Experimental Physics and
Industrial Control System

"Davis, Mark via Tech-talk" <[email protected]> · Tue, 18 Jun 2019 11:29:54 -0400

Hi Torsten,

Actually, that is all rather confusing.  I think maybe you are thinking

of a very different motor and controller.

Let me back up a little and give some more specifics that might help

clarify things:

Here is what we are using:

   * An Animatics SmartMotor model SM3416D-PLS (a combination

motor+controller).  The interface to the controller is a serial RS-232

connection.

   * A single port Moxa Serial/Ethernet convertor connected to the

serial port on the motor/controller.

   * Version 6.9 of the motor module
   * The driver in the SmartMotorSrc subdirectory of the motor module

Although the driver in the SmartMotorSrc directory uses an asyn port to

communicate with the controller, it appears to be a Model I driver (it

uses the motor_dset interface) so I don't believe there is any need for

a 2nd asyn port.

The only mention I can find for the EthercatMCCreateXxx functions is a

TechTalk message about a NewFocus 874x Picomotor Controller Driver.

As near as I can tell so far my example is correct.  I just don't know

what the driver is expecting for the contents of the OUT field in the

motor record.

Mark

On 6/18/2019 7:44 AM, Torsten Bögershausen wrote:

Hej Mark,

you need 2 asyn ports, one for the motorRecord to
talk to your "Animatics SmartMotor" asynMotorDriver.

The second one to let the "Animatics SmartMotor" asynMotorDriver
talk to the real hardware.
We call them "MCU1" and "MC_CPU1", better suggestions are welcome.

A simplified setup is here:

## The db file:
record(motor,"$(PREFIX)$(MOTOR_NAME)")
{
    field(DESC,"$(DESC)")
    field(DTYP,"asynMotor")
    field(OUT,"@asyn($(MOTOR_PORT),$(AXIS_NO))")
}

##st.cmd
epicsEnvSet("ASYN_PORT",     "MC_CPU1")
epicsEnvSet("MOTOR_NAME",    "IOC:m1")
epicsEnvSet("MOTOR_PORT",    "MCU1")
epicsEnvSet("AXIS_NO",       "1")

drvAsynIPPortConfigure("$(ASYN_PORT)","$(IPADDR):$(IPPORT)",0,0,0)

EthercatMCCreateController("$(MOTOR_PORT)", "$(ASYN_PORT)",

"$(NUMAXES)", "200", "1000")

EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)",)

I hope that hopes a little bit.
/Torsten

On 18/06/19 13:11, Davis, Mark via Tech-talk wrote:

Can anyone provide an example of how to setup and use an Animatics

SmartMotor?

 From what I could figure out looking at the code, I expect it is

something along these lines:

# For a connection via a Moxa Ethernet-to-serial adapter:
drvAsynIPPortConfigure("TapeStation", "192.168.137.99:4001")

# SmartMotorSetup(maxCtlrCount, pollRate)
SmartMotorSetup(1, 5)

# SmartMotorConfig(cardNum, "asynPortName")
SmartMotorConfig(0, "TapeStation")

And then the motor record would look something like this:

record(motor, "MyMotor")
{
   field(DTYP, "SmartMotor")
   field(OUT,  "@0 TapeStation ????")
   ...
}

Is that even close?  The one I am most unsure of is what to use for

the OUT value in the motor record.

Mark Davis
NSCL/FRIB

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System