#%TITLE% dac_and_relay_magnet_ps.mac
#%NAME%
# Macros to change a dac output together with a relay which changes the polarity on a
# special box borrowed from ID24.
#%DESCRIPTION%
# Change a dac output together with a relay which changes the polarity on a special box
# borrowed from ID24.
# %BR% %BR%
# In the config, place yourself on the motor.%BR%
# The DAC needs defining in the config, (hit "p",
# enter the word %B%"dac"%B% to the left and the taco name to the
# right.%BR%
# Type `a`! Then enter the %B%relay%B% name entering relay to the left and the relay
# taco name to the right.%BR%
# Type `a`! For the config value %B%factor%B% enter the word "factor" to the
# left and the value to the lefts.
#%SETUP%
# In the config editor in the "Motor and Counter Device Configuration" page (hit "D") create a motor
# controller like follows:
# %BR%
#MOTORS\0\0\0\0\0\0\0\0\0\0DEVICE\0\0\0\0\0\0\0\0\0\0ADDR\0\0<>MODE\0\0NUM\0\0\0\0\0\0\0\0\0\0\0\0\0<>TYPE%BR%
#\0\0\0YES\0\0\0\0\0\0\0\0\0\0\0DACREL\0\0\0\0\0\0\0\0\0\0\0\0-\0\0\0\0\0\0\0\0\0\0\0\01\0\0\0\0\0\0\0Macro Motors
# %BR%
#Then create the macro motor:
#%PRE%
#Number:\0<>Controller\0\0\0\0\0\0\0\0\0\0\00:\0MAC_MOT
#%BR%
#Unit/[Module/]Channel\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\00/0 (first num is index num of controller)
#%BR%
#Name\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0current
#%BR%
#Mnemonic\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0iout
#%BR%
#Steps per degree/mm\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\04096
#%BR%
#Sign of user * dial\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\01
#%BR%
#Backlash [steps]\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\00
#%BR%
#Steady-state rate [Hz]\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\01
#%BR%
#Base rate [Hz]\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\01
#%BR%
#Acceleration time [msec]\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\01
#%BR%
#Motor accumulator\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\00
#%BR%
#Restrictions <>\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0NONE
#%BR%
#
#%BR%
#Dial = accumulator / steps
#%BR%
#\0\0High limit\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\05.0000
#%BR%
#\0\0Current\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\00.0000
#%BR%
#\0\0Low limit\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\00.0000
#%BR%
#User = sign * dial + offset
#%BR%
#\0\0Offset\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\00.0000
#%BR%
#\0\0`High' limit\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\050.0000
#%BR%
#\0\0Current\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\00.0000
#%BR%
#\0\0`Low' limit\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0-50.0000
#%PRE%
#%BR%
# It is advisable to set the backlash for the macro motor to 0.
#%ATTENTION%
# After a fresh start the macros needed for the macro motor are most likely not
# available, which necessitates a reconfig first thing.
#%BR%
#%B%The\0macros\0are\0not\0conceived\0for\0more\0than\0one\0motor.%B%
#%END%
# Modifications history:
# 16/11/2009 Creation
#%IU%
#%MDESC%
# Called by spec
def DACREL_config(mnum,type,unit,mod,chan) '{
local dac, arnam
if ( mnum != ".." && type == "mot" ) {
TACO_ERR = 0; TACO_ERR_MSG = ""
arnam = "__DACREL_"
global @arnam
@arnam["opiomser"] = motor_par(mnum, "opiomserial")
@arnam["dac"] = motor_par(mnum, "dac")
x = motor_par(mnum, "factor")
@arnam["factor"] = x ? x : 1
__dacreldebug "opiom", @arnam["opiom"]
__dacreldebug "dac", @arnam["dac"]
local answer
if (!__DACREL_SIMU) {
ser_put(@arnam["opiomser"], "?O\r")
__dacreldebug "sss DACREL opiom: ", @arnam["opiomser"], "?O"
answer = ser_get(@arnam["opiomser"], "\r\n")
if (answer == ""){
eprint "Problem with opiom state:", @arnam["opiomser"]
eprint "Can`t seem to talk to opiom!"
return ".error."
}
@arnam["opstat"] = answer & 0x80 ? 1 : 0
}
# There should be a first change on the opiom, as the "ID24 field direction
# change box" is in an undefined state, when switched on!
if (!__DACREL_SIMU) {
ser_put(@arnam["opiomser"], "im 0 0x80\r")
__dacreldebug "sss DACREL opiom: ", @arnam["opiomser"], "im 0 0x80"
}
# check on the dac
if (!__DACREL_SIMU) {
taco_io(@arnam["dac"], "DevState")
}
if (TACO_ERR){
eprint "Problem with DAC (DevState):", @arnam["opiomser"], TACO_ERR_MSG
return ".error."
}
__dacreldebug "ARRAY", arnam, @arnam
}
return(0)
}
'
#%IU%
#%MDESC%
# Called by spec
def DACREL_cmd(mnum, cmd, sp1, sp2, p3) '{
local arnam, sign, factor, value, p1, p2
if (mnum == "..") {
return
}
arnam = "__DACREL_"
factor = @arnam["factor"]
# for some reason, I get sth in TACO_ERR, even with this line in place.
# TACO_ERR = 0; TACO_ERR_MSG = ""
# set TACO_ERR before each taco_io
p1 = sp1 * factor
p2 = sp2 * factor
__dacreldebug mnum, cmd, p1, p2, unit
if ((cmd == "start_one") || (cmd == "set_position")) {
local i, sleept, x, y, steps
# make a move
# sp1 is new position
# sp2 is the magnitude
# sp1 - p2 is the old position
# check for sign change
steps = motor_par(mnum, "step_size")
if ((!((p1 >= 0) && ((p1 - p2) >= 0))) && \
(!((p1 < 0) && ((p1 - p2) < 0)))) { # YES!
__dacreldebug "sss Sign change needed --> move to zero"
# step down to zero to acoid damage to the ps
x = ((p2 == fabs(p2)) * 2) - 1 # up or down
for (i = 0; i < fabs(p1 - p2) > 0; i++) {
# values to set are
y = (p1 - p2) + x * i
TACO_ERR = 0; TACO_ERR_MSG = ""
if (!__DACREL_SIMU) {
if (taco_io(@arnam["dac"], "DevSetValue", fabs(y)) == -1) {
eprintf(\
"DACREL dac: taco_io(\"%s\", \"%s\",%s) failed! 0x%x - %s\n", \
@arnam["dac"], "DevSetValue", y, TACO_ERR, TACO_ERR_MSG)
return ".error."
}
}
else {
__DACREL_SIMU_VALUE = y
__dacreldebug "sss value", __DACREL_SIMU_VALUE
}
# wait for an appropriate amount of time!!!
sleept = 1 / 4
sleep(sleept)
}
# now to go to zero
TACO_ERR = 0; TACO_ERR_MSG = ""
if (!__DACREL_SIMU) {
if (taco_io(@arnam["dac"], "DevSetValue", 0) == -1) {
eprintf(\
"DACREL dac: taco_io(\"%s\", \"%s\",%s) failed! 0x%x - %s\n", \
@arnam["dac"], "DevSetValue", 0, TACO_ERR, TACO_ERR_MSG)
return ".error."
}
}
else {
__DACREL_SIMU_VALUE = 0
__dacreldebug "sss value", __DACREL_SIMU_VALUE
}
# when debug off that gives an error when multiline
__dacreldebug sprintf("sss DACREL dac: taco_io(\"%s\", \"%s\",%s) succeeded\n", @arnam["dac"], "DevSetValue", 0)
sign = (p1 == fabs(p1))
__dacreldebug "sss Sign is ", sign, "use", sign * 0x80
if (!__DACREL_SIMU) {
local str
str = "im " sign * 0x80 " " 0x80 "\r"
ser_put(@arnam["opiomser"], str)
__dacreldebug "DACREL opiom: ", @arnam["opiomser"], str
}
else {
__DACREL_SIMU_SIGN *= -1
__dacreldebug "sss sign", __DACREL_SIMU_SIGN
}
p2 = p2 + (p1 - p2)
}
x = ((p2 == fabs(p2)) * 2) - 1 # up or down
for (i = 0; i < fabs(p2); i++) {
# values to set are
y = (p1 - p2) + x * i
if (fabs(y) < 1 / steps) { # sometimes values could be rounding problems
__dacreldebug "sss value", y, "too small"
continue
}
TACO_ERR = 0; TACO_ERR_MSG = ""
if (!__DACREL_SIMU) {
if (taco_io(@arnam["dac"], "DevSetValue", fabs(y)) == -1) {
eprintf(\
"DACREL dac: taco_io(\"%s\", \"%s\",%s) failed! 0x%x - %s\n", \
@arnam["dac"], "DevSetValue", y, TACO_ERR, TACO_ERR_MSG)
return ".error."
}
}
else {
__DACREL_SIMU_VALUE = y
__dacreldebug "sss value", __DACREL_SIMU_VALUE
}
# wait for an appropriate amount of time!!!
sleept = 1 / 4
sleep(sleept)
}
TACO_ERR = 0; TACO_ERR_MSG = ""
if (!__DACREL_SIMU) {
if (taco_io(@arnam["dac"], "DevSetValue", fabs(p1)) == -1) {
eprintf(\
"DACREL dac: taco_io(\"%s\", \"%s\",%s) failed! 0x%x - %s\n", \
@arnam["dac"], "DevSetValue", fabs(p1), TACO_ERR, TACO_ERR_MSG)
return ".error."
}
__dacreldebug sprintf("sss DACREL dac: taco_io(\"%s\", \"%s\",%s) succeeded!\n", @arnam["dac"], "DevSetValue", fabs(p1))
}
else {
__DACREL_SIMU_VALUE = fabs(p1)
__dacreldebug "sss value", __DACREL_SIMU_VALUE
}
return 0
}
else if (cmd == "position") {
# get angle
if (!__DACREL_SIMU) {
ser_put(@arnam["opiomser"], "?O\r")
answer = ser_get(@arnam["opiomser"], "\r\n")
__dacreldebug "DACREL opiom: ", @arnam["opiomser"], "?O", "answer", answer
if (answer == ""){
eprint "Problem with opiom state:", @arnam["opiomser"]
eprint "Can`t seem to talk to opiom!"
return ".error."
}
__dacreldebug "DACREL opiom answer: ", answer
sign = @arnam["opstat"] = answer & 0x80 ? 1 : -1
__dacreldebug "DACREL opiom sign: ", sign
}
TACO_ERR = 0; TACO_ERR_MSG = ""
if (!__DACREL_SIMU) {
value = taco_io(@arnam["dac"], "DevReadValue")
}
else {
value = __DACREL_SIMU_VALUE
__dacreldebug "ppp position return", value
}
if (TACO_ERR){
eprintf(\
"DACREL dac: taco_io(\"%s\", \"%s\") failed! 0x%x - %s\n", \
@arnam["dac"], "DevReadValue", TACO_ERR, TACO_ERR_MSG)
return ".error."
}
__dacreldebug "ppp position return", sign, value, factor, sign * value / factor
return(sign * value / factor)
}
}
'
# some programmer help
if (!(whatis("__dacreldebug") & 2)) rdef __dacreldebug \'#$*\'
#%UU%
#%MDESC% toggle debug mode for the present macros.
def dacrel_debug '{
if ((whatis("__dacreldebug")>>16) <= 2) { # just a # sign -> off
rdef __dacreldebug "eprint"
print "dacrel debug is ON"
} else {
rdef __dacreldebug \'#$*\'
print "dacrel debug is OFF"
}
}
'
# some programmer help
#%UU%
#%MDESC% toggle debug mode for the present macros.
def dacrel_simu '{
if (__DACREL_SIMU) { # if present should be true
unglobal __DACREL_SIMU __DACREL_SIMU_VALUE __DACREL_SIMU_SIGN
print "dacrel simulation is OFF"
} else {
global __DACREL_SIMU __DACREL_SIMU_VALUE __DACREL_SIMU_SIGN
__DACREL_SIMU = 1
__DACREL_SIMU_SIGN = 1
print "dacrel simulation is ON"
}
}
'
#%MACROS%
#%IMACROS%
#%DEPENDENCIES%
#The file dac_and_relay_magnet_ps.mac has to be read in. When read in by the IDXXsetup.mac
# or the private setup of a particular spec, the fresh start has no access to
# the _config function. Here, a reconfig is needed before the motors work!
#%AUTHOR% BLISS - ESRF, H. Witsch%BR%
#$Revision: 1.4 $, $Date: 2009/12/11 05:09:40 $
#%TOC%
|
