EPICS Developers Manual
Contents
1. ancTest350 BD ancTest350 dbd ancTest350 dbd will be made up from these files DI ancTest350 DBD base dbd ancTest350 DBD asyn dbd ancTest350 DBD drvAsynIPPort dbd ancTest350 DBD devAnc350 dbd f name registerRecordDeviceDriver cpp will be created from lt name gt dbd ancTest350 SRCS ancTest350 registerRecordDeviceDriver cpp ancTest350 SRCS DEFAULT ancTest350Main cpp ancTest350 SRCS vxWorks nil The following adds support from base src vxWorks ancTest350 OBJS vxWorks EPICS BASE BIN vxComLibrary Include the following libraries in the build ancTest350 LIBS asyn ancTest350 LIBS anc350 ancTest350 LIBS EPICS BASE LOC LIBS z v include TOP configure RULE ADD RULES AFTER THIS LINE Figure 5 Source Makefile for ANC350 test application Finally an asyn IP port must be configured at startup to connect to the ANC350 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 ancTest350 lt envPaths cd S TOP Register all support components dbLoadDatabase dbd ancTest350 dbd 0 0 ancTest350 registerRecordDeviceDriver pdbbase Load record instances dbLoad2. April 2009 16 ANC350 Piezo Motion Controller Motor T1 M1 Motor Desired Value Readback Value 1 3000 Position 0 003 um Home Reverse Jog Reverse Tweak Reverse z EE E Tweak Step 1 000 um Direction Pos J Offset Variable Use Encoder No Calibration Limits Servo Resolution Commands Alarms did di EPICS Developers Manual Ready Moving Forward Homed Hi Limit Lo Limit 5 P 5 D Use S Links Status Figure 7 Motor record control screen example 15 April 2009 17 ANC350 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 ANC350 Any listed below that do not specify units are either simple on off commands Items that rely on the unit command 0x041D have their units specified as unit These units can be set by the unit command described below 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 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 0x0404 Read only Provides information about the current states of an axis Bit 0 Moving Bit 1 Hump detected Bit 8 Sensor error Bit 10 Sensor disconnected Bit 11 Refere
3. EPICS Developers Manual 0x040E Starts a continuous move in the forward direction 0x040F Starts a continuous move in the backward direction 0x0400 Set read the amplitude mV for the positioner 0x0542 Set read the speed of the positioner unit s The value is scaled by a factor of 1000 0x0549 Set read the step width of the positioner unit The value is scaled by a factor of 1000 0x0514 Set read the DC voltage level mV of the positioner 0x0401 Set read the frequency Hz of the excitation signal 0x0447 Switches the output relays of the amplifier Ox051E Starts a capacitance measurement 0x0569 Read only The result of the capacitance measurement 0x0526 Read set the reference voltage mV 0x050C Sending a value of 1234 saves all parameters to controller flash Sending a value of 4321 clears all parameters from flash 0x0530 Lower trigger threshold position unit Value is scaled by a factor of 1000 0x0531 Upper trigger threshold position unit Value is scaled by a factor of 1000 0x0532 Trigger polarity 0x0533 Number of assigned axis 0x0534 Epsilon unit Value is scaled by a factor of 1000 0x0535 Read only Unit of trigger 0x0568 Switches bandwidth limitation Dither and scanner specific 0x0561 Switches the DC in connector Dither and scanner specific 0x0563 Switches the inte
4. also buttons to save or clear the current settings 6 4 Stepper Module EDM Screen From the main display clicking on one of the step module buttons opens the step display for the corresponding step module v home ajg applications anc350 data ancStepModule ed Le Position Axis Status 0 016 Um Reference Position P Absolute Target 0 004 Relative Move 0 000 Reset Position Reset Move To Reference Reference Single Step Move lt Capacity Measure Continous Move Amplitude 0 000 Speed Step Width DC Level Frequency 0 amp 0 Figure 3 Step module screen The screen presents the following indicators and controls Position This indicator displays the current position of the positioner connected to the respective axis followed by the unit of this value Reference Each NUM positioner see ANC350 manual has its individual reference position a physical marker on the grating The displayed value corresponds to the distance between the reference 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
5. corresponding button Reset Position Resets the current position to zero This results in a loss of the reference position Move To Reference Moves the positioner to the reference 15 April 2009 10 ANC350 Piezo Motion Controller EPICS Developers Manual 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 Amplitude Value for the drive voltage of this Piezo By changing this value the step size of the positioner can be varied The allowed voltage values range from OV to 70V Speed Indicates the positioner s current travel speed Step Width Indicates the positioner s current step size DC Level The applied DC voltage to the Piezo Frequency Here the desired frequency can be entered with which the positioner should move in the manual positioning mode Axis Status This consists of six 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 hump detected if the positioner reaches a mechanical end stop o 6 The status of the positioner moving or not moving Capacity Measure Clicking on the Measure button determines the actual capacitance of the connected posi
6. test application It contains the startup script that defines the IP address of the ANC350 see below Makefile runTestApp Linux only Bash script to start the EPICS test application and run the edm screens runTestAppWin Windows only Script to start the EPICS test application 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 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 For example ASYN usr software epics asyn 4 10 MOTOR usr software epics motor 6 4 2 Also update the line that defines the location of your EPICS installation For example EPICS BASE usr software epics base 3 14 8 2 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 15 April 2009 5 ANC350 Piezo Motion Controller EPICS Developers Manual export EPICS 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 iocancTest
7. 01 0 0 0 anc350AsynMotorCreate IP1 0 0 1 drvAsynMotorConfigure ANC1 anc350AsynMotor 0 1 The first line configures the asyn layer to communicate with the ANC 350 over an ethernet connection This requires a name for the connection followed by the IP address and port number of the ANC 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 ANC 350 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 only a single axis 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 anc350AsynMotor This ensures the motor device support uses the ANC 350 driver functions to attempt communications with the axes The final two parameters supplied 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
8. 350 directory Edit the st cmd file and update the line that configures the asyn IP port with the IP address of the ANC350 unit on your network 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 5 2 Installing Under Windows This section will cover installation of the device support code for the ANC350 on a Windows operating system Before performing the following installation ensure that EPICS 3 14 8 or later is installed and the asynDriver version 4 10 or later has been installed For the ANC350 test these were both installed using the cygwin Linux like environment and the gcc compiler version 3 4 4 for cygwin All instructions in this section assume the developer is also using the cygwin environment and associated tools www cygwin com Open a cygwin terminal and unpack the ANC350 tar file Cd into the top directory In here you will see the following files and directories Directory Description anc350App This directory contains the device support code a template database for a stepper module and a template edm screen to use with the database template ancTest350App This directory contains a test application A substitutions file sets up a system configured for an ANC350 with three stepper modules anc350MotorApp This directory contains the motor r
9. CentOS 4 3 and Windows XP EPICS version 3 14 8 or later EPICS module AsynDriver version 4 10 or later MSlIextension 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 4 2 or later required to drive the axes using the standard motor record Windows only cygwin installed 15 April 2009 4 ANC350 Piezo Motion Controller EPICS Developers Manual 5 Installation 5 1 Installing Under Linux This section will cover installation of the device support code for the ANC350 on a Linux operating system Before performing the following installation ensure that EPICS version 3 14 8 or later is installed and the asynDriver version 4 10 or later and the module motor version 6 4 2 or later have been installed Unpack the ANC350 tar file and cd into the top directory In here you will see the following files and directories Directory Description anc350App This directory contains the device support code a template database for a stepper module and a template edm screen to use with the database template ancTest350App This directory contains a test application A substitutions file sets up a system configured for an ANC350 with three stepper modules anc350MotorApp This directory contains the motor record interface code configure The configuration directory iocBoot The boot directory for the
10. Pa attocube systems r ANC350 Piezo Motion Controller EPICS Developers Manual Issue 2 Date 15 April 2009 NAME DATE SIGNATURE Prepared by Alan Greer Observatory Sciences Ltd 15 April 2009 EE Checked by Philip Taylor Observatory Sciences Ltd ANC350 Piezo Motion Controller EPICS Developers Manual TABLE OF CONTENTS EE CODE es EE 3 2 Relteretice DOCUmeHls nsanra oi Doniini dite e suat mere e 3 3 lt OBOdUcHoll nec e e e Lu LI tM Ld LES Set teed 4 A Requirements iert MIT 4 4 1 Hardware Reguitements isn eit edqe o eieiaeo taneria endai iNe 4 42 Soltware Requirements cani nai ia ted le i i a 4 2 Jostallat n osnih eo oce n dese dad ca ee AE 5 5 1 Instalime Under Lan TT 5 5 22 Installing Under WIdOWs uae ne ene Dep ites 6 6 Running the Test Application vou nea eode 7 6 1 Running the EPICS Database sese sese esec seer 7 6 2 Running the EDM Screens sees eee 8 6 3 Global EDM Sereen ordi aei piosc ses een acta at as R RAES enue 9 6 4 Stepper Module EDM Screens s a spauseticrndsatgnvbentea cahoots eens se IND a Eius 10 7 Using the Device Support Code sese sees 11 7 1 Configuration of EPICS Records and Application sssss 11 8 Motor Record Support eue tee eee oe eae rt ce eu eee I3 8 1 Motor Record Database Configuration eene 15 8 2 Using the Motor Record with the ANC350 esee 16 Appe
11. Records db ancTest db 15 April 2009 13 ANC350 Piezo Motion Controller EPICS Developers Manual drvAsynIPPortConfigure IP1 10 2 2 71 2101 0 0 0 cd S TOP iocBoot I0OC iocInit Figure 6 Startup script for the ANC350 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 15 April 2009 14 ANC350 Piezo Motion Controller EPICS Developers Manual 8 Motor Record Support This section deals with using the motor record to drive individual axes on the ANC 350 When creating a new application ensure the asyn motor and anc350 modules are all included in the configure RELEASE file To initialise the anc350 module the following lines should be added to the startup script st cmd drvAsynIPPortConfigure IP1 10 2 2 71 21
12. d then the startup script should be altered Cd into the iocBoot iocancTest350 directory Edit the st cmd file and update the line that configures the asyn IP port with the IP address and port number of the ANC350 unit on your network see Section 7 1 The example below shows an ANC350 on a network with the IP address 10 2 2 71 listening on port 2101 The details of the ANC350 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 ANC350 is completed 6 1 Running the EPICS Database There are two scripts contained in the top level directory to start the application For Linux execute the script runTestApp For windows execute the script runTestAppWin from within the cygwin Bash shell see section 5 2 Below is an example of the output generated when the system is started on Linux a3jg80s11x8 anc350 runTestApp 1 bin linux x86 ancTest350 You may have to change ancTest350 to something else everywhere it appears in this file lt envPaths epicsEnvSet ARCH linux x86 epicsEnvSet IOC iocancTest350 epicsEnvSet TOP home ajg applicati
13. ecord 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 ANC350 see below Makefile runTestApp Linux only Bash script to start the EPICS test application and run the edm screens runTestAppWin Windows only Script to start the EPICS test application 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 15 April 2009 6 ANC350 Piezo Motion Controller EPICS Developers Manual ASYN usr software epics asyn 4 10 MOTOR usr software epics motor 6 4 2 Also update the line that defines the location of the EPICS installation EPICS BASE usr software epics base 3 14 8 2 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 cygwin x86 There is a test application supplied with the device support code If this is to be use
14. end 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 ANC350 controller and three stepper boards EPICS motor record support is also provided Although this removes the ability to fully control all aspects of the controller it provides a well recognized interface to drive the stages as if they were motors 4 Requirements This section details the hardware and software requirements for using the ANC350 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 ANC350 present on the network For operation with the EPICS device support code the ANC350 should be configured to have a static IP address 4 2 Software Requirements The following software is required to run the driver and device support code Linux or Microsoft windows 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 4 3 and tested on
15. motor record template Foe example file MOTOR db basic asyn motor db pattern P M DESC DTYP DIR VELO VBAS ACCL BDST BVEL BACC PORT ADDR MRES PREC EGU DHLM DLLM INIT T1 MI Desc asynMotor 0 300 70 50 0 1 0 0 0 0 0 0 0 ANC1 0 0 001 3 um 5000 0 4 3000 0 0 The example substitution file above resulted in the following motor record record motor T1 M1 ield DESC Desc field DTYP asynMotor d d field DIR 0 ield VELO 300 0 15 April 2009 15 ANC350 Piezo Motion Controller EPICS Developers Manual field VBAS 50 0 field ACCL 1 0 field BDST 0 0 field BVEL 0 0 field BACC 0 0 field OUT asyn ANC1 0 field MRES 0 001 field PREC 3 field EGU um field DHLM 5000 0 field DLLM 3000 0 field INIT 0 field TWV 1 The most important field is the OUT field This must be set to point to the ANC 350 motor support This is achieved by setting the value to asyn ANC1 0 The ANCI 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 furthe
16. nce valid Bit 12 Sensor disable 0x0560 X Temperature status Value of 0 indicates temperature problem 0x0415 Read only Position of a specific axis unit Value is scaled by a factor of 1000 0x0516 Read only Count of rotations for position in case of rotator as positioner 0x0407 Read only Reference position of the appropriate axis unit Value is scaled by a factor of 1000 0x0517 Read only Count of rotations for reference position in case of rotator as positioner 0x0441 Read only Minimum position for position limited positioners unit Value is scaled by a factor of 1000 0x0442 Read only Maximum position for position limited positioners unit Value is scaled by a factor of 1000 Ox044F Executes a reset of the position 0x0408 Defines the target position unit Value should be scaled by a factor of 1000 0x0518 Defines the count of rotations for the target position 0x040D Starts approach to the absolute target position 0x0408 Previous movement will be stopped 0x0418 Starts approach to a relative target position 0x0408 Previous movement will be stopped 0x0444 Starts approach to the reference position Previous movement will be stopped 0x0410 Starts a one step position update in the forward direction Previous movement will be stopped 0x0411 Starts a one step position update in the backwards direction Previous movement will be stopped 15 April 2009 18 ANC350 Piezo Motion Controller
17. ndix A Commands And Status Memory Locations sss 18 15 April 2009 2 ANC350 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 ANC350 The ANC350 electronics is a closed loop positioning and scanning system which can be used for up to six nano positioners and scanners It can be controlled directly from the front panel or through a USB or ethernet interface 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 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 15 April 2009 3 ANC350 Piezo Motion Controller EPICS Developers Manual 3 Introduction The ANC350 EPICS software module contains device support code for longin and longout records to be used with an ANC350 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 s
18. ome 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 ANC350 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 steppers and each is represented on this display 15 April 2009 8 ANC350 Piezo Motion Controller EPICS Developers Manual Global Figure 1 Main edl screen Clicking on the global button opens the global parameters screen 6 3 Global EDM Screen jhome ajg apr plication s anc 35 0 data anc Coi cre Static Voltage 0 000 2 000 V Temperature Status Good Save Settings Clear Settings EXIT Figure 2 Global parameters screen This contains an input for altering the static voltage This is the reference voltage applied to the resistive readout system The voltage can be set from 0 001 to 2 000V The current voltage is displayed immediately below the input Below the voltage 15 April 2009 9 ANC350 Piezo Motion Controller EPICS Developers Manual indicator is another indicator displaying the temperature status There are
19. ons anc350 15 April 2009 7 ANC350 Piezo Motion Controller EPICS Developers Manual epicsEnvSet ASYN usr software epics asyn 4 10 epicsEnvSet ANC home ajg applications anc350 epicsEnvSet EPICS BASE usr software epics base 3 14 8 2 cd home ajg applications anc350 Register all support components dbLoadDatabase dbd ancTest350 dbd 0 0 ancTest350 registerRecordDeviceDriver pdbbase Load record instances dbLoadRecords S ASYN db asynRecord db P OSL R ASYN PORT IP1 ADDR 0 OMAX 0 IMAX 0 dbLoadRecords db ancTest db drvAsynIPPortConfigure IP1 10 2 2 71 2101 0 0 0 cd home ajg applications anc350 iocBoot iocancTest350 iocInit Starting iocInit TEE EERE AERE ERE RE ERE EE EE HE RETE E ERE 11 Ed L L ERE EE E EE E ERE ERE EE EE ERE ERE E E E THERE HHH HE HE E E E EPICS IOC CORE built on Sep 6 2006 EPICS R3 14 8 2 R3 14 8 2 2006 01 06 15 55 13 TEE EERE HERE ERE EH EE EE ERE EE E ERE EE ERE ERE E EEE EEE EEE EEE EEE EE ERE ERE E E E TREE HERE ERE E E GE iocInit All initialization complete Start any sequence programs Seq sncxxx user ajgHost epics gt Once the startup is complete and the records loaded the ANC350 can be controlled by setting various records present in the database 6 2 Running the EDM Screens To allow fast testing s
20. ositioner Hz 0x0452 Positioner type 0 Positioner is linear 1 Positioner is rotary 0x0519 Shortest way algorithm for rotary positioners 0x0450 Enables hump detection 0x041D Sets the unit for the sensor 0x00 mm 0x01 um 0x02 nm 0x03 pm 0x14 deg 0x15 mdeg 0x16 udeg 0x0558 Sets the sensor average factor for the sensor unit 0x044B Minimum duration ms of holding target position for successful target approach 0x053B Reference offset unit The value is scaled by a factor of 1000 0x0567 Internal averaging of the sensor signal 15 April 2009 20
21. r details consult the documentation RD5 8 2 Using the Motor Record with the ANC350 Specific features available when using the ANC350 with the motor record include the following e Velocity Changing the velocity will result in a change to the frequency of the axis All axes are always driven in speed closed loop mode and so the change in frequency effectively changes the velocity 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 motor can be referenced This will result in the axis searching for its reference mark Once found the axis will stop moving and its position reset to zero It is important to note that the ANC 350 hardware does not reset the actual count value for the device to zero when it crosses its reference mark it simply remembers the count value at that position The ANC 350 motor record support internally subtracts this saved reference position value from the actual value once the homing procedure is completed ensuring that the position is always zero whenever the axis is positioned at the reference mark e Units The motor record described above is set up to use um as the default unit If the units were changed within the ANC controller then the motor record would need to be updated accordingly EGU PREC MRES The figure below shows an example of a motor record running with an ANC 350 controller with a single axis 15
22. rnal connection to the amplifier Dither and scanner specific 0x0562 Switches the AC in connector only valid for dither axes 0x0554 Position loop range unit 0x054B Gain of approach speed function in 1 s The value is scaled by a factor of 1000 0x054C Enables approach speed function 0x054D Positioner offset mV Ox054E Positioner gain unit V The value is scaled by a factor of 1000 Ox054F Maximum amplitude mV 0x0551 Sensor direction 0 Forward 1 Backward 0x0553 Number of periods per chosen unit for optical sensors unit 0x0544 Average factor for speed feedback 0x0545 Average factor for position feedback Ox053F Sensitivity for speed feedback The value is scaled by a factor of 1000 0x0540 Sensitivity for position feedback The value is scaled by a factor of 1000 0x053D Positioner speed for target approach unit s The value is scaled by a factor of 1000000 0x053A Positioner direction 0 Forward 1 Backward 0x0539 Type of sensor 0 Optical 1 Resistive 15 April 2009 19 ANC350 Piezo Motion Controller EPICS Developers Manual 0x0559 Minimum position of the sensor unit The value is scaled by a factor of 1000 0x055A Maximum position of the sensor unit The value is scaled by a factor of 1000 0x0527 Gain for resistive transfer function unit V The value is scaled by a factor of 1000 0x0515 Maximum frequency for the p
23. s 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 ANC350 that should be written to read from A complete 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 QS PORT SO 0x0415 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 ANC350 longin P ACTS ADDR RD_POS calcout ADDR Figure 4 Reading the position and reference position from the ANC350 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 ANC350 device support code TOPBIS cu include TOP configure CONFI T 15 April 2009 12 ANC350 Piezo Motion Controller EPICS Developers Manual ADD MACRO DEFINITIONS AFTER THIS LINE T build an ioc application PROD IOC
24. tioner The value is displayed in the indicator directly below the button Exit Click on this to close the screen Q Q 9 9 7 Using the Device Support Code The simple test application described in section 6 only presents a small subset of the possible commands and status items available through the ethernet interface of the ANC350 motion controller Application developers are likely to want to create their own databases of records this section explains what is required to use the device support for the ANC350 7 1 Configuration of EPICS Records and Application The ANC350 uses only long 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 ANC350 ensure the devAnc350 dbd file has been included in the build Set the DTYP field of the record to ANC350 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 15 April 2009 11 ANC350 Piezo Motion Controller EPICS Developers Manual Signal Number This is either the number of the axi
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