From 22ff636d0a3d850cce0826e5ee3befc445a8037d Mon Sep 17 00:00:00 2001
From: Ron Sluiter <rsluiter@users.noreply.github.com>
Date: Thu, 29 Apr 2010 16:19:07 +0000
Subject: [PATCH] Document Aerotech Ensemble asyn motor driver support.

---
 iocBoot/iocWithAsyn/st.cmd.Vx | 28 ++++++++++++++++++---
 motorApp/AerotechSrc/README   | 46 +++++++++++++++++++++++++++++++++++
 2 files changed, 70 insertions(+), 4 deletions(-)

diff --git a/iocBoot/iocWithAsyn/st.cmd.Vx b/iocBoot/iocWithAsyn/st.cmd.Vx
index 7575910f..a544e664 100644
--- a/iocBoot/iocWithAsyn/st.cmd.Vx
+++ b/iocBoot/iocWithAsyn/st.cmd.Vx
@@ -297,6 +297,24 @@ dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=IOC:")
 #!EnsembleConfig(0, "a-Serial[0]")
 
 
+# Aerotech Ensemble digital servo controller asyn motor Setup
+#     (1) maximum number of controllers in system
+#!EnsembleAsynSetup(1)
+
+# The Ensemble driver does not set end of string (EOS).
+#!asynOctetSetInputEos(EnsemblePort,0,"\n")
+#!asynOctetSetOutputEos(EnsemblePort,0,"\n")
+
+# Aerotech Ensemble digital servo controller  asyn motor Config
+#     (1) Controller number being configured
+#     (2) ASYN port name
+#     (3) ASYN address (GPIB only)
+#     (4) Number of axes this controller supports
+#     (5) Time to poll (msec) when an axis is in motion
+#     (6) Time to poll (msec) when an axis is idle. 0 for no polling
+#!EnsembleAsynConfig(0, EnsemblePort, 0, 1, 100, 1000)
+
+
 # Newport MM4000/5/6 asyn motor driver setup parameter.
 #!MM4000AsynSetup(1)   /* number of MM4000 controllers in system.  */
 
@@ -314,10 +332,12 @@ dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=IOC:")
 #   (2) Driver name
 #   (3) Controller index
 #   (4) Max. number of axes
-#!drvAsynMotorConfigure("MM4",   "motorMM4000", 0, 4)
-#!drvAsynMotorConfigure("ANC150","motorANC150", 0, 2 )
-#!drvAsynMotorConfigure("XPS1",  "motorXPS",    0, 5)
-#!drvAsynMotorConfigure("XPS2",  "motorXPS",    1, 5)
+#!drvAsynMotorConfigure("MM4",   "motorMM4000",   0, 4)
+#!drvAsynMotorConfigure("ANC150","motorANC150",   0, 2 )
+#!drvAsynMotorConfigure("XPS1",  "motorXPS",      0, 5)
+#!drvAsynMotorConfigure("XPS2",  "motorXPS",      1, 5)
+#!drvAsynMotorConfigure("AeroE1","motorEnsemble", 0, 1)
+#!drvAsynMotorConfigure("AeroE2","motorEnsemble", 1, 1)
 
 iocInit
 
diff --git a/motorApp/AerotechSrc/README b/motorApp/AerotechSrc/README
index 6725569b..c294ba05 100644
--- a/motorApp/AerotechSrc/README
+++ b/motorApp/AerotechSrc/README
@@ -1,3 +1,49 @@
+CONFIGURATION NOTES
+===================
+
+
+- Database definition (*.dbd) requirements.
+<App>DBD += devAerotech.dbd
+
+- Startup command file (st.cmd) requirements.
+("#"  is used to denote st.cmd comment lines.)
+("#!" is used to denote st.cmd command lines.)
+
+Configure an asyn communications port driver for the Ensemble.  This can be
+either RS-232 or ethernet. For example,
+
+#!EnsemblePort = "Serial"
+#!drvAsynSerialPortConfigure(EnsemblePort,"/tyGS0/Mod0/1",0,0,0)
+
+#!EnsemblePort = "tcp1"
+#!drvAsynIPPortConfigure(EnsemblePort,"xx.xx.xx.xx:8000", 0, 0, 0)
+
+See asyn documentation for details.
+
+# Aerotech Ensemble digital servo controller
+#     (1) maximum number of controllers in system
+#!EnsembleAsynSetup(1)
+
+# The Ensemble driver does not set end of string (EOS).
+#!asynOctetSetInputEos(EnsemblePort,0,"\n")
+#!asynOctetSetOutputEos(EnsemblePort,0,"\n")
+
+#     (1) Controller number being configured
+#     (2) ASYN port name
+#     (3) ASYN address (GPIB only)
+#     (4) Number of axes this controller supports
+#     (5) Time to poll (msec) when an axis is in motion
+#     (6) Time to poll (msec) when an axis is idle. 0 for no polling
+#!EnsembleAsynConfig(0, EnsemblePort, 0, 1, 100, 1000)
+
+# Asyn-based Motor Record support
+#   (1) Asyn port
+#   (2) Driver name
+#   (3) Controller index
+#   (4) Max. number of axes
+#!drvAsynMotorConfigure("AeroE1","motorEnsemble",0,1)
+
+
 DESIGN NOTES
 ============