From 3ecb9676c0b54cb6cf460ee716771348c4f7c89a Mon Sep 17 00:00:00 2001 From: Bert McMahan Date: Tue, 6 Aug 2024 12:54:43 -0500 Subject: [PATCH] Update README.md Clearer explanations --- README.md | 43 ++++++++++++++++++++++++++++++------------- 1 file changed, 30 insertions(+), 13 deletions(-) diff --git a/README.md b/README.md index 126e2dc..cc3a45b 100644 --- a/README.md +++ b/README.md @@ -11,28 +11,38 @@ motorDSM contains an example IOC that is built if ``configure/CONFIG_SITE.local` # Running an example IOC -To run the example IOC, in the ``iocs/dsmIOC/iocBoot/iocDsm`` directory, run +To run the example IOC, build the packages listed below, then: - $ ../../bin/linux-x86_64/dsm st.cmd.md90 +1. Follow the steps in "Configuring the system for attached controllers" below. +2. Set the "EPICS_CA_ADDR_LIST" environment variable to include the IP address of the server. +If it's running on the same computer, you can use the loopback IP address. +`export EPICS_CA_ADDR_LIST='127.0.0.1` +3. In the ``iocs/dsmIOC/iocBoot/iocDsm`` directory, run +``` +$ ../../bin/linux-x86_64/dsm st.cmd.md90 +``` for one attached MD-90 controller, or +``` +$ ../../bin/linux-x86_64/dsm st.cmd.md90.multi +``` +for eight attached MD-90 controllers. Edit this file to use more than one unit; simply comment out the ones you don't need. - $ ../../bin/linux-x86_64/dsm st.cmd.md90.multi +4. Test using the `caget` and `caput` arguments as described in the "Example usage" section below. -for eight attached MD-90 controllers. +# Configuring the system for attached controllers +------------------------------------------------- -You will need to set the path(s) for the serial port(s) in ``st.cmd.md90`` (for a single unit) or ``st.cmd.md90.multi`` (for multiple units). -You will also need to ensure they match the names used in ``motor.substitutions.md90`` (or ``motor.substitutions.md90.multi``). -By default, ports are assumed to be at ``/dev/ttyUSB0``, ``/dev/ttyUSB1``, etc. -You will also need to comment or uncomment lines depending on the number of drivers you have connected. For each driver, make sure you uncomment/call the following functions: +The following steps must be used in either st.cmd.md90 (for a single unit) or in st.cmd.md90.multiple (for multiple units). +st.cmd.md90.multiple includes 8 motors predefined on /dev/ttyUSB0 through /dev/ttyUSB7. Comment out all motors you don't need. -**1. Define a new serial port named "serial0"** +**1. Define a new serial port named "serial0" and set the location of the physical port** `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
+- Baud = 115200 +- Bits = 8 - Parity = none - Stop bits = 1 - Input end of message: "\r" @@ -64,7 +74,7 @@ asynOctetDisconnect('initConnection') where `[controller name]` is the name of the motor to assign. Convention is to use "MD90n", starting with n=0. **5. Intialize the IOC** -After calling `iocInit`, run the following lines 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[.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). ```` dbpf("DSM:m0.RTRY", "0") #sets retries to 0; this is automatic on the MD90 dbpf("DSM:m0.TWV", "0.1") #Tweak distance @@ -72,6 +82,13 @@ dbpf("DSM:m0.VMAX", "1.0") #Sets max velocity to 1 mm/s 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.). + + # Compiling motorDSM ------------------------ @@ -185,4 +202,4 @@ Moving to a position target: Setting a velocity target: `./caput DSM:m0.VELO 0.5 #Sets velocity target to 0.5 mm/s` -Note that velocity targets are appropriate only. They adjust the step rate of the motor, and are not guaranteed to be exact. \ No newline at end of file +(Note that velocity targets are appropriate only. They adjust the step rate of the motor and are not guaranteed to be exact.) \ No newline at end of file