diff --git a/GALIL/GALIL-IOC-01App/Db/Makefile b/GALIL/GALIL-IOC-01App/Db/Makefile index c1e7eba0e..a88f429dd 100644 --- a/GALIL/GALIL-IOC-01App/Db/Makefile +++ b/GALIL/GALIL-IOC-01App/Db/Makefile @@ -18,7 +18,7 @@ include $(TOP)/configure/CONFIG DB += galil_motors.db galil_motor_extras.db galil_dmc_ctrl.db galil_userdef_records8.db DB += galil_profileMoveController.db galil_profileMoveAxis.db galil_analog_ports.db DB += galil_digital_ports.db galil_user_array.db galil_csmotor_kinematics.db -DB += galil_coordinate_systems.db galil_csmotor_extras.db +DB += galil_coordinate_systems.db galil_csmotor_extras.db asyn_motors.db include $(TOP)/configure/RULES #---------------------------------------- diff --git a/GALIL/GALIL-IOC-01App/Db/asyn_motors.substitutions b/GALIL/GALIL-IOC-01App/Db/asyn_motors.substitutions new file mode 100644 index 000000000..1ccaac62d --- /dev/null +++ b/GALIL/GALIL-IOC-01App/Db/asyn_motors.substitutions @@ -0,0 +1,35 @@ +# +# version of galil_motors.substitutions for generating asyn_motor DB for use with simulated motor +# + +file "$(MOTOR)/db/asyn_motor.db" +{ +pattern +{ P, ASG, M, GPORT, PORT, ADDR, EGU, DESC, VELO, VMAX, ACCL, BDST, BVEL, BACC, MRES, SREV, ERES, PREC, DHLM, DLLM, OFF, UEIP, RTRY, NTM, PCOF, ICOF, DCOF} + +# Real motors + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)01", "\$(GPORT=Galil)", "\$(PORT=Galil)", 0, mm, "MTR\$(CCP)01 (GALIL)", 20, 20, 1, 0, 0, 5, .0025, 1000, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "YES", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)02", "\$(GPORT=Galil)", "\$(PORT=Galil)", 1, mm, "MTR\$(CCP)02 (GALIL)", .2, .2, 1, 0, 0, 5, .0025, 1000, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "YES", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)03", "\$(GPORT=Galil)", "\$(PORT=Galil)", 2, mm, "MTR\$(CCP)03 (GALIL)", .2, .2, 1, 0, 0, 5, .0025, 400, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "YES", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)04", "\$(GPORT=Galil)", "\$(PORT=Galil)", 3, mm, "MTR\$(CCP)04 (GALIL)", .2, .2, 1, 0, 0, 5, .0025, 400, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "YES", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)05", "\$(GPORT=Galil)", "\$(PORT=Galil)", 4, mm, "MTR\$(CCP)05 (GALIL)", .2, .2, 1, 0, 0, 5, .0025, 400, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "YES", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)06", "\$(GPORT=Galil)", "\$(PORT=Galil)", 5, mm, "MTR\$(CCP)06 (GALIL)", .2, .2, 1, 0, 0, 5, .0025, 400, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "YES", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)07", "\$(GPORT=Galil)", "\$(PORT=Galil)", 6, mm, "MTR\$(CCP)07 (GALIL)", .2, .2, 1, 0, 0, 5, .0025, 400, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "YES", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)08", "\$(GPORT=Galil)", "\$(PORT=Galil)", 7, mm, "MTR\$(CCP)08 (GALIL)", .2, .2, 1, 0, 0, 5, .0025, 400, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "YES", 0, 0, 0} + +# Coordinate system (CS) motors +# If real motors in CSAxis require backlash correction then NTM must be NO +# If only CSAxis requires backlash correction NTM can be any value + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)09", "\$(GPORT=Galil)", "\$(PORT=Galil)", 8, mm, "MTR\$(CCP)09 (GALIL)", 20, 20, 1, 0, 0, 5, .001, 1000, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "NO", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)10", "\$(GPORT=Galil)", "\$(PORT=Galil)", 9, mm, "MTR\$(CCP)10 (GALIL)", 20, 20, 1, 0, 0, 5, .001, 1000, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "NO", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)11", "\$(GPORT=Galil)", "\$(PORT=Galil)", 10, mm, "MTR\$(CCP)11 (GALIL)", 20, 20, 1, 0, 0, 5, .001, 1000, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "NO", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)12", "\$(GPORT=Galil)", "\$(PORT=Galil)", 11, mm, "MTR\$(CCP)12 (GALIL)", 20, 20, 1, 0, 0, 5, .001, 1000, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "NO", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)13", "\$(GPORT=Galil)", "\$(PORT=Galil)", 12, mm, "MTR\$(CCP)13 (GALIL)", 20, 20, 1, 0, 0, 5, .001, 1000, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "NO", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)14", "\$(GPORT=Galil)", "\$(PORT=Galil)", 13, mm, "MTR\$(CCP)14 (GALIL)", 20, 20, 1, 0, 0, 5, .001, 1000, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "NO", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)15", "\$(GPORT=Galil)", "\$(PORT=Galil)", 14, mm, "MTR\$(CCP)15 (GALIL)", 20, 20, 1, 0, 0, 5, .001, 1000, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "NO", 0, 0, 0} + {"\$(P)", "\$(ASG01=DEFAULT)", "MTR\$(CCP)16", "\$(GPORT=Galil)", "\$(PORT=Galil)", 15, mm, "MTR\$(CCP)16 (GALIL)", 20, 20, 1, 0, 0, 5, .001, 1000, 0.001, 5, 42273.3, -42273.3, 0, 0, 0 , "NO", 0, 0, 0} + +} + +# end + diff --git a/GALIL/iocBoot/iocGALIL-IOC-01/galildb.cmd b/GALIL/iocBoot/iocGALIL-IOC-01/galildb.cmd index eaf8e07f8..edc47ea0e 100644 --- a/GALIL/iocBoot/iocGALIL-IOC-01/galildb.cmd +++ b/GALIL/iocBoot/iocGALIL-IOC-01/galildb.cmd @@ -3,7 +3,9 @@ ## MTRCTRL is the galil crate number - 01, 02, ... ## GALIL_MTR_PORT will be Galil or GalilSim -dbLoadRecords("$(TOP)/db/galil_motors.db", "GPORT=$(GALIL_MTR_PORT),P=$(MYPVPREFIX)MOT:,CCP=$(MTRCTRL)") +$(IFDEVSIM) dbLoadRecords("$(TOP)/db/asyn_motors.db", "PORT=$(GALIL_MTR_PORT),P=$(MYPVPREFIX)MOT:,CCP=$(MTRCTRL),DTYP=asynMotor,DIR=Pos,INIT=,VBAS=0") +$(IFRECSIM) dbLoadRecords("$(TOP)/db/asyn_motors.db", "PORT=$(GALIL_MTR_PORT),P=$(MYPVPREFIX)MOT:,CCP=$(MTRCTRL),DTYP=asynMotor,DIR=Pos,INIT=,VBAS=0") +$(IFNOTDEVSIM) $(IFNOTRECSIM) dbLoadRecords("$(TOP)/db/galil_motors.db", "GPORT=$(GALIL_MTR_PORT),P=$(MYPVPREFIX)MOT:,CCP=$(MTRCTRL)") #Load DMC controller features (eg. Limit switch type, home switch type, output compare, message consoles) #Load extra functionality, untop of motorRecord features for axis/motors (eg. runtime gear ratio changes between master & slaves)