forked from epics_driver_modules/motorBase
prjemian
236 lines
6.8 KiB
Plaintext
Executable File
236 lines
6.8 KiB
Plaintext
Executable File
HEADER
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DEFINE cmdDONE 0
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DEFINE cmdVELOCITY_ON 1
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DEFINE cmdVELOCITY_OFF 2
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DEFINE cmdHALT 3
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DEFINE cmdSTART 4
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DEFINE cmdPVT_INIT_TIME_ABS 5
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DEFINE cmdPVT_INIT_TIME_INC 6
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DEFINE cmdPVT1 7
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DEFINE cmdPVT2 8
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DEFINE cmdPVT3 9
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DEFINE cmdPVT 10
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DEFINE cmdABORT 11
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DEFINE cmdSTARTABORT 12
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DEFINE cmdSCOPEBUFFER 13
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DEFINE cmdSCOPEDATA 14
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DEFINE cmdSCOPESTATUS 15
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DEFINE cmdSCOPETRIG 16
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DEFINE cmdSCOPETRIGPERIOD 17
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DEFINE cmdDRIVEINFO 18
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DEFINE cmdLINEAR 19
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DEFINE cmdDATAACQ_TRIG 20
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DEFINE cmdDATAACQ_INP 21
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DEFINE cmdDATAACQ_ON 22
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DEFINE cmdDATAACQ_OFF 23
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DEFINE cmdDATAACQ_READ 24
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DEFINE cmdDOTRAJECTORY 25
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DEFINE cmdVar 45
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DEFINE iarg1Var 46
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DEFINE iarg2Var 47
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DEFINE iarg3Var 48
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DEFINE iarg4Var 49
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DEFINE darg1Var 1
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DEFINE darg2Var 2
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DEFINE darg3Var 3
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DEFINE darg4Var 4
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DEFINE darg5Var 5
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DEFINE darg6Var 6
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DEFINE darg7Var 7
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DEFINE darg8Var 8
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DEFINE darg9Var 9
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DEFINE numIArg 44
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DEFINE numDArg 43
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DEFINE pvtWaitMSVar 42
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' Numerical values for first arg to scopedata()
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DEFINE sd_PositionCommand 0
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DEFINE sd_PositionFeedback 1
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DEFINE sd_ExternalPosition 2
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DEFINE sd_AxisFault 3
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DEFINE sd_AxisStatus 4
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DEFINE sd_AnalogInput0 5
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DEFINE sd_AnalogInput1 6
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DEFINE sd_AnalogOutput0 7
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DEFINE sd_AnalogOutput1 8
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DEFINE sd_DigitalInput0 9
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DEFINE sd_DigitalInput1 10
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DEFINE sd_DigitalOutput0 11
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DEFINE sd_DigitalOutput1 12
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DEFINE sd_CurrentCommand 13
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DEFINE sd_CurrentFeedback 14
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DEFINE sd_OptionalData1 15
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DEFINE sd_OptionalData2 16
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DEFINE sd_ProgramCounter 17
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END HEADER
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PROGRAM
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DIM axis1Number AS Integer
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DIM axis2Number AS Integer
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DIM axis3Number AS Integer
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DIM axis4Number AS Integer
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DIM keepon as Integer
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DIM iarg as integer
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DIM pvtWaitMS as integer
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dim pos as double
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dim vel as double
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dim timeval as double
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dim timeIsAbs as integer
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dim timeInitialized as integer
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dim numpoints as integer
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dim i as integer
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wait mode nowait
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ABS
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keepon = 1
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pvtWaitMS = IGLOBAL(pvtWaitMSVar)
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IF pvtWaitMS < 1 THEN
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pvtWaitMS = 50
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END IF
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WHILE keepon
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IF IGLOBAL(cmdVar) = cmdPVT1 THEN
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axis1Number = IGLOBAL(iarg1Var)
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pos = DGLOBAL(darg1Var)
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vel = DGLOBAL(darg2Var)
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timeval = DGLOBAL(darg3Var)
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if timeIsAbs and not timeInitialized then
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PVT INIT TIME ABS
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timeInitialized = 1
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end if
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PVT @axis1Number pos, vel TIME timeval
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ELSEIF IGLOBAL(cmdVar) = cmdVELOCITY_ON THEN
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VELOCITY ON
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ELSEIF IGLOBAL(cmdVar) = cmdVELOCITY_OFF THEN
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VELOCITY OFF
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ELSEIF IGLOBAL(cmdVar) = cmdHALT THEN
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HALT
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ELSEIF IGLOBAL(cmdVar) = cmdSTARTABORT THEN
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START
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ABORT @0
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acknowledgeall
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enable @0
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keepon = 0
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ELSEIF IGLOBAL(cmdVar) = cmdSTART THEN
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START
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keepon = 0
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ELSEIF IGLOBAL(cmdVar) = cmdPVT THEN
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axis1Number = IGLOBAL(iarg1Var)
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axis2Number = IGLOBAL(iarg2Var)
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axis3Number = IGLOBAL(iarg3Var)
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axis4Number = IGLOBAL(iarg4Var)
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if IGLOBAL(numIArg) = 1 then
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PVT @axis1Number DGLOBAL(darg1Var), DGLOBAL(darg2Var) TIME DGLOBAL(darg3Var)
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elseif IGLOBAL(numIArg) = 2 then
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PVT @axis1Number DGLOBAL(darg1Var), DGLOBAL(darg2Var) @axis2Number DGLOBAL(darg3Var), DGLOBAL(darg4Var) TIME DGLOBAL(darg5Var)
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elseif IGLOBAL(numIArg) = 3 then
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PVT @axis1Number DGLOBAL(darg1Var), DGLOBAL(darg2Var) @axis2Number DGLOBAL(darg3Var), DGLOBAL(darg4Var) @axis3Number DGLOBAL(darg5Var), DGLOBAL(darg6Var) TIME DGLOBAL(darg7Var)
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elseif IGLOBAL(numIArg) = 4 then
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PVT @axis1Number DGLOBAL(darg1Var), DGLOBAL(darg2Var) @axis2Number DGLOBAL(darg3Var), DGLOBAL(darg4Var) @axis3Number DGLOBAL(darg5Var), DGLOBAL(darg6Var) @axis4Number DGLOBAL(darg7Var), DGLOBAL(darg8Var) TIME DGLOBAL(darg9Var)
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end if
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ELSEIF IGLOBAL(cmdVar) = cmdPVT_INIT_TIME_ABS THEN
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'PVT INIT TIME ABS
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timeIsAbs = 1
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timeInitialized = 0
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ELSEIF IGLOBAL(cmdVar) = cmdPVT_INIT_TIME_INC THEN
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timeIsAbs = 0
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PVT INIT TIME INC
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ELSEIF IGLOBAL(cmdVar) = cmdABORT THEN
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axis1Number = IGLOBAL(iarg1Var)
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axis2Number = IGLOBAL(iarg2Var)
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axis3Number = IGLOBAL(iarg3Var)
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axis4Number = IGLOBAL(iarg4Var)
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if IGLOBAL(numIArg) = 1 then
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ABORT @axis1Number
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elseif IGLOBAL(numIArg) = 2 then
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ABORT @axis1Number @axis2Number
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elseif IGLOBAL(numIArg) = 3 then
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ABORT @axis1Number @axis2Number @axis3Number
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elseif IGLOBAL(numIArg) = 4 then
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ABORT @axis1Number @axis2Number @axis3Number @axis4Number
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end if
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keepon = 0
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ELSEIF IGLOBAL(cmdVar) = cmdSCOPEBUFFER THEN
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iarg = IGLOBAL(iarg1Var)
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SCOPEBUFFER iarg
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ELSEIF IGLOBAL(cmdVar) = cmdSCOPEDATA THEN
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iarg = IGLOBAL(iarg1Var)
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if iarg = sd_PositionCommand then
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DGLOBAL(darg1Var) = SCOPEDATA(PositionCommand, IGLOBAL(iarg2Var))
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elseif iarg = sd_PositionFeedback then
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DGLOBAL(darg1Var) = SCOPEDATA(PositionFeedback, IGLOBAL(iarg2Var))
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elseif iarg = sd_CurrentFeedback then
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DGLOBAL(darg1Var) = SCOPEDATA(CurrentFeedback, IGLOBAL(iarg2Var))
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else
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DGLOBAL(darg1Var) = -1.2345654321
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end if
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ELSEIF IGLOBAL(cmdVar) = cmdSCOPESTATUS THEN
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IGLOBAL(iarg1Var) = SCOPESTATUS(IGLOBAL(iarg1Var))
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ELSEIF IGLOBAL(cmdVar) = cmdSCOPETRIG THEN
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if IGLOBAL(iarg1Var) = 1 then
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SCOPETRIG STOP
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ELSE
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SCOPETRIG
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END IF
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ELSEIF IGLOBAL(cmdVar) = cmdSCOPETRIGPERIOD THEN
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iarg = IGLOBAL(iarg1Var)
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'SCOPETRIGPERIOD iarg
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SCOPETRIGPERIOD iarg*1.0
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' Not until version 4.03
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' ELSEIF IGLOBAL(cmdVar) = cmdDRIVEINFO THEN
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' IGLOBAL(iarg1Var) = DRIVEINFO(X, 59)
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ELSEIF IGLOBAL(cmdVar) = cmdLINEAR THEN
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axis1Number = IGLOBAL(iarg1Var)
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LINEAR @axis1Number DGLOBAL(darg1Var) F DGLOBAL(darg2Var)
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ELSEIF IGLOBAL(cmdVar) = cmdDATAACQ_TRIG THEN
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axis1Number = IGLOBAL(iarg1Var)
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DATAACQ @axis1Number TRIGGER IGLOBAL(iarg2Var)
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ELSEIF IGLOBAL(cmdVar) = cmdDATAACQ_INP THEN
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axis1Number = IGLOBAL(iarg1Var)
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DATAACQ @axis1Number INPUT IGLOBAL(iarg2Var)
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ELSEIF IGLOBAL(cmdVar) = cmdDATAACQ_ON THEN
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axis1Number = IGLOBAL(iarg1Var)
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DATAACQ @axis1Number ON IGLOBAL(iarg2Var)
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ELSEIF IGLOBAL(cmdVar) = cmdDATAACQ_OFF THEN
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axis1Number = IGLOBAL(iarg1Var)
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DATAACQ @axis1Number OFF
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ELSEIF IGLOBAL(cmdVar) = cmdDATAACQ_READ THEN
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axis1Number = IGLOBAL(iarg1Var)
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DATAACQ @axis1Number READ IGLOBAL(iarg2Var), IGLOBAL(iarg3Var)
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ELSEIF IGLOBAL(cmdVar) = cmdDOTRAJECTORY THEN
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axis1Number = IGLOBAL(iarg1Var)
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numpoints = IGLOBAL(iarg2Var)
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VELOCITY ON
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PVT INIT TIME ABS
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for i = 0 to numpoints-1 step 1
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pos = dglobal(3*i)
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vel = dglobal(3*i+1)
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timeVal = dglobal(3*i+2)
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if i = numpoints-2 then
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VELOCITY OFF
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end if
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PVT @axis1Number pos, vel time timeVal
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dwell pvtWaitMS/1000
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next i
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elseif IGLOBAL(cmdVar) = cmdDONE then
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' do nothing
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' else
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' IGLOBAL(cmdVar) = 1000
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END IF
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IF IGLOBAL(cmdVar) = cmdPVT1 THEN
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D = pvtWaitMS/1000
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ELSE
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D = .001
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END IF
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if IGLOBAL(cmdVar) > 0 then
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IGLOBAL(cmdVar) = -(IGLOBAL(cmdVar))
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end if
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DWELL D
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WEND
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END PROGRAM
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