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Cleaned up the IOC configuration section.

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Daniel Sissom
2024-08-07 11:20:53 -05:00
parent 66996c3bf2
commit 39db58a2e9
1 changed files with 26 additions and 16 deletions
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README.md
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@@ -104,11 +104,15 @@ Configuring the IOC server
The directory `$SUPPORT/motorDSM/iocs/dsmIOC/iocBoot/iocDSM` contains example configurations for the IOC server that runs on the computer the motor controllers are attached to. The `st.cmd.md90` and `motor.substitutions.md90` files provide an example to configure and run one attached MD-90. The `st.cmd.md90.multi` and `motor.substitutions.md90.multi` files provide an example to configure and run eight attached MD-90s connected on ports `dev/ttyUSB0` through `/dev/ttyUSB7`. Add or remove lines from the `*.multi` files as necessary to configure a different number of attached MD-90s.
The parameters in the IOC startup scripts are detailed here, but the files should contain reasonable defaults to run as-is.
**1. Define a new serial port named "serial0" and set the location of the physical port**
`drvAsynSerialPortConfigure([serial name], [device location], 0, 0, 0)`
`drvAsynSerialPortConfigure("[serial name]", "[device location]", 0, 0, 0)`
*e.g., `drvAsynSerialPortConfigure("serial0", "/dev/ttyUSB0", 0, 0, 0)`*
**2. Configure the port**
- Baud = 115200
- Bits = 8
- Parity = none
@@ -116,20 +120,24 @@ The directory `$SUPPORT/motorDSM/iocs/dsmIOC/iocBoot/iocDSM` contains example co
- Input end of message: "\r"
- Output end of message: "\r"
- Trace IO mask: 2
```
asynSetOption([serial name], 0, "baud", "115200")
asynSetOption([serial name], 0, "bits", "8")
asynSetOption([serial name], 0, "parity", "none")
asynSetOption([serial name], 0, "stop", "1")
asynOctetSetInputEos("serial0", 0, "\r")
asynOctetSetOutputEos("serial0", 0, "\r")
asynSetTraceIOMask("serial0", 0, 2)
asynSetOption("[serial name]", 0, "baud", "115200")
asynSetOption("[serial name]", 0, "bits", "8")
asynSetOption("[serial name]", 0, "parity", "none")
asynSetOption("[serial name]", 0, "stop", "1")
asynOctetSetInputEos("[serial name]", 0, "\r")
asynOctetSetOutputEos("[serial name]", 0, "\r")
asynSetTraceIOMask("[serial name]", 0, 2)
```
where `[serial name]` is the name you assigned in step 1, surrounded by double quotes.
Here `[serial name]` is the name you assigned in step 1.
**3. Set initial parameters**
- Power supply enabled (`EPS` command)
- Deadband = 10 nm (`SDB 10` command)
```
asynOctetConnect("initConnection", [serial name], 0)
asynOctetWrite("initConnection", "EPS")
@@ -137,12 +145,16 @@ asynOctetWrite("initConnection", "SDB 10")
asynOctetDisconnect('initConnection')
```
**4. Create MD90 Controller object**
**4. Create MD-90 Controller object**
`MD90CreateController([controller name], [serial name], 1, 100, 5000)`
where `[controller name]` is the name of the motor to assign. Convention is to use "MD90n", starting with n=0.
Here `[controller name]` is the name of the motor to assign. Convention is to use "MD90n", starting with n=0.
**5. Intialize the IOC**
After the call to `iocInit` (still in the st.cmd.md90[.multiple] file), issue the following commands for each motor. The example below uses `DSM:m0` but it should be run for each line described in motor.substitutions.md90 (or motor.substitutions.md90.multiple).
After the call to `iocInit` (still in the st.cmd.md90[.multi] file), set up some default values for EPICS process variables for each motor. The example below uses `DSM:m0`, but they should also be set for each motor configured in the IOC startup script if connecting more than one.
````
dbpf("DSM:m0.RTRY", "0") #sets retries to 0; this is automatic on the MD90
dbpf("DSM:m0.TWV", "0.1") #Tweak distance
@@ -151,10 +163,8 @@ dbpf("DSM:m0.HVEL", "1.0") #Sets max velocity to 1 mm/s
````
**6. Update the substitutions file**
Save and close the st.cmd file you've been configuring, then open the motor substitutions file (motor.substitutions.md90[.multiple]).
Ensure the values in the `pattern` block's `PORT` field match the names used in the std.cmd file.
Note that, despite this field being called "Port", they use the names of the MD90 Controller object defined above (by default, MD900, MD901, etc.
Do __not__ use the direct serial port names (by default, serial0, serial1, etc.).
In the motor substitutions file (motor.substitutions.md90[.multi]), ensure the values in the `pattern` block's `PORT` field match the names used in the `std.cmd.md90[.multi]` file. Note that, despite this field being called "Port", it usese the names of the MD90 Controller object defined above (by default, MD900, MD901, etc). Do __not__ use the direct serial port names (by default, serial0, serial1, etc.).
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