RE: Galil IOC GalilAddCode Command Parameters

[Mark via Tech-talk <tech-talk@aps.anl.gov>]

Hi Jonathan,
The Galil EPICS driver will generate Galil code for the controller at 
IOCStart.  The generated code will be dumped in the iocBoot directory as 
<controller ip>_gen.dmc.
To decode the GalilAddCode 2nd parameter meaning
Param # 2. int section = code section to add custom code into 0 = card 
code, 1 = thread code, 2 = limits code, 3 = digital code
Refer to the <controller ip>_gen.dmc file.

GalilAddCode parameter 2 values are shown below with reference to the 
dmc file.
0 card code is code between #AUTO and #THREADA labels.
1 thread code is code within the labels #THREADA -> #THREADH
2 limit code is code within the #LIMSWI section
3 digital code is code within the #ININT digital input section

Where the GalilAddCode command is called in the ioc start process is 
important, and determines where the user code will be inserted.
===
Recommend using the motor record and driver to set the parameters 
requested rather than Galil code.  If these settings are made within 
Galil code, the values may be clobbered by the driver/records.
Here is how to set the parameters requested via the driver and motor record.

Limit and home switch type:
$(P) in example IOC default is DMC01:
The galil_dmc_ctrl.template database contains the limit and home switch 
type records.
Limit switch
DMC01:LIMITTYPE_CMD
0 - Normally open (NO)
1 - Normally closed (NC)
Home switch
DMC01:HOMETYPE_CMD
0 - Normally open (NO)
1 - Normally closed (NC)

The limit/home switch settings are controller wide and impact all axis.

To set the software limit for an axis, the motor record can be used.
Assuming motor A.
High software limit PV
DMC01:A.HLM
Low software limit PV
DMC01:A.LLM

To disable software limits, set both HLM and LLM to 0.

The above settings are supported by the autosave restore configuration 
in the example IOC.  Once they are set, it's remembered, through IOC 
cold boots.
Kind regards,
Mark Clift.

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