- Implemented defpos for multiple motors
- Implemented automatic backup on parameter change - Implemented silent restore - Cleaned a couple of unused flags from connection object
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@ -63,6 +63,77 @@ number of the motor in the EL734DC motor controller.
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<dd>Creates a piezo electric positioning device. Again the controller is a
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Physik Instrumente controller. pararray has the same meaning as for the
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C804 controller given above.
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<dt>Motor name ecb ecbcontroller ecb-number lowerlimit upperlimit
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<dd>This creates a motor which is controlled through the Risoe ECB
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electronic. The parameters:
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<dl>
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<dt>ecbcontroller
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<dd>The ECB controller to which this motor is connected to. See below
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for more on ECB controllers.
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<dt>ecb-number
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<dd>Number of the motor in the ECB system.
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<dt>lowerlimit
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<dd>The lower hardware limit for this motors operation
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<dt>upperlimit
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<dd>The upper hardware limit for this motors operation
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</dl>
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In contrast to normal motors, the ECB motors have quite a number of
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hardware parameters which must be configured. The general syntax to
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configure them is: motorname parametername value. The following
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parameters are available:
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<dl>
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<dt>encoder
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<dd>0 if there is no encoder for this motor, 1-3 for the encoder used
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for this motor.
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<dt>control
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<dd>The control bit flag. This falg determines if the motor sets a
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control bit in the ECB controller. This control bit can be used to
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drive air cushions and the like. If required set to 1, else leave at
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0.
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<dt>delay
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<dd>Delay time to wait after setting a control bit.
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<dt>range
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<dd>The speed range for the motor: 0 for slow, 1 for fast
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<dt>multi
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<dd>The ECB controller supports up to 24 motors. In some instances
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this is not enough. Then one ECB channel can be multiplexed into
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several motors. This flag (),1) determines if this is the case.
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<dt>multchan
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<dd>The multiplexer channel for a multiplexed motor.
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<dt>port
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<dd>The ECB port a multiplexed motor is using.
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<dt>acceleration
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<dd>The speed with which the motor accelerates to its final speed.
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<dt>rotation_dir
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<dd>Rotation direction of the motor.
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<dt>startspeed
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<dd>Starting speed of the motor.
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<dt>maxspeed
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<dd>The maximum speed for this motor.
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<dt>auto
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<dd>Speed in automatic mode
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<dt>manuell
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<dd>Speed used when driving the motor through the manual control box.
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<dt>offset
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<dd>When using an encoder: the offset between the motor zero and the
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encoder zero.
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<dt>dtolerance
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<dd>hardware tolerance of the motor.
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<dt>step2dig
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<dd>conversion factor from encoder steps to physical values.
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<dt>step2deg
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<dd>Conversion factor from motor pseudo encoder steps to physical
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values.
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<dt>backlash
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<dd>In order to correct for backlash, Risoe motors always approach a
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target position from the same direction. In order to do this the motor
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has to overshoot and drive back when driving in the wrong
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direction. The parameter backlash determines how much to overshoot.
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</dl>
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ECB motors have another quirck: 8 motors in a rack share a power
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supply! This has the consequence that only one of the 8 motors can run
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at any given time. In SICS this is directed through the anticollider
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module described elsewhere.
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</DL>
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</p>
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@ -78,7 +149,10 @@ failures. This can be used in a instrument simulation server.
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<DT>MakeCounter name EL737 host port chan
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<DD>This command creates a single
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counter name, using an EL737 driver. The counter is at host host, listening
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at port port and sits at serial port chan.
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at port port and sits at serial port chan.
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<dt> MakeCounter name ecb ecb-controller
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<dd>Installs a counetr on top of the Risoe ECB hardware. The only
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parameter is the name of the ECB controller to use.
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<DT>MakeHMControl name counter hm1 hm2 hm3
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<dd>At some instruments (for instance TRICS) multiple counters or
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histogram memories are controlled by a master counter which watches
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@ -109,8 +183,9 @@ HM. Histogram memory objects can be created using the command:
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<DT> MakeHM name type
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<DD> The parameter name specifies the name under which the HM will be
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avialable in the system. type specifies which type of driver to use.
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Currently two types of drivers are supported: SIM for a simulated HM and
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SINQHM for the SINQ histogram memory. Please care to note, that the SINQHM
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Currently three types of drivers are supported: SIM for a simulated HM
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, SINQHM for the SINQ histogram memory and tdc for the Risoe histogram memory.
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Please care to note, that the SINQHM
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requires a EL737 counter box for count control. This counter must have been
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defined before creating the HM object.
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</DL>
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@ -121,7 +196,7 @@ MakeHM banana SINQHM
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banana configure HistMode Normal
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banana configure OverFlowMode Ceil
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banana configure Rank 1
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banana configure Length 400
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banana configure dim0 400
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banana configure BinWidth 4
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banana preset 100.
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banana CountMode Timer
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@ -237,6 +312,122 @@ which the device is connected. This is usally the port number plus 3000.
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To be expanded. Please note, that environment devices such as temperature
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controllers are dynamically configured into the system at run time.
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Therefore the necessary commands are described in the user documentation.
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</p>
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<h3>GPIB Controller Access</h3>
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<p>
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GPIB is yet another bus system. Up to 30 devices can share the bus and
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transfer data on it. SICS likest to speak to GPIB devices through the
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National Instrument ENET-100 TCP/IP bridge. In order for this to work
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the National Instruments driver software must have been installed on
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the computer running SICS. SICS has to be compiled with the define
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HAVENI defined and the proper paths to the header file and library
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configured. The an GPIB controller can be installed into SICS with the
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command:
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<pre>
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MakeGPIB name drivertype
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</pre>
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Name is the name under which the GPIB controller is addressable within
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SICS afterwards. drivertype is the driver to use for the GPIB
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device. Supported values are:
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<dl>
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<dt>sim
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<dd>Simulation
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<dd>ni
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<>National instruments driver, see above.
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</dl>
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The GPIB controller supports a couple of commands for communicating
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with devices on the GPIB bus directly. Use with extra care because it
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is very easy to lock things up on the GPIB bus. In the following
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documantation of the command set it is assumed that a GPIB controller
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has been configured into the system under the name <b>gpib</>. Please
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note, that managers privilege is required in order to be allowed to
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wrestle with this controller.
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<dL>
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<dt>
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</dl>gpib attach controller-no gpib-address gpib-secondary timeout
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eos eot
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<dd>This attaches the GPIB controller to a certain device at a certain
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address for later communication. The return value is an integer
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handle which will be used later on a s a handle devID when referring
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to the conenction. The parameters are:
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<dl>
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<dt>controller-no
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<dd>The number of the GPIB controller on the computer. There may be
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more then one GPIB controllerinstalled on a given system. Usually this
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is 0.
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<dt>gpib-address
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<dd>The GPIB address of the device on the bus.
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<dt>gpib-secondary
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<DD>GPIB devices may have a seconadry address. This can be specified
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with this parameter. Usually this is 0.
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<dt>timeout
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<dd>The time to wait for answers on the GPIB bus. 13 is 10 seconds and
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ussually a good value.
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<dt>eot
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<dd>A parameter determining the termination mode on this
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connection. Consult NI documentation for this or leave at 0.
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<dt>eoi
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<dd> A terminator. Set to 1 or understand NI documentation for this
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parameter.
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</dt>
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<dt>gpib detach devID
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<dd>Breaks the connection described through devID. devID is the return
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value from attach.
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<dt>gpib clear devID
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<dd>Tries to clear the GPIB buffers for the conenction described
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through devID. Usually in vain.
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<dt>gpib send devID bal bla bla
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<dd>sends data to the device at devID.
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<dt>gpib sendwithterm devID string terminator
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<dd>Sends string to the device at devID. The terminator character
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identified through the integer terminator is automatically
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appended. Use this to send things which require a
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terminator. Terminators included in strings sent by send get messed up
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through Tcl!
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<dt>gpib read devID
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<dd>Reads data from the device at devID and returns it as a string.
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<dt>gpib readtillterm devID terminator
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<dd>Read from teh device devID unti the terminator character described
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through the interger terminator is read. Then return the data read as
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a string.
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</dl>
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</p>
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<h3>ECB Controllers</h3>
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<p>
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ECB controllers are at the heart of the Risoe data aquisition
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system. These are essentially Z80 processors wired to the GPIB
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bus. Functions can be invoked in this processor by sending a function
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code followed by the contents of 4 8 bit registers. As a result the
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contents of the registers after the function call are returned. A ECB
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can be made knwon to SICS through the initialisation command:
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<pre>
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MakeECB name gpib-controller gbib-controller-number gpib-address
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</pre>
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The parameters:
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<dl>
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<dt>name
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<dd>The name used as a token for this controller later on.
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<dt>gpib-controller
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<dd>the name of the GPIB interface to use. See above.
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<dt>gbib-controller-no
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<dd>The number of the GPIB board in the system
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<dt>gpib-address
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<dd>The GPIB address of the ECB on the GPIB bus.
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</dl>
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Once installed, the ECB controller understands a few commands:
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<dl>
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<dt>ecb1 func funcode d e bc
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<dd>Invoke ECB function funcode with the registers d e b c.Returns the
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contents of the registers d e b c. Function codes and register
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contents are documented, if at all, in the ECB documentation.
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<dt>ecb1 clear
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<dd>Tries, usually in vain, to clear the communications interface to
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the ECB.
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<dt>ecb1 toint char
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<dd>A helper function which converts the character char to an
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integer. Tcl does not seem to be able to do that.
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</dl>
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</p>
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</body>
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</html>
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