76abbe1042
- Initial MARS development - Upgraded Manager Manual SKIPPED: psi/make_gen psi/psi.c psi/tabledrive.c psi/tabledrive.h psi/tabledrive.w psi/utils/SerPortServer.c
651 lines
27 KiB
HTML
651 lines
27 KiB
HTML
<html>
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<head>
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<title> SICS Hardware Configuration</title>
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</head>
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<body>
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<h2>SICS Hardware Configuration</h2>
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<p>
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Hardware is configured into the SICS system by executing special hardware
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configuration commands from the server initialisation file. These commands
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are described here. Much SICS hardware is hooked up to the system via RS-232
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interfaces. The SICS server communicates with such devices through a serial
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port server program running on the instrument computer.
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All such devices require on
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initialisation the following parameters:
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<ul>
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<li><b>hostname</b> The name of the instrument computer.
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<li><b>port</b> The port number where the serial port server program is
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listening for requests. It is usually 4000.
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<li><b>channel</b> The number of the RS-232 interface port
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on the terminal server.
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</ul>
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</p>
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<h3>Bus Access</h3>
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<p>
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SICS and its internals cover many common usage cases. However there are always
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situations where SICS has to be bypassed and commands to be sent to a
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controller directly. This can happen in order to satisfy a special request or
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as first step in the integration of a special piece of hardware into SICS. In
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order to do such things the following facilities are available:
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<H4>Direct Access to RS232 Controllers or TCP/IP Controllers.</H4>
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<p>
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Both controllers listening on a TCP/IP port or RS-232 devices connected to a
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terminal server can be directly accessed through the RS232 commands. The
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first step in using this system is always to accounce the controller to SICS
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using the command:
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<pre>
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MakeRS232Controller name terminalserver port
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</pre>
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in the SICS initialization file.
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For example:
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<pre>
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MakeRS232Controller hugo psts213 3004
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</pre>
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name is the SICS name for the controller, terminalserver is the name
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of the terminal server the device is connected to and port is the port
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number at which the terminal server publishes the RS232 channel to
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which the device is connected. This is usally the port number plus 3000.
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</p>
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<p>
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Now various commands are available for interfacing with the RS232
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controller. In the following description the SICS name of the
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controller is replaced by the symbol rs232name.
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<dl>
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<dT>rs232name sendterminator
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<dD>prints the current terminator used when sending data to the device
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as hexadecimal numbers.
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<dT>rs232name sendterminator h1h2..hn
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<dD>sets the current terminator used when sending data to the device
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to the characters described by the hexadecimal numbers h1 to hn. The
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numbers are in the format 0xval, where val is the hex number.
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<dT>rs232name replyterminator
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<dD>prints the current terminator expected to terminate a response
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from the device as a hexadecimal number.
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<dT>rs232name replyterminator h1h2..hn
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<dD>sets the current terminator expected to terminate a response from
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the device to the characters described by the hexadecimal numbers h1
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to hn.
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The numbers are in the format 0xval, where val is the hex number.
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<dt>rs232name timeout
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<dd>prints the current timeout when waiting for a reponse from the
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device.
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<dt>rs232name timeout val
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<dd>sets the timeout for waiting for responses from the device. The
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value is in microseconds.
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<dt>rs232name send data data data
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<dd>sends the remainder of the line to the RS232 device and waits for
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a response terminated with the proper reply terminator specified. This
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commands waits at maximum timeout microseconds for a response. If a
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valid response is obtained it is printed, otherwise an error message
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occurs.
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<dt>rs232name write data data data
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<dd>writes the remainder of the line after write to the device without
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waiting for a response.
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<dt>rs232 available
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<dd>checks if data is pending to be read from the device.
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<dt>rs232 read
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<dd>reads data from the device.
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</dl>
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</p>
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<H4>Accessing Serial Ports (Old System)</H4>
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<P>
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In addition to the system describe above there is another system for accessing
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serial ports which uses the SerPortServer program. The use of the system is
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deprecated, new software should use the commands describe above. Nevertheless
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the older sytem is described here for reference.
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</p>
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<p>
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Serial port access is implemented as an extension to the Tcl macro language.
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Essentially this is the same implementation as used in the program psish.
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This section describes how to use serial port access. Several
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steps have to be performed:
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<ol>
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<li>Install the serialport command into the SICS server. This requires two lines to be added to
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the server startup script:
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<ul>
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<li>SerialInit
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<li>TclPublish serialport UserRights
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</ul>
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Where UserRights stands for one of the possible SICS user rights.
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See documentation
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for TclPublish above.
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<li> Each separate serial port will be represented by a name in the SICS server
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after it has been initialized. This name is also a command. These port names
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live in the Tcl interpreter and must be made accessible with TclPublish.
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For example for
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a port named p1 include this line in the server startup script:
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<ul>
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<li>TclPublish p1 User
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</ul>
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Replace User with the correct access code you want for a serial port. It is
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recommended
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to restrict serial port access to SICS managers only.
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<li> After starting the SICS server the command serialport is now available.
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<li> Now a serial port can be initialized with a command like this:
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<ul>
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<li>serialport name1 SerPortServer.host port channel force
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<li>Example: serialport p1 localhost 4000 5
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</ul>
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Such a command creates the command name1 and links it with serial port channel
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channel on the instrument computer (localhost) running the SerPortServer program . Port is the port number on which the
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SerPortServer is listening for connections (usually 4000).
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The last flag force is optional. If something is there, the connection to that
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port is done on a separate socket of its own. This has to do with some
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feature of the software interface to the SerPortServer serial port server.
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This
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software interface tries to direct messages for multiple channels through one
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socket connection between the host and the Macintosh server. This is perfectly
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fine as long as none of the commands through this socket takes a long time
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to execute. However, if a RS-232 device takes a long time to respond, the whole
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socket is blocked. Fortunately, the serial port server runs a separate
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thread of execution for each different socket. By forcing a new socket it can
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be achieved that such a slow device is decoupled from the rest. Exactly this
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is achieved with the force flag.
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<li> Once the port has been initialised (for example p1) it is ready to
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operate.
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The port object allows to send data to the serial port and receive data from
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it. Furthermore some configuration is possible. The syntax is like this:
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<DL>
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<DT>portname -tmo number
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<DD>Sets the timeout for the serial port. This is the maximum amount of time
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the serial port server waits for data to arrive from the RS-232 device.
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Increase this if a lot of <code>_BAD_TMO</code> error messages creep up.
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<DT>portname -sendterm string
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<DD> Sets the terminator which will be automatically added to the string
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which is
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sent. Some RS-232 devices require special terminators in order to accept a command.
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The serial port implementation ensures that such a terminator is sent after
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each message. This command allows to configure this terminator. Please note,
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that the terminator string needs to be enclosed in quotes. An example:
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<ul>
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<li><code>p1 -sendterm "\r\n"</code>
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</ul>
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This sets the terminator to carriage return - line feed.
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<DT>portname -replyterm string.
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<DD>The serial port server expects the RS-232 device to send a terminator
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when it is done with sending answers. It even supports multiple lines to be
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sent as a reply. This expected reply terminator is set with this command.
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The string may may be four characters long. An example: <code>1\r\n</code> sets
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the expected terminator to one of <code>\r\n</code>. One of them is expected.
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Thus the first character is the count of terminators to expect, followed by
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the characters possible as terminators. This string must usually be quoted.
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<DT>portname blablalakjdl
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<DD>When none of the options -tmo, -replyterm, -sendterm, is found everything
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after portname is sent to the RS-232 device. The reply from the RS-232
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device is printed.
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</DL>
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</ol>
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The defaults set for the configuration parameters of the serial port connection
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are suited for the EL734, EL737 and ITC4 devices usually encountered at SINQ.
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For other RS-232 devices consult the manuals hopefully delivered with the
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device.
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The defaults are: 100 for timeout, <code>1\r\n</code> for the reply terminator and
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<code>\r\n</code>for the send terminator.
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</p>
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<h4>GPIB Controller Access</h4>
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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. Then 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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<dt>ni
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<dd>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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documentation 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</b>. 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>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 connection. 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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</dl>
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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>Controllers</h3>
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<p>
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For the same reason as stated above, it is necessary to represent controllers
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within SICS. Controllers implement more then only device access but also
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maintain common state or implement special behaviour.
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</p>
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<h4>ECB Controllers</h4>
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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. In fact, as
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ECB documentation is not available, the only documentation on ECB is the
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source code of tascom.
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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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<H4>Siematic SPS Controllers</H4>
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<P>
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Siematic SPS controllers are used at SinQ for handling all the things which
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fit nowhere else. Such as operating air cushions on some instruments,
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reading variables from ADC's, reading status of shutters or other parts of
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the instrument and the like. Those SPS units have an RS-232 connector and
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understand a simple ASCII command protocoll.
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The Siematic SPS and its command protocoll are
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special to PSI and this section is probably of no interest to SICS managers
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outside. The SPS basiaclly support three operations:
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<ul>
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<li>Push a button (Set a Digital I/O Bit).
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<li>Read a status of instrument status packed into a bit (Read Digital I/O) .
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<li>Read an ADC.
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</ul>
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This is so user unfriendly that the usage of the SPS will mostly be packaged
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into Tcl-macros.
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</P>
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<p>
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A SPS unit can be configured into the SICS server with the command:<br>
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<b>MakeSPS name macintosh port channel</b> <br>
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The parameters are: the name of the SPS in SICS, the serial port server
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computer, the port where the serial port server is listening and the
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channel number of the SPS unit at the serial port server computer. An
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example: <br>
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MakeSPS sps1 lnsp25.psi.ch 4000 6 <br>
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configures a SPS unit at lnsp25.psi.ch at channel 5. The serial port server
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is listening at port number 4000. The SPS unit will be accessible as sps1 in
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SICS.
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</p>
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<p>
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After configuartion the following four commands are understood by name,
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shown with sps1 as example:
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<DL>
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<DT>sps1 push byte bit
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<DD>Corresponds to pushing the button mapped to the bit bit in the byte
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byte.
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<DT>sps1 adc num
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<DD> Reads the value in the ADC num. num can be between 0 to 7 for a maximum
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of eight ADC's. Please note, that the values read are raw values which
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usually must be converted in some way to physically meaningful values.
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<DT>sps1 status bit
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<DD>Reads the status of the bit bit. bit can be in the range 0 - 128.
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<DT>sps1 stat2 byte bit
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<DD>Reads the status bit bit in status byte byte. Is equivalent to status,
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but adds some syntatctic sugar.
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</DL>
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For all conversion factors, for all mappings of bytes and bits, consult the
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electronician who coded the SPS.
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</p>
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<h4>General Controller Object and Choppers</h4>
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<p>
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Chopper systems are handled via a generic controller object. This basicly
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consists of two components: One object represents the actual
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controller. This basic object allows to query parameters only. Then
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there is for each parameter which can be controlled from SICS in this
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controller an adapter object. These adapter object are virtual motors
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which can be driven with the normal run or drive commands. Currently
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two drivers for this scheme exists: one for a simulated device, the
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other for the Dornier Chopper Controller at FOCUS. The first step when
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initializing this system is the installation of the general controller
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object into SICS. This is done with the commands:
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<pre>
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MakeChopper name sim
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MakeChopper name docho mac port channel
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</pre>
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The first command simply installs a simulated controller.
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The second command install a controller with a driver for the FOCUS
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Dornier Chopper system. Mac, port and channel are the usual Macintosh
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terminal server parameters which describe where the chopper controller
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is connected to through its RS-232 interface. After both commands the
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controller is available as command name within SICS.
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</p>
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<p>
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A drivable parameter at this controller is installed with a command
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similar to this:
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<pre>
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ChopperAdapter vname cname pname lower upper
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</pre>
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vname is the name under which the virtual motor will appear in
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SICS. cname is the name of the controller object installed into SICS
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with the commands in the previous paragraph. pname is the name of the
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drivable parameter in the controller. upper and lower are the upper
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and lower limits for this parameter. More then one of these commands
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can be given for each general controller.
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</p>
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<p>
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After this, the parameter can be modified by a command like:
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<pre>
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drive vname newvalue
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</pre>
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</p>
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<h3> Motors</h3>
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<p>
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The following commands are available to install motors into the system:
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<DL>
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<DT> Motor name SIM lowlim uplim err speed
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<DD> This command creates a simulated
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motor with the lower limits lowlim, the upper limit uplim, an ratio of
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randomly generated errors err and a driving speed of speed. Use this for
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testing and instrument simulation. If err is less then 0, the motor will
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not create failures and thus can be used in a instrument simulation server.
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<DT>Motor name EL734 host port chan no
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<DD>This command creates a stepper motor named name which is controlled through a
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El734 motor controller. The
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parameters host, port, chan have the meanings defined above. no is the
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number of the motor in the EL734 motor controller.
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<DT>Motor name EL734DC host port chan no
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<DD>This command creates an analog motor named name which is controlled
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through a El734DC motor controller. The
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parameters host, port, chan have the meanings defined above. no is the
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number of the motor in the EL734DC motor controller.
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<dt>Motor name el734hp rs232controllername motornum
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<dd>Creates a motor object name using the newer motor drivers which access
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the motor controller directly, without the serial port server.
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rs232controllername is the name of a connection to the motor controll which
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has been set up with MakeRS232, above. Motornum is the number of the motor in
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the controller.
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<DT>MakePIMotor name c804 pararray
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<DD>Creates a motor name connected to a C804 motor controller from the
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manufacturer Physik Instrumente. Pararray is a Tcl array holding the
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initialization information. The follwoing elements are required in this
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array:
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<dl>
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<dt>Computer, port, channel
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<dd>The standard connection parameters.
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<dt>upperlimit, lowerlimit
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<dd>The limits for this motor.
|
|
<dt>motor
|
|
<dd>The number of the motor in the motor controller.
|
|
</dl>
|
|
<dt>Motor name pipiezo pararray
|
|
<dd>Creates a piezo electric positioning device. Again the controller is a
|
|
Physik Instrumente controller. pararray has the same meaning as for the
|
|
C804 controller given above.
|
|
<dt>Motor name ecb ecbcontroller ecb-number lowerlimit upperlimit
|
|
<dd>This creates a motor which is controlled through the Risoe ECB
|
|
electronic. The parameters:
|
|
<dl>
|
|
<dt>ecbcontroller
|
|
<dd>The ECB controller to which this motor is connected to. See below
|
|
for more on ECB controllers.
|
|
<dt>ecb-number
|
|
<dd>Number of the motor in the ECB system.
|
|
<dt>lowerlimit
|
|
<dd>The lower hardware limit for this motors operation
|
|
<dt>upperlimit
|
|
<dd>The upper hardware limit for this motors operation
|
|
</dl>
|
|
In contrast to normal motors, the ECB motors have quite a number of
|
|
hardware parameters which must be configured. The general syntax to
|
|
configure them is: motorname parametername value. The following
|
|
parameters are available:
|
|
<dl>
|
|
<dt>encoder
|
|
<dd>0 if there is no encoder for this motor, 1-3 for the encoder used
|
|
for this motor.
|
|
<dt>control
|
|
<dd>The control bit flag. This falg determines if the motor sets a
|
|
control bit in the ECB controller. This control bit can be used to
|
|
drive air cushions and the like. If required set to 1, else leave at
|
|
0.
|
|
<dt>delay
|
|
<dd>Delay time to wait after setting a control bit.
|
|
<dt>range
|
|
<dd>The speed range for the motor: 0 for slow, 1 for fast
|
|
<dt>multi
|
|
<dd>The ECB controller supports up to 24 motors. In some instances
|
|
this is not enough. Then one ECB channel can be multiplexed into
|
|
several motors. This flag (),1) determines if this is the case.
|
|
<dt>multchan
|
|
<dd>The multiplexer channel for a multiplexed motor.
|
|
<dt>port
|
|
<dd>The ECB port a multiplexed motor is using.
|
|
<dt>acceleration
|
|
<dd>The speed with which the motor accelerates to its final speed.
|
|
<dt>rotation_dir
|
|
<dd>Rotation direction of the motor.
|
|
<dt>startspeed
|
|
<dd>Starting speed of the motor.
|
|
<dt>maxspeed
|
|
<dd>The maximum speed for this motor.
|
|
<dt>auto
|
|
<dd>Speed in automatic mode
|
|
<dt>manuell
|
|
<dd>Speed used when driving the motor through the manual control box.
|
|
<dt>offset
|
|
<dd>When using an encoder: the offset between the motor zero and the
|
|
encoder zero.
|
|
<dt>dtolerance
|
|
<dd>hardware tolerance of the motor.
|
|
<dt>step2dig
|
|
<dd>conversion factor from encoder steps to physical values.
|
|
<dt>step2deg
|
|
<dd>Conversion factor from motor pseudo encoder steps to physical
|
|
values.
|
|
<dt>backlash
|
|
<dd>In order to correct for backlash, Risoe motors always approach a
|
|
target position from the same direction. In order to do this the motor
|
|
has to overshoot and drive back when driving in the wrong
|
|
direction. The parameter backlash determines how much to overshoot.
|
|
</dl>
|
|
ECB motors have another quirck: 8 motors in a rack share a power
|
|
supply! This has the consequence that only one of the 8 motors can run
|
|
at any given time. In SICS this is directed through the anticollider
|
|
module described elsewhere.
|
|
</DL>
|
|
</p>
|
|
<h3>Counting Devices</h3>
|
|
<p>
|
|
<DL>
|
|
<DT>MakeCounter name SIM failrate
|
|
<DD>This command creates a simulated single counter
|
|
accessible as object name. Failrate is the per centage of invocations
|
|
at which the counter will generate a random failure for testing error
|
|
treatment code. If failrate is less then 0, there are no
|
|
failures. This can be used in a instrument simulation server.
|
|
<dt>MakeCounter name mcstas
|
|
<dd>Creates a counter which interoperates with a
|
|
<a href="mcstas.htm">McStas</a> simulation. Please note,
|
|
that the McStas module mccontrol must have been initialized before this initialization
|
|
can work.
|
|
<DT>MakeCounter name EL737 host port chan
|
|
<DD>This command creates a single
|
|
counter name, using an EL737 driver. The counter is at host host, listening
|
|
at port port and sits at serial port chan.
|
|
<DT>MakeCounter name EL737hp terminalserver port
|
|
<DD>Creates a counter object name which uses the faster driver which connects
|
|
directly to the terminal server without the serial port server program.
|
|
Terminalserver is the name of the instruments terminal server. Port is the
|
|
port number at which the terminal server publishes the port at which the EL737
|
|
controller is connected. Usually this 3000 + port number.
|
|
<dt> MakeCounter name ecb ecb-controller
|
|
<dd>Installs a counetr on top of the Risoe ECB hardware. The only
|
|
parameter is the name of the ECB controller to use.
|
|
<DT>MakeHMControl name counter hm1 hm2 hm3
|
|
<dd>At some instruments (for instance TRICS) multiple counters or
|
|
histogram memories are controlled by a master counter which watches
|
|
over presets and the like. This command installs a virtual counter
|
|
which does exactly that. The parameters are:
|
|
<dl>
|
|
<dt>name
|
|
<dd>The name of the virtual counter in SICS
|
|
<dt>counter The name of the master counter
|
|
<dt>hm1, hm2, hm3
|
|
<dd>Up to three slave counting devices.
|
|
</dl>
|
|
</dl>
|
|
</p>
|
|
|
|
<h4>Histogram Memory</h4>
|
|
<p>
|
|
Due to the large amount of parameters, histogram memories are configured
|
|
differently. A histogram memory object is created using a special
|
|
creation command. This command is described below. Then a lot of options need to
|
|
be configured. The commands used for setting these options and their meanings
|
|
are defined in the <a href =
|
|
../user/histogram.htm> user </a> documentation because histogram memories
|
|
may be reconfigured at runtime. The sequence of configuartion options is
|
|
ended with the command hmname init. This last command actually initialises the
|
|
HM. Histogram memory objects can be created using the command:
|
|
<DL>
|
|
<DT> MakeHM name type
|
|
<DD> The parameter name specifies the name under which the HM will be
|
|
avialable in the system. type specifies which type of driver to use.
|
|
Currently these drivers are supported:
|
|
<dl>
|
|
<dt>SIM
|
|
<dd>for a simulated HM
|
|
<dt>SINQHM
|
|
<dd>for the SINQ histogram memory
|
|
<dt>tdc
|
|
<dd>for the Risoe histogram memory.
|
|
<dt>mcstas
|
|
<dd>for the integration with the <a href="mcstas.htm"> McStas</a> simulation.
|
|
</dl>
|
|
</DL>
|
|
Please care to note, that the SINQHM
|
|
requires a counter box for count control. This counter must have been
|
|
defined before creating the HM object.
|
|
As an example the configuration of a SINQHM HM with the name banana will be
|
|
shown:
|
|
<pre>
|
|
MakeHM banana SINQHM
|
|
banana configure HistMode Normal
|
|
banana configure OverFlowMode Ceil
|
|
banana configure Rank 1
|
|
banana configure dim0 400
|
|
banana configure BinWidth 4
|
|
banana preset 100.
|
|
banana CountMode Timer
|
|
banana configure HMComputer psds04.psi.ch
|
|
banana configure HMPort 2400
|
|
banana configure Counter counter
|
|
banana init
|
|
</pre>
|
|
</p>
|
|
|
|
<h3>Velocity Selectors</h3>
|
|
<p>
|
|
A velocity selector is configured in a three step process. First a Tcl array
|
|
is filled with the necessary configuration options for the actual velocity
|
|
selector driver. In a second step the
|
|
velocity selector is created with a special command. In a third step the
|
|
forbidden regions for the velocity selector are defined. Currently two
|
|
drivers for velocity selctors are known: a SIM driver for a simulated
|
|
velocity selector and a DORNIER driver for a Dornier velocity selector
|
|
hooked to a SINQ serial port setup. The last one needs a parameter array
|
|
containing the fields Host, Port, Channel and Timeout. Host, Port and
|
|
Channel have the meanings as defined at the very top of this section.
|
|
Timeout is the maximum time to wait for responses from the velocity selector.
|
|
A large value is required as the dornier velocity selector is very slow.
|
|
The second step is performed through the following commands:
|
|
<DL>
|
|
<DT>VelocitySelector name tilt-motor SIM
|
|
<DD> This command installs a simulated velocity selector with the name name
|
|
into the system. tilt-motor is used for driving the tilt angle of the
|
|
selector. tilt-motor must exist before this command can be executed
|
|
successfully.
|
|
<DT>VelocitySelector name tilt-motor DORNIER arrayname
|
|
<DD> This command installs a dornier velocity selector into the system. name
|
|
and tilt-motor have the same meanings as described above. arrayname is the
|
|
Tcl-array with the driver configuration parameters.
|
|
</DL>
|
|
As an example the configuration of a dornier velocity selector named
|
|
nvs is shown:
|
|
<pre>
|
|
set dornen(Host) lnsp25.psi.ch
|
|
set dornen(Port) 4000
|
|
set dornen(Channel) 6
|
|
set dornen(Timeout) 5000
|
|
VelocitySelector nvs tilt DORNIER dornen
|
|
nvs add -20 28800
|
|
nvs add 3800 4500
|
|
nvs add 5900 6700
|
|
nvs add 8100 9600
|
|
</pre>
|
|
</p>
|
|
</body>
|
|
</html>
|
|
|
|
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|