forked from epics_driver_modules/motorBase
kpetersn
108 lines
4.8 KiB
Plaintext
108 lines
4.8 KiB
Plaintext
# ANF2 motors command file example (run in iocsh)
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#
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### Note: Modbus support (the EPICS modbus module) is required to be included in the
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### EPICS application where the ANF2 support will be loaded. This file is an
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### example of how to load the ANF2 support, in an ioc that is built with the
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### EPICS modbus module.
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epicsEnvSet("PORT1", "ANF2_C1")
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epicsEnvSet("PORT2", "ANF2_C2")
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# drvAsynIPPortConfigure("portName", "hostInfo", priority, noAutoConnect, noProcessEos);
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drvAsynIPPortConfigure("$(PORT1)_IP","192.168.0.50:502",0,0,1)
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drvAsynIPPortConfigure("$(PORT2)_IP","192.168.0.51:502",0,0,1)
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# modbusInterposeConfig("portName", linkType, timeoutMsec, writeDelayMsec)
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modbusInterposeConfig("$(PORT1)_IP",0,2000,0)
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modbusInterposeConfig("$(PORT2)_IP",0,2000,0)
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# NOTE: modbusLength = 10 * number of axes
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# drvModbusAsynConfigure("portName", "tcpPortName", slaveAddress, modbusFunction,
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# modbusStartAddress, modbusLength, dataType, pollMsec, "plcType")
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drvModbusAsynConfigure("$(PORT1)_In", "$(PORT1)_IP", 0, 4, 0, 120, 0, 100, "ANF2_stepper")
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drvModbusAsynConfigure("$(PORT2)_In", "$(PORT2)_IP", 0, 4, 0, 60, 0, 100, "ANF2_stepper")
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# NOTE: modbusLength = 10 * number of axes
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# drvModbusAsynConfigure("portName", "tcpPortName", slaveAddress, modbusFunction,
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# modbusStartAddress, modbusLength, dataType, pollMsec, "plcType")
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drvModbusAsynConfigure("$(PORT1)_Out", "$(PORT1)_IP", 0, 16, 1024, 120, 6, 1, "ANF2_stepper")
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drvModbusAsynConfigure("$(PORT2)_Out", "$(PORT2)_IP", 0, 16, 1024, 60, 6, 1, "ANF2_stepper")
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# Asyn traces for debugging
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#!asynSetTraceIOMask "$(PORT1)_In",0,4
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#!asynSetTraceMask "$(PORT1)_In",0,9
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#!asynSetTraceIOMask "$(PORT1)_Out",0,4
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#!asynSetTraceMask "$(PORT1)_Out",0,9
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#!asynSetTraceInfoMask "$(PORT1)_Out",0,15
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# Asyn records for debugging
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#!dbLoadRecords("$(ASYN)/db/asynRecord.db","P=IOC:,R=asyn:c1ip,PORT=$(PORT1)_IP,ADDR=0,OMAX=256,IMAX=256")
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#!dbLoadRecords("$(ASYN)/db/asynRecord.db","P=IOC:,R=asyn:c1in,PORT=$(PORT1)_In,ADDR=0,OMAX=256,IMAX=256")
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#!dbLoadRecords("$(ASYN)/db/asynRecord.db","P=IOC:,R=asyn:c1out,PORT=$(PORT1)_Out,ADDR=0,OMAX=256,IMAX=256")
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#!dbLoadRecords("$(ASYN)/db/asynRecord.db","P=IOC:,R=asyn:c1,PORT=$(PORT1),ADDR=0,OMAX=256,IMAX=256")
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# Load the motor records
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dbLoadTemplate("templates/motor.substitutions.ANF2")
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# AMCI ANF2 stepper controller driver support
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#
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# ANF2CreateController(
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# portName, The name of the asyn port that will be created by this driver
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# ANF2InPortName, The name of the In drvAsynIPPPort to read from the ANF2 controller
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# ANF2OutPortName, The name of the Out drvAsynIPPPort to write to the ANF2 controller
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# numAxes) The number of axes in the stack (max=12)
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#
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# ANF2CreateAxis(
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# ANF2Name, The controller's asyn port
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# axis, The axis to be configured (zero-based numbering)
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# hexConfig, The desired hex configuration (see manual & AMCI Net Configurator for details)
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# baseSpeed, The base speed (steps/second; min=1, max=1,000,000)
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# homingTimeout) The homing timeout (integer number of seconds; min=0, max=300)
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#
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# Note: The base speed can't be changed using the VBAS field of the motor record, but the driver
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# does correct the acceleration sent by the motor record to give the desired acceleration time.
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# Controller 1 (One ANF2E, Five ANF2's)
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ANF2CreateController("$(PORT1)", "$(PORT1)_In", "$(PORT1)_Out", 12)
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# Axes for Controller 1
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ANF2CreateAxis("$(PORT1)", 0, "0x86280000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 1, "0x86000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 2, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 3, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 4, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 5, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 6, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 7, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 8, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 9, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 10, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT1)", 11, "0x84000000", 100, 0)
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# Controller 2 (One ANF1E, Five ANF1's)
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ANF2CreateController("$(PORT2)", "$(PORT2)_In", "$(PORT2)_Out", 6)
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# Axes for Controller 2
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ANF2CreateAxis("$(PORT2)", 0, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT2)", 1, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT2)", 2, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT2)", 3, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT2)", 4, "0x84000000", 100, 0)
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ANF2CreateAxis("$(PORT2)", 5, "0x84000000", 100, 0)
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# NOTE: the poller needs to be started after iocInit
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##########
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# iocInit
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##########
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# ANF2StartPoller(
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# portName, The controller's asyn port
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# movingPollPeriod, The time in ms between polls when any axis is moving
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# idlePollPeriod) The time in ms between polls when no axis is moving
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#
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ANF2StartPoller("$(PORT1)", 200, 1000)
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ANF2StartPoller("$(PORT2)", 200, 1000)
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