73 lines
3.6 KiB
Markdown
73 lines
3.6 KiB
Markdown
# beamShift
|
|
|
|
## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
|
|
|
|
## Overview
|
|
|
|
This is a driver for a "beam shift": a combined movement where two physical axes moves synchronously and are treated as a single virtual axis. It is based on the turboPmac driver (https://gitea.psi.ch/lin-epics-modules/turboPmac) and behaves mostly like a normal turboPmac driver except for the following:
|
|
- The virtual axis cannot be disabled, but can be enabled in case its physical axes are inhibited.
|
|
- The virtual axis cannot perform a reference / home drive since it has an absolute encoder.
|
|
- The virtual axis has a custom error set.
|
|
|
|
The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
|
|
|
|
## User guide
|
|
|
|
### IOC startup script
|
|
|
|
beamShift exports the following IOC shell functions:
|
|
- `beamShiftAxis`: Create a new axis object.
|
|
|
|
The full turboPmacX.cmd file looks like this:
|
|
|
|
```
|
|
# Define the name of the controller and the corresponding port
|
|
epicsEnvSet("DRIVER_PORT","turboPmacX")
|
|
epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
|
|
|
|
# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name.
|
|
# We do not use the standard asyn port driver here, but a PMAC-specific one which enables the usage of StreamDevices for
|
|
# communicating with the controller directly.
|
|
pmacAsynIPPortConfigure("$(IP_PORT)","172.28.101.24:1025")
|
|
|
|
# Create the controller object with the defined name and connect it to the socket via the port name.
|
|
# The other parameters are as follows:
|
|
# 8: Maximum number of axes
|
|
# 0.05: Busy poll period in seconds
|
|
# 1: Idle poll period in seconds
|
|
# 1: Socket communication timeout in seconds
|
|
turboPmacController("$(DRIVER_PORT)", "$(IP_PORT)", 8, 0.05, 1, 1);
|
|
|
|
# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
|
|
beamShiftAxis("$(DRIVER_PORT)",1);
|
|
turboPmacAxis("$(DRIVER_PORT)",2);
|
|
turboPmacAxis("$(DRIVER_PORT)",5);
|
|
|
|
# Set the number of subsequent timeouts
|
|
setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
|
|
|
|
# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
|
|
setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
|
|
|
|
# Parametrize the EPICS record database with the substitution file named after the MCU.
|
|
epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/sinqMotor.db")
|
|
dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
|
|
epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
|
|
dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
|
|
dbLoadRecords("$(turboPmac_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
|
|
```
|
|
|
|
### Additional records
|
|
|
|
`beamShift` provides no additional records.
|
|
|
|
## Developer guide
|
|
|
|
### Versioning
|
|
|
|
Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
|
|
|
|
### How to build it
|
|
|
|
This driver can be compiled and installed by running `make install` from the same directory where the Makefile is located. However, since it uses the git submodule sinqMotor, make sure that the correct version of the submodule repository is checked out AND the change is commited (`git status` shows no non-committed changes). Please see the section "Usage as static dependency" in https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md for more details.
|