forked from epics_driver_modules/motorBase
jsullivan-anl
ad1e2f3181
command response mode (ERRLVL 4). The original driver was designed to response mode (ERRLVL 1) which was the mode required for MX.
126 lines
3.6 KiB
C
Executable File
126 lines
3.6 KiB
C
Executable File
/*
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FILENAME... drvPC6K.h
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USAGE... This file contains Parker Compumotor driver "include"
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information that is specific to the 6K series serial controller
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Version: $Revision: 1.2 $
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Modified By: $Author: sullivan $
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Last Modified: $Date: 2006-08-31 15:42:31 $
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*/
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/*
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* Original Author: Mark Rivers
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* Current Author: J. Sullivan
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* Date: 10/16/97
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*
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* Experimental Physics and Industrial Control System (EPICS)
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*
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* Copyright 1991, the Regents of the University of California,
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* and the University of Chicago Board of Governors.
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*
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* This software was produced under U.S. Government contracts:
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* (W-7405-ENG-36) at the Los Alamos National Laboratory,
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* and (W-31-109-ENG-38) at Argonne National Laboratory.
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*
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* Initial development by:
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* The Controls and Automation Group (AT-8)
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* Ground Test Accelerator
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* Accelerator Technology Division
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* Los Alamos National Laboratory
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*
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* Co-developed with
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* The Controls and Computing Group
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* Accelerator Systems Division
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* Advanced Photon Source
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* Argonne National Laboratory
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*
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* Modification Log:
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* -----------------
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* .01 06-20-05 jps initialized from drvSPiiPlus.h
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*/
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#ifndef INCdrvPC6Kh
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#define INCdrvPC6Kh 1
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#include "motor.h"
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#include "motordrvCom.h"
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#include "asynDriver.h"
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#include "asynOctetSyncIO.h"
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#define PC6K_MSG_SIZE 120
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#define PC6K_STATUS_RETRY 10
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/* End-of-string defines */
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#define PC6K_OUT_EOS "\n" /* Command */
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// #define PC6K_IN_EOS "\n" /* Reply */
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#define PC6K_IN_EOS ">" /* Reply */
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#define PC6K_QUERY_CNT 5
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enum PC6K_query_types {QSTATUS, QPOS, QEA_POS, QVEL, QDRIVE};
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enum PC6K_model
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{
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PC6K8,
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PCGem6K
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};
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enum PC6K_motor_type
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{
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UNUSED,
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STEPPER,
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DC
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};
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#ifndef __cplusplus
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typedef enum PC6K_model PC6K_model;
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typedef enum PC6K_motor_type PC6K_motor_type;
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#endif
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/* Motion Master specific data is stored in this structure. */
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struct PC6KController
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{
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asynUser *pasynUser; /* For RS-232 */
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int asyn_address; /* Use for GPIB or other address with asyn */
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char asyn_port[80]; /* asyn port name */
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char recv_string[PC6K_QUERY_CNT][PC6K_MSG_SIZE]; /* Query result strings */
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double home_preset[MAX_AXIS]; /* Controller's home preset position (XF command). */
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PC6K_model model; /* Motion Master Model. */
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PC6K_motor_type type[8]; /* For 6K8 only; Motor type array. */
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/* Controller resolution array
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* Units are in [Controller EGU's / Record RAW units].
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*/
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double drive_resolution[MAX_AXIS];
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int res_decpts[MAX_AXIS]; /* Drive resolution significant dec. pts. */
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CommStatus status; /* Controller communication status. */
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int status_retry; /* This controller needs multiple retry after GO */
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};
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/* Motor status bits for PC6K - TAS command.
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*
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* cmd: <#>TAS
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* rsp: *<#>TAS0000_0000_0000_0000_0000_0000_0000_0000 (32 bits)
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* ^ bit 1 ^bit 32
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*/
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/* Adjusted bit number (-1) from manual - start counting from 0) */
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#define TAS_INMOTION 0
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#define TAS_NEG 1
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#define TAS_HOME 4+1 /* Home Sucessfull */
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#define TAS_DRIVEDOWN 12+3 /* Drive Shutdown */
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#define TAS_DRIVEFAULT 13+3 /* Drive Fault Occurred */
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#define TAS_HPLUSTL 14+3 /* Hardware Plus Travel Limit */
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#define TAS_HMINUSTL 15+3 /* Hardware Minus Travel Limit */
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#define TAS_SPLUSTL 16+4 /* Software Plus Travel Limit */
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#define TAS_SMINUSTL 17+4 /* Software Minus Travel Limit */
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#define TAS_POSERROR 22+5 /* Position Error */
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#define TAS_INTARGET 23+5 /* In Target Zone */
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#endif /* INCdrvPC6Kh */
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