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add IOC startup script examples for

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serial.cmd and motor.substitutions
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jsullivan-anl
2007-06-14 16:12:43 +00:00
parent 60bb0f3c16
commit 333d140559
1 changed files with 46 additions and 26 deletions
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motorApp/PiJenaSrc/README
+46 -26
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@@ -6,41 +6,33 @@ Model: EDS
Tested Version: EDS2, DSM V1.959
RS232: <Programmable>
9600,8,1,N (See setup warning below)
RX EOL: '/r' (13) <cr>
TX FRAMING: '/023'<ascii text>/r/n'/021'
Commands:
<command>,<axis>,[<arg>]</r>
Where axis = 0, 1, ...,5
* Reply from motion commands '/023/021' (framing characters only)
* Single command per line
Query Reply: <command>,<axis>,<return value>
*** WARNING *** Printing the EDS responses (during debugging)
lockup the vxWorks terminal session (using cu) because
of the framing characters.
Position Resolution: 0.001 micrometers (um)
DRIVER SUPPORT EXCEPTIONS:
NO Relative Motion
NO JOG command
NO DONE indicator
NO Homing
NO Limit Switches
=================== serial.cmd =============================
# Piezosystem Jena EDS motor controller/driver setup parameters:
# (1) maximum number of controllers in system
# (2) maximum drives per controller
# (3) motor task polling rate (min=1Hz, max=60Hz)
#drvPIJEDSdebug=1
PIJEDSSetup(1, 2, 60)
SET_STATUS NOTES:
DONE: No DONE indicator so the 'no motion' test is used
to set the DONE status.
# Piezosystem Jena EDS controller/driver configuration parameters:
# (1) controller being configured
# (2) asyn port name (string)
# (3) asyn address (GPIB)
PIJEDSConfig(0, "serial1", 0)
================== motor.substitutions ==================
{P, N, M, DTYP, C, S, DESC, EGU, DIR, VELO,VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
{xxx:, 9, "m$(N)", "PIJEDS", 0, 0, "motor $(N)", um, Pos, 2., 0, .2, 0, 0, .2, .001, 5, 100, 0, ""}
{xxx:, 10, "m$(N)", "PIJEDS", 0, 1, "motor $(N)", um, Pos, 2., 0, .2, 0, 0, .2, .001, 5, 100, 0, ""}
No Motion Test: Reference position is not available so
the 'no motion' test was widen to a hard coded
tolerance value based on the MAXIMUM RESOLUTION.
This was needed because of encoder jitter.
=================== CONTROLLER SETUP =================
@@ -57,6 +49,20 @@ SET_STATUS NOTES:
the other motion calibration settings are not available from EPICS.
============= COMMANDS SYNTAX ==================================
<command>,<axis>,[<arg>]</r>
Where axis = 0, 1, ...,5
* Reply from motion commands '/023/021' (framing characters only)
* Single command per line
Query Reply: <command>,<axis>,<return value>
*** WARNING *** Printing the EDS responses (during debugging)
lockup the vxWorks terminal session (using cu) because
of the framing characters.
=================== MOTION =================
ENABLE/DISABLE Servo - ClosedLoop/OpenLoop
cl,<axis>,[1/0]
@@ -104,6 +110,20 @@ SERVO ENABLE
stat,<axis>
16bit register - bit 7
================== IMPLEMENTATION NOTES ==========================
DRIVER SUPPORT EXCEPTIONS:
NO Relative Motion
NO JOG command
NO DONE indicator
NO Homing
NO Limit Switches
SET_STATUS:
DONE: No DONE indicator so the 'no motion' test is used
to set the DONE status.
No Motion Test: Reference position is not available so
the 'no motion' test was widen to a hard coded
tolerance value based on the MAXIMUM RESOLUTION.
This was needed because of encoder jitter.