forked from epics_driver_modules/motorBase
Merge pull request #95 from kmpeters/AMCI_ANF2
Added support for AMCI ANF controllers
This commit is contained in:
rsluiter
@@ -117,6 +117,9 @@ Channel support):
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<li>
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Phytron I1AM01 Stepper Motor Controller.
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</li>
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<li>
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AMCI ANG1 Stepper Motor Controller/Driver, ANF1E/ANF1/ANF2E/ANF2 Stepper Motor Controllers.
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</li>
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</ul>
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The record maintains two coordinate systems for motor position ("user" and "dial
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" coordinates); displays drive and readback values; enforces limits to motor
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@@ -0,0 +1,107 @@
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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("$(PORT1)_IP","192.168.0.50:502",0,0,1)
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drvAsynIPPortConfigure("$(PORT2)_IP","192.168.0.51:502",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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# numAxes) The number of axes in the stack (max=12)
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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", 12)
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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", 100, 0)
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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", "$(PORT2)_Out", 6)
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# Axes for Controller 2
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ANF2CreateAxis("$(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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@@ -0,0 +1,2 @@
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include "ANG1Support.dbd"
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include "ANF2Support.dbd"
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,151 @@
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/*
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FILENAME... ANF2Driver.h
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USAGE... Motor driver support for the AMCI ANF2 controller.
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Kevin Peterson
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Based on the AMCI ANG1 Model 3 device driver written by Kurt Goetze
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*/
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#include "asynMotorController.h"
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#include "asynMotorAxis.h"
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//#include <asynInt32Array.h>
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#include <asynInt32ArraySyncIO.h>
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#define MAX_AXES 12
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#define MAX_INPUT_REGS 10
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#define MAX_OUTPUT_REGS 10
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#define AXIS_REG_OFFSET 10
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/*** Input CMD Registers (16-bit) ***/
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#define STATUS_1 0
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#define STATUS_2 1
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#define POS_RD_UPR 2
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#define POS_RD_LWR 3
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#define EN_POS_UPR 4
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#define EN_POS_LWR 5
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#define EN_CAP_UPR 6
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#define EN_CAP_LWR 7
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// Not used must equal zero #define RESERVED 8
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#define NET_CONN 9
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/*** Output Command Registers (32-bit) ***/
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#define COMMAND 0
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#define POSITION 1
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#define SPEED 2
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#define ACCEL_DECEL 3
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#define CMD_REG_4 4
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/*** Output Configuration Registers (32-bit) ***/
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#define CONFIGURATION 0
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#define BASE_SPEED 1
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#define HOME_TIMEOUT 2
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#define CONFIG_REG_3 3
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#define CONFIG_REG_4 4
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// No. of controller-specific parameters
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#define NUM_ANF2_PARAMS 2
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/** drvInfo strings for extra parameters that the ACR controller supports */
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#define ANF2ResetErrorsString "ANF2_RESET_ERRORS"
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#define ANF2GetInfoString "ANF2_GET_INFO"
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//#define ANF2ReconfigString "ANF2_RECONFIG"
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class ANF2Axis : public asynMotorAxis
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{
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public:
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/* These are the methods we override from the base class */
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ANF2Axis(class ANF2Controller *pC, int axisNo, epicsInt32 config, epicsInt32 baseSpeed, epicsInt32 homingTimeout);
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void report(FILE *fp, int level);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stop(double acceleration);
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asynStatus poll(bool *moving);
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asynStatus setPosition(double position);
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asynStatus setClosedLoop(bool closedLoop);
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private:
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ANF2Controller *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
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* Abbreviated because it is used very frequently */
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asynStatus sendAccelAndVelocity(double accel, double velocity);
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double correctAccel(double minVelocity, double maxVelocity, double acceleration);
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asynStatus resetErrors();
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void getInfo();
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epicsInt32 inputReg_[10];
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//void reconfig(epicsInt32 value);
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void zeroRegisters(epicsInt32 *reg);
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asynUser *pasynUserForceRead_;
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int axisNo_;
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epicsInt32 baseSpeed_;
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epicsInt32 homingTimeout_;
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epicsInt32 config_;
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epicsInt32 motionReg_[5];
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epicsInt32 confReg_[5];
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epicsInt32 zeroReg_[5];
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bool jogging_;
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// Configuration bits
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short CaptInput_;
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short ExtInput_;
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short HomeInput_;
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short CWInput_;
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short CCWInput_;
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short BHPO_;
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short QuadEnc_;
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short DiagFbk_;
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short OutPulse_;
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short HomeOp_;
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short CardAxis_;
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short OpMode_;
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// LSW
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short CaptInputAS_;
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short ExtInputAS_;
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short HomeInputAS_;
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short CWInputAS_;
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short CCWInputAS_;
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friend class ANF2Controller;
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};
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class ANF2Controller : public asynMotorController {
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public:
|
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ANF2Controller(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName, int numAxes);
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void doStartPoller(double movingPollPeriod, double idlePollPeriod);
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void report(FILE *fp, int level);
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ANF2Axis* getAxis(asynUser *pasynUser);
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ANF2Axis* getAxis(int axisNo);
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asynUser *pasynUserInReg_[MAX_AXES][MAX_INPUT_REGS];
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asynUser *pasynUserOutReg_[MAX_AXES];
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/* These are the methods that we override from asynMotorDriver */
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||||
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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||||
//asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
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//void report(FILE *fp, int level);
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||||
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/* These are the methods that are new to this class */
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protected:
|
||||
int ANF2ResetErrors_; /** Reset Errors parameter index */
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int ANF2GetInfo_; /**< Get Info parameter index */
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//int ANF2Reconfig_; /**< Reconfig parameter index */
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||||
private:
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||||
asynStatus writeReg16(int, int, int, double);
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||||
asynStatus writeReg32(int, int, int, double);
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asynStatus writeReg32Array(int, epicsInt32*, int, double);
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||||
asynStatus readReg16(int, int, epicsInt32*, double);
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asynStatus readReg32(int, int, epicsInt32*, double);
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char *inputDriver_;
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int numAxes_;
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int numModules_;
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int axesPerModule_;
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double movingPollPeriod_;
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double idlePollPeriod_;
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int axesCreated_;
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friend class ANF2Axis;
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};
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@@ -0,0 +1,2 @@
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#registrar(ANF2MotorRegister)
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registrar(ANF2Register)
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||||
@@ -12,10 +12,13 @@ LIBRARY_IOC += AMCI
|
||||
|
||||
# motorRecord.h will be created from motorRecord.dbd
|
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# install devMotorSoft.dbd into <top>/dbd
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||||
DBD += AMCISupport.dbd
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||||
DBD += ANG1Support.dbd
|
||||
DBD += ANF2Support.dbd
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||||
|
||||
# The following are compiled and added to the Support library
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AMCI_SRCS += ANG1Driver.cpp
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||||
AMCI_SRCS += ANF2Driver.cpp
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||||
|
||||
AMCI_LIBS += motor
|
||||
AMCI_LIBS += asyn
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||||
|
||||
@@ -0,0 +1,70 @@
|
||||
# AMCI ANF2
|
||||
|
||||
Asyn model 3 driver support for the AMCI ANF2 stepper motor controller
|
||||
|
||||
Modbus/TCP communication, using Mark Rivers' modbus module
|
||||
|
||||
## Supported Controller Models
|
||||
|
||||
The following ANF controller versions are supported:
|
||||
```
|
||||
ANF1E: 1-axis stepper controller, modbus tcp/ip
|
||||
ANF1: 1-axis stepper controller, no network interface
|
||||
ANF2E: 2-axis stepper controller, modbus tcp/ip
|
||||
ANF2: 2-axis stepper controller, no network interface
|
||||
```
|
||||
A stack of controller can contain up to 6 modules, one of
|
||||
which needs to have the ethernet option. A single-channel
|
||||
implementation would need the module with ethernet.
|
||||
|
||||
## Vendor Software
|
||||
|
||||
ANF2 configuration software is available from AMCI's website:
|
||||
|
||||
www.amci.com/product-software.asp
|
||||
|
||||
Note: The AMCI Net Configurator only works (allows a motor to be moved) if
|
||||
the controller is configured for EtherNet/IP, however, the EPICS support
|
||||
requires the device to be configured for Modbus-TCP.
|
||||
|
||||
## Controller Quirks
|
||||
|
||||
* The controller doesn't allow absolute moves when a limit is active;
|
||||
The only way to move a motor off of a limit is by **jogging**.
|
||||
|
||||
* The base speed is set when an axis is configured. This driver corrects
|
||||
the acceleration sent by the motor record (VBAS isn't guaranteed to match
|
||||
the base speed) and sends the acceleration necessary to achieve the desired
|
||||
acceleration time.
|
||||
|
||||
* The controller doesn't remember its configuration after it is power-cycled.
|
||||
|
||||
* Sending the configuration to the controller invalidates the position
|
||||
requiring either a home search or the redefinition of the current position.
|
||||
|
||||
* The configuration can't be read after a configuration is accepted by the
|
||||
controller, after which it automatically switches into command mode.
|
||||
|
||||
* The command to stop an abosolute move generates an error if a jog is in
|
||||
progress. The command to stop a jog doesn't stop an absolute move.
|
||||
|
||||
## Controller Configuration
|
||||
|
||||
The AMCI Net Configurator can be used to:
|
||||
|
||||
* Change the ip address from the default (192.168.0.50)
|
||||
|
||||
* Change the protocol to Modbus-TCP
|
||||
|
||||
* Determine hex config strings for each axis
|
||||
|
||||
### Example axis configuration
|
||||
|
||||
```
|
||||
0x86000000 - Step & Direction pulses, Diagnostic Feedback, No home switch, No limits
|
||||
0x86280000 - Step & Direction pulses, Diagnostic Feedback, No home switch, Active-low CW/CCW limits
|
||||
0x84000000 - Step & Direction pulses, No Feedback, No home switch, No Limits
|
||||
0x84280000 - Step & Direction pulses, No Feedback, No home switch, Active-low CW/CCW limits
|
||||
0x842C0004 - Step & Direction pulses, No Feedback, Active-high home switch, Active-low CW/CCW limits
|
||||
0x85280000 - Step & Direction pulses, Quadrature Feedback, No home switch, Active-low CW/CCW limits
|
||||
```
|
||||
@@ -0,0 +1,28 @@
|
||||
# Database for extra PVs for AMCI ANG1 controllers
|
||||
|
||||
record(bo,"$(P)$(R)ResetErrors") {
|
||||
field(DESC,"Reset Errors")
|
||||
field(PINI, "0")
|
||||
field(VAL,"0")
|
||||
field(DTYP, "asynInt32")
|
||||
field(OUT,"@asyn($(PORT),$(ADDR))ANF2_RESET_ERRORS")
|
||||
field(ZNAM, "Done")
|
||||
field(ONAM, "Reset")
|
||||
}
|
||||
|
||||
record(bo,"$(P)$(R)GetInfo") {
|
||||
field(DESC,"Get Info")
|
||||
field(PINI, "0")
|
||||
field(VAL,"0")
|
||||
field(DTYP, "asynInt32")
|
||||
field(OUT,"@asyn($(PORT),$(ADDR))ANF2_GET_INFO")
|
||||
}
|
||||
|
||||
# Reconfig isn't yet implemented in a generally-useful way
|
||||
#record(longout,"$(P)$(R)Reconfig") {
|
||||
# field(DESC,"Reconfig")
|
||||
# field(PINI, "0")
|
||||
# field(VAL,"0")
|
||||
# field(DTYP, "asynInt32")
|
||||
# field(OUT,"@asyn($(PORT),$(ADDR))ANF2_RECONFIG")
|
||||
#}
|
||||
Reference in New Issue
Block a user