Re: [EXTERNAL] Beckhoff BK9000 support survey

[Jeong Han Lee via Tech-talk <tech-talk@aps.anl.gov>]

Hi Mike,

  ESS has a bit unique and generic EPICS support based on asyn. Please 
look at the following talk
http://accelconf.web.cern.ch/AccelConf/icalepcs2017/talks/mocpl05_talk.pdf

  We've called it as ecmc (EtherCat Motion Control), but we extend it 
to generic I/O supports. The current support modules in the enclosed file.
  Unfortunately, they are within the closed repository, but we are 
willing to share it within EPICS community.
  HTH,
  Han




On 6/27/19 5:38 PM, Dunning, Michael via Tech-talk wrote:
> Thanks everybody for the responses so far.
>
> I should add that, as Davide mentioned, for some modules we need to
> access the Beckhoff "hidden" registers which can only be accessed
> through other registers.  This makes the modbus "driver" approach
> necessary if we want to cover all modules.  In our case we've needed
> to access these registers for changing configuration parameters, e.g.
> changing thermocouple types or ADC scaling, or for motor
> configuration.
>
> Mark - thanks for pointing out the new C++ version of modbus.  It
> sounds like we could get rid of our custom modbus driver code and
> instead call modbus functions directly from our asynPortDriver.  This
> should simplify things and make maintenance a bit easier.  This
> definitely sounds like something we should pursue.
>
> Thanks again to all who have responded.
>
> Mike
>
>
>
>
>
>
>
>
> Michael Dunning
> SLAC National Accelerator Laboratory
> 2575 Sand Hill Road
> Menlo Park, CA 94025
> (650) 926-5200
> On Thu, Jun 27, 2019 at 11:52 AM Mark Rivers <rivers@cars.uchicago.edu> wrote:
> > > I would only do this if the application is complex enough that you need to move logic from the database down into C++ code. I'd still make use of the standard modbus support module and use it like a library to handle the modbus protocol (since it's been around for 10+ years and is well tested, that would be my starting point
> > In the new asynPortDriver branch you can do the following:
> >
> >
> >
> >          drvAsynIPPortConfigure("Koyo1","camaro:502",0,0,1);
> >          asynSetOption("Koyo1", 0, "disconnectOnReadTimeout", "Y");
> >
> >
> >
> >          modbusInterposeConfig("Koyo1", modbusLinkTCP, 5000, 0);
> >
> >
> >
> >          // Use absolute addressing, modbusStartAddress=-1.
> >          drvModbusAsyn *pModbus = new drvModbusAsyn("K1", "Koyo1", 0, 2, -1, 256, dataTypeUInt16, 0, "Koyo");
> >
> >          // Write 10 bits at address 2048
> >          memset(data, 0, sizeof(data));
> >          data[0] = 1;
> >          data[2] = 1;
> >          data[4] = 1;
> >          data[6] = 1;
> >          data[8] = 1;
> >          printf(" Writing [1 0 1 0 1 0 1 0 1 0] to adddress 2048\n");
> >          /* asynStatus doModbusIO(int slave, int function, int start, epicsUInt16 *data, int len); */
> >          pModbus->doModbusIO(0, MODBUS_WRITE_MULTIPLE_COILS, 2048, data, 10);
> >
> >
> >
> >          Because the drvModbusAsyn constructor was called with startAddress=-1 doModbusIO can write to any address with any function code.
> >
> > Mark
> >
> > Sent from my iPhone
> >
> > On Jun 27, 2019, at 12:23 PM, Pearson, Matthew R. via Tech-talk <tech-talk@aps.anl.gov<mailto:tech-talk@aps.anl.gov>> wrote:
> >
> > Hi,
> >
> >
> > 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.
> >
> >
> > If the only problem with this method is the code duplication in each IOC then it's best to move the database into templates in a support module. Then all the IOC has to do is include them in a substitutions file. You could have one template per module type. And if there is common database code between modules then separate that out into common template files that are included in the per-module templates.
> >
> > Then in the IOC startup script you may have a large list of calls to drvModbusAsynConfigure in order to setup the modbus ports for different address ranges. You can also put this in the support module, and just include it in the IOC st.cmd, passing in macros as necessary. For example, this is what I do for one of my applications for the Moxa ioLogik modules:
> >
> > #E1214 Unit (6 DI and 6 Relay)
> > epicsEnvSet("IP_ADDR","192.168.200.177:502")
> > epicsEnvSet("IP_PORT","m1ip")
> > epicsEnvSet("PORT","m1")
> > < $(MOXA)/st_scripts/st_common.cmd
> >
> > Where st_common.cmd is just a list of calls to drvModbusAsynConfigure. You may or may not need a different list for each type of module, depending on the modbus registry maps.
> >
> > 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.
> >
> > I would only do this if the application is complex enough that you need to move logic from the database down into C++ code. I'd still make use of the standard modbus support module and use it like a library to handle the modbus protocol (since it's been around for 10+ years and is well tested, that would be my starting point).
> >
> >
> > 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.
> >
> >
> > There's no need to write support this way anymore, since Asyn gives you the device support for free.
> >
> > Cheers,
> > Matt
ecmcAI.template
ecmcAO.template
ecmcAsynAxisDiagArray.db
ecmcAsynControllerGeneral.db
ecmcAsynGenericAnalogInput.db
ecmcAsynGenericAnalogOutput.db
ecmcAsynGenericDigitalInput.db
ecmcAsynGenericDigitalOutput.db
ecmcAsynGenericRecordsAnalogInput.db
ecmcAsynGenericWaveformInput.db
ecmcBI.template
ecmcBO.template
ecmcControllerGeneral.db
ecmcDataRecorder.db
ecmcDataStorage.db
ecmcDefaultAsynParamsAxis.db
ecmcDefaultAsynParamsEc.db
ecmcDefaultAsynParamsEcSlave.db
ecmcDUT_AxisStatus_v0_01.db
ecmcEcSlave.template
ecmcEL1014.substitutions
ecmcEL1018.substitutions
ecmcEL10XXEL11XX.template
ecmcEL1252.substitutions
ecmcEL2004.substitutions
ecmcEL2124.substitutions
ecmcEL2502-chX.template
ecmcEL2502.substitutions
ecmcEL2521.substitutions
ecmcEL2521.template
ecmcEL2522-chX.template
ecmcEL2522.substitutions
ecmcEL2612.substitutions
ecmcEL2808.substitutions
ecmcEL2808.template
ecmcEL2819.substitutions
ecmcEL2819.template
ecmcEL3002-0010.substitutions
ecmcEL3004.substitutions
ecmcEL300X-chX.template
ecmcEL3162.substitutions
ecmcEL3164.substitutions
ecmcEL32XX-chX.template
ecmcEL3602.substitutions
ecmcEL3632-chX.template
ecmcEL3632.substitutions
ecmcEL37X2_100.substitutions
ecmcEL37X2_10.substitutions
ecmcEL37X2.substitutions
ecmcEL37XX-chX.template
ecmcEL3XX2.substitutions
ecmcEL3XX4.substitutions
ecmcEL3XX5.substitutions
ecmcEL3XX8.substitutions
ecmcEL4004.substitutions
ecmcEL4102.substitutions
ecmcEL4104.substitutions
ecmcEL4122.substitutions
ecmcEL4XX2.substitutions
ecmcEL4XX4.substitutions
ecmcEL4XXX-chX.template
ecmcEL5001.substitutions
ecmcEL5001.template
ecmcEL5002.substitutions
ecmcEL500X-chX.template
ecmcEL5021.substitutions
ecmcEL5021.template
ecmcEL5101.substitutions
ecmcEL5101.template
ecmcEL7037.substitutions
ecmcEL7041-1000.substitutions
ecmcEL70X7.template
ecmcEL72XX_DRV.substitutions
ecmcEL72XX_DRV.template
ecmcEL72XX_ENC.substitutions
ecmcEL72XX_ENC.template
ecmcEL9410.template
ecmcEL9505.template
ecmcEL9576.template
ecmcEvent.db
ecmcExpression.db
ecmcFB_DriveVirtual_v1_01.db
ecmcFIODrive_DRV.substitutions
ecmcFIODrive_DRV.template
ecmcFIODrive_ENC.substitutions
ecmcFIODrive_ENC.template
ecmcGeneral.db
ecmcGenericAnalog.db
ecmcGenericAnalogInput.db
ecmcGenericAnalogOutput.db
ecmcGenericDigital.db
ecmcGenericDigitalInput.db
ecmcGenericDigitalOutput.db
ecmcIPOS4808_AUX.substitutions
ecmcIPOS8020_AUX.substitutions
ecmcIPOSXXXX_AUX.template
ecmcIPOSXXXX_DRV.substitutions
ecmcIPOSXXXX_DRV.template
ecmcIPOSXXXX_ENC.substitutions
ecmcIPOSXXXX_ENC.template
ecmcMbbiDirect.template
support_list.txt