EPICS-configurable parameters needed for smooth setup of "reconfigurable" motor panels

[ZLLentz]

The following settings need to be readable/settable via EPICS and initialized/updated in a safe way to enable quick turnaround for users that want to change motors between experiments. This is essentially all the stuff we'd want to change in the PLC when settings up an axis.

NC parameters for getting the scaling/direction correct:

• reference velocity
• encoder scaling numerator
• encoder scaling denominator
• encoder mask
• drive reverse
• encoder reverse
• some utility for going from UREV -> ref velo + scaling for open loop

CoE parameters for safe operation:

• maximum current
• reduced current

NC Tuning/monitoring parameters:

• kv, ks, vdyn
• control deadband
• target monitoring deadband
• target monitoring settling time
• maximum velocity
• position lag monitoring distance
• position lag monitoring time
• position averaging (filtering?) time

Other:

• limits reverse/disable/enable
• homing mode
• enable mode
• brake mode

It is possible to set CoE and NC settings during PLC code operation. It is easy to get the NC reference and the CoE reference for the motor drive terminal. Axes that want to be used in this manner should start up in safe/conservative states from the NC/CoE and be updated by the PLC/IOC as appropriate.

List to be updated if and when I realize it isn't quite right

[ZLLentz]

The following areas have expressed interest in reconfigurable user panels with the beckhoff system:

• RTDS
• TMO
• XPP in LCLS-II-HE

[ZLLentz]

If this is implemented, it needs to be opt-in. That is, you must need to do some additional setup in the PLC to establish these bonus PVs and configuration features.