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

Subject: Re: Beckhoff BK9000 support survey
From: Davide Marcato via Tech-talk <tech-talk@aps.anl.gov>
To: "Dunning, Michael" <mdunning@slac.stanford.edu>, EPICS Tech-Talk <tech-talk@aps.anl.gov>
Date: Thu, 27 Jun 2019 09:41:17 +0200
Hello,
at LNL-INFN (Italy) we are using the same beckhoff modules using the epics modbus module. This works well enough for us, but some modules have internal register that cannot be accessed directly (register communication). For this reason we developed a asynPortDriver interface to be able to access the internal registers of the KL2541 stepper motor module as part of the whole motor record support for that module.

We would be interested in any improved interface to these modules.

Thank you,
Davide

On 27/06/19 2:17 AM, Dunning, Michael via Tech-talk wrote:
At SLAC we use Beckhoff bus terminals quite extensively because they
are inexpensive and reliable, but unfortunately don't yet have a
common epics support solution.  We have at least three versions of
support which were developed independently.

One version uses only the epics modbus module.  This has no driver so
requires less maintenance, but makes setting up IOCs more time
consuming and results in a lot of code duplication.

Another version uses asynPortDriver and some custom modbus code.  This
is designed to make setting up IOCs easier, but requires maintenance
of the driver code.

Another uses custom epics device support.  This requires writing
device support for each bus terminal, and has resulted in a pretty
ugly codebase.  This is our least favored solution going forward.

A typical installation would be a BK9000 bus coupler plus several
analog and/or digital I/O modules (e.g. KL2114, KL1104, KL3172,
KL3314), communicating over ethernet using Modbus TCP.

Before we settle on a solution, we'd like to see what everyone else is
doing.  Any responses would be helpful.

Thank you,
Mike




Michael Dunning
SLAC National Accelerator Laboratory
2575 Sand Hill Road
Menlo Park, CA 94025
(650) 926-5200

--
Davide Marcato
INFN - Laboratori Nazionali di Legnaro
Viale dell'Universita', 2
35020 Legnaro (PD) - ITALY
Phone: +39 0498068439
Mail: marcato@infn.it


References:
Beckhoff BK9000 support survey Dunning, Michael via Tech-talk

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