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<== Date ==> <== Thread ==>

Subject: Re: Animatics SmartMotor setup
From: Torsten Bögershausen via Tech-talk <tech-talk@aps.anl.gov>
To: Mark Davis <davism50@msu.edu>, "tech-talk@aps.anl.gov" <tech-talk@aps.anl.gov>
Date: Tue, 18 Jun 2019 18:57:34 +0200
Hej again,

I was not aware that we have model 1 drivers using an asyn connection -
until today.

Sorry for the confusion from my side.


On 18/06/19 17:29, Davis, Mark wrote:
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




References:
Animatics SmartMotor setup Davis, Mark via Tech-talk
Re: Animatics SmartMotor setup Torsten Bögershausen via Tech-talk
Re: Animatics SmartMotor setup Davis, Mark via Tech-talk

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