forked from epics_driver_modules/motorBase
Ron Sluiter
180 lines
6.7 KiB
Plaintext
180 lines
6.7 KiB
Plaintext
CONFIGURATION NOTES
|
|
===================
|
|
|
|
|
|
- Database definition (*.dbd) requirements.
|
|
<App>DBD += devAerotech.dbd
|
|
|
|
- Startup command file (st.cmd) requirements.
|
|
("#" is used to denote st.cmd comment lines.)
|
|
("#!" is used to denote st.cmd command lines.)
|
|
|
|
Configure an asyn communications port driver for the Ensemble. This can be
|
|
either RS-232 or ethernet. For example,
|
|
|
|
#!EnsemblePort = "Serial"
|
|
#!drvAsynSerialPortConfigure(EnsemblePort,"/tyGS0/Mod0/1",0,0,0)
|
|
|
|
#!EnsemblePort = "tcp1"
|
|
#!drvAsynIPPortConfigure(EnsemblePort,"xx.xx.xx.xx:8000", 0, 0, 0)
|
|
|
|
See asyn documentation for details.
|
|
|
|
# Aerotech Ensemble digital servo controller
|
|
# (1) maximum number of controllers in system
|
|
#!EnsembleAsynSetup(1)
|
|
|
|
# The Ensemble driver does not set end of string (EOS).
|
|
#!asynOctetSetInputEos(EnsemblePort,0,"\n")
|
|
#!asynOctetSetOutputEos(EnsemblePort,0,"\n")
|
|
|
|
# (1) Controller number being configured
|
|
# (2) ASYN port name
|
|
# (3) ASYN address (GPIB only)
|
|
# (4) Number of axes this controller supports
|
|
# (5) Time to poll (msec) when an axis is in motion
|
|
# (6) Time to poll (msec) when an axis is idle. 0 for no polling
|
|
#!EnsembleAsynConfig(0, EnsemblePort, 0, 1, 100, 1000)
|
|
|
|
# Asyn-based Motor Record support
|
|
# (1) Asyn port
|
|
# (2) Driver name
|
|
# (3) Controller index
|
|
# (4) Max. number of axes
|
|
#!drvAsynMotorConfigure("AeroE1","motorEnsemble",0,1)
|
|
|
|
|
|
DESIGN NOTES
|
|
============
|
|
|
|
- The EPICS driver neither reads nor writes the Ensemble's soft limits. It is
|
|
recommended that the Ensemble soft limits be disabled and the user rely on the
|
|
EPICS motor record soft limits.
|
|
|
|
- Since the Ensemble network connection requires period communication from the
|
|
host to prevent the Ensemble from closing the network socket, the Ensemble
|
|
support based on the old device driver architecture will be removed after R5-6.
|
|
The asyn motor architecture supports continuous, periodic updates; the old
|
|
architecture does not.
|
|
|
|
- This driver assumes that the EOT limit switches have been configured
|
|
correctly. If the PosScaleFactor parameter is positive, then a positive move
|
|
is a move in the direction of the CW EOT limit switch and a negative move is a
|
|
move in the direction of the CCW EOT limit switch. If the PosScaleFactor
|
|
parameter is negative, then a positive move is a move in the direction of the
|
|
CCW EOT limit switch and a negative move is a move in the direction of the CW
|
|
EOT limit switch
|
|
|
|
|
|
ENSEMBLE CONFIGURATION NOTES
|
|
============================
|
|
|
|
The following is for Ensemble firmware version 4.02.004 and above.
|
|
|
|
- In the System->Communication->ASCII->CommandSetup Parameter,
|
|
check the following items (everything else is unchecked);
|
|
* RS232 Port 0, OR, Ethernet Socket 2
|
|
* Always Send EOS
|
|
- For ethernet, in the System->Communication->Ethernet Sockets section;
|
|
- in the ->Socket2Setup Parameter, check the "TCP server" setting.
|
|
- Enter the IP address in the ->Socket2RemoteIPAddress Parameter
|
|
- Leave the ->Socket2Port Parameter at the default "8000" or set it to
|
|
match the drvAsynIPPortConfigure() st.cmd call.
|
|
- Set the ->Socket2Timeout Parameter greater than idle polling paramter of
|
|
the EnsembleAsynConfig() call.
|
|
(This will prevent the Ensemble from closing the socket. In addition, the time
|
|
between the call to drvAsynIPPortConfigure() and the call to
|
|
EnsembleAsynConfig() in the st.cmd file must be less than the ->Socket2Timeout
|
|
Parameter. If this is not done a socket timeout will occur during IOC
|
|
initialization and prevent EPICS from making a communication connection.)
|
|
|
|
|
|
DRIVER LIMITATIONS
|
|
------------------
|
|
|
|
The driver reads the controllers configuration information only at boot-up
|
|
(iocInit). If any of the following Ensemble parameters are changed, EPICS
|
|
must be rebooted.
|
|
|
|
- PositionFeedbackType
|
|
- CountsPerUnit
|
|
- HomeOffset
|
|
- HomeSetup
|
|
- EndOfTravelLimitSetup
|
|
- ReverseMotionDirection
|
|
|
|
********************************************************************************
|
|
What all the files in this directory are.
|
|
|
|
EPICS stuff
|
|
-----------
|
|
AerotechRegister.cc
|
|
AerotechRegister.h
|
|
devAerotech.dbd
|
|
|
|
non-asyn device/driver
|
|
----------------------
|
|
devSoloist.cc
|
|
drvSoloist.cc
|
|
drvSoloist.h
|
|
|
|
asyn model 2 driver
|
|
-------------------
|
|
drvEnsembleAsyn.cc
|
|
drvEnsembleAsyn.h
|
|
ParameterId.h
|
|
|
|
trajectory support
|
|
------------------
|
|
EnsembleTrajectoryScan.h
|
|
EnsembleTrajectoryScan.st
|
|
|
|
This software talks to the asyn port specified as an argument to the
|
|
EnsembleAsynConfig() command, and it needs an Ensemble controller that has
|
|
been prepared with the AeroBasic program "doCommand.ab", which is included
|
|
in this directory. You must copy doCommand.ab to into Motion Composer's
|
|
user file directory, load it into Motion Composer, and compile it to produce
|
|
the file doCommand.bcx. This file must be copied to the controller, so it
|
|
can be executed immediately when EnsembleTrajectoryScan.st sends the command
|
|
'PROGRAM 5 "doCommand.bcx"'. The controller also must be configured to
|
|
increase the number of global integers and doubles. For N trajectory
|
|
points, the number of global doubles must be at least (N+3)*3 (for one
|
|
motor), and the number of global integers must be at least N+50. Also, the
|
|
controller must use the same units as the motor record that talks to it.
|
|
|
|
This software is not ready for multiple-motor trajectories.
|
|
|
|
doCommand is needed because the Ensemble commands that execute a trajectory
|
|
are not available via the ASCII interface through which drvEnsembleAsyn
|
|
and EnsembleTrajectoryScan talk to the controller.
|
|
|
|
To use this software, you must load a motor record configured to control an
|
|
Ensemble motor, for example by executing the following commands:
|
|
|
|
dbLoadTemplate("AeroAsyn.substitutions")
|
|
drvAsynIPPortConfigure("tcp1","164.54.51.77:8000", 0, 0, 0)
|
|
EnsembleAsynSetup(1)
|
|
EnsembleAsynConfig(0, "tcp1", 0, 1, 50, 1000)
|
|
drvAsynMotorConfigure("AeroE1","motorEnsemble",0,1)
|
|
|
|
where the file AeroAsyn.substitutions has the following content:
|
|
|
|
file "$(MOTOR)/db/asyn_motor.db"
|
|
{
|
|
pattern
|
|
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
|
|
{xxxL:, 17, "m$(N)", "asynMotor", AeroE1, 0, "motor $(N)", mm, Pos, .1, 0, .2, 0, 1, .2, 1.25E-5, 7, 0, 0, "SCURVE 100"}
|
|
}
|
|
|
|
On top of this support, you must load and execute the trajectoryScan database, and execute the SNL program:
|
|
|
|
dbLoadRecords("$(MOTOR)/motorApp/Db/trajectoryScan.db","P=xxxL:,R=traj1:,NAXES=1,NELM=1000,NPULSE=1000")
|
|
...
|
|
iocInit
|
|
...
|
|
seq &EnsembleTrajectoryScan, "P=xxxL:,R=traj1:,M1=m17,M2=m2,M3=m3,M4=m4,M5=m5,M6=m6,M7=m7,M8=m8,PORT=tcp1"
|
|
|
|
You'll probably want autosave to manage the trajectory PVs. Add the following line to auto_settings.req:
|
|
|
|
file trajectoryScan_settings.req P=$(P),R=traj1:
|