NewFocus PicoMotor Controller (87xx) =================================== This motorRecord driver supports the NewFocus 8750 and 8752 PicoMotor Network Controllers. 8750 - RS232 @ 19200Baud (8data, No Parity, 1stop) 8752 - RS232 @ 19200Baud or Ethernet (port 23) Support Motor Drivers (daisychained) 8753 - 3 Channel Open-loop 8751 - 1 Channel Closed-loop Motor Resolution: Standard Picomotor - ~30nm Tiny Picomotor - ~100nm Serial Port Config =================== DB9: Male Tx - Pin 2 Rx - Pin 3 Null-Modem (swap 2-3) required for IP-Octal breakout module Baud: 19200 (eight data bits, one stop bit, and no parity) **** EXAMPLE CONFIGURATION FOR VXWORKS TARGETS **** Ethernet Config (8752 Only) ============================ Commands sent using RS232 port EHCO ComA ON Turn echo on RS232 port (Computer) IPMODE (STAT, DHCP) - IP Mode (Static IP, Use DHCP Server) IPADDR IP Setting NETMASK Network Mask MACADDR MAC Address GATEWAY Network Gateway SAV Save Configuration Settings After setting up ethernet parameters and SAV(ing) reset the controller. The IPMODE and IPADDR do not take effect untill after a reboot. Example: >IPMODE=STAT >IPADDR=164.54.9.33 >NETMASK=255.255.252.0 >GATEWAY=164.54.8.1 >SAV Other Info =================================== Test Versions: VER 8750 - Version 1.0.13 8752 - Version 1.5.0, 1.6.0 8752 - Version 1.5.4 (NO '>' on STA command - use '/n' for input EOS) Detect driver types DRT Driver Type (8752 Only) 1 = 3 channel open loop (8753) 2 = 1 channel closed loop (8751) EPICS SETUP ============ xxxApp/src/Makefile ------------------- xxx_vxWorks_LIBS += NewFocus xxxApp/src/xxxCommonInclude.dbd -------------------------------- include "devNewFocus.dbd" iocBoot/iocxxx/serial.cmd --------------------------- tyGSAsynInit("serial1", "UART_0", 1, 19200,'N',1,8,'N',">","\r") /* NewFocus Pico Motor */ . # Setup IP port for 8752 drvAsynIPPortConfigure("serial3", "164.54.9.33:23", 0, 0, 0) asynOctetSetInputEos("serial3",0,">") asynOctetSetOutputEos("serial3",0,"\r") . . # New Focus Picomotor Network Controller (model 87xx) (setup parameters: # (1) maximum number of controllers in system # (2) maximum number of drivers per controller (1 - 3) # (3) motor task polling rate (min=1Hz,max=60Hz) #drvPMNC87xxdebug=0 PMNC87xxSetup(1, 2, 10) # New Focuc Picomotor Network Controller (model 87xx) configuration parameters: # (1) controller# being configured, # (2) asyn port name (string) PMNC87xxConfig(0, "serial1") iocBoot/iocxxx/motor.substitutions ---------------------------------- {xxx:, 1, m$(N), "PMNC87xx", 0, 0, "motor $(N)", degrees, Pos, 10, 0., 1., 0, 1, .2, 1e-3, 3, 100, -100, ""} {xxx:, 2 m$(N), "PMNC87xx", 0, 1, "motor $(N)", degrees, Pos, 60, 0., 1.5, 0, 1, .2, 1e-3, 3, 100, -100, ""} {xxx:, 3, m$(N), "PMNC87xx", 0, 2, "motor $(N)", degrees, Pos, 60, 0., 1., 0, 1, .2, 1e-3, 3, 100, -100, ""}