motorBase

                     Parker 6K8 Motor Controller Series
==============================================================================

Ethernet Configuration
----------------------------------

Default Ethernet Address: 192.168.10.30


Ascii Command Port: 5002


Note: This controller's ethernet port only accepts one server at a 
      time. If the RS232 is in use then the ethernet port is closed. 

Controller Configuration 
------------------------------------------
Disable Echo
	ECHO0
Enable continuous command mode
	COMEXEC1	

Communication Settings
	EOL13,10,0
	EOT13,0,0
	ERRLVL4
	ERRDEF13,10,45,32
	ERROK13,10,62,32
	ERRBAD13,10,63,32

---------------- Network  Commands -------------------
NTADDRxx,xx,xx,xx =    network IP
NTMASKxxx,xxx,xxx,xxx = network mask
NTFEN2 = network enable

Workstations cannot link to 6K Controllers without
an explicit arp table entry using the 'arp' command.

arp -s <6K IP addr> <6K MAC addr> <Workstation IP addr>
       
* Use the 6K 'TNT' command to see the ip and MAC address


Commands 
------------------------------------------

REVISION
--------
TREV 
*TREV92-016740-01-6.4.0 GEM6K GT6K-L8 
(60 characters)

CONTINUOUS COMMAND MODE
------------------------
COMEXC1 = set on, required for status updates during motion.
	****(No Reply)***

LIMIT SWITCH ENABE
-----------------------
LH3 - enable hardware LS
LH0 - disable hardware LS

ENABLE DRIVE
-------------
DRIVE1 - enable drive (must be renable after a dreset)
 *****(No Reply when Set)*********

DRIVE <cr>
*DRIVE<state> 0 or 1

MOTION MODE
-------------
MA<0/1> - Set incremental or absolute mode
	0 = incremental 
	1 = absolute

MC1     - Coninutous Mode (Jog)

MOTION PARAMETERS
------------------
A<accel> - set acceleration units/sec^2

A<cr>
*A#### - prints acceleration

V<vel> - velocity

D<distance> - set distance

GO - start motion


ie: motion

MA1: A20: V25: D25000: GO

Setting absolute postion
<#>PSET<nnnnn>


Velociy Feedback:

<#>TVEL - commanded velocity
<#>TVELA - actual

Position Feedback: 

<#>TPC  - commanded position
<resp> *1TPC+0
<#>TPE  - encoder position
<resp> *1TPE+0

SCALING:
SCALE0/1 - disable/enable
SCLA - acceleration
SCLV - velocity
SCLD - distance

DRES - Drive Resolution   (steps/rev) **** Stepper Only *****
ERES - Encoder Resolution (steps/rev)
DRESET - drive reset - enables new scaling factors

STATUS:
<#>TAS
*<#>TAS0000_0000_0000_0000_0000_0000_0000_0000 (32 bits)
       ^ bit 1                               ^bit 32

*** Returns - *0 or *1 
TAS.1 - in motion (commanded - will be off during settling time)
TAS.2 - direction is negative
TAS.5 - home successfull
TAS.13 - drive shutdown
TAS.14 - drive fault
TAS.15 - Plus Hardware Travel Limit
TAS.16 - Minus Hardware Travel Limit
TAS.17 - Plus Software TL (LSPOS)
TAS.18 - Minus Software TL (LSNEG)
TAS.24 - In Target Zone
ie.
1TAS
*1TAS0000_0000_0000_0000_0000_0000_000_00000

-------------------- Jog Method --------------
MC1 - Use continuous motion mode for jogging


---------------- Program Handling ------------

TDIR - list downloaded programs

DEL <filename> - delete program

DEF <filname) - create program
<line1>
<line2>
.
.
END   - end of program creation

TPROG - transfer program contents




     
============== Build Info ======================

xxxApp/src
    Makefile
    --------
	xxx_Common_LIBS += Parker

    xxCommonInclude.dbd
    -------------------
	include "devPC6K.dbd"


============= IOC Boot info ======================

iocBoot/iocLinux
    serial.cmd
    ----------

	# serial 1 is a RS232 link to a Parker Gemini 6K Controller
	drvAsynSerialPortConfigure("serial1", "/dev/ttyUSB0", 0, 0, 0)
	asynOctetSetInputEos("serial1",0,">")
	asynOctetSetOutputEos("serial1",0,"\r")
	asynOctetConnect("serial1", "serial1")

	# serial 3 is ETHERNET link to the Parker Gemini 6K Controller
	drvAsynIPPortConfigure("serial3", "192.168.10.29:5002", 0, 0, 0)
	asynOctetConnect("serial3", "serial3")
	asynOctetSetInputEos("serial3",0,">")
	asynOctetSetOutputEos("serial3",0,"\r")
	
	.

	# Parker/Compumotor - Gemini 6K driver setup parameters:
	#     (1) maximum number of controllers in system
	#     (2) motor task polling rate (min=1Hz, max=60Hz)
	PC6KSetup(2, 60)

	# Parker/Compumotor - Gemini 6K driver configuration parameters:
	#     (1) controller being configured
	#     (2) asyn port name (string)
	PC6KConfig(0, "serial1")
	PC6KConfig(1, "serial3")
	

   motor.substitutions
   -------------------
	Set the DTYPE column to "PC6K"


============== IOC Runtime Info (Post iocInit) ========================

# PC5KUpLoad(Controller #, <source file name>, <dest. file name (OPTIONAL)>)

### Send setup files to 6K8 
PC6KUpLoad(0,"6k_setup","setup")
### Set startup file to setup
PC6KUpLoad(0,"startp")