlMode" value="closedloop"/>

      <!-- Number of encoder steps per revolution. -->
      <modParam name="encoderResolution" value="4000"/>

      <!-- Output 1 use: general, alarm, brake, in-place. -->
      <modParam name="output1Func" value="alarm"/>

      <!-- Output 2 use: general, alarm, brake, in-place. -->
      <modParam name="output2Func" value="brake"/>

      <!-- Input 3 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
      <modParam name="input3Func" value="cw-limit"/>

      <!-- Input 4 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
      <modParam name="input4Func" value="ccw-limit"/>

      <!-- Input 5 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
      <modParam name="input5Func" value="home"/>

      <!-- Input 6 use: general, cw-limit, ccw-limit, home, clear-fault, emergency-stop, motor-offline, probe1, probe2 -->
      <modParam name="input6Func" value="motor-offline"/>

    </slave>

I'm trying to ride the line here between config spam and undiscoverability. In general, settings that will usually need to be changed, or settings that will give *really* unexpected results are getting documentation added that will flow directly through to generated configs.

The precise formatting is still bugging me; there's an extra newline before </slave>, and I should probably add a way to add a top-level comment for devices, like "see http://.../rtec.md for configuration details". But it's coming along nicely.

The following user(s) said Thank You: rodw, 0x2102

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