ACSTech80 SPiiPlus Motor Controller
===================================


**** EXAMPLE CONFIGURATION FOR VXWORKS TARGETS ****

xxxApp/src/Makefile
-------------------
xxx_vxWorks_LIBS += acsTech80

xxxApp/src/xxxCommonInclude.dbd
--------------------------------
include "devSPiiPlus.dbd"


iocBoot/iocxxx/serial.cmd
---------------------------

# serial 61 is connected to the SPiiPlus Motor Controller
#drvAsynIPPortConfigure("portName","hostInfo",priority,noAutoConnect,
#                        noProcessEos)
drvAsynIPPortConfigure("serial61", "164.54.116.61:701", 0, 0, 0)
asynOctetSetInputEos("serial61",0,"\r")
asynOctetSetOutputEos("serial61",0,"\r")

.
.
.

# ACS Tech80 - SPiiPlus driver setup parameters:
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz, max=60Hz)
SPiiPlusSetup(1, 60)

# ACS Tech80 - SPiiPlus driver configuration parameters:
#     (1) controller being configured
#     (2) asyn port name (string)
#     (3) command interface mode [BUFfer/CONnect/DIRect]
#		BUFFER - ACSPL buffer interface (ie Nanomotion Stages)
#		CONNECT - ACSPL 'CONNECT' (kinematics) interface (ie: Alio Hexapod)
#	        DIRECT  - ACSPL command interpreter interface to the physical motors
SPiiPlusConfig(0, "serial61", "BUF")


iocBoot/iocxxx/motor.substitutions
----------------------------------
{xxx:, 1,     m$(N),  "SPiiPlus",     0,      0,      "motor $(N)",   degrees,        Pos,    10,             0.,             1.,             0,              1,              .2,             1e-3,   3,              100,    -100,   ""}
{xxx:, 2      m$(N),  "SPiiPlus",     0,      1,      "motor $(N)",   degrees,        Pos,    60,             0.,             1.5,            0,              1,              .2,             1e-3,   3,              100,    -100,   ""}


****************** SPiiPlus 'BUFFER' Type Setup *******************************

Install the "SPiiPlus_EPICS.prg" file in the SPiiPlus motor controller 
using the ACSTech80 WINDOWS software. 

This file contains the EPICS interface programs need by the
motorRecord driver to control one SPiiPlus motors (AXIS 0). For 
each motor used, copy the contents of Buffer #0 it's corresponding
buffer.  (Motor 1 - buffer #0, Motor 2 - buffer #1, ... etc()

Each motor is assigned a SPiiPlus buffer with a copy of all the programs 
that are currently in buffer #0. 

****************** SPiiPlus 'CONNECT' Type Setup *******************************

ACSPL Variables - for direct and reverse kinematics
    Reference Position: APOS[axis number] (0 - 7)
    Feedback Position:  FPOS[axis name] (X, Y, Z, T, A, B, C, D)

****************** SPiiPlus 'DIRECT' Type Setup *******************************

ACSPL Variables - physical motor positions
    Reference Position: APOS[axis number] (0 - 7)
    Feedback Position:  FPOS[axis number] (0 - 7)


***************** SPiiPlus Notes ***************************

Axes Names: (only used in 'CONNECT' mode)
  (Four Channel) X, Y, A, B   ***** NOT SUPPORTED *****
  (Eight Channel) X, Y, Z, T, A, B, C, D
