14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 1 EPICS Support for G3/FlexIO/PLC5/VSIOD8 Carl Lionberger Group3™ optical-fiber-connected I/O AB FlexIO™ I/O modules More AB PLC5 record support Janz VSIOD8 VME serial board

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 2 Group3 control system VME-Based fiber-optic loop controller –2 loops/VME bd, 8 bds/VME crate 16 DI’s (Device Interface) / loop –CNA – 2 AI, 1 AO, 8BI, 8BO Has PID (not supported) –CN3 – CPU + 3 I/O boards digital I/O, analog I/O, motor control Serial, gpib (not supported) –Diagnostic Port on each DI

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 3 Group3 controls in a rack

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 4 Group3 EPICS support CNA combination module –Ai, ao, bi, bo, mbbi, mbbiD, mbbo, mbboD B digital module –bi, bo, mbbi, mbbiD, mbbo, mbboD C 8 16-bit analog input – ai D 8 12-bit analog output – ao E 4-channel DC motor controller –Mbbo for mode, ao for speed, accel G 4-channel stepper – steppermotor record H 4-channel encoder – ai, steppermotor record F dual-serial, diagnostic port – vxWorks tty driver Loop Controller (status) – ai, mbbi, mbbiD

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 5 CachePolling Loop ~30Hz DI1 DI2 DI3 Loop Controller input PV Output PV Device Support drvG3 Sequence-number concurrency control Per-DI semaphore protected Interrupt IO Scan Queue vxWorks tty driver Group3 EPICS support

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 6 Group3 Diagnostic Port

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 7 EPICS Allen-Bradley 1794 FlexIO Analog record and device support Analog support uses special record type for each module type –Similar to 1791 record written by Marty Kraimer –device supports allow ai and ao records to access the special records. Use dblink link type, like soft raw records Status as well as data passed by using long to pass 16 bit data + status Support linear conversions –Support 1794IE4XOE2, 1794IE8, 1794OE4, 1794IT8 –Use cp and cpp link types to get automatic updates of passive ao’s and ai’s.

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 8 FlexIO on a wall

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 9 FlexIO Combo module PV diagram

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 10 EPICS Allen-Bradley 1794 FlexIO Digital device support 1794IB16 and 1794IV16 –bi, mbbi, and mbbiDirect PV’s –standard AB binary device support AB 16-bit BI 1794OW8 –bo, mbbo, and mbbiDirect PV’s –Standard AB binary device support AB 8-bit BO

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 11 AbPlc5Record Allen-Bradley PLC-5 Record and Device Support Patterned on AbDCMRecord by Marty Kraimer –Special Record Each record does block transfer reads and/or writes to 1 or 2 files in PLC5 –Only 1 read file and 1 write file per record; can be same –Read-only, write-only, rw, init output from input Uses BTR and BTW pointers addressed by slot number in PLC –No supporting ladder logic programming necessary –Device Support Ai, Ao with or without conversion Bi, bo, mbbi, mbbo, mbbiDirect, mbboDirect Type flexibility Supports interrupt I/O scanning

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger bits 6316 bits bits3 INST_IO Link [subscript] Supported Standard Record This example uses the same file for reading and writing. AbPlc5 Record subscript Record Name AbPlc5 Record Addressing

14 Nov 2000G3/FlexIO/PLC5/VSIOD8 Carl Lionberger 13 Janz VSIO-D8 VMEBus 8 channel serial I/O –Uses Z8530 comm. controllers Baud to 38.4 k Not “intelligent” –Serial ports either on front or back of crate –Bought source for vxWorks tty driver and modified to do cts/rts flow control