EPICS Software Support Product Manual
Contents
1. QS TOMTE DO COW fieie SCAN E AOTT Read voltage or temperature measured on the input channels Measurement is stored in the VAL field 3 2 3 ao Analog Output record fields record ao S RECORDNAME Field DTX Vel pacm field OUT S TOMIP Di CO field SCAN Passive Write the value contained in the VAL field as Volts to the output channel 3 2 4 bi Binary Input record fields record bi S RECORDNAME Tiele DEVE Uerbagt fuera INP VES hOMTE D2 CO B2 free SCAN O E Read a single bit from a DI channel The bit of interest is specified using the B parameter in the INP field The DI channel is read to RVAL and masked with 1 lt lt B VAL is 1 if RVAL is not 0 B can vary from 0 to 31 Bit 0 is the least significant bit In little endian byte order bit 0 is in the first byte in big endian byte order it is in the last byte of the DI channel 3 2 5 bo Binary Output record fields record bo S RECORDNAME field DEVE y VUeinag PLeLes OL OS hOMPe i pee Ome field SCAN Passive Writes a single bit to a DO channel The bit of interest is specified using the B parameter in the OUTP field If VAL is not 0 then RVAL is set to 1 lt lt B else RVAL is set to 0 Only the referenced bit of the DO channel is changed while all other bits remain untouched Thus other output records can write to different bits of the same DO channel B can vary from 0 to 312. Bit 0 is the least significant bit In little endian byte order bit 0 is in the first byte in big endian byte order it is in the last byte of the DI channel 3 2 6 mbbi mbbiDirect Multi Bit Binary Input record fields record mbbi S RECORDNAME S VSS pee PLELOS N pe BUCCI OMG ue sen Re ON SCAN r O aris fiele NOB VAW Fiela Skir vOv Read multiple consecutive bits from a DI channel The DI channel is read to RVAL shifted right by SHFT bits and masked with NOBT bits NOBT SHFT must not exceed the number of bits of the DI channel Bit 0 is the least significant bit In little endian byte order bit 0 is in the first byte in big endian byte order it is in the last byte of the DI channel 3 2 7 mbbo mbboDirect Multi bit Binary Output record fields record mbbo S RECORDNAME field DV Ee Meni a cs fiele OUr et ROMER DZ CO2 field SCAN Passive tieiel GNOBIE YE fieile Sisir ir Ys Write multiple consecutive bits to a DO channel RVAL is masked with NOBT bits shifted left by SHFT bits and written to the DO channel NOBT SHFT must not exceed the number of bits of the DO channel Bit 0 is the least significant bit In little endian byte order bit 0 is in the first byte in big endian byte order it is in the last byte of the DO channel Only the referenced NOBT bits of the DO channel are changed All other bits remain untouched Thus other output records can write to different bit
3. ZN United Electronic wy Industries The High Performance Alternative UEI DAQ EPI CS Support Module User Manual Experimental Physics amp I ndustrial Control System EPICS node client server software for UEI DAQ PowerDNA Cube and PowerDNR RACKtangle with analog input and output digital input and output and counter timer support Release 4 5 April 2012 PN Man DNx EPI CS 0412 Copyright 1998 2013 United Electronic I ndustries I nc All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form by any means electronic mechanical by photocopying recording or otherwise without prior written permission Information furnished in this manual is believed to be accurate and reliable However no responsibility is assumed for its use or for any infringement of patents or other rights of third parties that may result from its use All product names listed are trademarks or trade names of their respective companies See the UEI website for complete terms and conditions of sale http www ueidaq com cms terms and conditions Contacting United Electronic Industries Mailing Address 27 Renmar Avenue Walpole MA 02081 U S A For a list of our distributors and partners in the US and around the world please see http www ueidaq com partners Support Telephone 508 921 4600 Fax 508 668 2350 Also see the FAQs and online Live Help feature on o
4. a snapshot aka DMAP of the input and output data is kept on both the IOM and the host In this mode timing is controlled by the host which periodically synchronizes its DMAP with the DMAP on the IOM When requested by the host data from to all layers in the IOM is input output as a snapshot and all such data is transmitted to the host or other device in a single packet In other words each snapshot of all layers is transmitted in a single network round trip Note that if the data does not fit in a single packet multiple packets will be used This mode is ideal for stimuli response control and other real time applications DMap is the most efficient mode for point by point input output on AI AO DIO and CT layers The UEIDAQ support module runs a periodic task to refresh the DMAP at a rate specified in the IOC startup script The maximum DMAP rate depends on the number of channels configured A fully loaded slave rack 12 I O layers with 24 channels each 288 channels can run up to 2kHz a fully loaded UEIPAC rack can run up to 5kHz You can specify whether you want the EPICS records associated with each channel to be processed synchronously with the DMAP or at a slower rate 2 Installation and Build We assume that you already have EPICS base installed on your Linux or Windows PC Place the UEIDAQ Support distribution file into this directory Execute the following commands cd support tar xvfz ueidag epics support lt relea
5. ak the CA protocol can get and put values of records For example on the EPICS website there are several extension packages which allow CA support in things like MATLAB LabVIEW Perl Python Tcl ActiveX etc 1 2 UEIDAQ support module The UEIDAQ support module allows an IOC application to communicate with PowerDNA I O cubes or PowerDNR I O racks Client1 Client The IO modules IOM are available in cube or rack form factor Each IOM can be configured to run as a slave controlled by a host or as a standalone PAC programmable automation controller e Slave IOM the IOC application runs on the Linux Windows host PC VME processor etc and controls slave IOMs via ethernet e UEIPAC the IOC application runs standalone under Linux on the IOM Each IOM contains up to 6 on cubes or 12 on racks I O layers The UEIDAQ support module can only control AI AO DIO or CT layers however you can also use Serial RS 232 485 layers through the serial server like any other serial port Each channel on each AI AO DIO or CT I O layers is associated with an EPICS record on the IOC Those records can be read from or written to using Process variables The UEIDAQ support module comes with a test IOC application you can also add the UEIDAQ support module as a library to an existing IOC application 1 3 Theory of operation The UEIDAQ support module configures the I O layers in DMAP mode DMAP stands for Data Mapping
6. bin win32 x86 gt cainfo uei ai_test uei ai_test State connected Hoses L92 168 14 L18 25064 Access read write Native data type DBF_DOUBLE Request type DBR DOUBLE Element count 1 Run caget to get the variable s value C work epics base bin win32 x86 gt caget uei ai_test ueiz ai_test 0 00114443 Run caput to write a new value to uei ao_test C work epics base bin win32 x86 gt caput uei ao_test 4 0 Old VET SAO_ cest New 8 UWELSAO_ cest 4 Run camonitor to continuously monitor uei ai_test C work epics base bin win32 x86 gt camonitor uei ai_test teisal est 2012 04 04 1682229 30 3864S5S 2 01854 Gelgel COSE 2012 04 04 16822930 ZIMA 2 01946 wen sai Coge 2012 04 04 16822830 4a2Z9420 25 01854 telga coste ZOI2 O4 O4 16822230 4594Z4 2 01762 telse cese 2012 04 04 160822590 409A 2 O0L854 teiseni cese 2012 04 04 _160 22590 490405 2 01908 pel san cest 2012 04A Q4_ 16322330 J00A1A 2 O77 weit sai cege 2012 04 04 160225308510407 2 017602 veiga cese 2012 04 04 168228 30 530398 2 01654 telga CSS ZOLZ O4 O04 16822230 SOIE 2oOLGLY weLeasd cSt ZOLZ2 O4 O04 16822530 550418 2 01808 5 Adding support module to application Several files need minor modifications to use UEI support module in an application 5 1 Add the full path to the UEI support directory to the application configure RELEASE file UE TDAQ xxxx ueidaq xX y Z 5 2 Add UEIDAQ support to application database definition file The application database definition
7. edduanacedastcaveny valence teunedtucacacedavaetetes 9 3 2 5 bo Binary Output record fields aca sscc cca ccscegte ck cladaciuntondetiacseeia tied uiiiiedieeasendecens 10 3 2 6 mbbi mbbiDirect Multi Bit Binary Input record fields eee eeeeeeeseeeeeteeeeees 10 3 2 7 mbbo mbboDirect Multi bit Binary Output record fields eee eeeeeeeeeeeeees 11 VSG A eeesates E E E aspavacuennenss 12 5 Adding support module to application eee cesceeseeceenceceeaeeceeaeeceeaeeceeneeeeeeeeceeeeecneaeeeesaes 14 5 1 Add the full path to the UEI support directory to the application configure RELEASE fle eiai aeir bata doubepedeexedieae E ERE TEE EAEE E TES 14 5 2 Add UEIDAQ support to application database definition file 0sseeeeeneeeeeeeeeeeeeeee 14 5 3 Add the UEIDAQ support libraries to the application sesseseeeseeeseerresreeresressrrerereese 14 5 4 Load the UEIDAQ support database records in the application startup script 14 1 Introduction 1 1 EPICS The Experimental Physics and Industrial Control System EPICS is a software environment used to develop and implement distributed control systems to operate devices such as particle accelerators telescopes and other large experiments EPICS also provides SCADA capabilities The tool is designed to help develop systems which often feature large numbers of networked computers providing control and feedback EPICS uses client server and publish subscribe techniques to com
8. file must include the database definition files for the HP3458A instrument and for any needed ASYN drivers There are two ways that this can be done If you are building your application database definition file from an xxxInclude dbd file you include the additional database definitions in that file Licluce Vboase Cloc include ueidag dbd If you are building your application database definition file from the application Makefile your specify the aditional database definitions there XXX DBD base dbd xxx_ DBD ueidagq dbd 5 3 Add the UEIDAQ support libraries to the application You must link the HP3458A support library and the ASYN support library with the application Add the following lines Xxx LIBS ueidagSupport before the xxx LIBS S EPICS_BASE IOC_LIBS in the application Makefile 5 4 Load the UEIDAQ support database records in the application startup script or cd S UEIDAQ dbLoadRecords db ueidagai db cd S UEIDAQ dbLoadTemplate db iom substitutions
9. i istare eei a aaa ea a a A E aa 3 1 3 Thery of op fatlOfisssssesiig ensia aa EE TET E EEEE A iinis 4 2 Installation and Build 3 s dssscssiacieissnssetavseaeaseaadened sashsedaasdavead reai e aE E ER 5 3 Confieutai Oien R E AT E A R AE R EA R 6 DS Startup SCP ieee E ase ae aa ede 6 Sl 1 void dry Ue ag Unit oe seesiascesesapceecoeine ceases selgeietads cues tiguacndicaduyestaateeeesalleneansGedenwacadecutis 6 3 1 2 int drvUeiDaqgAddChannels const char ipAddress const char channelOptions 6 3 1 3 void drvUeiDaqVerbosity int level iscisesevstes cess cpecssvsdcrasesusetenssndiaeeaineeedendetederis 7 3 1 4 void drvUeiDaqRefreshRate double rate 0 eee eeeeceeeseeeceeeeeceeeeeceeeeeneeesneeeenaees 7 3 13 void dry U etl age i rascsscsekdeseciatcceted stale ces banicdae tid decaaentuadtandeanesleseatyddtumeudsians 7 3 1 6 void dry Vet DagD mini asccceceetecezeceteozecethdedeetias sevesseeedceenslczucn ph Gh duetcasdedeeuiaetensiedeestens 7 3 1 7 void drvUeiDaqReport int level csav cecdveseusietsvesenensadnadssansdaateaeanaseesaddadovaednaaceqnssaneeeds 7 3 AS Example eea n E A EE E E 7 3 2 Record database nesueina a ee a A REA REE E a 8 3 2 1 EPICS Record Generic Helds ssie a a 8 3 2 2 Analog Input record fields sescresiennnmnaan na a n 9 3 2 3 ao Analog Output record TICLE ic ssicdecicss au sanasndusnnncudecndacscashaaiwee seagaedecddderaednaaseaansaneewes 9 3 2 4 B1 Binary np t r cord fields sacs de cote sesetadadieecuum
10. municate between the various computers One set of computers the servers or input output controllers collect experiment and control data in real time using the measurement instruments attached to it This information is given to another set of computers the clients using the Channel Access CA network protocol CA is a high bandwidth networking protocol which is well suited to soft real time applications such as scientific experiments 1 1 1 IOC EPICS interfaces to the real world with IOCs Input Output Controllers These are either stock standard PCs or VME standard embedded system processors that manage a variety of plug and play modules GPIB RS 232 IP Carrier etc which interface to control system instruments oscilloscopes network analyzers and devices motors thermocouples switches etc Some instruments also can come with EPICS already embedded within them like certain Oscilloscopes The IOC holds and runs a database of records which represent either devices or aspects of the devices to be controlled IOC software used for hard real time normally use RTEMS or VxWorks Soft real time IOC software runs on Linux or MS Windows based machines 1 1 2 Clients Other computers on the network can interact with the IOC via the concept of channels Channel names are typically in the form EQUIPMENT SIGNALNAME e g ACCELERATOR_RING TEMP_PROBE_4 although they can be much less verbose to save time Any software which can spe
11. nd is automatically created at build time You can load ueidaq dbd directly via dbLoadDatabase in the startup script or you can add the following lines in your application DBD file include base dbd include ueidagqSupport dbd 3 2 1 EPICS Record Generic fields 3 2 1 1 DT YP Device Type field Must be UeiDagq as defined in DBD file field DTYP UeiDaq 3 2 1 2 SCAN Scan field e I O Intr The driver causes the record to be processed as soon as a new value is received e Passive Output records are often passive They are only processed when the record is accessed via ChannelAccess from an operator screen where someone entered a new value for this record e X Y second The record can be processed less often than the main Field SCAN I O ace 3 2 1 3 INP OUT Input Output Link field The INP field for input records or the OUT field for output records has to match the following pattern lt IOM IP address gt D lt Device gt C lt Channel list index gt B lt first bit of interest gt e JOM IP address The IP address of the IOM where the channel is located e Device The index of the device where the channel is located e Channel list index The index of the channel in the device s channel list e First bit of interest The bit of interest for bi or bo record Fielo HNP CLOZ 1608 100 2 DO C3 BZV 3 2 2 ai Analog Input record fields record ai S RECORDNAME field DTYP UeiDaq TLL INP
12. or thermocouple TC options tctype E J K S R T B N tempscale C for celsius F for fahrenheit or K for Kelvin cjctype builtin or constant cjcconst constant value for CJC temperature CI options measurement mode COUNT QUAD PERIOD PULSEWIDTH source INTERNAL EXTERNAL gate INTERNAL EXTERNAL inputinverted 0 1 CO options output mode PULSE TRAIN source INTERNAL EXTERNAL period duration of each pulse cycle in us dutycycle dutycycle of PWM valid range is 0 0 1 0 Call this API function as many times as required to configure channels located on the same I O layer with common configuration 3 1 3 void drvUeiDaqVerbosity int level Sets the verbosity level which controls the number of messages printed by drvUeiDaq on the IOC shell It goes from 0 for no messages at all to 10 for the maximum number of messages 7 is a good middle ground value 3 1 4 void drvUeiDaqRefreshRate double rate Sets the rate at which the IOC refreshes the inputs and outputs 3 1 5 void drvUeiDaqHelp Prints drvUeiDaq APIs help 3 1 6 void drvUeiDaqDump Dumps the latest acquired values on all input channels and the latest values written to output channels 3 1 7 void drvUeiDaqReport int level Prints a report of various internal variables as well as a list of the channels with detailed configuration This command is useful to detect syntax errors in the channel option string 3 1 8 Example Edit the start
13. s of the same DO channel 4 Test Configure a few devices in the st cmd file as shown in section 3 1 8 modify the dbLoadRecords call to load your dbd file Create a dbd file and configure a few records in to access one AI channel and one AO channel recorro ail Mei sas Cesc riele SCAN I O Itineie field Dri2 UeiDac riek IN O19216 100 2 DI CO record AO ueilsao cese i field SCAN Passive fiela DrTY2 Ge mpeg riele Our 0192 16898 1002 DO CO Run the ueidaq IOC cd iocboot iocueidag not oo flonan Os IMIG USLCAC ST Cutie Scarcinog LOOTE H eeteeeeee eee eee HH Hee HHH HHH Hea a Ha EEE EEE eee HH HHH APE EE i BICS RI I4 12 2 Date 2012 04 046 EPICS Base built Mar 27 2012 Heft eeeeee eee HHH HHH HHH HHH HHH aE a EEE EEE eet eH HHH EEE drvuUeiDag Delaying launch of scan task for IOM 192 168 100 2 until database ready cmv Uei Dacs Ilerbuareln ocan Cask Lor MOM NO2 LEG LOO 2 LOGIRGAs ALI UMLCLALLBZACLOM Complete epics gt Check that the records are there epics gt dbl uei ai_test uei ao_ test epics gt Read current value for ai record epics gt dbpr uei ai_test AGGA DESC DISAS DISP Q DISV 1 NAME uei ai_test RVAL 0 STAT NO_ALARM SVAL O TPRO O VAL 0 002059967956054 epics gt SEVR NO_ALARM On a remote computer where you installed EPICS base Run cainfo to get information about uei ai_test variable C work epics base
14. se gt tgz cd ueidagq lt release gt Where lt release gt is the release number of the UEIDAQ support Edit the configure RELEASE file and set the paths to your installation of EPICS base Execute make in the top level directory 3 Configuration 3 1 Startup script The IP address of the IOM s the location of each I O layer and the configuration for each channel is specified with a driver API Those API functions are called in the IOC startup script 3 1 1 void drvUeiDaqInit Initializes the driver internal data structures This API function must be called first 3 1 2 int drvUeiDaqgAddChannels const char ipAddress const char channelOptions e ipAddress IP address of the IOM where the channels are located e channelOptions contains the list of channels the device where they are located and common configurations format D lt device id gt CL lt channel list gt lt options gt o D device id on cubes top most device s id is 0 on racks leftmost device s id is 0 o CL channel type AI AO DI DO CI CO followed by comma separated channel list ex AIO 1 2 3 DOL DI and DO channels represent multiple bits For example the DIO 403 comes with two channels of 24 bits each o options configuration option common to all channels specified by CL AI options inputmode DIFF default or RSE gain index of selected gain in available gain list O default is first gain usually gain of 1x measurementtype V for volt TC f
15. up script iocBoot iocueidaq st cmd to configure your channels The example below configures 8 channels on AI layer 1 of IOM 192 168 100 2 The first four channels with a gain 0 and the next four channels with gain 1 It also configures four AO channels on AO layer 0 7 bin linux x86 ueidagq envPaths cd S TOP dbLoadDatabase dbd ueidaq dbd ueidag_registerRecordDeviceDriver pdbbase Load record instances dbLoadTemplate db iom substitutions drvueiDagInit drvUeiDaq ddChannels 192 168 100 2 device 1 c1 AI0 1 2 3 inputmode diff gain 0 measurementtype V drvUeiDaq ddChannels 192 168 100 2 device 1 c1 A1I4 5 6 7 inputmode diff gain 1 measurementtype V drvueiDagAddChannels 192 168 100 2 device 0 CGl AOO 1 2 3 drvueiDaqVverbosity 7 drvUeiDagRefreshRate 100 0 cd S TOP iocBoot S IOC HOC INANE 3 2 Record database To inform EPICS of this new driver device a DBD file is used ueidaqSupport dbd looks like this device ai INST_IO devAiUeiDag UeiDag device bi INST_IO devBiUeiDag UeiDag device mbbi INST_IO devMbbiUeiDagq UeiDag device mbbiDirect INST_IO devMbbiDirectUeiDaq device ao INST_IO devAoUeiDag UeiDag device bo INST_IO devBoUeiDag UeiDag device mbbo INST_IO devMbboUeiDagq UeiDag device mbboDirect INST_IO devMbboDirectUeiDaq driver drvUeiDaq registrar drvUeiDagRegister ueidaq dbd merges base dbd and ueidaqSupport dbd a
16. ur web site Internet Support Support support ueidag com Web Site www ueidaq com FTP Site ftp ftp ueidag com Product Disclaimer WARNING DO NOT USE PRODUCTS SOLD BY UNITED ELECTRONIC INDUSTRIES INC AS CRITICAL COMPONENTS IN LIFE SUPPORT DEVICES OR SYSTEMS Products sold by United Electronic Industries Inc are not authorized for use as critical components in life support devices or systems A critical component is any component of a life support device or system whose failure to perform can be reasonably expected to cause the failure of the life support device or system or to affect its safety or effectiveness Any attempt to purchase any United Electronic Industries Inc product for that purpose is null and void and United Electronic Industries Inc accepts no liability whatsoever in contract tort or otherwise whether or not resulting from our or our employees negligence or failure to detect an improper purchase Specifications in this document are subject to change without notice Check with UEI for current status UEIDAQ EPICS Support Module Contents UEIDAQ EPICS Support Module 2 00 0 ccccceseesceseeseeecseeecseeeesseeeessseeseeaeenees 1 1 TA UCU oh ie e E E E EA A E EE 2 Vadis EPICS sicscasnciaaeasnasaci vei bandasbucca sidaaciaaasin Godin gas siaativeadaies EE E EEEE TE aeons 2 E A Mg MON ois E E edie as E EE iba usta t dda E E E AEA 2 Ll2 CEMS eeii a E E E E R 2 1 2 UEIDA Q supp tt Module ssir
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