forked from epics_driver_modules/motorBase
Ron SluiterParker 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 ---------------- Network Commands ------------------- NTADDRxx,xx,xx,xx = network IP NTMASKxxx,xxx,xxx,xxx = network mask NTFEN1 = network enable 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")