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Added support for (optional) variable speed drive mode and refactored

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some records into sinqMotor
This commit is contained in:
mathis_s
2024-11-29 14:54:05 +01:00
parent dc70b560f7
commit e967e65d33
5 changed files with 77 additions and 111 deletions
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37
db/pmacv3.db
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@@ -19,41 +19,4 @@ record(longout, "$(P)$(M):Read_Config") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
field(PINI, "NO")
}
# ===================================================================
# The following records read acceleration and velocity from the driver and
# copy those values into the corresponding fields of the main motor record.
# 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_VELOCITY-RBV")
{
field(DTYP, "asynFloat64")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VELOCITY_FROM_DRIVER")
field(SCAN, "I/O Intr")
field(FLNK, "$(P)$(M):PUSH_VELO_TO_FIELD")
}
# Push the value into the field of the main motor record
record(ao, "$(P)$(M):PUSH_VELO_TO_FIELD") {
field(DOL, "$(P)$(M):MOTOR_VELOCITY-RBV CP")
field(OUT, "$(P)$(M).VELO")
field(OMSL, "closed_loop") # This configuration keeps the PV and the field in sync
}
# Helper record for the low limit which is filled in by the driver
record(ai, "$(P)$(M):MOTOR_ACCL-RBV")
{
field(DTYP, "asynFloat64")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_ACCEL_FROM_DRIVER")
field(SCAN, "I/O Intr")
field(FLNK, "$(P)$(M):PUSH_ACCL_TO_FIELD")
}
# Push the value into the field of the main motor record
record(ao, "$(P)$(M):PUSH_ACCL_TO_FIELD") {
field(DOL, "$(P)$(M):MOTOR_ACCL-RBV CP")
field(OUT, "$(P)$(M).ACCL")
field(OMSL, "closed_loop") # This configuration keeps the PV and the field in sync
}