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