lin-epics-modules/sinqMotor
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Substantial rRework of 0.2.0 after the CAMEA test showed multiple

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problems. Also improved the documentation.
This commit is contained in:
mathis_s
2024-11-26 16:51:12 +01:00
parent 97e80814e3
commit 682325de7d
7 changed files with 423 additions and 87 deletions
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78
db/sinqMotor.db
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@ -21,50 +21,6 @@ record(waveform, "$(P)$(M)-MsgTxt") {
field(SCAN, "I/O Intr")
}
# Encoder type
record(waveform, "$(P)$(M):Encoder_Type") {
field(DTYP, "asynOctetRead")
field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENCODER_TYPE")
field(FTVL, "CHAR")
field(NELM, "80")
field(SCAN, "I/O Intr")
}
# enable axis
record(longout, "$(P)$(M):Enable") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) ENABLE_AXIS")
field(PINI, "NO")
}
# enable axis
record(longin, "$(P)$(M):Enable_RBV") {
field(DTYP, "asynInt32")
field(INP, "@asyn($(CONTROLLER),$(AXIS),1) AXIS_ENABLED")
field(PINI, "YES")
}
# reread encoder
record(longout, "$(P)$(M):Reread_Encoder") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) REREAD_ENCODER_POSITION")
field(PINI, "NO")
}
# reread encoder
record(longin, "$(P)$(M):Reread_Encoder_RBV") {
field(DTYP, "asynInt32")
field(INP, "@asyn($(CONTROLLER),$(AXIS),1) REREAD_ENCODER_POSITION_RBV")
field(PINI, "YES")
}
# reread encoder
record(longout, "$(P)$(M):Read_Config") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
field(PINI, "NO")
}
# 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") {
@ -75,6 +31,40 @@ record(ao,"$(P)$(M):Resolution") {
field(OUT, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_REC_RESOLUTION")
}
record(longout, "$(P)$(M):Enable") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) ENABLE_AXIS")
field(PINI, "NO")
}
record(longin, "$(P)$(M):Enable_RBV") {
field(DTYP, "asynInt32")
field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENABLE_AXIS_RBV")
field(PINI, "NO")
field(SCAN, "I/O Intr")
}
record(longout, "$(P)$(M):EnableWatchdog") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) ENABLE_MOV_WATCHDOG")
field(PINI, "YES")
field(VAL, "$(MOVWATCHDOG)")
}
# The high and low limits of the axis are read
# out directly from the MCU. However, since the axis might slightly
# "overshoot" when moving to a position next to the limits, the MCU might go
# into the "limits hit" error state. To prevent this, this value allows adding
# a small offset, which is subtracted from the high limit and added to the
# low limit.
record(ao, "$(P)$(M):LimitsOffset") {
field(DTYP, "asynFloat64")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) LIMITS_OFFSET")
field(PINI, "YES")
field(ASG, "READONLY") # Field is initialized during IOC startup
field(VAL, "$(LIMITSOFFSET)")
}
# ===================================================================
# The following records read the high / low limits from the parameter
# library and copy those values into the corresponding fields of the main motor record.