forked from epics_driver_modules/motorBase
jsullivan-anl
8c9053a842
Configured at startup via SPiiPlusConfig(0, "<asyn port>", "<command mode>") Where command mode = "BUF","CON" or "DIR" (see README file)
82 lines
3.0 KiB
Plaintext
82 lines
3.0 KiB
Plaintext
ACSTech80 SPiiPlus Motor Controller
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===================================
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**** EXAMPLE CONFIGURATION FOR VXWORKS TARGETS ****
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xxxApp/src/Makefile
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-------------------
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xxx_vxWorks_LIBS += acsTech80
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xxxApp/src/xxxCommonInclude.dbd
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--------------------------------
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include "devSPiiPlus.dbd"
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iocBoot/iocxxx/serial.cmd
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---------------------------
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# serial 61 is connected to the SPiiPlus Motor Controller
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#drvAsynIPPortConfigure("portName","hostInfo",priority,noAutoConnect,
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# noProcessEos)
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drvAsynIPPortConfigure("serial61", "164.54.116.61:701", 0, 0, 0)
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asynOctetSetInputEos("serial61",0,"\r")
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asynOctetSetOutputEos("serial61",0,"\r")
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.
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.
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.
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# ACS Tech80 - SPiiPlus driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz, max=60Hz)
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SPiiPlusSetup(1, 60)
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# ACS Tech80 - SPiiPlus driver configuration parameters:
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# (1) controller being configured
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# (2) asyn port name (string)
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# (3) command interface mode [BUFfer/CONnect/DIRect]
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# BUFFER - ACSPL buffer interface (ie Nanomotion Stages)
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# CONNECT - ACSPL 'CONNECT' (kinematics) interface (ie: Alio Hexapod)
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# DIRECT - ACSPL command interpreter interface to the physical motors
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SPiiPlusConfig(0, "serial61", "BUF")
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iocBoot/iocxxx/motor.substitutions
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----------------------------------
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{xxx:, 1, m$(N), "SPiiPlus", 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), "SPiiPlus", 0, 1, "motor $(N)", degrees, Pos, 60, 0., 1.5, 0, 1, .2, 1e-3, 3, 100, -100, ""}
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****************** SPiiPlus 'BUFFER' Type Setup *******************************
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Install the "SPiiPlus_EPICS.prg" file in the SPiiPlus motor controller
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using the ACSTech80 WINDOWS software.
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This file contains the EPICS interface programs need by the
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motorRecord driver to control one SPiiPlus motors (AXIS 0). For
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each motor used, copy the contents of Buffer #0 it's corresponding
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buffer. (Motor 1 - buffer #0, Motor 2 - buffer #1, ... etc()
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Each motor is assigned a SPiiPlus buffer with a copy of all the programs
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that are currently in buffer #0.
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****************** SPiiPlus 'CONNECT' Type Setup *******************************
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ACSPL Variables - for direct and reverse kinematics
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Reference Position: APOS[axis number] (0 - 7)
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Feedback Position: FPOS[axis name] (X, Y, Z, T, A, B, C, D)
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****************** SPiiPlus 'DIRECT' Type Setup *******************************
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ACSPL Variables - physical motor positions
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Reference Position: APOS[axis number] (0 - 7)
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Feedback Position: FPOS[axis number] (0 - 7)
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***************** SPiiPlus Notes ***************************
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Axes Names: (only used in 'CONNECT' mode)
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(Four Channel) X, Y, A, B ***** NOT SUPPORTED *****
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(Eight Channel) X, Y, Z, T, A, B, C, D
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