ECC100 EPICS Developers Manual
Contents
1. field BVEL 0 0 field BACC 0 0 field OUT asyn ECC1 0 field MRES 0 001 field PREC 3 field EGU um field DHLM 5000 0 field DLLM 5000 0 field INIT 0 fiel d T IV we The most important field is the OUT field This must be set to point to the ECC 100 motor support This is achieved by setting the value to asyn ECC1 0 The ECC1 should match the name defined in the startup script and the number after this represents the axis number from 0 to n 1 axes Other motor record configuration is beyond the scope of this document for further details consult the documentation RDS 8 2 Using the Motor Record with the ECC100 Specific features available when using the ECC100 with the motor record include the following e Velocity Changing the velocity will result in a change to the frequency of the axis e Jog The motor can be jogged at a constant velocity in either direction e Move Absolute and relative moves can be made e Referencing The ECC100 positioners automatically reference when they first cross their reference marks The motor record reference mode can be invoked but it only performs a move It is recommended to always ensure the axis is homed before moving using the motor record as when the reference position is crossed the position of the motor record might change resulting in an unexpected final position The motor record attempts to stop the lower level axis from mo2. HH HH iocRun All initialization complete epics gt Once the startup is complete and the records loaded the ECC100 can be controlled by setting various records present in the database The main record name and device port macros are set during the startup procedure to allow for a quick integration of the test application into a facility These can be changed by editing the st cmd file 6 2 Running the EDM Screens To allow fast testing some edl engineering screens have been added these can be started on Linux by executing the script runGUI present in the top level directory The screens can be converted to other formats http www aps anl gov epics if required to run on Windows but this has not been done within the ECC100 module as the edl screens can be run on Linux and will connect to an IOC running on Windows Once started the user is presented with the main screen From this screen individual stepper control screens can be opened as well as the global control screen The test application contains records for three positioners and each is represented on this display Global Step Module 0 Step Module 1 Step Module 2 EXIT Figure 1 Main edl screen Clicking on the global button opens the global parameters screen 2 February 2013 8 ECC100 Piezo Motion Controller EPICS Developers Manual 6 3 Global EDM Screen Firmware Date ME Save Settings O Figure 2 G
3. a continuous move starts when its value is set to 1 and will only stop when the value is set to 0 Location Global Description Ox000A X Synchronisation request Interrupts the controller outputs for 2000ms to allow resynchronisation 0x0145 X Controls sending of events 1 to turn events on and 0 to turn off 0x3038 X Read only Firmware version 32 bit wide number which is the build date of the firmware coded in hex OxYYYYMMDD 0x3030 Axis enabled 0x3012 Amplitude of the axis in mV 0x3013 Frequency of the axis in mHz 0x3041 Control of fixed DC voltage 1 is enabled 0 is disabled 0x3043 Fixed voltage output in u V 0x302D Resets actual position to zero and marks the reference position as invalid 0x3000 Retrieves the current position Either nm or p 0x3001 Retrieves the reference position Either nm or p 0x3014 Selects the actor to be used on the selected axis Value from 0 to 255 0x3003 Name of selected actor characters 16 19 0x3004 Name of selected actor characters 12 15 0x3005 Name of selected actor characters 8 11 0x3006 Name of selected actor characters 4 7 0x3007 Name of selected actor characters 0 3 0x3033 Actor type Linear Gonio or Rotator 0x3011 Target position for the approach function Either nm or p 0x3027 Controls the approach of the actor to the target position 1 is enable approach m
4. database for a positioner and a template edm screen to use with the database template eccTest100App This directory contains a test application A substitutions file sets up a system configured for an ECC100 with three positioners eccl0Q0MotorApp This directory contains the motor record interface code configure The configuration directory iocBoot The boot directory for the test application It contains the startup script that defines the IP address of the ECC100 see below Makefile runGUI Linux only Bash script to start the edm application and open the test edl screen Before making the application it is necessary to add references to the EPICS and installation and the asyn installation Cd into the configure directory and edit the RELEASE file Update the lines that define the location of the asyn installation and the motor module to point to wherever these modules are installed on your system ASYN C epics asyn 4 17 MOTOR C epics motor 6 7 1 Also update the line that defines the location of the EPICS installation EPICS BASE C epics base 3 14 12 2 February 2013 6 ECC100 Piezo Motion Controller EPICS Developers Manual Save any changes and exit Cd back up to the top level Finally the host architecture must be defined before the build can commence From a terminal enter the following line export EPICS HOST ARCH win32 x86 There is a
5. everywhere it appears in this file lt envPaths epicsEnvSet epicsEnvSet epicsEnvSet epicsEnvSet epicsEnvSet epicsEnvSet 1 base cd export home ajg applications epics eccl00 Register all support components dbLoadDatabase dbd eccTest100 dbd eccTest100 registerRecordDeviceDriver pdbbase Create the Asyn IP port drvAsynIPPortConfigure IP1 10 2 2 75 2101 0 0 0 Create the ECC motor record layer eccl00AsynMotorCreate IP1 0 0 3 Creating ECC100 motor driver on port IP1 address 0 card 0 naxes 3 drvAsynMotorConfigure ECC1 eccl0O0AsynMotor 0 3 ARCH lLinux x86 TOC iocecc100 TOP export home ajg applications epics eccl00 ASYN export home ajg applications epics asyn4 17 MOTOR export home ajg applications epics motorR6 7 1 EPICS BASE export home ajg applications epics R3 14 12 2 February 2013 7 ECC100 Piezo Motion Controller EPICS Developers Manual Load record instances dbLoadRecords db eccTest db P T1 PORT IP1 DEV ECC1 cd export home ajg applications epics eccl00 iocBoot ioceccl100 iocInit Starting iocInit FETE FE AE TE E FE FE EAE HE FE EE EE EEE EEE EE EE ERE EEE HE EE HERE EEE HE EE HE EERE EH HE HE HEE HH TH EPICS R3 14 12 1 Date Tue 2011 04 26 15 36 19 0500 EPICS Base built Jun 10 2011 FETE FE AE TE AE FEFE HEFE EE EE EE FE AE TE AE TE EEE EE EE ERE EEE EE EE EE REE EEE EE EE ERE SE HEE HH HE
6. listing of the locations and their description can be found in Appendix A As an example to read the current position of axis 0 you would use a Longin record and could set the INP link to Q PORT SO 0x3000 PORT would need to be replaced with the name of the port created through asyn registration Two template database files are included with the device support code and they present many examples of the use of Longin and Longout records to read and set the data inside the ECC100 calcout REF_POSITION NPP NI Figure 5 Reading the position and reference position from the ECC100 As well as setting up the necessary records there are some libraries that need to be added into the source Makefile of the application found in the directory lt appName gt src Figure 5 shows the complete source Makefile used for the test application supplied with the ECC100 device support code 2 February 2013 13 ECC100 Piezo Motion Controller EPICS Developers Manual TOPS uu include TOP configure CONFIG ADD MACRO DEFINITIONS AFTER THIS LINE build an ioc application PROD IOC eccTest100 DBD eccTest100 dbd eccTest100 dbd will be made up from these files eccTest100 DBD base dbd eccTest100 DBD asyn dbd eccTest100 DBD motorRecord dbd eccTest100 DBD motorSupport dbd eccTest100_ DBD drvAs
7. test application supplied with the device support code If this is to be used then the startup script should be altered Cd into the iocBoot ioceccTest100 directory First edit the Makefile and ensure the ARCH variable is set to win32 x86 by default it will be setup for a linux build Then edit the st cmd file and update the line that configures the asyn IP port with the IP address and port number of the ECC100 unit on your network see Section 7 1 The example below shows an ECC100 on a network with the IP address 10 2 2 71 listening on port 2101 The details of the ECC100 IP and port configuration can be found in RD3 drvAsynIPPortConfigure IP1 10 2 2 71 2101 0 0 0 Now cd back to the top level and type make to build the device support code and the test application The build should complete with no errors 6 Running the Test Application Once the system has successfully compiled on either a Windows or Linux OS the test application should be executed to ensure a connection to the ECC100 is completed 6 1 Running the EPICS Database To run the IOC in either Windows or Linux cd into the iocecc100 directory and execute the st cmd script For windows the st cmd script should be passed into the executable if it is to be run from a batch file Below is an example of the output generated when the system is started on Linux bin linux x86 eccTest100 You may have to change eccl00 to something else
8. S HOST ARCH linux x86 There is a test application supplied with the device support code If this is to be used then the startup script should be altered Cd into the iocBoot ioceccTest100 directory Edit the st cmd file and update the line that configures the asyn IP port with the IP address of the ECC100 unit on your network 2 February 2013 5 ECC100 Piezo Motion Controller EPICS Developers Manual drvAsynIPPortConfigure IP1 10 2 2 75 2101 0 0 0 Now cd back to the top level and type make to build the device support code and the test application The build should complete with no errors 5 2 Installing Under Windows This section will cover installation of the device support code for the ECC100 on a Windows operating system Before performing the following installation ensure that EPICS 3 14 12 or later is installed and the asynDriver version 4 17 or later has been installed For the ECC100 test these were both installed using the mingw Linux like environment and the gcc compiler along with Microsoft Visual C Express and Strawberry Perl All instructions in this section assume the developer is also using a similar setup For instructions please visit www aps anl gov epics base win32 php Download and unpack the ECC100 tar file Cd into the top directory In here you will see the following files and directories Directory Description eccl00App This directory contains the device support code a template
9. T attocube systems r ECC100 Piezo Motion Controller EPICS Developers Manual Issue l Date 2 February 2013 NAME DATE SIGNATURE Checked by Chris Mayer Observatory Sciences Ltd 7 February 2013 Released by Alan Greer Observatory Sciences Ltd 15 February 2013 VA AS ECC100 Piezo Motion Controller EPICS Developers Manual TABLE OF CONTENTS b SCOP es eerie Se eae se ie a a ee eg a Es 3 2s Re f rence DO CUMICTES nsanra is so ctets ciate a e EE EE T ss oad 3 3 lt EO GUIC HON nsec e e e taal tied canine at cant aes tan alee eer So et toed 4 A Requirements iei enesti sg deaedesoncatensdeesanasvonuae sed saudesvassdeasansaeeusnaccedesedeuadeaweres 4 4 1 H rdware Reguitements in ipa ie iaeiei esien d aers iN 4 4 2 Softwar Reguirements ocsi naii eia BA E ia E 4 5 Jostallat n snih nass Used aed dese dad ca ee EANES 4 5 1 Tistalling Under ann cine cadensetacs aicsaandenta udesesaataeeedesaaiasanmenectees 5 5 2 Installing Under Wind0ws s oessa n ines 6 6 Running the Test Application vo nec Aas eae eA ee 7 6 1 Running the EPICS Database 1i c isicrsaiecnateseieaeanduetemnawuwaed 7 6 2 Running the EDM Screens scicsccjiiecisascccivs jedanasvesades dnnscuts in n 8 6 3 Gl ba EDM SereeT sisia kea a a RA RA E E RTS 9 6 4 Sinole Axis EDM Sreem aini E E E aticasioone 9 6 5 Axis Advanced EDM Screen sssseseesesesssseeseseresresseesrsresstesesrresresseseresresee 11 7 Using the Device Support Code ssss
10. ase dbd eccTest100 dbd eccTest100 registerRecordDeviceDriver pdbbase Create the Asyn IP port drvAsynIPPortConfigure IP1 10 2 2 75 2101 0 0 0 Create the ECC motor record layer eccl00AsynMotorCreate IP1 0 0 3 drvAsynMotorConfigure ECC1 eccl00AsynMotor 0 3 Load record instances dbLoadRecords db eccTest db P T1 PORT IP1 DEV ECC1 cd S TOP iocBoot I0Cc LocInit Figure 7 Startup script for the ECC100 test application The drvAsynIPPortConfigure function call sets up the asyn port For detailed information see the asyn manual RD4 The first argument supplied is the name of the port this defines the port name that should be used in all longin and longout record INP and OUT fields The second argument is a string that contains the IP an address and port number to connect to A colon separates these The next argument is the priority a value of 0 indicates the use of epicsThreadPriorityMedium The next argument is the auto connect argument and a value of 0 here ensures the asyn layer automatically connects to the port The last argument is the noProcessEos argument These arguments can of course be configured as required 2 February 2013 15 ECC100 Piezo Motion Controller EPICS Developers Manual 8 Motor Record Support This section deals with using the motor record to drive individual axes on the ECC 100 When creati
11. ed Axis Status This consists of eight indicators o 1 Green if the positioner is connected 2 Green if the axis is enabled 3 Green if the positioner is referenced 4 Green if there are no errors in the signal of the sensor 5 This contains red text High Limit if the positioner reaches a high limit 6 This contains red text Low Limit if the positioner reaches a low limit o 7 The status of the positioner moving or not moving o 8 The in position status of the positioner in position or not in position Advanced Clicking on the Advanced button opens the axis advanced screen for the positioner see section 6 5 Exit Click on this to close the screen oO0O 0 0 O 6 5 Axis Advanced EDM Screen From the axis display clicking on the Advanced button opens the advanced options display for the corresponding positioner a ECC100 Axis O Advanced Options 0 X Axis 0 Advanced Options Set Actor 0 Trigger Mode Enable Disable Quad In Mode Enable Disable Quad In Period 0 000000 Quad Out Mode Enable Disable Quad Out Period 0 000000 Quad Out Clock 0 000000 In Position Range 0 000000 Auto Reset Reference _ Enable Disable Auto Update Reference _ Enable Disable Figure 4 Axis advanced options edm screen 2 February 2013 11 ECC100 Piezo Motion Controller EPICS Developers Manual The screen presents the following indicators and controls Set Actor The c
12. is homed the relative position is set to zero resulting in a reference mark position of 0 1 to enable 0 to disable 2 February 2013 20
13. lobal parameters screen This screen contains the date of the current firmware version executing on the device There is also a button that can be used to save any parameters currently entered on the device The LED is lit whilst the save takes place Note the save executes very quickly and so the LED might in practice not light up as the refresh rate is not fast enough 6 4 Single Axis EDM Screen From the main display clicking on one of the step module buttons opens the step display for the corresponding positioner 2 February 2013 9 ECC100 Piezo Motion Controller EPICS Developers Manual ECC100 Axis 0O Axis Status Axis Name M Position ill Reference Position ME Absolute Target 0 000004 Relative Move 0 000000 Stop On Limit Enable Enable Axis Enable Disable Single Step Move Continous Move lt Advanced Amplitude 0 000 gt gt 30 000 V DC Level 0000 Vv O 750 Hz Frequency 0 000 b Figure 3 Single axis edm screen The screen presents the following indicators and controls Axis name The currently selected positioner type is displayed in this indicator Position This indicator displays the current position of the positioner connected to the respective axis followed by the unit of this value Reference Each positioner has its individual reference position a physical marker on the grating The displayed value corresponds to the distance between the refe
14. ng a new application ensure the asyn motor and ecc100 modules are all included in the configure RELEASE file The test application startup script already makes the necessary motor record specific calls drvAsynIPPortConfigure IP1 10 2 2 71 2101 0 0 0 eccl00AsynMotorCreate IP1 0 0 3 drvAsynMotorConfigure ECC1 eccl0O0AsynMotor 0 3 The first line configures the asyn layer to communicate with the ECC 100 over an ethernet connection This requires a name for the connection followed by the IP address and port number of the ECC hardware After this there are some configuration parameters that can be left at zero For a full description of this function call see the asyn driver manual RD4 The second line creates the ECC 100 specific device driver Its first argument must be the same name supplied to the previous function call The address and card number follow this Finally the number of axes should be supplied to this call In the example above the device has been created with three axes The third and final call required sets up the motor record device support layer for the motor record The first parameter can be any name assigned to this device the name is used in the motor record itself see below The next parameter must be eccl00AsynMotor This ensures the motor device support uses the ECC 100 driver functions to attempt communications with the axes The final two parameters s
15. ove and 0 is disable approach stop 0x3023 Triggers a single step in the forward direction Value must be 1 write only 0x3024 Triggers a single step in the backward direction Value must be 1 write only 0x3025 Controls continuous movement in forward direction Any movement in the opposite direction is stopped 1 to start movement 0 to stop movement 0x3026 Controls continuous movement in backward direction Any movement in the opposite direction is stopped 1 to start movement 0 to stop movement 0x3028 X Save user parameters to persistent flash memory in controller 2 February 2013 19 ECC100 Piezo Motion Controller EPICS Developers Manual Parameters that are saved are amplitude frequency and actor selection of each axis Value must be 1 0x302F X Retrieves the status of a flash operation 1 indicates flash in progress 0 otherwise 0x302C Retrieves the status of the reference position It may be valid or invalid 1 or 0 0x302E Retrieves the moving status Moving means the actor is actively driven by the output stage either for approaching or continuous single stepping 1 indicates moving and 0 indicates not moving 0x3031 Retrieves the error status 1 indicates a sensor malfunction 0 indicates no problems 0x3002 Retrieves the connected status 1 indicates the actor is electrically connected to the controller 0 indicates the actor is not connected 0x3036 OEM featu
16. re Defines the range around the target position in which the flag target status is set active The value is either in nm or p 0x3037 OEM feature Retrieves the target status Indicates whether the actual position is within the specified target range Required for use with the EPICS motor record 0x3039 Pro feature Retrieves the status of the end of travel limit in the forward direction 0x303A Pro feature Retrieves the status of the end of travel limit in the backward direction Ox304A Pro feature Defines the behaviour of the output on a limit If enabled the output of the axis will be deactivated when a limit is detected 0x3042 Controls the input trigger for steps 1 to enable O to disable 0x3044 Pro feature Controls the AQuadB input for setpoint parameter 1 to enable O to disable 0x3045 Pro feature Controls the AQuadB input resolution The value is either in nm or p 0x3046 Pro feature Controls the AQuadB output for setpoint parameter 1 to enable 0 to disable 0x3047 Pro feature Controls the AQuadB output resolution The value is either in nm or p 0x3048 Pro feature Controls the clock for AQuadB output Clock value is in multiples of 20ns with a minimum of 2 40ns 0x3034 OEM feature Positioner is re homed every time it crosses the reference mark 1 to enable 0 to disable 0x3035 OEM feature When the positioner
17. rence position and the currently set zero position To get the reference position after starting the system the positioner has to travel over the marker only once Absolute Target Entering a value here will result in the positioner moving to this value The move is executed immediately Relative Move Entering a value in here sets up a relative movement step size To move the positioner by either the ve or ve amounts click on the corresponding button Stop On Limit This forces the axis to drop out of move mode when it encounters a high or low limit It can be enabled or disabled Enable Axis The positioner axis can be enabled or disabled from here Reset Resets the current position to zero This results in a loss of the reference position Stop Takes the positioner out of active move towards the requested position Single Step Move Click either of these buttons to move the positioner by a single step Continuous Move Click and hold either of these buttons to move the positioner continuously The positioner will move until the button is released 2 February 2013 10 ECC100 Piezo Motion Controller EPICS Developers Manual Amplitude Value for the drive voltage of this Piezo By changing this value the step size of the positioner can be varied DC Level The applied DC voltage to the Piezo Frequency Here the desired frequency can be entered with which the positioner should move it is proportional to the spe
18. s and status items available through the ethernet interface of the ECC100 motion controller However application developers can easily create their own databases of records this section explains what is required to use the device support for the ECC100 7 1 Configuration of EPICS Records and Application The ECC100 uses only integer values when writing to and reading from its memory locations Therefore only two record types are required to use the device support they are the longin and longout record types Longin records are used to request data from the controller and Longout records are used to issue commands To set up a record for use with the ECC100 ensure the devEcc100 dbd file has been included in the build Set the DTYP field of the record to ECC100 Then the OUT or INP links need to be configured with the following information Port Name This must be the same name that is set in call into asyn in the startup script see below This is used by the asyn layer to ensure the record attempts communication with the correct controller 2 February 2013 12 ECC100 Piezo Motion Controller EPICS Developers Manual Signal Number This is either the number of the axis for axis specific commands requests or zero for global commands requests It must be prefixed with the letter S Memory Address This is a hexadecimal format number that represents the location in the ECC100 that should be written to read from A complete
19. ssessseeesseessseesseesseseserssseessesseesseessseeessees 12 7 1 Configuration of EPICS Records and Application eseeeeeeeeeeeeeeeseeereeeesee 12 Or Motor Record Support sesine E T E a a ao 16 8 1 Motor Record Database Configuration sseseseseesesseesseesseesseeesseesssessresse 16 8 2 Using the Motor Record with the ECC100 0 0 eeeeeeeeeeneeeneenteenees 17 Appendix A Commands And Status Memory Locations eee eeseeeeeeeeeereees 19 2 February 2013 2 ECC100 Piezo Motion Controller EPICS Developers Manual 1 Scope This document describes the installation and use of EPICS device support code for the Attocube Systems Piezo Motion Controller ECC100 The ECC100 is a state of the art motion controller allowing the simultaneous operation of up to three positioners from attocube s industrial ECS Drive series It can be controlled through an ethernet interface and this document describes the EPICS software written to control the unit via the ethernet interface 2 Reference Documents RD1 IOC Application Developer s Guide Marty Kraimer et al RD2 EPICS R3 14 Channel Access Reference Manual Jeffrey O Hill RD3 attocube systems ECC100 Piezo Motion Controller User Manual attocube systems RD4 asynDriver Asynchronous Driver Support Marty Kraimer Eric Norum and Mark Rivers RD5 Motor Record and related software Tim Mooney Joe Sullivan Ron Sluiter 2 February 2013 3 ECC100 Piezo Motion Con
20. troller EPICS Developers Manual 3 Introduction The ECC100 EPICS software module contains device support code for longin and longout records to be used with an ECC100 motion controller and associated boards The device support code allows all command and status requests to be issued through these two records longin records are used to request data and longout records are used to send commands with data if necessary The module contains two EPICS database template files one for global control and one specifically designed to drive a stepper positioner Also contained are edm screens that can be used to interact with a database generated by the template database files A demonstration application is provided set up to work with an ECC100 controller and three positioners EPICS motor record support is also included providing a well recognized interface to drive the stages using the standard EPICS motor record and GUI 4 Requirements This section details the hardware and software requirements for using the ECC100 EPICS device support code 4 1 Hardware Requirements The following hardware is required to run the device support code Standard PC with an ethernet port ECC100 present on the network For operation with the EPICS device support code the ECC100 should be configured to have a static IP address It is also required that the ECC100 device is setup not to send events 4 2 Software Requirements The following software is req
21. uired to run the driver and device support code Linux or Microsoft windows 32 bit operating system The device support code has been written using general asyn and EPICS base function calls and methods and as a result will be fully functional on any system that can compile the required versions of EPICS base and the asynDriver module The device support code was written on CentOS 5 7 and tested on CentOS 5 7 and Windows XP A built executable was also run on Windows 7 64 bit EPICS version 3 14 12 or later EPICS module AsynDriver version 4 17 or later MSTextension for EPICS version 5 or later Required if building the supplied test application EDM to run engineering screens if they are required EPICS module motor version 6 7 1 or later required to drive the axes using the standard motor record 5 Installation 2 February 2013 4 ECC100 Piezo Motion Controller EPICS Developers Manual 5 1 Installing Under Linux This section will cover installation of the device support code for the ECC100 on a Linux operating system Before performing the following installation ensure that EPICS version 3 14 12 or later is installed and the asynDriver version 4 17 or later and the module motor version 6 7 1 or later have been installed Unpack the ECC100 tar file and cd into the top directory In here you will see the following files and directories Directory Description eccl00App This directory contains the de
22. upplied to this function call are the card number and the number of axes 8 1 Motor Record Database Configuration To add motor records to a database in the application simply add an entry to a suitable substitutions file that makes use of the motor record template An database template file called eccMotor template is provided with the application An example of a suitable substitution for the motor record is provided below file db eccMotor template pattern P M DESC DTYP DIR VELO VBAS ACCL BDST BVEL BACC PORT ADDR MRES PREC EGU DHLM DLLM INIT ETLi il Desc asynMotor 0 600 0 50 0 1 0 0 0 OO 0 0 ECC 03 0 001 3 um 5000 0 5000 0 0 Piles 2 Desc asynMotor 0 600 0 50 0 1 0 0 0 Owi0y OO BCCI 13 0 20 01 Sy um 5000 0 5000 0 0 Ple 3 Desc asynMotor 0 600 0 50 0 1 0 0 0 O80 WOS O ECE 2 P200 liy 3 um 5000 0 5000 0 0 The example substitution file above resulted in the following motor record 2 February 2013 16 ECC100 Piezo Motion Controller EPICS Developers Manual record motor T1 M1 field DESC Desc field DTYP asynMotor field DIR 0 field VELO 300 0 field VBAS 50 0 field ACCL 1 0 field BDST 0 0
23. urrently selected positioner can be set from this input The type is set as an integer value but the corresponding name of the positioner is displayed next to the entry box Trigger Mode Controls the input trigger for steps Enabled or disabled Quad In Mode Controls the AQuadB input for the set point parameter Enabled or disabled Quad In Period Controls the AQuadB input resolution for the set point parameter Units depend on the positioner type Quad Out Mode Controls the AQuadB output for position indication Enabled or disabled Quad Out Period Controls the AQuadB output resolution for position indication Units depend on the positioner type Quad Out Clock Controls the clock for AQuadB output The clock can be set in multiples of 20ns with a minimum of 40ns In Position Range When this value is set and the positioner is moving towards a target then the in position flag will be set to true when the positioner moves within this range This value is required for the EPICS motor record to work and so will be set to 10nm unless the value is already set from these records Auto Reset Reference When the positioner is referenced the reference position and current position are set to zero Auto Update Reference The positioner will be re homed whenever it crosses the home mark Enabled or disabled 7 Using the Device Support Code The simple test application described in section 6 presents all of the possible command
24. vice support code a template database for a positioner and a template edm screen to use with the database template eccTest100App This directory contains a test application A substitutions file sets up a system configured for an ECC100 with three positioners eccl00MotorApp This directory contains the motor record interface code configure The configuration directory iocBoot The boot directory for the test application It contains the startup script that defines the IP address of the ECC100 see below Makefile runGUI Linux only Bash script to start the edm application and open the test edl screen Before making the application it is necessary to add references to the EPICS installation the asyn installation and the motor record installation Cd into the configure directory and edit the RELEASE file Update the lines that define the location of the asyn installation and the motor module to point to wherever these modules are installed on your system For example ASYN usr software epics asyn 4 17 MOTOR usr software epics motor 6 7 1 Also update the line that defines the location of your EPICS installation For example EPICS BASE usr software epics base 3 14 12 Save any changes and exit Cd back up to the top level Finally the host architecture must be defined before the build can commence From a terminal enter the following line export EPIC
25. ving when a reference is first discovered but this should not be relied upon e Units The motor record described above is set up to use um as the default unit If the units were changed within the ECC controller then the motor record would need to be updated accordingly EGU PREC MRES 2 February 2013 17 ECC100 Piezo Motion Controller The figure below shows an example of a motor record running with an ECC 100 controller with a single axis Motor T1 M1 ET E nn Pn Motor Desc SH Desired Value 0 000 Readback Value 0 000 v i save rest 5000 Position 0 000 um Jog _Reverse_ Tweak Reverse Hi Limit Lo Limit Tweak Step 1 000 um Soft Limit jj Sync VAL RBV Missed Direction Pos Set Use Use J Ready Moving Forward Homed E Offset Variable Use Encoder No Links Status Calibration Resolution Drive Misc Limits Commands HE HE id ii Servo Alarms Figure 8 Motor record control screen example 2 February 2013 EPICS Developers Manual 18 ECC100 Piezo Motion Controller EPICS Developers Manual Appendix A Commands And Status Memory Locations Below is a table of all commands and status locations within the ECC 100 Any listed below that do not specify units are simple on off commands Most simple commands operate when the value is supplied as 1 and some commands turn off when the value is supplied as 0 For example
26. ynIPPort dbd eccTest100 DBD devEcc100 dbd eccTest100 DBD eccl00AsynMotor dbd lt name gt registerRecordDeviceDriver cpp will be created from lt name gt dbd eccTest100 SRCS eccTest100 registerRecordDeviceDriver cpp eccTest100 SRCS DEFAULT eccTest1l00Main cpp eccTest100 SRCS vxWorks nil The following adds support from base src vxWorks eccTest100 OBJS vxWorks EPICS BASE BIN vxComLibrary Include the following libraries in the build eccTest100 LIBS asyn eccTest100 LIBS motor eccTest100 LIBS eccl100 eccTest100 LIBS eccl00AsynMotor eccTest100 LIBS EPICS BASE IOC LIBS include TOP configure RULE ADD RULES AFTER THIS LINE v Figure 6 Source Makefile for ECC100 test application Finally an asyn IP port must be configured at startup to connect to the ECC100 device for this the IP address and port number of the device must be known For the test application the startup script is shown below bin linux x86 eccTest100 You may have to change ecc100 to something else everywhere it appears in this file lt envPaths 2 February 2013 14 ECC100 Piezo Motion Controller EPICS Developers Manual cd S TOP Register all support components dbLoadDatab
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