lin-epics-modules/sinqMotor
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added high default value for RDBD

Browse Source 
See docstring: This is to prevent overshoot stop commands.
This commit is contained in:
mathis_s
2025-04-23 13:46:02 +02:00
parent 76a91d4a2f
commit bfda809257
2 changed files with 19 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
README.md
View File

@ -46,11 +46,11 @@ The script for controller 1 ("turboPmac1.cmd") for a Turbo PMAC (see https://git
```
# Define the name of the controller and the corresponding port
epicsEnvSet("NAME","actualDriver1")
epicsEnvSet("ASYN_PORT","p$(NAME)")
epicsEnvSet("DRIVER_PORT","actualDriver1")
epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
drvAsynIPPortConfigure("$(IP_PORT)","172.28.101.24:1025")
# Create the controller object with the defined name and connect it to the socket via the port name.
# The other parameters are as follows:
@ -58,25 +58,25 @@ drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
# 0.05: Busy poll period in seconds
# 1: Idle poll period in seconds
# 1: Socket communication timeout in seconds
actualDriverController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
actualDriverController("$(DRIVER_PORT)", "$(IP_PORT)", 8, 0.05, 1, 1);
# Define some axes for the specified motor controller at the given slot (1, 2 and 5). No slot may be used twice!
actualDriverAxis("$(NAME)",1);
actualDriverAxis("$(NAME)",2);
actualDriverAxis("$(NAME)",5);
actualDriverAxis("$(DRIVER_PORT)",1);
actualDriverAxis("$(DRIVER_PORT)",2);
actualDriverAxis("$(DRIVER_PORT)",5);
# Set the number of subsequent timeouts
setMaxSubsequentTimeouts("$(NAME)", 20);
setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
setThresholdComTimeout("$(NAME)", 300, 10);
setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
# Parametrize the EPICS record database with the substitution file named after the motor controller.
epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
epicsEnvSet("SINQDBPATH","$(actualDriver_DB)/turboPmac.db")
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
```
### Substitution file
@ -99,7 +99,7 @@ The variable `SINQDBPATH` has been set in "mcu1.cmd" before calling `dbLoadTempl
#### Mandatory parameters
- `AXIS`: Index of the axis, corresponds to the physical connection of the axis to the MCU.
- `M`: The full PV name is created by concatenating the variables INSTR, NAME and M. For example, the PV of the first axis would be "SQ:SINQTEST:mcu1:lin1".
- `M`: The full PV name is created by concatenating the variables INSTR, DRIVER_PORT and M. For example, the PV of the first axis would be "SQ:SINQTEST:mcu1:lin1".
- `EGU`: Engineering units. For a linear motor, this is mm, for a rotaty motor, this is degree.
- `DIR`: If set to "Neg", the axis direction is inverted.
- `MRES`: This is a scaling factor determining the resolution of the position readback value. For example, 0.001 means a precision of 1 um. A detailed description can be found in section [Motor record resolution MRES](#motor-record-resolution-mres).