Reference Manual

This section describes how to configure database records and the commands available in the IOC shell.

Database record configuration

Database records are configured as follows:

DTYP field:

specifies the asyn interface (e.g. asynInt32, asynFloat64, asynInt8ArrayIn) and is set according to the record type. Some records allow different asyn interfaces to be set. For more information see asynDriver distribution’s dbd directory, devAsyn*.dbd (e.g. devAsynInt32.dbd) files. See Supported EPICS record types for a list of supported asyn interfaces.

INP and OUT fields:

uses the asyn drvParams optional parameter (see asyn driver manual, section Generic Device Support for EPICS records) to specify the ADS register/variable that the record is connecting to, number of elements and the operation to be performed (read or write). For example: INP=@asyn(plc-01 0 0) USINT R P=300 V=Main.Number or OUT=@asyn(plc-02 0 0) REAL[] N=10 W P=IO V=Main.SetCalibration.

SCAN field:

determines when the record is processed and, depending on the record type, how their value is handled:

• Output records with SCAN=Passive/periodic write to their corresponding ADS variable immediately when they are processed.

• Input records with SCAN=Passive/periodic have their VAL field populated with the latest value from their ADS variable’s corresponding sum-read data buffers when processed.

• Input records with SCAN=I/O Intr have their VAL field populated immediately after the port driver detects their corresponding ADS variable’s value in the sum-read databa buffer has changed.

PINI field:

Because the driver needs to perform initialization routines after IOC init, this field should be set to ‘NO’. If it is set to ‘YES’, expect errors at IOC start, because of attempted reads before driver is initialized.

Warning

In current ADS port driver version, a large number of simultaneous write requests can saturate the ADS connection and cause the system to become unresponsive and cause records to time out.

The format used to specify the ADS variable in the INP/OUT fields depends if the record targets a scalar variable or array: * <DATA_TYPE> <OPERATION> P=<PORT> V=<VARIABLE> is used for scalars, * <DATA_TYPE>[] N=<NELEM> <OPERATION> P=<PORT> V=<VARIABLE> is used for arrays. STRING datatype requires N=<NELEM>, but not ‘[]’.

DATA_TYPE:

specifies one of the supported PLC data types, e.g., USINT, LREAL, BOOL, etc. See Supported TwinCAT PLC data types for a list of supported PLC data types. If the target variable is an array, append the ‘[]’ to the datatype, except for strings, e.g., USINT[], LREAL[], STRING.

NELEM (optional):

is used to specify number of elements for array access, as well as to specify the length of STRING PLC variables, e.g., N=25.

OPERATION:

specifies if the PLC variable is read (R) or written (W).

PORT:

ADS port in string or numerical format. The same parameter constraints apply as for register access, e.g., P=PLC_TC3.

VARIABLE:

ADS variable name in string format, e.g. V=Main.temperature.

Example variable name specifiers:

Write an array of 5 UINT (16-bit unsigned int) values to PLC variable named Main.Waveform:

UINT[] N=5 W P=PLC_TC3 V=Main.Waveform

Write a REAL (32-bit float) value to PLC variable named Main.CorrectionFactor. The lack of [nelem] implies a scalar type:

REAL W P=PLC_TC3 V=Main.CorrectionFactor

Read 10 BYTE (8-bit int) values from PLC variable named Main.Values:

BYTE[] N=10 R P=PLC_TC3 V=Main.Values

Example database record configuration:

record(ai, "BECKHOFF:ANALOG_IN:01") {
    field(DESC, "Read first 16bit analog input")
    field(DTYP, "asynInt32")
    field(INP,  "@asyn(beckhoff 0 0) INT R P=IO V=Main.testVar")
}

Refer to section Database record configuration examples for more examples on how to configure database records.

IOC shell commands

This chapter describes the iocsh commands that are provided by the ADS device support software.

AdsSetLocalAMSNetId

Description:

Set the local AMS net ID of the IOC. This is used in ADS communication to represent the identity of the IOC – the ADS client. This command must be called before any calls to AdsOpen, i.e. before any ADS connections are open.

Interface:

AdsSetLocalAMSNetId(ams_net_id)

Parameters:

ams_net_id: AMS net ID that will be set locally on the IOC, e.g. “192.168.20.10.1.5”.

Example:

# Set the local AMS net ID to "192.168.20.10.1.5".
AmsSetLocalAMSNetId("192.168.20.10.1.5")

AdsOpen

Description:

Configure a new ADS connection. This command must be called before corresponding database records are loaded, i.e. before dbLoadRecord is called.

Interface:

AdsOpen(port_name, ip_addr, ams_net_id, sum_buffer_nelem, ads_timeout)

Parameters:

• port_name: The port name that is registered with asynManager and is used in the INP/OUT address specifications for the records.

• ip_addr: IP address of the remote ADS device.

• ams_net_id: AMS net ID of the remote ADS device.

• sum_buffer_nelem (optional): The maximum number of PVs that sum-read request and data buffers can contain. Defaults to 500, as per recommendation by Beckhoff.

• ads_timeout (optional): Current version of the ADS device support (v2.0.0) does not implement ADS function timeout feature. ADS client library uses the default value of 5000 ms.

Example:

# Configure an ADS connection with the optional parameters not specified.
AdsOpen("plc-01", "10.5.0.115", "10.5.0.115.1.1")

# Configure an ADS connection with all parameters. Here ADS sum operation buffer PV limit is set to 250, ads timeout to 1 second, auto connect is disabled and the default thread priority is used.
AdsOpen("plc-02", "10.5.0.120", "10.5.0.120.1.15", 250, 1000)

Supported EPICS record types

This table lists EPICS records that are supported by the ADS device support, and asyn interfaces that are available for each record type.

asyn interface	ai/ao	bi/bo	longin/longout	stringin/stringout	mbbi/mbbo	mbbiDirect/mbboDirect	waveform
asynInt32	X	X	X		X
asynInt64	X		X
asynUInt32Digital		X				X
asynFloat64	X
asynOctet				X
asynInt8Array							X
asynInt16Array							X
asynInt32Array							X
asynFloat32Array							X
asynFloat64Array							X

Supported TwinCAT PLC data types

This table lists asyn interfaces and TwinCAT PLC data types that the interfaces support.

Warning

ULINT datatype is not supported.

asyn interface	supported TwinCAT PLC data types
asynInt32	BOOL, SINT, BYTE, INT, WORD, DINT, USINT, UINT
asynInt64	LINT, UDINT
asynUInt32Digital	USINT, UINT, UDINT
asynFloat64	REAL, LREAL
asynOctet	STRING
asynInt8Array	BOOL, SINT, BYTE, USINT
asynInt16Array	INT, WORD, UINT
asynInt32Array	DINT, UDINT
asynFloat32Array	REAL
asynFloat64Array	LREAL

Database record configuration examples

This section contains examples of database record configurations.

longin record read from a 16-bit integer ADS variable:

record(longin, "$(P):reg_int32_counter") {
    field(DTYP, "asynInt32")
    field(INP,  "@asyn($(PORT) 0 0) INT R P=350 V=Main.counter")
}

longout record writes to a 32-bit integer ADS variable:

record(longout, "$(P):reg_int32_writable") {
    field(DTYP, "asynInt32")
    field(OUT,  "@asyn($(PORT) 0 0) DINT W P=350 V=Main.writable")
}

longout record writes to a 32-bit integer ADS variable and reads current value back. Because info(asyn:READBACK, "1") is set, the ADS device support will update the output variable if it was changed outside of EPICS:

record(longout, "$(P):reg_int32_readwritable") {
    field(DTYP, "asynInt32")
    field(OUT,  "@asyn($(PORT) 0 0) DINT W P=350 V=Main.writable")
    info(asyn:READBACK, "1")
}

stringin record reads from a string ADS variable of length 9. Due to SCAN=I/O Intr, the ADS device support will update the record immediately when it detects that the addressed ADS variable has changed:

record(stringin, "$(P):types_stringin") {
    field(DTYP, "asynOctetRead")
    field(SCAN, "I/O Intr")
    field(INP,  "@asyn($(PORT) 0 0) STRING N=9 R P=350 V=Test.types_stringin")
}

mbbi record reads from a 16-bit unsigned integer ADS variable.

record(mbbiDirect, "$(P):types_mbbi") {
    field(DTYP, "asynInt32")
    field(INP,  "@asyn($(PORT) 0 0) UINT R P=PLC_TC3 V=Test.types_mbbi")
}

waveform record reads 10 elements of 32-bit unsigned integer ADS variables. Due to SCAN=I/O Intr, the ADS device support will update the record immediately when it detects that the addressed ADS variable has changed.

record(waveform, "$(P):types_wf_ulong_in") {
    field(DTYP, "asynInt32ArrayIn")
    field(FTVL, "ULONG")
    field(NELM, "10")
    field(SCAN, "I/O Intr")
    field(INP,  "@asyn($(PORT) 0 0) UDINT[] N=10 R P=PLC_TC3 V=Test.types_wf_ulong_in")
}

waveform record writes 10 elements of 32-bit floating point ADS variables, addressed by port and symbolic name:

record(waveform, "$(P):types_wf_float_out") {
    field(DTYP, "asynFloat32ArrayOut")
    field(FTVL, "FLOAT")
    field(PREC, "2")
    field(NELM, "10")
    field(INP,  "@asyn($(PORT) 0 0) REAL[] N=10 W P=PLC_TC3 V=TestPlan.types_wf_float_out")
}

Supported ADS port names

This table lists the ADS port names that can be specified by name in the record’s INP/OUT fields (the P= parameter).

Port name	Value
LOGGER	100
RTIME	200
TRACE	290
IO	300
SPS	400
NC	500
ISG	550
PCS	600
PLC	801
PLC_RTS1	801
PLC_RTS2	811
PLC_RTS3	821
PLC_RTS4	831
PLC_TC3	851