Defines | Functions

pmacAsynCoord.h File Reference

Go to the source code of this file.

Defines

#define CS_STATUS1_RUNNING_PROG   (0x1<<0)
#define CS_STATUS1_SINGLE_STEP_MODE   (0x1<<1)
#define CS_STATUS1_CONTINUOUS_MODE   (0x1<<2)
#define CS_STATUS1_MOVE_BY_TIME_MODE   (0x1<<3)
#define CS_STATUS1_CONTINUOUS_REQUEST   (0x1<<4)
#define CS_STATUS1_RADIUS_INC_MODE   (0x1<<5)
#define CS_STATUS1_A_INC   (0x1<<6)
#define CS_STATUS1_A_FEEDRATE   (0x1<<7)
#define CS_STATUS1_B_INC   (0x1<<8)
#define CS_STATUS1_B_FEEDRATE   (0x1<<9)
#define CS_STATUS1_C_INC   (0x1<<10)
#define CS_STATUS1_C_FEEDRATE   (0x1<<11)
#define CS_STATUS1_U_INC   (0x1<<12)
#define CS_STATUS1_U_FEEDRATE   (0x1<<13)
#define CS_STATUS1_V_INC   (0x1<<14)
#define CS_STATUS1_V_FEEDRATE   (0x1<<15)
#define CS_STATUS1_W_INC   (0x1<<16)
#define CS_STATUS1_W_FEEDRATE   (0x1<<17)
#define CS_STATUS1_X_INC   (0x1<<18)
#define CS_STATUS1_X_FEEDRATE   (0x1<<19)
#define CS_STATUS1_Y_INC   (0x1<<20)
#define CS_STATUS1_Y_FEEDRATE   (0x1<<21)
#define CS_STATUS1_Z_INC   (0x1<<22)
#define CS_STATUS1_Z_FEEDRATE   (0x1<<23)
#define CS_STATUS2_CIRCLE_SPLINE_MODE   (0x1<<0)
#define CS_STATUS2_CCW_RAPID_MODE   (0x1<<1)
#define CS_STATUS2_2D_CUTTER_COMP   (0x1<<2)
#define CS_STATUS2_2D_LEFT_3D_CUTTER   (0x1<<3)
#define CS_STATUS2_PVT_SPLINE_MODE   (0x1<<4)
#define CS_STATUS2_SEG_STOPPING   (0x1<<5)
#define CS_STATUS2_SEG_ACCEL   (0x1<<6)
#define CS_STATUS2_SEG_MOVING   (0x1<<7)
#define CS_STATUS2_PRE_JOG   (0x1<<8)
#define CS_STATUS2_CUTTER_MOVE_BUFFD   (0x1<<9)
#define CS_STATUS2_CUTTER_STOP   (0x1<<10)
#define CS_STATUS2_CUTTER_COMP_OUTSIDE   (0x1<<11)
#define CS_STATUS2_DWELL_MOVE_BUFFD   (0x1<<12)
#define CS_STATUS2_SYNCH_M_ONESHOT   (0x1<<13)
#define CS_STATUS2_EOB_STOP   (0x1<<14)
#define CS_STATUS2_DELAYED_CALC   (0x1<<15)
#define CS_STATUS2_ROTARY_BUFF   (0x1<<16)
#define CS_STATUS2_IN_POSITION   (0x1<<17)
#define CS_STATUS2_FOLLOW_WARN   (0x1<<18)
#define CS_STATUS2_FOLLOW_ERR   (0x1<<19)
#define CS_STATUS2_AMP_FAULT   (0x1<<20)
#define CS_STATUS2_MOVE_IN_STACK   (0x1<<21)
#define CS_STATUS2_RUNTIME_ERR   (0x1<<22)
#define CS_STATUS2_LOOKAHEAD   (0x1<<23)
#define CS_STATUS3_LIMIT   (0x1<<1)

Functions

int pmacAsynCoordCreate (char *port, int addr, int cs, int ref, int program)
int pmacSetCoordMovingPollPeriod (int cs, int movingPollPeriod)
int pmacSetCoordIdlePollPeriod (int cs, int idlePollPeriod)
int pmacSetCoordStepsPerUnit (int ref, int axis, double stepsPerUnit)
int pmacSetDefaultCoordSteps (double defaultSteps)

Define Documentation

#define CS_STATUS1_A_FEEDRATE   (0x1<<7)

Definition at line 15 of file pmacAsynCoord.h.

#define CS_STATUS1_A_INC   (0x1<<6)

Definition at line 14 of file pmacAsynCoord.h.

#define CS_STATUS1_B_FEEDRATE   (0x1<<9)

Definition at line 17 of file pmacAsynCoord.h.

#define CS_STATUS1_B_INC   (0x1<<8)

Definition at line 16 of file pmacAsynCoord.h.

#define CS_STATUS1_C_FEEDRATE   (0x1<<11)

Definition at line 19 of file pmacAsynCoord.h.

#define CS_STATUS1_C_INC   (0x1<<10)

Definition at line 18 of file pmacAsynCoord.h.

#define CS_STATUS1_CONTINUOUS_MODE   (0x1<<2)

Definition at line 10 of file pmacAsynCoord.h.

#define CS_STATUS1_CONTINUOUS_REQUEST   (0x1<<4)

Definition at line 12 of file pmacAsynCoord.h.

#define CS_STATUS1_MOVE_BY_TIME_MODE   (0x1<<3)

Definition at line 11 of file pmacAsynCoord.h.

#define CS_STATUS1_RADIUS_INC_MODE   (0x1<<5)

Definition at line 13 of file pmacAsynCoord.h.

#define CS_STATUS1_RUNNING_PROG   (0x1<<0)

Definition at line 8 of file pmacAsynCoord.h.

#define CS_STATUS1_SINGLE_STEP_MODE   (0x1<<1)

Definition at line 9 of file pmacAsynCoord.h.

#define CS_STATUS1_U_FEEDRATE   (0x1<<13)

Definition at line 21 of file pmacAsynCoord.h.

#define CS_STATUS1_U_INC   (0x1<<12)

Definition at line 20 of file pmacAsynCoord.h.

#define CS_STATUS1_V_FEEDRATE   (0x1<<15)

Definition at line 23 of file pmacAsynCoord.h.

#define CS_STATUS1_V_INC   (0x1<<14)

Definition at line 22 of file pmacAsynCoord.h.

#define CS_STATUS1_W_FEEDRATE   (0x1<<17)

Definition at line 25 of file pmacAsynCoord.h.

#define CS_STATUS1_W_INC   (0x1<<16)

Definition at line 24 of file pmacAsynCoord.h.

#define CS_STATUS1_X_FEEDRATE   (0x1<<19)

Definition at line 27 of file pmacAsynCoord.h.

#define CS_STATUS1_X_INC   (0x1<<18)

Definition at line 26 of file pmacAsynCoord.h.

#define CS_STATUS1_Y_FEEDRATE   (0x1<<21)

Definition at line 29 of file pmacAsynCoord.h.

#define CS_STATUS1_Y_INC   (0x1<<20)

Definition at line 28 of file pmacAsynCoord.h.

#define CS_STATUS1_Z_FEEDRATE   (0x1<<23)

Definition at line 31 of file pmacAsynCoord.h.

#define CS_STATUS1_Z_INC   (0x1<<22)

Definition at line 30 of file pmacAsynCoord.h.

#define CS_STATUS2_2D_CUTTER_COMP   (0x1<<2)

Definition at line 35 of file pmacAsynCoord.h.

#define CS_STATUS2_2D_LEFT_3D_CUTTER   (0x1<<3)

Definition at line 36 of file pmacAsynCoord.h.

#define CS_STATUS2_AMP_FAULT   (0x1<<20)

Definition at line 53 of file pmacAsynCoord.h.

#define CS_STATUS2_CCW_RAPID_MODE   (0x1<<1)

Definition at line 34 of file pmacAsynCoord.h.

#define CS_STATUS2_CIRCLE_SPLINE_MODE   (0x1<<0)

Definition at line 33 of file pmacAsynCoord.h.

#define CS_STATUS2_CUTTER_COMP_OUTSIDE   (0x1<<11)

Definition at line 44 of file pmacAsynCoord.h.

#define CS_STATUS2_CUTTER_MOVE_BUFFD   (0x1<<9)

Definition at line 42 of file pmacAsynCoord.h.

#define CS_STATUS2_CUTTER_STOP   (0x1<<10)

Definition at line 43 of file pmacAsynCoord.h.

#define CS_STATUS2_DELAYED_CALC   (0x1<<15)

Definition at line 48 of file pmacAsynCoord.h.

#define CS_STATUS2_DWELL_MOVE_BUFFD   (0x1<<12)

Definition at line 45 of file pmacAsynCoord.h.

#define CS_STATUS2_EOB_STOP   (0x1<<14)

Definition at line 47 of file pmacAsynCoord.h.

#define CS_STATUS2_FOLLOW_ERR   (0x1<<19)

Definition at line 52 of file pmacAsynCoord.h.

#define CS_STATUS2_FOLLOW_WARN   (0x1<<18)

Definition at line 51 of file pmacAsynCoord.h.

#define CS_STATUS2_IN_POSITION   (0x1<<17)

Definition at line 50 of file pmacAsynCoord.h.

#define CS_STATUS2_LOOKAHEAD   (0x1<<23)

Definition at line 56 of file pmacAsynCoord.h.

#define CS_STATUS2_MOVE_IN_STACK   (0x1<<21)

Definition at line 54 of file pmacAsynCoord.h.

#define CS_STATUS2_PRE_JOG   (0x1<<8)

Definition at line 41 of file pmacAsynCoord.h.

#define CS_STATUS2_PVT_SPLINE_MODE   (0x1<<4)

Definition at line 37 of file pmacAsynCoord.h.

#define CS_STATUS2_ROTARY_BUFF   (0x1<<16)

Definition at line 49 of file pmacAsynCoord.h.

#define CS_STATUS2_RUNTIME_ERR   (0x1<<22)

Definition at line 55 of file pmacAsynCoord.h.

#define CS_STATUS2_SEG_ACCEL   (0x1<<6)

Definition at line 39 of file pmacAsynCoord.h.

#define CS_STATUS2_SEG_MOVING   (0x1<<7)

Definition at line 40 of file pmacAsynCoord.h.

#define CS_STATUS2_SEG_STOPPING   (0x1<<5)

Definition at line 38 of file pmacAsynCoord.h.

#define CS_STATUS2_SYNCH_M_ONESHOT   (0x1<<13)

Definition at line 46 of file pmacAsynCoord.h.

#define CS_STATUS3_LIMIT   (0x1<<1)

Definition at line 58 of file pmacAsynCoord.h.


Function Documentation

int pmacAsynCoordCreate ( char *  port,
int  addr,
int  cs,
int  ref,
int  program 
)

Create a driver instance to communicate with a given coordinate system

Parameters:
port The Asyn port used to communicate with the PMAC card
addr The Asyn address of the PMAC (usually 0)
cs The co-ordinate system to connect to
ref A unique reference, used by the higher layer software to reference this C.S.
program The PMAC program number to run to move the C.S.

Definition at line 760 of file pmacAsynCoord.c.

int pmacSetCoordIdlePollPeriod ( int  ref,
int  idlePollPeriod 
)

Function to set the idlePollPeriod time to use when polling the controller when there is no motion.

Parameters:
ref Numerical ID of the coordinate system.
idlePollPeriod The period in miliseconds.
Returns:
status

Definition at line 1013 of file pmacAsynCoord.c.

int pmacSetCoordMovingPollPeriod ( int  ref,
int  movingPollPeriod 
)

Function to set the movingPollPeriod time to use when polling the controller during a move.

Parameters:
ref Numerical ID of the coordinate system.
movingPollPeriod The period in miliseconds.
Returns:
status

Definition at line 981 of file pmacAsynCoord.c.

int pmacSetCoordStepsPerUnit ( int  ref,
int  axis,
double  stepsPerUnit 
)

Function to set the step size per user unit for a coordinate system. This enables us to work in user units on the controller. Call this function at IOC shell optionally after pmacAsynCoordCreate(), and any call of pmacSetDefaultCoordSteps().

Parameters:
ref The CS ref
axis The axis number (0 based).
stepsPerUnit Number of motor steps per real user unit

Definition at line 918 of file pmacAsynCoord.c.

int pmacSetDefaultCoordSteps ( double  defaultSteps  ) 

Function to set default axis scaling factor on all coordinate systems and axes. Call this optionally after calling all the pmacAsynCoordCreate() functions.

Parameters:
defaultSteps 

Definition at line 876 of file pmacAsynCoord.c.

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