lin-epics-modules/sinqMotor
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Added adaptive polling

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See documentation in README.md for parameter ADAPTPOLL
This commit is contained in:
mathis_s
2025-04-16 13:05:48 +02:00
parent 4c3254687d
commit db03ffea0e
6 changed files with 126 additions and 46 deletions
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29
README.md
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@@ -29,15 +29,15 @@ An EPICS IOC for motor control at SINQ is started by executing a script with the
# Load libraries needed for the IOC
require sinqMotor, 1.0.0
require turboPmac, 1.2.0
require actualDriver, 1.2.0
# Define environment variables used later to parametrize the individual controllers
epicsEnvSet("TOP","/ioc/sinq-ioc/sinqtest-ioc/")
epicsEnvSet("INSTR","SQ:SINQTEST:")
# Include other scripts for the controllers 1 and 2
< turboPmac1.cmd
< turboPmac2.cmd
< actualDriver.cmd
< actualDriver.cmd
iocInit()
```
@@ -46,7 +46,7 @@ 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","turboPmac1")
epicsEnvSet("NAME","actualDriver1")
epicsEnvSet("ASYN_PORT","p$(NAME)")
# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
@@ -58,12 +58,12 @@ drvAsynIPPortConfigure("$(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
turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
actualDriverController("$(NAME)", "$(ASYN_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!
turboPmacAxis("$(NAME)",1);
turboPmacAxis("$(NAME)",2);
turboPmacAxis("$(NAME)",5);
actualDriverAxis("$(NAME)",1);
actualDriverAxis("$(NAME)",2);
actualDriverAxis("$(NAME)",5);
# Set the number of subsequent timeouts
setMaxSubsequentTimeouts("$(NAME)", 20);
@@ -74,7 +74,7 @@ setThresholdComTimeout("$(NAME)", 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)")
epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
epicsEnvSet("SINQDBPATH","$(actualDriver_DB)/turboPmac.db")
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
```
@@ -87,11 +87,11 @@ To work with sinqMotor, "mcu1.substitutions" needs to look like this (the order
file "$(SINQDBPATH)"
{
pattern
{ AXIS, M, DESC, EGU, DIR, MRES, MSGTEXTSIZE, ENABLEMOVWATCHDOG, LIMITSOFFSET, CANSETSPEED }
{ 1, "lin1", "Linear motor doing whatever", mm, Pos, 0.001, 200, 1, 1.0, 1 }
{ 2, "rot1", "First rotary motor", degree, Neg, 0.001, 200, 0, 1.0, 0 }
{ 3, "rot2", "Second rotary motor", degree, Pos, 0.001, 200, 0, 0.0, 1 }
{ 5, "rot3", "Surprise: Third rotary motor", degree, Pos, 0.001, 200, 1, 2.0, 0 }
{ AXIS, M, DESC, EGU, DIR, MRES, MSGTEXTSIZE, ENABLEMOVWATCHDOG, LIMITSOFFSET, CANSETSPEED, ADAPTPOLL }
{ 1, "lin1", "Linear motor doing whatever", mm, Pos, 0.001, 200, 1, 1.0, 1, 1 }
{ 2, "rot1", "First rotary motor", degree, Neg, 0.001, 200, 0, 1.0, 0, 1 }
{ 3, "rot2", "Second rotary motor", degree, Pos, 0.001, 200, 0, 0.0, 1, 0 }
{ 5, "rot3", "Surprise: Third rotary motor", degree, Pos, 0.001, 200, 1, 2.0, 0, 0 }
}
```
The variable `SINQDBPATH` has been set in "mcu1.cmd" before calling `dbLoadTemplate`.
@@ -114,6 +114,7 @@ be further reduced by this offset in order to avoid errors due to slight oversho
on the motor controller. For example, if this value is 1.0 and the read-out limits
are [-10.0 10.0], the EPICS limits are set to [-9.0 9.0]. This parameter uses engineering units (EGU). Defaults to 0.0.
- `CANSETSPEED`: If set to 1, the motor speed can be modified by the user. Defaults to 0.
- `ADAPTPOLL`: If set to any value other than 0, adaptive polling is enabled for this particular axis. Adaptive polling is designed to reduce the communication load in case some axis is moving. By default, if at least one axis is moving, all axes are polled using the busy / moving poll period (see [IOC startup script](#ioc-startup-script)). Adaptive polling modifies this behaviour so that the affected axis is only polled with the busy / moving poll period if it itself is moving. Defaults to 1.
### Motor record resolution MRES