forked from epics_driver_modules/motorBase
Added ANF2 example config
This commit is contained in:
kpetersn
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# ANF2 motors command file example (run in iocsh)
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#
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### Note: Modbus support (the EPICS modbus module) is required to be included in the
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### EPICS application where the ANF2 support will be loaded. This file is an
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### example of how to load the ANF2 support, in an ioc that is built with the
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### EPICS modbus module.
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epicsEnvSet("PORT1", "ANF2_C1")
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epicsEnvSet("PORT2", "ANF2_C2")
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# drvAsynIPPortConfigure("portName", "hostInfo", priority, noAutoConnect, noProcessEos);
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drvAsynIPPortConfigure("$(PORT1)_IP","192.168.1.101:502",0,0,1)
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drvAsynIPPortConfigure("$(PORT2)_IP","192.168.1.102:502",0,0,1)
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# modbusInterposeConfig("portName", linkType, timeoutMsec, writeDelayMsec)
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modbusInterposeConfig("$(PORT1)_IP",0,2000,0)
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modbusInterposeConfig("$(PORT2)_IP",0,2000,0)
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# NOTE: modbusLength = 10 * number of axes
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# drvModbusAsynConfigure("portName", "tcpPortName", slaveAddress, modbusFunction,
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# modbusStartAddress, modbusLength, dataType, pollMsec, "plcType")
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drvModbusAsynConfigure("$(PORT1)_In", "$(PORT1)_IP", 0, 4, 0, 120, 0, 100, "ANF2_stepper")
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drvModbusAsynConfigure("$(PORT2)_In", "$(PORT2)_IP", 0, 4, 0, 60, 0, 100, "ANF2_stepper")
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# NOTE: modbusLength = 10 * number of axes
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# drvModbusAsynConfigure("portName", "tcpPortName", slaveAddress, modbusFunction,
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# modbusStartAddress, modbusLength, dataType, pollMsec, "plcType")
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drvModbusAsynConfigure("$(PORT1)_Out", "$(PORT1)_IP", 0, 16, 1024, 120, 6, 1, "ANF2_stepper")
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drvModbusAsynConfigure("$(PORT2)_Out", "$(PORT2)_IP", 0, 16, 1024, 60, 6, 1, "ANF2_stepper")
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# Asyn traces for debugging
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#!asynSetTraceIOMask "$(PORT1)_In",0,4
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#!asynSetTraceMask "$(PORT1)_In",0,9
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#!asynSetTraceIOMask "$(PORT1)_Out",0,4
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#!asynSetTraceMask "$(PORT1)_Out",0,9
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#!asynSetTraceInfoMask "$(PORT1)_Out",0,15
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# Asyn records for debugging
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#!dbLoadRecords("$(ASYN)/db/asynRecord.db","P=IOC:,R=asyn:c1ip,PORT=$(PORT1)_IP,ADDR=0,OMAX=256,IMAX=256")
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#!dbLoadRecords("$(ASYN)/db/asynRecord.db","P=IOC:,R=asyn:c1in,PORT=$(PORT1)_In,ADDR=0,OMAX=256,IMAX=256")
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#!dbLoadRecords("$(ASYN)/db/asynRecord.db","P=IOC:,R=asyn:c1out,PORT=$(PORT1)_Out,ADDR=0,OMAX=256,IMAX=256")
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#!dbLoadRecords("$(ASYN)/db/asynRecord.db","P=IOC:,R=asyn:c1,PORT=$(PORT1),ADDR=0,OMAX=256,IMAX=256")
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# Load the motor records
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dbLoadTemplate("templates/motor.substitutions.ANF2")
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# AMCI ANF2 stepper controller driver support
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#
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# ANF2CreateController(
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# portName, The name of the asyn port that will be created by this driver
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# ANF2InPortName, The name of the In drvAsynIPPPort to read from the ANF2 controller
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# ANF2OutPortName, The name of the Out drvAsynIPPPort to write to the ANF2 controller
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# numModules, The number of modules in the stack (Max=6)
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# axesPerModule) The number of axes per module (ANF1=1, ANF2=2)
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#
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# ANF2CreateAxis(
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# ANF2Name, The controller's asyn port
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# axis, The axis to be configured (zero-based numbering)
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# hexConfig, The desired hex configuration (see manual & AMCI Net Configurator for details)
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# baseSpeed, The base speed (steps/second; min=1, max=1,000,000)
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# homingTimeout) The homing timeout (integer number of seconds; min=0, max=300)
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#
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# Note: The base speed can't be changed using the VBAS field of the motor record, but the driver
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# does correct the acceleration sent by the motor record to give the desired acceleration time.
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# Controller 1 (One ANF2E, Five ANF2's)
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ANF2CreateController("$(PORT1)", "$(PORT1)_In", "$(PORT1)_Out", 6, 2)
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# Axes for Controller 1
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ANF2CreateAxis("$(PORT1)", 0, "0x86280000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 1, "0x86000000", 57, 32)
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ANF2CreateAxis("$(PORT1)", 2, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 3, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 4, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 5, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 6, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 7, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 8, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 9, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 10, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 11, "0x84000000", 100, 0)
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# Controller 2 (One ANF1E, Five ANF1's)
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ANF2CreateController("$(PORT2)", "$(PORT2)_In", "$(PORT2)_Out", 6, 1)
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# Axes for Controller 2
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ANF2CreateAxis("$(PORT2)", 0, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT2)", 1, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT2)", 2, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT2)", 3, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT2)", 4, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT2)", 5, "0x84000000", 100, 0)
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# NOTE: the poller needs to be started after iocInit
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##########
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# iocInit
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##########
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# ANF2StartPoller(
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# portName, The controller's asyn port
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# movingPollPeriod, The time in ms between polls when any axis is moving
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# idlePollPeriod) The time in ms between polls when no axis is moving
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#
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ANF2StartPoller("$(PORT1)", 200, 1000)
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ANF2StartPoller("$(PORT2)", 200, 1000)
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@@ -0,0 +1,54 @@
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file "$(MOTOR)/motorApp/Db/asyn_motor.db"
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{
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pattern
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{P, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT, RTRY}
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{IOC:, "m1", "asynMotor", "ANF2_C1", 0, "ANF2 C1 M1", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m2", "asynMotor", "ANF2_C1", 1, "ANF2 C1 M2", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m3", "asynMotor", "ANF2_C1", 2, "ANF2 C1 M3", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m4", "asynMotor", "ANF2_C1", 3, "ANF2 C1 M4", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m5", "asynMotor", "ANF2_C1", 4, "ANF2 C1 M5", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m6", "asynMotor", "ANF2_C1", 5, "ANF2 C1 M6", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m7", "asynMotor", "ANF2_C1", 6, "ANF2 C1 M7", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m8", "asynMotor", "ANF2_C1", 7, "ANF2 C1 M8", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m9", "asynMotor", "ANF2_C1", 8, "ANF2 C1 M9", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m10", "asynMotor", "ANF2_C1", 9, "ANF2 C1 M10", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m11", "asynMotor", "ANF2_C1", 10, "ANF2 C1 M11", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m12", "asynMotor", "ANF2_C1", 11, "ANF2 C1 M12", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m13", "asynMotor", "ANF2_C2", 0, "ANF2 C2 M1", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m14", "asynMotor", "ANF2_C2", 1, "ANF2 C2 M2", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m15", "asynMotor", "ANF2_C2", 2, "ANF2 C2 M3", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m16", "asynMotor", "ANF2_C2", 3, "ANF2 C2 M4", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m17", "asynMotor", "ANF2_C2", 4, "ANF2 C2 M5", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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{IOC:, "m18", "asynMotor", "ANF2_C2", 5, "ANF2 C2 M6", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
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}
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file "$(MOTOR)/motorApp/Db/ANF2Aux.template"
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{
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pattern
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{P, R, PORT, ADDR}
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{IOC:, m1:, "ANF2_C1", 0}
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{IOC:, m2:, "ANF2_C1", 1}
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{IOC:, m3:, "ANF2_C1", 2}
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{IOC:, m4:, "ANF2_C1", 3}
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{IOC:, m5:, "ANF2_C1", 4}
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{IOC:, m6:, "ANF2_C1", 5}
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{IOC:, m7:, "ANF2_C1", 6}
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{IOC:, m8:, "ANF2_C1", 7}
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{IOC:, m9:, "ANF2_C1", 8}
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{IOC:, m10:, "ANF2_C1", 9}
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{IOC:, m11:, "ANF2_C1", 10}
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{IOC:, m12:, "ANF2_C1", 11}
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{IOC:, m13:, "ANF2_C2", 0}
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{IOC:, m14:, "ANF2_C2", 1}
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{IOC:, m15:, "ANF2_C2", 2}
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{IOC:, m16:, "ANF2_C2", 3}
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{IOC:, m17:, "ANF2_C2", 4}
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{IOC:, m18:, "ANF2_C2", 5}
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}
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