forked from epics_driver_modules/motorBase
Ron SluiterNewFocus 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
<power cycle>
Other Info
===================================
Test Versions:
VER<cmnd>
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, ""}