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add conditional for frozen offsets for TC #967

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add conditional for frozen offsets for TC #967

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2 changes: 2 additions & 0 deletions TC/iocBoot/iocTC-IOC-01/config.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,8 @@
<macro name="ADS_PORT" pattern="^[0-9]{1,5}$" description="ADS port to use for communication" hasDefault="YES" defaultValue="852"/>
<macro name="MTRCTRL" pattern="^[0-9]{1,2}$" description="Controller number used in motor address assignment" hasDefault="NO"/>
<macro name="PLC_VERSION" pattern="^[1]$" description="The PLC version to communicate with: 0 for the old ISIS code (now removed) and 1 for new collaboration code" defaultValue="1" hasDefault="YES" />
<macro name="FORWARD_DESC" pattern="^1|0$" description="Whether to poll and forward axis description to .DESC" hasDefault="YES" defaultValue="0" />
<macro name="ALLOW_FROZEN_OFFSETS" pattern="^1|0$" description="Whether to allow frozen offset behaviour" hasDefault="YES" defaultValue="0" />
</macros>
</config_part>
</ioc_config>
6 changes: 6 additions & 0 deletions TC/iocBoot/iocTC-IOC-01/st-common.lua
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Expand Up @@ -10,6 +10,7 @@ function twincat_stcommon_main()
local plc_version = ibex_utils.getMacroValue{macro="PLC_VERSION", default="1"}
local ads_port = ibex_utils.getMacroValue{macro="ADS_PORT"}
local forward_desc = ibex_utils.getMacroValue{macro="FORWARD_DESC", default="0"}
local enable_frozen_offsets = ibex_utils.getMacroValue{macro="ALLOW_FROZEN_OFFSETS", default="0"}
asyn_port = ibex_utils.getMacroValue{macro="PORT"}

num_axes = ibex_utils.getMacroValue{macro="NUM_AXES"} -- todo: actually poll the device to get this
Expand All @@ -34,6 +35,11 @@ function twincat_stcommon_main()
iocsh.dbLoadRecords("$(MOTOREXT)/db/desc_tc.db", desc_tc_args)
end

if enable_frozen_offsets == "1" then
local frozen_offsets_db_args = string.format("P=%s,AXIS_NUM=%s,ADSPORT=%s,PORT=%s", ioc_prefix, axis_num, ads_port, asyn_port)
iocsh.dbLoadRecords("$(MOTOREXT)/db/frozen_offsets.db", frozen_offsets_db_args)
end

motor_pv = string.format("MTR%02i%02i", mtrctrl, axis_num)
single_axis_db = "$(TOP)/db/single_axis.db"
db_args = string.format("MYPVPREFIX=%s,MOTOR_PV=%s,MOTOR_PORT=%s,ADDR=%s", pv_prefix, motor_pv, motor_port, axis_num-1)
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