forked from epics_driver_modules/motorBase
Ron Sluiter
102 lines
3.4 KiB
Plaintext
102 lines
3.4 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
|
|
============================
|
|
|
|
- In the Controller->Communication->AsciiCmdEnable parameter,
|
|
check the following items (everything else is unchecked);
|
|
|
|
* RS232 Port 1
|
|
* Ethernet Socket 1
|
|
* Always Send EOS
|
|
|
|
- Set the "Idle Polling" parameter of the EnsembleAsynConfig() call <=
|
|
Controller->Communication->Ethernet->Sockets->InetSock1ActiveTimeSec Parameter.
|
|
|
|
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
|
|
InetSock1ActiveTimeSec 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.
|
|
|
|
- CfgFbkPosType
|
|
- PosScaleFactor
|
|
- HomeOffset
|
|
- HomeDirection
|
|
- LimitLevelMask
|