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Use asyn_motors.db if simulating motors #652

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2 changes: 1 addition & 1 deletion GALIL/GALIL-IOC-01App/Db/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -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
#----------------------------------------
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35 changes: 35 additions & 0 deletions GALIL/GALIL-IOC-01App/Db/asyn_motors.substitutions
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@@ -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

4 changes: 3 additions & 1 deletion GALIL/iocBoot/iocGALIL-IOC-01/galildb.cmd
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Expand Up @@ -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)
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