Nodes

There are two main nodes in this module, the Iris eip-io out node, which is responsible for sending messages to the Ethernet adapter module and the Iris eip-io in node, which is responsible for receiving and parsing the returned message. These nodes both need a connection node to define the ORCA-EIP assemblies.

Iris eip-io connection

This node has several parameters which have defaults to work with the ORCA-EIP adapter.

• The IP address is the eth0 port of the ORCA-EIP adapter.
• The RPI is the ms between messages. The minimum number for this value through node-red is 8 ms, at this time.
• The input and output assembly numbers and size relate to the implicit messaging stream and should not be adjusted.

A scanner node must also be added to the connection node.

Iris eip-io scanner

The scanner node defines the IP address of the ORCA-EIP scanner. Setting the IP address to 0.0.0.0 binds to all available local network interfaces on the host machine.

Iris eip-io out

This node forms and sends the ORCA-EIP output assembly which commands the ORCA motors. A connection node must be added to configure this node.

The node expects inputs with the following six topics:

| msg.topic | Type | Description | | ---------------- | ----------- | ------------------- | | ORCA-EIP Control | DINT | Command Bits .0 - ORCA-EIP/Enable The first bit of this control word is used as a global enable. If set to 0 all motors will be in sleep, if set to 1 then the Axis Control Enable bits are used. | | Axis Control | DINT |.0 - Axis 1 Enable .1 - Axis 2 Enable .2 - Axis 3 Enable.3 - Axis 4 Enable .4 - Axis 1 Autozero .5 - Axis 2 Autozero .6 - Axis 3 Autozero .7 - Axis 4 Autozero If the global enable is set, setting the axis enable bit puts the related ORCA Motor into position mode. Set to low to put the ORCA Motor to sleep and/or clear errors. A rising edge on an Autozero bit will trigger autozeroing (homing) of the associated motor. | | Motor 1 Position | DINT | Position target in µm | | Motor 2 Position | DINT | Position target in µm | | Motor 3 Position | DINT | Position target in µm | | Motor 4 Position | DINT | Position target in µm |

This node processes input data and generates an output; the output data is True once the input has been successfully processed or if an error occurs.

Iris eip-io in

This node receives and parses the ORCA-EIP input assembly containing data from the connected ORCA Motors. A connection node must be added to configure this node.

There are five outputs from the node:

1. Common Header
2. Motor 1
3. Motor 2
4. Motor 3
5. Motor 4

These messages each have custom properties.

| Message Property | Type | Description | | ----------------------- | ----------- | ------------------------------------------------------------------------------------------------- | | triton_status_word_in | SINT | ORCA-EIP Status Bits .0 - ORCA-EIP Enabled | | axis_enable_in | SINT | .0 - Axis 1 Enabled .1 - Axis 2 Enabled .3 - Axis 3 Enabled .4 - Axis 4 Enabled | | force_in | DINT | mN (millinewtons) | | position_in | DINT | µm (micrometers) | | speed_in | DINT | mm/s (0.001 mm/s increments) | | accel_in | DINT | mm /s² | | board_temp_in | DINT | 1°C increments | | coil_temp_in | DINT | 1°C increments | | voltage_in | DINT | mV | | power_in | DINT | W | | mode_in | DINT | ORCA Motor Mode:1 = Sleep2 = Force3 = Position4 = Haptic5 = Kinematic11 = Pulse Width55 = Auto Zeroing | | errors_in | DINT | Error Bits:.0 - Configuration.5 - Force Clipping.6 - Temp Exceeded.7 - Force Exceeded.8 - Power Exceeded.9 - Shaft Image Failed.10 - Voltage Invalid.11 - Comms Timeout.13 - Auto Zero Failed | | status_bit_in | | .0 - Auto Zero complete .1- Auto Zero in progress |