forked from epics_driver_modules/motorBase
Ron Sluiter
340 lines
11 KiB
Plaintext
340 lines
11 KiB
Plaintext
# The is the "ASYN" example for communication to either a Newport MM4000/5 or an
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# IMS483 controller. The examples must be configured by including or omitting
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# comment characters (i.e., #'s) from this file.
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# "#!" marks lines that can be uncommented.
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# The following must be added for many board support packages
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#!cd "... IOC st.cmd complete directory path ... "
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< cdCommands
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#!< ../nfsCommands
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cd topbin
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# If the VxWorks kernel was built using the project facility, the following must
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# be added before any C++ code is loaded (see SPR #28980).
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sysCplusEnable=1
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ld < WithAsynVx.munch
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cd startup
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dbLoadDatabase("$(TOP)/dbd/WithAsynVx.dbd")
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WithAsynVx_registerRecordDeviceDriver(pdbbase)
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dbLoadTemplate("motor.substitutions")
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dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=IOC:")
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# Configure the ASYN server code. This MUST be configured too!
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< st_asynserver.cmd.Vx
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# Newport MM3000 and MM4000/5/6 driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz,max=60Hz)
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#!MM3000Setup(1, 10)
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#!MM4000Setup(1, 10)
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# Newport MM3000 and MM4000/5/6 driver configuration parameters:
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# (1) controller# being configured
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# (2) ASYN port name
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# (3) address (GPIB only)
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#!MM3000Config(0, "a-Serial[0]")
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#!drvMM3000debug=4
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#!MM4000Config(0, "a-Serial[0]")
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#!drvMM4000debug=4
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# The MM4000 driver does not set end of string (EOS).
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# for RS232 serial,
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#!asynOctetSetInputEos( "a-Serial[0]",0,"\r")
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#!asynOctetSetOutputEos("a-Serial[0]",0,"\r")
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# for GPIB,
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#!asynInterposeEosConfig("L0", 10, 1, 1)
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#!asynOctetSetInputEos( "L0",10,"\r")
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#!asynOctetSetOutputEos("L0",10,"\r")
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# Newport PM500 driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz,max=60Hz)
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#!PM500Setup(1, 10)
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# Newport PM500 configuration parameters:
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# (1) controller# being configured
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# (2) ASYN port name
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# (3) address (GPIB only)
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#!PM500Config(0, "a-Serial[0]")
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#!drvPM500debug=4
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# IMS IM483 driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz,max=60Hz)
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# SM - single mode PL - party mode
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#!IM483SMSetup(1, 10)
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#!IM483PLSetup(1, 10)
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# IMS IM483 configuration parameters:
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# (1) controller# (chain#) being configured,
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# (2) ASYN port name
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# SM - single mode PL - party mode
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#!IM483SMConfig(0, "a-Serial[0]")
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#!drvIM483SMdebug=4
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#!IM483PLConfig(0, "a-Serial[0]")
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#!drvIM483PLdebug=4
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# MCB-4B driver setup parameters:
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# (1) maximum # of controllers,
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# (2) motor task polling rate (min=1Hz, max=60Hz)
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#!MCB4BSetup(1, 10)
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# MCB-4B driver configuration parameters:
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# (1) controller
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# (2) ASYN port name
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#!MCB4BConfig(0, "a-Serial[0]")
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#!asynOctetSetInputEos("a-Serial[0]",0,"\r")
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#!asynOctetSetOutputEos("a-Serial[0]",0,"\r")
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#!drvMCB4BDebug=4
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# Newport ESP300 driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz,max=60Hz)
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#!ESP300Setup(1, 10)
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# Newport ESP300 driver configuration parameters:
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# (1) controller# being configured
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# (2) ASYN port name
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# (3) address (GPIB only)
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#!ESP300Config(0, "a-Serial[0]")
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#!drvESP300debug = 4
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# MicroMo MVP2001 driver setup parameters:
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#
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# NOTE: The 1st controller on each chain should have it's address = 1.
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# The rest of the controllers on a chain should follow sequentially.
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#
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#
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# int MVP2001Setup(int num_cards, /* number of CHAINS of controllers */
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# int scan_rate) /* polling rate (Min=1Hz, max=60Hz) */
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#!MVP2001Setup(1, 10)
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# int MVP2001Config(int card, /* CHAIN being configured */
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# (2) ASYN port name
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#!MVP2001Config(0, "a-Serial[0]")
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#!drvMVP2001debug=4
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# PI C-844 driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz,max=60Hz)
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#!PIC844Setup(1, 10)
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# PI C-844 driver configuration parameters:
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# (1) controller# being configured
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# (2) ASYN port name
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# (3) address (GPIB only)
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#!PIC844Config(0, "a-Serial[0]")
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#!drvPIC844debug = 4
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# PI C-848 driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz,max=60Hz)
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#!PIC848Setup(1, 2)
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# PI C-848 driver configuration parameters:
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# (1) controller# being configured,
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# (2) ASYN port name
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#!PIC848Config(0, "a-Serial[0]")
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#!drvPIC848debug = 4
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# PI E-662 Piezo driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz, max=60Hz)
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#!PIC662Setup(1, 60)
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# PI E-662 Piezo driver configuration parameters:
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# (1) controller being configured
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# (2) asyn port name (string)
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#!PIC662Config(0, "serial1")
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#!drvPIC662debug = 4
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# PI C-862 DC-motor driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz, max=60Hz)
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#!PIC862Setup(1, 60)
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# PI C-862 DC-motor driver configuration parameters:
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# (1) controller being configured
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# (2) asyn port name (string)
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#!PIC862Config(0, "serial1")
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#!drvPIC862debug = 4
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# New Focus Picomotor Network Controller (model 8750/2) (setup parameters:
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# (1) maximum number of controllers in system
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# (2) maximum number of drivers per controller (1 - 3)
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# (3) motor task polling rate (min=1Hz,max=60Hz)
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#!PMNC87xxSetup(1, 2, 10)
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# New Focuc Picomotor Network Controller (model 8750/2) configuration parameters:
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# (1) controller# being configured,
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# (2) asyn port name (string)
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#!PMNC87xxConfig(0, "serial2")
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#!drvPMNC87xxdebug=4
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# Micos MoCo driver setup parameters:
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# Load MicosSetup once.
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# (1) max # of controller groups. Controller groups are per serial
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# port.
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# (2) max # axes per controller group. Maximum 16. (addr 0-15)
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# (3) motor task polling rate (min=1Hz, max=60Hz, 10Hz works well)
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# Example:
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# MicosSetup(1, 2, 10) 1 group. 2 axes (controllers) in the group.
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# 10Hz poll.
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#!MicosSetup(1, 2, 10)
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# Micos MoCo driver configuration parameters:
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# Load one MicosConfig for each group of Micos drivers.
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# (1) "Controller group" number
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# (2) ASYN port name
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#!MicosConfig(0, "a-Serial[0]")
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#!drvMicosDebug = 4
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# IMS MDrive driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz,max=60Hz)
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#!MDriveSetup(1, 10)
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# IMS MDrive driver configuration parameters:
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# (1) controller# being configured
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#!MDriveConfig(0, "a-Serial[0]")
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#!drvMDrivedebug = 4
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# Newport XPSC8 driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz,max=60Hz)
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#!XPSC8Setup(2, 60)
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# Newport XPSC8 driver configuration parameters:
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# (1) controller# being configured
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# (2) ASYN port name
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# (3) ASYN port #
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# (4) number of axes
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#!XPSC8Config(0, "tcp1", 0, 6)
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#!XPSC8Config(1, "tcp2", 0, 8)
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# Newport XPSC8 group and positioner name configuration:
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# (1) controller# being configured
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# (2) axis# being configured.
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# (3) groupnumber
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# (4) groupsize
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# (5) # of axes in group
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# (6) group name
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# (7) positioner name
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#!XPSC8NameConfig(0,0,0,6,0,"GROUP1","GROUP1.PHI")
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#!XPSC8NameConfig(0,1,0,6,1,"GROUP1","GROUP1.KAPPA")
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#!XPSC8NameConfig(0,2,0,6,2,"GROUP1","GROUP1.OMEGA")
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#!XPSC8NameConfig(0,3,0,6,3,"GROUP1","GROUP1.PSI")
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#!XPSC8NameConfig(0,4,0,6,4,"GROUP1","GROUP1.2THETA")
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#!XPSC8NameConfig(0,5,0,6,5,"GROUP1","GROUP1.NU")
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#!XPSC8NameConfig(1,0,0,1,0,"GROUP1","GROUP1.Y1_BASE")
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#!XPSC8NameConfig(1,1,1,1,0,"GROUP2","GROUP2.Y2_BASE")
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#!XPSC8NameConfig(1,2,2,1,0,"GROUP3","GROUP3.Y3_BASE")
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#!XPSC8NameConfig(1,3,3,1,0,"GROUP4","GROUP4.TRX_BASE")
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#!XPSC8NameConfig(1,4,4,1,0,"GROUP5","GROUP5.THETA-Y_BASE")
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#!XPSC8NameConfig(1,5,5,1,0,"GROUP6","GROUP6.X_SAMPLE")
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#!XPSC8NameConfig(1,6,6,1,0,"GROUP7","GROUP7.Y_SAMPLE")
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#!XPSC8NameConfig(1,7,7,1,0,"GROUP8","GROUP8.Z_SAMPLE")
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# The XPSC8 driver does not set the ASYN end of string (EOS).
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#!asynOctetSetInputEos("tcp1",0,"")
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#!asynOctetSetOutputEos("tcp1",0,"")
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#!asynOctetSetInputEos("tcp2",0,"")
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#!asynOctetSetOutputEos("tcp2",0,"")
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# OMS PC68/78 stand-alone serial driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz,max=60Hz)
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#!OmsPC68Setup(1, 10)
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# OMS PC68/78 stand-alone serial driver configuration parameters:
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# (1) Card# being configured
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# (2) asyn port name
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#!OmsPC68Config(0, "L0")
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#!drvOmsPC68debug=4
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# Kohzu SC-800 motor controller setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz,max=60Hz)
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#!SC800Setup(1, 5)
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# Kohzu SC-800 motor controller configuration parameters:
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# (1) controller# being configured
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# (2) ASYN port name
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# (3) address (GPIB only)
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#!SC800Config(0, "L0", 0)
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#!drvSC800debug=4
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# Faulhaber MCDC2805 driver setup parameters:
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# (1)Max. controller count
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# (2)Polling rate
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#!MCDC2805Setup(1, 10)
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# Faulhaber MCDC2805 driver configuration parameters:
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# (1)Card being configured
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# (2)# modules on this serial port
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# (3)asyn port name
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#!MCDC2805Config(0, 1, "L0")
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#!drvMCDC2805debug=4
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# The MCDC2805 driver does not set end of string (EOS).
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#!asynOctetSetInputEos("L0",0,"\r")
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#!asynOctetSetOutputEos("L0",0,"\r")
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# attocube ANC 150 asyn motor driver setup parameter.
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#!ANC150AsynSetup(1) /* number of ANC150 controllers in system. */
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# attocube ANC 150 asyn motor driver configure parameters.
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# (1) Controller number being configured
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# (2) ASYN port name
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# (3) Number of axes this controller supports
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# (4) Time to poll (msec) when an axis is in motion
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# (5) Time to poll (msec) when an axis is idle. 0 for no polling
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#!ANC150AsynConfig(0, "a-Serial[1]", 3, 250, 2000)
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# Aerotech Ensemble digital servo controller Setup
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz,max=60Hz)
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#!EnsembleSetup(1, 10)
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# Aerotech Ensemble digital servo controller Configure
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# (1) controller# being configured,
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# (2) asyn port name (string)
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#!EnsembleConfig(0, "a-Serial[0]")
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# Newport MM4000/5/6 asyn motor driver setup parameter.
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#!MM4000AsynSetup(1) /* number of MM4000 controllers in system. */
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# Newport MM4000/5/6 asyn motor driver configure parameters.
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# (1) Controller number being configured
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# (2) ASYN port name
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# (3) ASYN address (GPIB only)
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# (4) Number of axes this controller supports
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# (5) Time to poll (msec) when an axis is in motion
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# (6) Time to poll (msec) when an axis is idle. 0 for no polling
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#!MM4000AsynConfig(0, "a-Serial[1]", 0, 1, 100, 250)
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# Asyn-based Motor Record support
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# (1) Asyn port
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# (2) Driver name
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# (3) Controller index
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# (4) Max. number of axes
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#!drvAsynMotorConfigure("ANC150","motorANC150",0,1)
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iocInit
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# motorUtil (allstop & alldone)
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motorUtilInit("IOC:")
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