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Implemented changing speed on EL734

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Added a test IOCs for EL734
This commit is contained in:
koennecke
2023-02-17 10:43:51 +01:00
parent 3c9932dc18
commit d706915a46
10 changed files with 155 additions and 1 deletions
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2
Makefile.RHEL7
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@ -2,7 +2,7 @@
include /ioc/tools/driver.makefile
MODULE=sinq
LIBVERSION=koennecke
LIBVERSION=koennecke_speed
BUILDCLASSES=Linux
EPICS_VERSIONS=3.14.12 7.0.4.1

1
sinqEPICSApp/Db/basic_asyn_motor.db
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@ -4,6 +4,7 @@ record(motor,"$(P)$(M)")
field(DTYP,"$(DTYP)")
field(DIR,"$(DIR)")
field(VELO,"$(VELO)")
field(VMAX,"$(VMAX=0)")
field(VBAS,"$(VBAS)")
field(ACCL,"$(ACCL)")
field(BDST,"$(BDST)")

6
sinqEPICSApp/src/EL734Driver.cpp
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@ -270,6 +270,12 @@ asynStatus EL734Axis::move(double position, int relative, double minVelocity, do
errlogPrintf("minVelocity = %f, maxVelocity = %f\n", minVelocity, maxVelocity);
/*
* set speed
*/
sprintf(command, "J %d %d", axisNo_, (int)maxVelocity);
status = pC_->transactController(axisNo_, command, reply);
if (relative) {
position += this->position;
}

23
testel734/db/basic_asyn_motor.db Normal file
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@ -0,0 +1,23 @@
record(motor,"$(P)$(M)")
{
field(DESC,"$(DESC)")
field(DTYP,"$(DTYP)")
field(DIR,"$(DIR)")
field(VELO,"$(VELO)")
field(VBAS,"$(VBAS)")
field(ACCL,"$(ACCL)")
field(BDST,"$(BDST)")
field(BVEL,"$(BVEL)")
field(BACC,"$(BACC)")
field(OUT,"@asyn($(PORT),$(ADDR))")
field(MRES,"$(MRES)")
field(PREC,"$(PREC)")
field(EGU,"$(EGU)")
field(DHLM,"$(DHLM)")
field(DLLM,"$(DLLM)")
field(INIT,"$(INIT)")
field(TWV,"1")
field(RDBD,"$(RDBD)")
field(RTRY,"0")
}

21
testel734/db/basic_motor.db Normal file
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@ -0,0 +1,21 @@
grecord(motor,"$(P)$(M)")
{
field(DESC,"$(DESC)")
field(DTYP,"$(DTYP)")
field(DIR,"$(DIR)")
field(VELO,"$(VELO)")
field(VBAS,"$(VBAS)")
field(ACCL,"$(ACCL)")
field(BDST,"$(BDST)")
field(BVEL,"$(BVEL)")
field(BACC,"$(BACC)")
field(OUT,"#C$(C) S$(S) @")
field(MRES,"$(MRES)")
field(PREC,"$(PREC)")
field(EGU,"$(EGU)")
field(DHLM,"$(DHLM)")
field(DLLM,"$(DLLM)")
field(INIT,"$(INIT)")
field(TWV,"1")
}

18
testel734/db/motorMessage.db Normal file
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@ -0,0 +1,18 @@
# The message text
record(waveform, "$(P)$(M)-MsgTxt") {
field(DTYP, "asynOctetRead")
field(INP, "@asyn($(PORT),$(N),1) MOTOR_MESSAGE_TEXT")
field(FTVL, "CHAR")
field(NELM, "80")
field(SCAN, "I/O Intr")
}
record(ao,"$(P)m$(N)-Resolution"){
field(DESC,"m$(N) Resolution")
field(DOL,"$(P)m$(N).MRES CP MS")
field(OMSL,"closed_loop")
field(DTYP,"asynFloat64")
field(OUT,"@asyn($(PORT),$(N))MOTOR_RESOLUTION")
field(PREC,"3")
}

48
testel734/db/sinq_asyn_motor.db Normal file
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@ -0,0 +1,48 @@
record(motor,"$(P)$(M)")
{
field(DESC,"$(DESC)")
field(DTYP,"$(DTYP)")
field(DIR,"$(DIR)")
field(VELO,"$(VELO)")
field(VMAX,"$(VMAX=$(VELO))")
field(VBAS,"$(VBAS)")
field(ACCL,"$(ACCL)")
field(BDST,"$(BDST)")
field(BVEL,"$(BVEL)")
field(BACC,"$(BACC)")
field(OUT,"@asyn($(PORT),$(ADDR))")
field(MRES,"$(MRES)")
field(PREC,"$(PREC)")
field(EGU,"$(EGU)")
field(DHLM,"$(DHLM)")
field(DLLM,"$(DLLM)")
field(INIT,"$(INIT)")
field(TWV,"1")
field(RDBD,"$(RDBD)")
}
# The message text
record(waveform, "$(P)$(M)-MsgTxt") {
field(DTYP, "asynOctetRead")
field(INP, "@asyn($(PORT),$(N),1) MOTOR_MESSAGE_TEXT")
field(FTVL, "CHAR")
field(NELM, "80")
field(SCAN, "I/O Intr")
}
# enable axis
record(longout, "$(P)$(M):Enable") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
field(PINI, "YES")
}
# enable axis
record(longin, "$(P)$(M):Enable_RBV") {
field(DTYP, "asynInt32")
field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
field(PINI, "YES")
field(SCAN, "1 second")
}

13
testel734/mota.sub Normal file
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@ -0,0 +1,13 @@
file "$(TOP)/db/basic_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DLLM, DHLM, INIT}
{KM36:mota:, 2, "m$(N)", "asynMotor", mota, 2, "sgl", degree, Pos, 2.0, 0.1, .2, 0, 1, .2, 1., 3, -20.0, 20.0, ""}
}
file "$(TOP)/db/motorMessage.db"
{
pattern
{P,N, M,PORT}
{KM36:mota:, 2, "m$(N)",mota}
}

12
testel734/motaspeed.sub Normal file
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@ -0,0 +1,12 @@
file "$(TOP)/db/sinq_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DLLM, DHLM, INIT, RDBD}
{KM36:mota:,2,"m$(N)","asynMotor", mota, 2, "sgl", degree, Pos, 100, 0.1, .2, 0, 1, .2, 1., 3,-180.0,360.0,"", 0.2}}
file "$(TOP)/db/motorMessage.db"
{
pattern
{P,N, M,PORT}
{KM36:mota:, 2, "m$(N)",mota}
}

12
testel734/testel734.cmd Executable file
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@ -0,0 +1,12 @@
#!/usr/local/bin/iocsh
require sinq,koennecke_speed
epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testel734")
drvAsynIPPortConfigure("serial1", "localhost:61000",0,0,0)
EL734CreateController("mota","serial1",3)
#dbLoadTemplate "mota.sub"
dbLoadTemplate "motaspeed.sub"