lin-epics-modules/motorBase
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Add support files

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This commit is contained in:
Kurt A. Goetze
2017-07-18 12:12:57 -05:00
parent b60e8ee404
commit 2ff3d3a562
2 changed files with 86 additions and 0 deletions
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iocBoot/iocWithAsyn/motor.substitutions.ANG1
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file "$(MOTOR)/motorApp/Db/basic_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT, RTRY}
{IOC:, 1, "m$(N)", "asynMotor", "ANG1_1_1", 0, "AMCI ANG1 1", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
{IOC:, 2, "m$(N)", "asynMotor", "ANG1_1_2", 0, "AMCI ANG1 2", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
}
file "$(MOTOR)/motorApp/Db/ANG1Aux.template"
{
pattern
{P, R, PORT, ADDR}
{IOC:, m1:, ANG1_1_1, 0}
{IOC:, m2:, ANG1_1_2, 0}
}
iocBoot/iocWithAsyn/st.cmd.ANG1
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# ANG1_motors.cmd
#
# Use the following commands for TCP/IP
#drvAsynIPPortConfigure(const char *portName,
# const char *hostInfo,
# unsigned int priority,
# int noAutoConnect,
# int noProcessEos);
# One per controller. One controller can support up to six drivers.
drvAsynIPPortConfigure("ang1_1","164.54.53.107:502",0,0,1)
#drvAsynIPPortConfigure("ang1_2","164.54.53.23:502",0,0,1)
#drvAsynIPPortConfigure("ang1_3","164.54.xxx.xxx:502",0,0,1)
#modbusInterposeConfig(const char *portName,
# modbusLinkType linkType,
# int timeoutMsec,
# int writeDelayMsec)
# One per controller. One controller can support up to six drivers.
modbusInterposeConfig("ang1_1",0,2000,0)
#modbusInterposeConfig("ang1_2",0,2000,0)
# Word access at Modbus address 0
# Access 1 words as inputs.
# Function code=3
# default data type unsigned integer.
# drvModbusAsynConfigure("portName", "tcpPortName", slaveAddress, modbusFunction, modbusStartAddress, modbusLength, dataType, pollMsec, "plcType")
# One per axis. Note: "ANG1" is the AMCI model. "ANG1_1" is the controller. "ANG1_1_1" is the axis.
drvModbusAsynConfigure("ANG1_1_1_In_Word", "ang1_1", 0, 4, 0, 10, 0, 100, "ANG1_stepper")
drvModbusAsynConfigure("ANG1_1_2_In_Word", "ang1_1", 0, 4, 10, 10, 0, 100, "ANG1_stepper")
#drvModbusAsynConfigure("ANG1_1_3_In_Word", "ang1_1", 0, 3, 20, 10, 0, 100, "ANG1_stepper")
#drvModbusAsynConfigure("ANG1_1_4_In_Word", "ang1_1", 0, 3, 30, 10, 0, 100, "ANG1_stepper")
#drvModbusAsynConfigure("ANG1_1_5_In_Word", "ang1_1", 0, 3, 40, 10, 0, 100, "ANG1_stepper")
#drvModbusAsynConfigure("ANG1_1_6_In_Word", "ang1_1", 0, 3, 50, 10, 0, 100, "ANG1_stepper")
# Access 1 words as outputs.
# Either function code=6 (single register) or 16 (multiple registers) can be used, but 16
# is better because it is "atomic" when writing values longer than 16-bits.
# Default data type unsigned integer.
# drvModbusAsynConfigure("portName", "tcpPortName", slaveAddress, modbusFunction, modbusStartAddress, modbusLength, dataType, pollMsec, "plcType")
# Not sure why the outputs can't be configured for Modbus data type 4?
drvModbusAsynConfigure("ANG1_1_1_Out_Word", "ang1_1", 0, 6, 1024, 10, 0, 1, "ANG1_stepper")
drvModbusAsynConfigure("ANG1_1_2_Out_Word", "ang1_1", 0, 6, 1034, 10, 0, 1, "ANG1_stepper")
#drvModbusAsynConfigure("ANG1_1_3_Out_Word", "ang1_1", 0, 6, 1044, 10, 0, 1, "ANG1_stepper")
#drvModbusAsynConfigure("ANG1_1_4_Out_Word", "ang1_1", 0, 6, 1054, 10, 0, 1, "ANG1_stepper")
#drvModbusAsynConfigure("ANG1_1_5_Out_Word", "ang1_1", 0, 6, 1064, 10, 0, 1, "ANG1_stepper")
#drvModbusAsynConfigure("ANG1_1_6_Out_Word", "ang1_1", 0, 6, 1074, 10, 0, 1, "ANG1_stepper")
# Second ANG1 controller...
#drvModbusAsynConfigure("ANG1_2_1_Out_Word_0", "ang1_2", 0, 6, 1024, 1, 0, 1, "ANG1_stepper")
dbLoadTemplate("ANG1_motors.substitutions")
# AMCI ANG1 stepper controller/driver support
# portName The name of the asyn port that will be created for this driver
# ANG1InPortName The name of the In drvAsynIPPPort that was created previously to connect to the ANG1 controller
# ANG1OutPortName The name of the Out drvAsynIPPPort that was created previously to connect to the ANG1 controller
# numAxes The number of axes that this controller supports
# movingPollPeriod The time in ms between polls when any axis is moving
# idlePollPeriod The time in ms between polls when no axis is moving
#
# One per axis. Note: "ANG1" is the AMCI model. "ANG1_1" is the controller. "ANG1_1_1" is the axis.
# Also, ANG1_1_1 is the port name needed for motor.substitutions.
ANG1CreateController(ANG1_1_1, ANG1_1_1_In_Word, ANG1_1_1_Out_Word, 1, 100, 0)
ANG1CreateController(ANG1_1_2, ANG1_1_2_In_Word, ANG1_1_2_Out_Word, 1, 100, 0)
#ANG1CreateController(ANG1_1, ANG1_1_3_In_Word, ANG1_1_3_Out_Word, 1, 100, 0)
#ANG1CreateController(ANG1_1, ANG1_1_4_In_Word, ANG1_1_4_Out_Word, 1, 100, 0)
#ANG1CreateController(ANG1_1, ANG1_1_5_In_Word, ANG1_1_5_Out_Word, 1, 100, 0)
#ANG1CreateController(ANG1_1, ANG1_1_6_In_Word, ANG1_1_6_Out_Word, 1, 100, 0)