forked from epics_driver_modules/motorBase
Phytron I1AM01 Stepper Motor Controller support from Tom Slejko and Bor Marolt of Cosylab d.d.
This commit is contained in:
Ron Sluiter
@@ -0,0 +1,23 @@
|
||||
TOP=../..
|
||||
|
||||
include $(TOP)/configure/CONFIG
|
||||
#----------------------------------------
|
||||
# Build the IOC application
|
||||
|
||||
LIBRARY_IOC += phytronAxisMotor
|
||||
|
||||
DBD += phytron.dbd
|
||||
|
||||
# The following are compiled and added to the support library
|
||||
phytronAxisMotor_SRCS += phytronAxisMotor.cpp
|
||||
|
||||
INC += phytronAxisMotor.h
|
||||
|
||||
phytronAxisMotor_LIBS += motor
|
||||
phytronAxisMotor_LIBS += asyn
|
||||
phytronAxisMotor_LIBS += $(EPICS_BASE_IOC_LIBS)
|
||||
|
||||
#===========================
|
||||
|
||||
include $(TOP)/configure/RULES
|
||||
|
||||
@@ -0,0 +1,447 @@
|
||||
********************************************************************************
|
||||
Phytron I1AM01 Stepper Motor Controller Asyn Driver Documentation
|
||||
|
||||
Authors: Tom Slejko, Bor Marolt, Cosylab d.d.
|
||||
tom.slejko@cosylab.com
|
||||
bor.marolt@cosylab.com
|
||||
|
||||
********************************************************************************
|
||||
Table of contents:
|
||||
- Controller and axis configuration
|
||||
- Example Application
|
||||
- New Applicaion
|
||||
- Database
|
||||
- Supported I1AM01 Features
|
||||
- Initialization records
|
||||
- Status
|
||||
- Homing
|
||||
- Reset
|
||||
- I1AM01 parameters
|
||||
- Supported MCM01 Features
|
||||
- Motor record
|
||||
- List of remaining I1AM01 parameters handled by the motor record,
|
||||
internally by controller, or not applicable
|
||||
- GUI
|
||||
|
||||
|
||||
Controller and axis configuration
|
||||
=================================
|
||||
Example application:
|
||||
--------------------
|
||||
Motor record includes an example Phytron application. Before using it do:
|
||||
|
||||
cd $(MOTOR_ROOT)/iocBoot/iocWithAsyn/
|
||||
|
||||
where $(MOTOR_ROOT) is the location of the motor record. Open st.cmd.phytron and
|
||||
modify controller's IP address. If using serial port instead of ethernet, read
|
||||
"New application" section, on how to configure the serial port. Remove or add
|
||||
calls to phytronCreateAxis according to the number of axes that are to be used
|
||||
(read "New application" section on how to use phytronCreateAxis).
|
||||
Once st.cmd is configured, run:
|
||||
|
||||
../../bin/linux-x86_64/WithAsyn st.cmd.phytron
|
||||
|
||||
New application:
|
||||
----------------
|
||||
This section describes how to properly configure epics application in order to
|
||||
use phytronAxisMotor driver.
|
||||
|
||||
The following dbd files and libraries must be added to the $(APP)/src/Makefile:
|
||||
test_DBD += asyn.dbd
|
||||
test_DBD += motorSupport.dbd
|
||||
test_DBD += drvAsynIPPort.dbd
|
||||
test_DBD += phytron.dbd
|
||||
|
||||
test_LIBS += asyn
|
||||
test_LIBS += motor
|
||||
test_LIBS += phytronAxisMotor
|
||||
|
||||
An example motor.substitutions.phytron and st.cmd.phytron files are located in
|
||||
the $(MOTOR_RECORD)/iocBoot/iocWithAsyn/ directory.
|
||||
|
||||
********************************************************************************
|
||||
WARNING: For the controller to work properly all three database files (
|
||||
Phytron_I1AM01.db, Phytron_MCM01.db and Phytron_motor.db) must be used.
|
||||
********************************************************************************
|
||||
|
||||
Start up script must perform the following:
|
||||
Before configuring the controller the user must create an asyn port by running
|
||||
drvAsynIPPortConfigure or drvAsynSerialPortConfigure in order to create a
|
||||
communication interface to Phytron's MCM Unit which controlls the I1AM01
|
||||
modules.
|
||||
|
||||
If serial port is used for communication with the controller, baud rate, number
|
||||
of data bits, parity, number of stop bits and End Of Line character must be set,
|
||||
e.g.:
|
||||
|
||||
drvAsynSerialPortConfigure ("testRemote","/dev/ttyUSB0")
|
||||
asynOctetSetInputEos("testRemote",0,"\3")
|
||||
asynSetOption ("testRemote", -1, "baud", "115200")
|
||||
asynSetOption ("testRemote", -1, "bits", "8")
|
||||
asynSetOption ("testRemote", -1, "parity", "none")
|
||||
asynSetOption ("testRemote", -1, "stop", "1")
|
||||
|
||||
If ethernet is used, the IP and port must be set, e.g.:
|
||||
drvAsynIPPortConfigure("testRemote","10.5.1.181:22222",0,0,1)
|
||||
|
||||
Phytron (MCM) controller port is configured (and connected to previously created
|
||||
asyn port) by running the following iocsh function:
|
||||
|
||||
phytronCreateController(const char *phytronPortName, const char *asynPortName,
|
||||
int movingPollPeriod, int idlePollPeriod, double timeout)
|
||||
- phytronPortName: Name of the particular MCM unit.
|
||||
- asynPortName: Name of the previously configured asyn port - interface to MCM
|
||||
- movingPollPeriod: The time between polls when any axis is moving in ms
|
||||
- idlePolPeriod: The time between polls when no axis is moving in ms
|
||||
- Timeout: Milliseconds before timeout for I/O requests
|
||||
|
||||
where poll reads the basic axis status, e.g. position of the motor and of the
|
||||
encoder, checks if axis is in movement, checks if motor is at the limit
|
||||
switch, ...
|
||||
|
||||
Once the phytron controller is configured, user can initialize axes by running
|
||||
|
||||
phytronCreateAxis(const char* phytronPortName, int module, int axis)
|
||||
- phytronPortName: Previously defined name of the MCM unit
|
||||
- module: index of the I1AM01 module connected to the MCM
|
||||
- axis: index of the axis on the I1AM01 module
|
||||
|
||||
Module index and axis index compose the axis asyn ADDR (ADDR macro) used in the
|
||||
motor.substitutions file.
|
||||
|
||||
PhytronCreateAxis must be called for each axis intended to be used.
|
||||
|
||||
********************************************************************************
|
||||
WARNING: For every axis, the user must specify it's address (ADDR macro) in the
|
||||
motor.substitutions file for Phytron_motor.db and PhytronI1AM01.db files.
|
||||
The address is composed of the I1AM01 module index and the axis index. If, for
|
||||
example, the startup script configures the following axis:
|
||||
|
||||
drvAsynIPPortConfigure("testRemote","10.5.1.181:22222",0,0,1)
|
||||
phytronCreateController ("phyMotionPort", "testRemote", 100, 100, 1000)
|
||||
phytronCreateAxis("phyMotionPort", 2, 1)
|
||||
|
||||
It's asyn address that must be specified in the substitutions file is 21,
|
||||
|
||||
PORT macro in the substitution file must match the phytronPortName, which is in
|
||||
the example above "phyMotionPort"
|
||||
********************************************************************************
|
||||
|
||||
Example st.cmd:
|
||||
---------------
|
||||
#!../../bin/linux-x86_64/test
|
||||
|
||||
## You may have to change test to something else
|
||||
## everywhere it appears in this file
|
||||
|
||||
< envPaths
|
||||
|
||||
## Register all support components
|
||||
dbLoadDatabase("../../dbd/test.dbd",0,0)
|
||||
test_registerRecordDeviceDriver(pdbbase)
|
||||
|
||||
drvAsynIPPortConfigure("testRemote","10.5.1.181:22222",0,0,1)
|
||||
|
||||
phytronCreateController ("phyMotionPort", "testRemote", 100, 100, 1000)
|
||||
|
||||
#phytronCreateAxis(phytronPort, module, axis)
|
||||
phytronCreateAxis("phyMotionPort", 1, 1)
|
||||
phytronCreateAxis("phyMotionPort", 2, 1)
|
||||
|
||||
|
||||
cd $(MOTOR)/iocBoot/iocWithAsyn/
|
||||
dbLoadTemplate "motor.substitutions.phytron"
|
||||
|
||||
iocInit()
|
||||
|
||||
Database:
|
||||
=========
|
||||
All three database files (Phytron_I1AM01.db, Phytron_MCM01.db, Phytron_motor.db)
|
||||
in $(MOTOR_ROOT)/motorApp/Db are expanded by motor.substitutions.phytron file in
|
||||
$(MOTOR_ROOT)/iocBoot/iocWithAsyn
|
||||
|
||||
********************************************************************************
|
||||
WARNING: For the controller to work properly all three database files (
|
||||
Phytron_I1AM01.db, Phytron_MCM01.db and Phytron_motor.db) must be used.
|
||||
********************************************************************************
|
||||
|
||||
===============================================
|
||||
I1AM01 Controller Features - Phytron_I1AM01.db:
|
||||
===============================================
|
||||
Initialization:
|
||||
---------------
|
||||
Database contains 2 initialization records $(P)$(M)-INIT-AXIS-1/2 which are used
|
||||
to initalize output (_SET) records. Initialization values are defined in the
|
||||
motor.substitutions file.
|
||||
|
||||
Status:
|
||||
-------
|
||||
Database contains several status records. Ai record $(P)$(M)-STATUS_ reads the
|
||||
status value from the I1AM01 module, 2 mbbiDirect records ($(P)$(M)-STATUS-1/2)
|
||||
are provided to set the status bits - 23 bi records are provided to parse these
|
||||
status bits. An additional calc record is provided ($(P)$(M)-AXIS-ERR) which
|
||||
sets it's value to 1 if any of the error bits are set (if only notification
|
||||
bits are set, e.g. axis-initialized, the value of $(P)$(M)-AXIS-ERR is 0).
|
||||
|
||||
Homing:
|
||||
-------
|
||||
RECORDS mbbo/mbbi: $(P)$(M)-HOMING_SET/_GET are used to set and readback the
|
||||
type of homing to be used. Homing is executed with the use of motor record's
|
||||
HOMF, HOMR fields. The following options are available for $(P)$(M)-HOMING_SET,
|
||||
please keep in mind that offsets defined by I1AM01 parameters P11 and P12 (see
|
||||
phylogic-en.pdf and see below for records corresponding to P11 and P12) affect
|
||||
the final position after the homing procedure:
|
||||
<- recordValue (Homing description); Phytron commands for HOMF and HOMR>
|
||||
|
||||
- Limit (Home on limit switches); HOMF - m.aR+, HOMR - m.aR-
|
||||
|
||||
- Center (Home on center switch); HOMF - m.aR+C, HOMR - m.aR-C
|
||||
COMMENT: If limit switch is reached, the motor will stop and start moving in the
|
||||
opposite direction until center switch is reached
|
||||
|
||||
- Encoder (Home on encoder zero pulse); HOMF - m.aR+I, HOMR - m.aR-I
|
||||
|
||||
- Limit-Encoder (Got to limit switch, than encoder zero pulse);
|
||||
HOMF - m.aR+^I, HOMR - m.aR-^I
|
||||
|
||||
- Center-Encoder (Go to the center switch than to encoder zero pulse)
|
||||
HOMF - m.a.R+C^I, HOMR - m.aR-C^I
|
||||
COMMENT: If limit switch is reached before center switch, the motor will stop
|
||||
and start moving in the opposite direction until center switch is reached
|
||||
|
||||
- Reference-Center (Driving on a reference signal to center)
|
||||
HOMF - m.aRC+, HOMR - m.aRC-
|
||||
COMMEN: If limit switch is reached, controller goes to axis error state
|
||||
|
||||
- Ref-Center-Encoder (Driving on a reference signal to center and then to
|
||||
encoder zero pulse)
|
||||
HOMF - m.aRC+^I, HOMR - m.aRC-^I
|
||||
|
||||
Reset:
|
||||
------
|
||||
Two records are provided. Record $(P)$(M)-RESET executs Phytron command: m.aC,
|
||||
where m is controller index and a is the axis index.
|
||||
|
||||
$(P)$(M)-RESET-STATUS resets the axis status by executing the Phytron command:
|
||||
SECm.a, where m is controller index and a is the axis index.
|
||||
|
||||
If user resets the MCM unit, $(P)$(M)-REINIT_ record is triggered. This record
|
||||
process the initialization records $(P)$(M)-INIT-AXIS-1/2 after a DELAY time
|
||||
defined by the macro DLY in the substitutions file.
|
||||
|
||||
|
||||
The following I1AM01 parameters are exposed as additional EPICS records:
|
||||
------------------------------------------------------------------------
|
||||
Param. index: feature;
|
||||
Record name(s):
|
||||
Comment:
|
||||
-------------------------------------
|
||||
P01: Type of movement;
|
||||
RECORDS mbbo/mbbi: $(P)$(M)-MOVE-TYP_SET/_GET;
|
||||
COMMENT: Software limits are always monitored by the motor record, so only 2
|
||||
types of movements are possible:
|
||||
- Rotational: HW limit/center switches are ignored
|
||||
- HW switches are monitored
|
||||
-------------------------------------
|
||||
P11: M0P offset for limit switch in direction towards LIMIT-;
|
||||
RECORDS ao/ai: $(P)$(M)-POS-OFFSET_SET/_GET
|
||||
-------------------------------------
|
||||
P12: M0P offset for limit switch in direction towards LIMIT+;
|
||||
RECORDS ao/ai: $(P)$(M)-NEG-OFFSET_SET/_GET
|
||||
-------------------------------------
|
||||
P13: Time lapse during initialization
|
||||
RECORDS ao/ai: $(P)$(M)-INIT-TIMEOUT_SET/_GET
|
||||
-------------------------------------
|
||||
P16: Time lapse after positioning
|
||||
RECORDS ao/ai: $(P)$(M)-POS-TIMEOUT_SET/_GET
|
||||
-------------------------------------
|
||||
P17: Defines when to use boost current
|
||||
RECORDS mbbo/mbbi: $(P)$(M)-BOOST_SET/_GET
|
||||
-------------------------------------
|
||||
P26: Encoder data transfer rate (ONLY FOR SSI)
|
||||
RECORDS mbbo/mbbi: $(P)$(M)-ENC-RATE_SET/_GET
|
||||
-------------------------------------
|
||||
P27: Limit switch type
|
||||
RECORDS mbbo/mbbi: $(P)$(M)-SWITCH-TYP_SET/_GET
|
||||
-------------------------------------
|
||||
P28: Power stage off/on
|
||||
RECORDS bo/bi: $(P)$(M)-PWR-STAGE-MODE_SET/_GET
|
||||
-------------------------------------
|
||||
P34: Encoder type
|
||||
RECORDS mbbo/mbbi: $(P)$(M)-ENC-TYP_SET/_GET
|
||||
-------------------------------------
|
||||
P35: Encoder resolution - for SSI and EnDat encoders
|
||||
RECORDS ao/ai: $(P)$(M)-ENC-RES_SET/_GET
|
||||
-------------------------------------
|
||||
P36: Encoder function: If 1, Encoder position is continuously compared to the
|
||||
motor position
|
||||
RECORDS: bo/bi: $(P)$(M)-ENC-FUNC_SET/_GET
|
||||
COMMENT: _SET is processed when $(P)$(M)-ENC-SFI_SET corresponding to parameter
|
||||
P37 is processed. If P37 > 0, then P36 is set to 1, else it is 0.
|
||||
-------------------------------------
|
||||
P37: If P36 is set to 1, controller will stop the motion when the difference
|
||||
between motor and encoder position is > P37.
|
||||
RECORDS: bo/bi: $(P)$(M)-ENC-SFI_SET/_GET
|
||||
COMMENT: If value is set to > 0, then P36 is set to 1. If P37=0, then P36=0
|
||||
-------------------------------------
|
||||
P38: Encoder direction of rotation: Positive/Negative
|
||||
RECORDS: bo/bi: $(P)$(M)-ENC-DIR_SET/_GET
|
||||
-------------------------------------
|
||||
P39: Encoder direction of rotation
|
||||
RECORDS: bo/bi: $(P)$(M)-ENC-DIR_SET/_GET
|
||||
-------------------------------------
|
||||
P40: Stop current in mA. Can be set in 10 mA increments
|
||||
RECORDS: ao/ai: $(P)$(M)-STOP-CURRENT_SET/_GET
|
||||
-------------------------------------
|
||||
P41: Run current in mA. Can be set in 10 mA increments
|
||||
RECORDS: ao/ai: $(P)$(M)-RUN-CURRENT_SET/_GET
|
||||
-------------------------------------
|
||||
P42: Boost current in mA. Can be set in 10 mA increments
|
||||
RECORDS: ao/ai: $(P)$(M)-BOOST-CURRENT_SET/_GET
|
||||
-------------------------------------
|
||||
P43: Current hold time in ms.
|
||||
RECORDS: ao/ai: $(P)$(M)-CURRENT-DELAY_SET/_GET
|
||||
-------------------------------------
|
||||
P49: Power stage temperature
|
||||
RECORDS: ai: $(P)$(M)-PS-TEMPERATURE
|
||||
-------------------------------------
|
||||
P53: Power stage monitoring
|
||||
RECORDS: bo/bi: $(P)$(M)-PS-MONITOR/_GET
|
||||
-------------------------------------
|
||||
P54: Motor temperature
|
||||
RECORDS: ai: $(P)$(M)-MOTOR-TEMP
|
||||
|
||||
|
||||
|
||||
============================================
|
||||
MC01 Controller Features - Phytron_MCM01.db:
|
||||
============================================
|
||||
This database file contains records for reading MCM01 status and to reset the
|
||||
MCM01 module.
|
||||
|
||||
Ai record $(P)-STATUS_ reads the status value from the MCM01 module, a
|
||||
mbbiDirect record is provided to set the status bits - 16 bi records are
|
||||
provided to parse these bits. An additional calc record is provided
|
||||
($(P)-CON-ERR) which sets it's value to 1 if any of the error bits are set (if
|
||||
only noticiation bits are set, e.g. terminal-activated, the value of
|
||||
$(P)-CON-ERR is 0)
|
||||
|
||||
Bo record $(P)-RESET resets the MCM01 controller, every time it is processed.
|
||||
$(P)-RESET_ alternates between 0 and 1, so the monitor is posted on every reset
|
||||
and the axis REINIT_ record can trigger the initialization procedures.
|
||||
|
||||
================================
|
||||
Motor Record - Phytron_motor.db:
|
||||
================================
|
||||
This database file is similar to basic_asyn_motor.db, the only difference is,
|
||||
that 2 additional fields are defined:
|
||||
- field(ERES,"$(ERES)") - encoder resolution
|
||||
- field(VMAX,"$(VMAX)") - maximum velocity
|
||||
|
||||
|
||||
===============================================================================
|
||||
List of remaining I1AM01 parameters handled by the motor record, internally by
|
||||
controller, or not applicable
|
||||
===============================================================================
|
||||
P02 (Units of movemnt) - Always set to step - unit conversion is done within the
|
||||
motor record.
|
||||
|
||||
P03 (Conversion factor for the thread) - Always set to 1 - unit conversion is
|
||||
done within the motor record.
|
||||
|
||||
P04 (Start/stop frequency) - Set by phytronAxis::move, before move is executed.
|
||||
|
||||
P07 (Emergency stop ramp) - Set by phytronAxis::stop, before stop is executed.
|
||||
|
||||
P08 (Initialization run frequency) - Set by phytronAxis::home, before homing is
|
||||
executed.
|
||||
|
||||
P09 (Ramp M0P) - Set by phytronAxis::home, before homing is executed.
|
||||
|
||||
P10 (Run frequency for leaving the limit switch) - Set by phytronAxis::home,
|
||||
before homing is executed
|
||||
|
||||
P14 (Run frequency during program operation) - Set by phytronAxis::move, before
|
||||
move is executed
|
||||
|
||||
P15 (Ramp for run frequency) - Set by phytronAxis::move, before move is executed
|
||||
|
||||
P18 (Used internally by controller)
|
||||
|
||||
P19 (Encoder deviation M0P counter)
|
||||
|
||||
P20 (Mechanical 0 counter) - read by phytronAxis::poll to determine motor
|
||||
position
|
||||
|
||||
P21 (Absolute counter)
|
||||
|
||||
P22 (Encoder counter) - read by phytronAxis::poll to determine encoder position
|
||||
|
||||
P23 and P24 - Software limit switches - these parameters are ignored, because
|
||||
motor record handles software limits
|
||||
|
||||
P25 (Compensation for play) - Ignored, because motor records handles backlash
|
||||
corrections
|
||||
|
||||
P29 (Not used (by controller))
|
||||
|
||||
P30 and P31 (For I4XM01 only)
|
||||
|
||||
P32 and P33 (Not used (by controller))
|
||||
|
||||
P44 (For I4XM01 only)
|
||||
|
||||
P46, P47, P48 (Not used (by controller))
|
||||
|
||||
P50 and P51 (For I4XM01 only)
|
||||
|
||||
P52 (Internally used for trigger position)
|
||||
|
||||
|
||||
GUI:
|
||||
====
|
||||
The follwoing CSS BOY GUI screens are located in motorApp/op/opi:
|
||||
|
||||
PhytronMain.opi
|
||||
---------------
|
||||
Motor record name is usually defined with 2 macros:
|
||||
record(motor, "$(P)$(M)")
|
||||
|
||||
The value of the macro $(IOC) of the PhytronMain.opi screen must match the value
|
||||
of the macro $(P) which is defined in motor.substitutions.
|
||||
|
||||
PhytronMain.opi has 2 action buttons to open screen PhytronI1AM01.opi for motor
|
||||
$(IOC):$(M), where the default values for $(M) are "m1" for the left button
|
||||
and "m2" for the right button. User must modify the values of macros $(IOC) and
|
||||
$(M) according to the macro values in motor.subsititutions.
|
||||
|
||||
PhytronMain.opi also contains a CONTROLLER STATUS line. The LED displays the
|
||||
value of record $(P)-CON-ERR (see section MC01 Controller Features). Action
|
||||
button "MORE" opens the screen PhytronMCM01Status.opi, action button "RESET"
|
||||
resets the MCM01 controller and action button "RESET CONTROLLER" resets
|
||||
controller status.
|
||||
|
||||
PhytronI1AM01.opi
|
||||
-----------------
|
||||
Status line contains a LED which displays the value of the record
|
||||
$(P)$(M)-AXIS-ERR, and an action button which displays the PhytronI1AM01.opi
|
||||
screen. Action buttons "RESET AXIS" and "RESET STATUS" are provided.
|
||||
|
||||
The remaining widgets are used to set and read back the values of supported
|
||||
I1AM01 parameters (see section I1AM01 Controller Features).
|
||||
|
||||
PhytronI1AM01Status.opi
|
||||
-----------------------
|
||||
Contains an LED for each of the 23 bi records parsing the $(P)$(M)-STATUS-1/2
|
||||
mbbiDirect records.
|
||||
|
||||
PhytronMCM01Status.opi
|
||||
----------------------
|
||||
Contains an LED for each of the 16 bi records parsing the $(P)-STATUS-BITS_
|
||||
mbbiDirect record
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
registrar(phytronRegister)
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,176 @@
|
||||
/*
|
||||
FILENAME... phytronAxisMotor.h
|
||||
USAGE... Motor record support for Phytron Axis controller.
|
||||
|
||||
Tom Slejko & Bor Marolt
|
||||
Cosylab d.d. 2014
|
||||
|
||||
Version: $Revision$
|
||||
Modified By: $Author$
|
||||
Last Modified: $Date$
|
||||
HeadURL: $URL$
|
||||
*/
|
||||
|
||||
#include "asynMotorController.h"
|
||||
#include "asynMotorAxis.h"
|
||||
|
||||
|
||||
//Number of controller specific parameters
|
||||
#define NUM_PHYTRON_PARAMS 29
|
||||
|
||||
#define MAX_VELOCITY 40000 //steps/s
|
||||
#define MIN_VELOCITY 1 //steps/s
|
||||
|
||||
#define MAX_ACCELERATION 500000 // steps/s^2
|
||||
#define MIN_ACCELERATION 4000 // steps/s^2
|
||||
|
||||
//Controller parameters
|
||||
#define controllerStatusString "CONTROLLER_STATUS"
|
||||
#define controllerStatusResetString "CONTROLLER_STATUS_RESET"
|
||||
#define resetControllerString "CONTROLLER_RESET"
|
||||
|
||||
//Axis parameters
|
||||
#define axisStatusString "AXIS_STATUS"
|
||||
#define homingProcedureString "HOMING_PROCEDURE"
|
||||
#define axisModeString "AXIS_MODE"
|
||||
#define mopOffsetPosString "MOP_POS"
|
||||
#define mopOffsetNegString "MOP_NEG"
|
||||
#define stepResolutionString "STEP_RES"
|
||||
#define stopCurrentString "STOP_CURRENT"
|
||||
#define runCurrentString "RUN_CURRENT"
|
||||
#define boostCurrentString "BOOST_CURRENT"
|
||||
#define encoderTypeString "ENCODER_TYP"
|
||||
#define initRecoveryTimeString "INIT_TIME"
|
||||
#define positionRecoveryTimeString "POSITION_TIME"
|
||||
#define boostConditionString "BOOST"
|
||||
#define encoderRateString "ENC_RATE"
|
||||
#define switchTypString "SWITCH_TYP"
|
||||
#define pwrStageModeString "PWR_STAGE_MODE"
|
||||
#define encoderResolutionString "ENC_RESOLUTION"
|
||||
#define encoderFunctionString "ENC_FUNCTION"
|
||||
#define encoderSFIWidthString "ENC_SFI_WIDTH"
|
||||
#define encoderDirectionString "ENC_DIRECTION"
|
||||
#define powerStageTempString "PS_TEMPERATURE"
|
||||
#define powerStagetMonitorString "PS_MONITOR"
|
||||
#define motorTempString "MOTOR_TEMP"
|
||||
#define currentDelayTimeString "CURRENT_DELAY_TIME"
|
||||
#define axisResetString "AXIS_RESET"
|
||||
#define axisStatusResetString "AXIS_STATUS_RESET"
|
||||
|
||||
typedef enum {
|
||||
phytronSuccess,
|
||||
phytronTimeout,
|
||||
phytronOverflow,
|
||||
phytronError,
|
||||
phytronDisconnected,
|
||||
phytronDisabled,
|
||||
phytronInvalidReturn,
|
||||
phytronInvalidCommand
|
||||
} phytronStatus;
|
||||
|
||||
enum movementType{
|
||||
stdMove,
|
||||
homeMove,
|
||||
stopMove
|
||||
};
|
||||
|
||||
enum homingType{
|
||||
limit,
|
||||
center,
|
||||
encoder,
|
||||
limitEncoder,
|
||||
centerEncoder,
|
||||
referenceCenter,
|
||||
referenceCenterEncoder,
|
||||
};
|
||||
|
||||
|
||||
class phytronAxis : public asynMotorAxis
|
||||
{
|
||||
public:
|
||||
/* These are the methods we override from the base class */
|
||||
phytronAxis(class phytronController *pC, int axis);
|
||||
void report(FILE *fp, int level);
|
||||
asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
|
||||
asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
|
||||
asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
|
||||
asynStatus stop(double acceleration);
|
||||
asynStatus poll(bool *moving);
|
||||
asynStatus setPosition(double position);
|
||||
|
||||
asynStatus setEncoderRatio(double ratio);
|
||||
asynStatus setEncoderPosition(double position);
|
||||
|
||||
float axisModuleNo_; //Used by sprintf to form commands
|
||||
|
||||
private:
|
||||
phytronController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
|
||||
* Abbreviated because it is used very frequently */
|
||||
|
||||
phytronStatus setVelocity(double minVelocity, double maxVelocity, int moveType);
|
||||
phytronStatus setAcceleration(double acceleration, int movementType);
|
||||
|
||||
size_t response_len;
|
||||
|
||||
friend class phytronController;
|
||||
};
|
||||
|
||||
class phytronController : public asynMotorController {
|
||||
public:
|
||||
phytronController(const char *portName, const char *phytronPortName, double movingPollPeriod, double idlePollPeriod, double timeout);
|
||||
asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
|
||||
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
|
||||
asynStatus readFloat64(asynUser *pasynUser, epicsFloat64 *value);
|
||||
|
||||
void report(FILE *fp, int level);
|
||||
phytronAxis* getAxis(asynUser *pasynUser);
|
||||
phytronAxis* getAxis(int axisNo);
|
||||
|
||||
phytronStatus sendPhytronCommand(const char *command, char *response_buffer, size_t response_max_len, size_t *nread);
|
||||
|
||||
void resetAxisEncoderRatio();
|
||||
|
||||
//casts phytronStatus to asynStatus
|
||||
asynStatus phyToAsyn(phytronStatus phyStatus);
|
||||
|
||||
char * controllerName_;
|
||||
std::vector<phytronAxis*> axes;
|
||||
|
||||
protected:
|
||||
//Additional parameters used by additional records
|
||||
int axisStatus_;
|
||||
int controllerStatus_;
|
||||
int homingProcedure_;
|
||||
int axisMode_;
|
||||
int mopOffsetPos_;
|
||||
int mopOffsetNeg_;
|
||||
int stepResolution_;
|
||||
int stopCurrent_;
|
||||
int runCurrent_;
|
||||
int boostCurrent_;
|
||||
int encoderType_;
|
||||
int initRecoveryTime_;
|
||||
int positionRecoveryTime_;
|
||||
int boost_;
|
||||
int encoderRate_;
|
||||
int switchTyp_;
|
||||
int pwrStageMode_;
|
||||
int encoderRes_;
|
||||
int encoderFunc_;
|
||||
int encoderSFIWidth_;
|
||||
int encoderDirection_;
|
||||
int powerStageTemp_;
|
||||
int powerStageMonitor_;
|
||||
int motorTemp_;
|
||||
int currentDelayTime_;
|
||||
int resetController_;
|
||||
int axisReset_;
|
||||
int axisStatusReset_;
|
||||
int controllerStatusReset_;
|
||||
|
||||
private:
|
||||
double timeout_;
|
||||
|
||||
|
||||
friend class phytronAxis;
|
||||
};
|
||||
Reference in New Issue
Block a user