lin-epics-modules/sinqMotor
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Added some flags for NICOS and refactored some records from pmacv3 to

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sinqMotor
This commit is contained in:
mathis_s
2024-11-29 14:54:54 +01:00
parent 682325de7d
commit 6656841a01
6 changed files with 394 additions and 63 deletions
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118
db/sinqMotor.db
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@ -17,13 +17,13 @@ record(waveform, "$(P)$(M)-MsgTxt") {
field(DTYP, "asynOctetRead")
field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_MESSAGE_TEXT")
field(FTVL, "CHAR")
field(NELM, "$(MsgTxtSize=200)") # Should be the same as MAXBUF in the driver code
field(NELM, "$(MSGTEXTSIZE=200)") # Should be the same as MAXBUF in the driver code
field(SCAN, "I/O Intr")
}
# Provides the motor resolution MRES via an additional PV as explained here:
# https://epics.anl.gov/tech-talk/2020/msg00378.php
record(ao,"$(P)$(M):Resolution") {
record(ao,"$(P)$(M):RecResolution") {
field(DESC, "$(M) resolution")
field(DOL, "$(P)$(M).MRES CP MS")
field(OMSL, "closed_loop")
@ -31,24 +31,35 @@ record(ao,"$(P)$(M):Resolution") {
field(OUT, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_REC_RESOLUTION")
}
# Disables the motor for an input of zero and enables it otherwise
record(longout, "$(P)$(M):Enable") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) ENABLE_AXIS")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE")
field(PINI, "NO")
}
# If this PV value is zero, the motor is disabled, otherwise it is enabled
record(longin, "$(P)$(M):Enable_RBV") {
field(DTYP, "asynInt32")
field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENABLE_AXIS_RBV")
field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE_RBV")
field(PINI, "NO")
field(SCAN, "I/O Intr")
}
record(longout, "$(P)$(M):EnableWatchdog") {
# If this PV value is zero, the motor cannot be disabled, otherwise it can
record(longin, "$(P)$(M):CanDisable") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) ENABLE_MOV_WATCHDOG")
field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_CAN_DISABLE")
field(PINI, "NO")
field(SCAN, "I/O Intr")
}
record(longout, "$(P)$(M):CanSetSpeed") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_CAN_SET_SPEED")
field(PINI, "YES")
field(VAL, "$(MOVWATCHDOG)")
field(ASG, "READONLY") # Field is initialized during IOC startup
field(VAL, "$(CANSETSPEED=0)")
}
# The high and low limits of the axis are read
@ -59,10 +70,10 @@ record(longout, "$(P)$(M):EnableWatchdog") {
# low limit.
record(ao, "$(P)$(M):LimitsOffset") {
field(DTYP, "asynFloat64")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) LIMITS_OFFSET")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_LIMITS_OFFSET")
field(PINI, "YES")
field(ASG, "READONLY") # Field is initialized during IOC startup
field(VAL, "$(LIMITSOFFSET)")
field(VAL, "$(LIMITSOFFSET=0)")
}
# ===================================================================
@ -71,33 +82,100 @@ record(ao, "$(P)$(M):LimitsOffset") {
# This strategy is described here: https://epics.anl.gov/tech-talk/2022/msg00464.php
# Helper record for the high limit which is filled in by the driver
record(ai, "$(P)$(M):MOTOR_HIGH_LIMIT-RBV")
record(ai, "$(P)$(M):DHLM_RBV")
{
field(DTYP, "asynFloat64")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_HIGH_LIMIT_FROM_DRIVER")
field(SCAN, "I/O Intr")
field(FLNK, "$(P)$(M):PUSH_DHLM_TO_FIELD")
field(FLNK, "$(P)$(M):PushDHLM2Field")
}
# Push the value into the field of the main motor record
record(ao, "$(P)$(M):PUSH_DHLM_TO_FIELD") {
field(DOL, "$(P)$(M):MOTOR_HIGH_LIMIT-RBV CP")
record(ao, "$(P)$(M):PushDHLM2Field") {
field(DOL, "$(P)$(M):DHLM_RBV CP")
field(OUT, "$(P)$(M).DHLM")
field(OMSL, "closed_loop") # This configuration keeps the input value $(P)$(M):HLM_ADD_OFFSET and the output field $(P)$(M).DHLM in sync
field(OMSL, "closed_loop")
}
# Helper record for the low limit which is filled in by the driver
record(ai, "$(P)$(M):MOTOR_LOW_LIMIT-RBV")
record(ai, "$(P)$(M):DLLM_RBV")
{
field(DTYP, "asynFloat64")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_LOW_LIMIT_FROM_DRIVER")
field(SCAN, "I/O Intr")
field(FLNK, "$(P)$(M):PUSH_DLLM_TO_FIELD")
field(FLNK, "$(P)$(M):PushDLLM2Field")
}
# Push the value into the field of the main motor record
record(ao, "$(P)$(M):PUSH_DLLM_TO_FIELD") {
field(DOL, "$(P)$(M):MOTOR_LOW_LIMIT-RBV CP")
record(ao, "$(P)$(M):PushDLLM2Field") {
field(DOL, "$(P)$(M):DLLM_RBV CP")
field(OUT, "$(P)$(M).DLLM")
field(OMSL, "closed_loop") # This configuration keeps the input value $(P)$(M):LLM_ADD_OFFSET and the output field $(P)$(M).DLLM in sync
field(OMSL, "closed_loop")
}
record(longout, "$(P)$(M):EnableMovWatchdog") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE_MOV_WATCHDOG")
field(PINI, "YES")
field(VAL, "$(ENABLEMOVWATCHDOG=0)")
}
# ===================================================================
# The following PVs set the velocity values from the driver
# Helper record for the high limit which is filled in by the driver
record(ai, "$(P)$(M):VELO_RBV")
{
field(DTYP, "asynFloat64")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VELO_FROM_DRIVER")
field(SCAN, "I/O Intr")
field(FLNK, "$(P)$(M):PushVELO2Field")
}
record(ao, "$(P)$(M):PushVELO2Field") {
field(DOL, "$(P)$(M):VELO_RBV CP")
field(OUT, "$(P)$(M).VELO")
field(OMSL, "closed_loop")
}
record(ai, "$(P)$(M):VBAS_RBV")
{
field(DTYP, "asynFloat64")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VBAS_FROM_DRIVER")
field(SCAN, "I/O Intr")
field(FLNK, "$(P)$(M):PushVBAS2Field")
}
record(ao, "$(P)$(M):PushVBAS2Field") {
field(DOL, "$(P)$(M):VBAS_RBV CP")
field(OUT, "$(P)$(M).VBAS")
field(OMSL, "closed_loop") # This configuration keeps the PV and the field in sync
}
record(ai, "$(P)$(M):VMAX_RBV")
{
field(DTYP, "asynFloat64")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VMAX_FROM_DRIVER")
field(SCAN, "I/O Intr")
field(FLNK, "$(P)$(M):PushVMAX2Field")
}
record(ao, "$(P)$(M):PushVMAX2Field") {
field(DOL, "$(P)$(M):VMAX_RBV CP")
field(OUT, "$(P)$(M).VMAX")
field(OMSL, "closed_loop") # This configuration keeps the PV and the field in sync
}
record(ai, "$(P)$(M):ACCL_RBV")
{
field(DTYP, "asynFloat64")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_ACCL_FROM_DRIVER")
field(SCAN, "I/O Intr")
field(FLNK, "$(P)$(M):PushACCL2Field")
}
record(ao, "$(P)$(M):PushACCL2Field") {
field(DOL, "$(P)$(M):ACCL_RBV CP")
field(OUT, "$(P)$(M).ACCL")
field(OMSL, "closed_loop") # This configuration keeps the PV and the field in sync
}