forked from epics_driver_modules/motorBase
- Added PM500 and IMS file; st.cmd commands.
This commit is contained in:
Ron Sluiter
+172
-55
@@ -40,21 +40,24 @@ Contents</h2>
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<a NAME="Overview"></a>
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<h2>
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Overview</h2>
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This documentation describes version 4.1 of the EPICS motor record, and
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related EPICS software required to build and use it. Version 4.1
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of the motor record is compatible with EPICS baseR3.13.1.1 and above.
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This documentation describes version 4.2 of the EPICS motor record, and
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related EPICS software required to build and use it. Version 4.2
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of the motor record is compatible with EPICS baseR3.13.2 and above.
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<p>The motor record is intended to support motors of all kinds, but currently
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supports only the following variety of motor controllers (in addition to
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Soft Channel support):
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<ul>
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<li>
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Oregon Microsystems VME8, VME44 and VME58 series.</li>
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Oregon Micro Systems, Inc. models; VME8, VME44 and VME58.</li>
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<li>
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Highland Technologies V540.</li>
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Highland Technologies model V540.</li>
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<li>
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Newport MM3000, MM4000 and MM4005.</li>
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Newport models MM3000, MM4000, MM4005 and PM500.</li>
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<li>
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Intelligent Motion Systems, Inc. model IM483.</li>
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</ul>
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The record maintains two coordinate systems for motor position ("user"
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and "dial" coordinates); displays drive and readback values; enforces limits
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@@ -143,7 +146,7 @@ described below.
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</ul>
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<hr>
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<table BORDER >
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<table BORDER NOSAVE >
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<caption><a NAME="Fields_alphabetical"></a>
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<h2>
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Alphabetical list of record-specific fields</h2>
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@@ -1054,7 +1057,7 @@ down to find the actual item.</caption>
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<td>Step Size (EGU) </td>
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<td>FLOAT</td>
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<td>DOUBLE</td>
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<td></td>
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</tr>
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@@ -1196,7 +1199,7 @@ down to find the actual item.</caption>
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<td>R/W </td>
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<td>Speed (revs/sec)</td>
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<td>Speed (RPS)</td>
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<td>FLOAT </td>
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@@ -1512,6 +1515,22 @@ record's SCAN field is set to "Passive."</td>
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<td>No access allowed</td>
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</tr>
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<tr VALIGN=TOP>
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<td>Note: In the <b>Prompt </b>column above:</td>
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</tr>
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<tr VALIGN=TOP>
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<td>EGU</td>
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<td>Engineering Units</td>
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</tr>
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<tr VALIGN=TOP>
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<td>RPS</td>
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<td>Revolutions Per Second</td>
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</tr>
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</table>
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</td>
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</tr>
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@@ -1814,8 +1833,9 @@ systems can be configured to the opposite polarity of the motor controller's.</t
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<td>FLOAT </td>
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<td>Encoder resolution: the distance or angle, in engineering units, associated
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with a single encoder step. ERES may be positive or negative, but currently
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it must have the same sign as MRES. </td>
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with a single encoder step. ERES may be positive or negative; it must have
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the same sign as MRES; and it must be nonzero. If the user sets ERES
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to zero, the record will overwrite it with MRES. </td>
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</tr>
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<tr VALIGN=TOP>
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@@ -1871,7 +1891,19 @@ MRES. </td>
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<td>Switch: nonzero value tells the record to read the encoder (if the
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hardware indicates an encoder is present) and to ignore the value read
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back from the hardware's step-count register. </td>
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back from the hardware's step-count register.
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<p>The state of the UEIP, together with the MSTA encoder indicator, determine:
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<ol>
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<li>
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if the RRBV is set to either the feedback (REP) or the command (RMP) position.</li>
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<li>
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if the RES is set to either the feedback (ERES) or the command (MRES) resolution.</li>
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<li>
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whether absolute or relative position commands are used.</li>
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</ol>
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</td>
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</tr>
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<tr VALIGN=TOP>
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@@ -1970,6 +2002,11 @@ checking.</td>
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For example, if the minimum is entered and it exceeds the maximum, then
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the maximum is set to the new minimum value. A VMAX value of zero
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disables maximum velocity range checking.
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<p>At boot-up, if one field of a field pair (i.e., VMAX/SMAX, VBAS/SBAS,
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VELO/S, BVEL/SBAK) is zero and the other field is nonzero, the nonzero
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field takes precedence. If both fields of a given field pair are
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nonzero, the RPS member of the field pair (i.e., SMAX, SBAS, S, SBAK) takes
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precedence.
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<p>Slew (VELO/S) and backup (BVEL/SBAK) velocity fields are silently forced
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by the motor record to be within the range set by VMAX/SMAX and VBAS/SBAS,
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inclusively.
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@@ -1999,7 +2036,7 @@ one motor pulse. </td>
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<td>R/W</td>
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<td>Speed (revs/sec) </td>
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<td>Speed (RPS) </td>
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<td>FLOAT </td>
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@@ -2571,7 +2608,7 @@ RHLS. </td>
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<td>R</td>
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<td>At Low Limit Switch </td>
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<td>At Low Limit Switch</td>
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<td>SHORT</td>
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</tr>
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@@ -2955,7 +2992,7 @@ Status/readback fields</h2>
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<tr VALIGN=TOP>
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<td>DMOV </td>
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<td>R </td>
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<td>R</td>
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<td>Done moving to value </td>
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@@ -3482,11 +3519,11 @@ by MEDM and other channel-access clients. </td>
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<td>For VME based devices (i.e., OMS VME8/44, OMS VME58 and V544) this
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is the VME card number, derived from the output link. Cards are numbered
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from zero according to their VME addresses. Oregon Microsystems series
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VME8 and VME44 cards occur in the same series, since they are handled by
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the same driver. Oregon Microsystems VME58 cards are numbered separately,
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as are Highland Technology V540 cards. This field is set to -1 for
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non-VME based device/drivers.</td>
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from zero according to their VME addresses. Oregon Micro Systems
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series VME8 and VME44 cards occur in the same series, since they are handled
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by the same driver. Oregon Micro Systems VME58 cards are numbered
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separately, as are Highland Technology V540 cards. This field is
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set to -1 for non-VME based device/drivers.</td>
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</tr>
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<tr NOSAVE>
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@@ -3830,27 +3867,27 @@ device drivers.</td>
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<tr>
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<td>devOmsCom.c</td>
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<td>Device support common to all Oregon Microsystems device drivers.</td>
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<td>Device support common to all Oregon Micro Systems device drivers.</td>
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</tr>
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<tr>
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<td>devOmsCom.h </td>
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<td>Device support header file common to all Oregon Microsystems device
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<td>Device support header file common to all Oregon Micro Systems device
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drivers.</td>
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</tr>
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<tr>
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<td>drvOmsCom.h</td>
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<td>Driver support header file common to all Oregon Microsystems device
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<td>Driver support header file common to all Oregon Micro Systems device
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drivers.</td>
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</tr>
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<tr>
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<td></td>
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<td>NOTE: The above files are required for any and all Oregon Microsystems
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<td>NOTE: The above files are required for any and all Oregon Micro Systems
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device drivers.</td>
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</tr>
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@@ -3863,13 +3900,13 @@ device drivers.</td>
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<tr VALIGN=TOP>
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<td>devOms.c </td>
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<td>Device support for Oregon Microsystems VME8 and VME44 series boards</td>
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<td>Device support for Oregon Micro Systems VME8 and VME44 series boards</td>
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</tr>
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<tr VALIGN=TOP>
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<td>drvOms.c</td>
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<td>Driver for Oregon Microsystems VME8 and VME44 series boards</td>
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<td>Driver for Oregon Micro Systems VME8 and VME44 series boards</td>
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</tr>
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<tr VALIGN=TOP>
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@@ -3887,13 +3924,13 @@ device drivers.</td>
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<tr VALIGN=TOP>
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<td>devOms58.c </td>
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<td>Device support for Oregon Microsystems VME58 series boards</td>
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<td>Device support for Oregon Micro Systems VME58 series boards</td>
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</tr>
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<tr VALIGN=TOP>
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<td>drvOms58.c </td>
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<td>Driver for Oregon Microsystems VME58 series boards</td>
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<td>Driver for Oregon Micro Systems VME58 series boards</td>
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</tr>
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<tr VALIGN=TOP>
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@@ -3938,30 +3975,6 @@ device drivers.</td>
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<td>Common header included by all Newport Motion Master device drivers.</td>
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</tr>
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<tr>
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<td>gpibIO.h</td>
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<td>GPIB communication include file.</td>
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</tr>
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<tr>
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<td>gpibIO.c</td>
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<td>GPIB interface via Hideos.</td>
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</tr>
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<tr>
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<td>serialIO.h </td>
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<td>Serial communication include file.</td>
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</tr>
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<tr>
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<td>serialIO.cc</td>
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<td>Serial communication interface via Hideos.</td>
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</tr>
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<tr>
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<td></td>
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@@ -3994,9 +4007,15 @@ device drivers.</td>
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</tr>
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<tr>
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<td></td>
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<td>devPM500.c</td>
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<td></td>
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<td>Device support for Newport PM500.</td>
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</tr>
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<tr>
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<td>drvPM500.c</td>
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<td>Driver for Newport PM500.</td>
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</tr>
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<tr>
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@@ -4032,6 +4051,84 @@ they are record oriented (devSoft.c) or CA oriented (devSoftAux.c).</td>
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<td></td>
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</tr>
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<tr>
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<td>gpibIO.h</td>
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<td>GPIB communication include file.</td>
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</tr>
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<tr>
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<td>gpibIO.c</td>
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<td>GPIB interface via Hideos.</td>
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</tr>
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<tr>
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<td>serialIO.h </td>
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<td>Serial communication include file.</td>
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</tr>
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<tr>
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<td>serialIO.cc</td>
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<td>Serial communication interface via Hideos.</td>
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</tr>
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<tr>
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<td>serialIOMPF.cc</td>
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<td>Serial communication interface via MPF.</td>
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</tr>
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<tr>
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<td></td>
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<td></td>
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</tr>
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<tr>
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<td>drvIM483.h</td>
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<td>Common header included by all IMS device drivers.</td>
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</tr>
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<tr>
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<td>dev483PL.c</td>
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<td>Device support for IM483 in <i>party line</i> communication mode.</td>
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</tr>
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<tr>
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<td>dev483SM.c</td>
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<td>Device support for IM483 in <i>single mode</i> communication mode.</td>
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</tr>
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<tr>
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<td>drv483PL.c</td>
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<td>Driver for IM483 in <i>party line</i> communication mode.</td>
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</tr>
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<tr>
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<td>drv483SM.c</td>
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<td>Driver for IM483 in <i>single mode </i>communication mode.</td>
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</tr>
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<tr>
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<td></td>
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<td></td>
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</tr>
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<tr>
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<td></td>
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<td></td>
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</tr>
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<tr VALIGN=TOP>
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<td>Makefile.Vx</td>
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@@ -4220,10 +4317,23 @@ intVectBase, intLevel, pollRate)</tt>
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pollRate)</tt>
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<br><tt> v544Setup(nCards, nAxes, baseAddress, intVectBase,
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intLevel, pollRate)</tt>
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<p><tt>MM3000Setup(nCards, Unused,
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pollRate)</tt>
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<br><tt>MM3000Config(card#, portType, GPIB link or hideos_card#, GPIB address
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or hideos_task name)</tt>
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<p><tt>MM4000Setup(nCards, Unused,
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pollRate)</tt>
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<br><tt>MM4000Config(card#, portType, GPIB link or hideos_card#, GPIB address
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or hideos_task name)</tt></td>
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or hideos_task name)</tt><tt></tt>
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<p><tt>IM483SMSetup(nCards, Unused,
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pollRate) </tt>
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<br><tt>IM483SMConfig(card#, portType, GPIB link or hideos_card#, GPIB
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address or hideos_task name) </tt><tt></tt>
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<p><tt>IM483[PL/SM]Setup(nCommNet, Unused,
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pollRate) </tt>
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<br><tt>IM483[PL/sm]Config(CommNet#, portType, GPIB link or hideos_card#,
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GPIB address or hideos_task name) </tt>
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<br><tt></tt> </td>
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</tr>
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<tr VALIGN=TOP>
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@@ -4232,6 +4342,13 @@ or hideos_task name)</tt></td>
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<td>the actual number of cards may be less, but not greater than this</td>
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</tr>
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<tr>
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<td>nCommNet</td>
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<td>the number of Communication networks (e.g., the number of RS-422
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networks for a IM483PL device).</td>
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</tr>
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<tr>
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<td>nAxes</td>
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