forked from epics_driver_modules/motorBase
MarkRivers
121 lines
4.1 KiB
Plaintext
121 lines
4.1 KiB
Plaintext
=======================================
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ImsMDrivePlusMotor AsynPortDriver Notes
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Author: Nia Fong, SLAC National Laboratory
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First Initial: 10/28/2011
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This driver is based on "model 3" motor asyn port driver defined by Mark Rivers.
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The driver assumes:
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1) each controller is configured for a single axis
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2) the motor is set up for Party Mode (PY=1) and Echo Mode 2 (EM=2)
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=======================================
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=======================
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Building an Application
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=======================
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Building the driver into an application requires
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1) The 'asyn', 'motor' and 'ImsMDrivePlusMotor' (this driver) packages/modules to be built and
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installed. The application's RELEASE file must point to these packages so that the build process
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locates headers and libraries etc.
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2) The application's '.dbd' file must contain
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- motorSupport.dbd
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- drvAsynIPPort.dbd (or equivalent 'asyn' port driver package)
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- devImsMotor.dbd (this include support for all Ims drivers)
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These '.dbd' files are best listed in the application src/Makefile:
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<app>_DBD += motorSupport.dbd
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<app>_DBD += devImsMotor.dbd
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<app>_DBD += drvAsynIPPort.dbd
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3) The application must be linked against the 'Ims', 'motor' and 'asyn'
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libraries, e.g.,
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<app>_LIBS += Ims motor asyn
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===============
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Custom Database
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===============
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There is an IMS specific IMS_extra.db database that contains IMS-specific records.
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IMS_S: saves user variables and flags to controller's NVM
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record(bo,"$(DEV):$(AREA):$(LOC):IMS_S") {
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field(DESC, "Ims Save to NVM")
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field(PINI, "NO")
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field(DTYP, "asynInt32")
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field(OUT, "@asyn($(PORT),$(ADDR),$(TIMEOUT))IMS_SAVETONVM")
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field(VAL, "0")
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field(ZNAM, "No")
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field(ONAM, "Yes")
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}
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=============================
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Driver Run-Time Configuration
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=============================
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To configure the motor from the iocsh or a C/C++ application
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1) Create and configure an asyn IP port
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drvAsynIPPortConfigure(IOPortName, port, priority, disable auto-connect, no process EOS)
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motorPortName: name string assigned to the asyn IP port being created
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port: host:port [protocol]
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2) Create and configure an ImsMDrivePlus controller
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ImsMDrivePlusCreateController(motorPortName, IOPortName, devName, movingPollPeriod, idlePollPeriod)
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motorPortName: name string assigned to the controller
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IOPortName: name of asyn IO port that was created by drvAsynIPPortConfigure()
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devName: unique device name used to address the motor in MCode
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NOTE: the device name is prepended to all MCode commands to communicate in Party Mode.
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See README file for more information.
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movingPollPeriod: time in milliseconds between polls when axis is moving
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idlePollPeriod: time in milliseconds between polls when axis is not moving
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=========================
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Example iocsh st.cmd file
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=========================
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#!../../bin/linux-x86/ImsMDrivePlus
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# Register all support components
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dbLoadDatabase("dbd/ImsMDrivePlus.dbd")
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ImsMDrivePlus_registerRecordDeviceDriver pdbbase
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# Motors substitutions, customize this for your motor
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dbLoadTemplate "db/motor.mdriveplus.substitutions"
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# Configure asyn communication port, first
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drvAsynIPPortConfigure("M06", "ts-b34-nw08:2101", 0, 0, 0 )
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# Configure one controller per motor, each controller just has 1 axis
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ImsMDrivePlusCreateController("IMS1", "M06", "1", 200, 5000)
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# Optional: Enable tracing
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asynSetTraceIOMask("IMS1",0,2)
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asynSetTraceMask("IMS1",0,2)
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=============================================
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Example application database substitions file
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=============================================
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Db/motor.mdrive.substitutions file:
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file "$(MOTOR)/db/basic_asyn_motor.db"
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{
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pattern
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{P, N, M, DTYP, PORT, DESC, ADDR, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, DHLM, DLLM, MRES, PREC, INIT}
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{IMS:, 1, 1, "asynMotor", IMS1, "MDrive23", 0, mm, Pos, 3.0, 0.017, 2.0, 0, 0.017, 2.0, 100, -100, 0.000083, 4, ""}
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}
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file "$(MOTOR)/db/IMS_extra.db"
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{
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pattern
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{DEV, AREA, LOC, PORT, ADDR, TIMEOUT}
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{ims, IOC, 1, IMS1, 0, 1}
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