#!../../bin/linux-x86/xpsMotor


< envPaths

cd ${TOP}

dbLoadDatabase("dbd/xpsMotor.dbd")
xpsMotor_registerRecordDeviceDriver(pdbbase)

### Motors

dbLoadTemplate "db/xpsGoniometer.substitutions"

#asSetFilename("ca_security.txt")

# asyn port, IP address, IP port, number of axes, 
# active poll period (ms), idle poll period (ms), 
# enable set position, set position settling time (ms)
XPSCreateController("XPS2", "129.57.194.11", 5001, 8, 10, 500, 0, 500)
#asynSetTraceIOMask("XPS2", 4, 2)
#asynSetTraceMask("XPS2", 4, 255)


# XPS asyn port,  axis, groupName.positionerName, stepSize(1/0.001 mm)
XPSCreateAxis("XPS2",0,"X.MTM200PE1BV6",   "1000")
XPSCreateAxis("XPS2",1,"Y.MTM100PE1BV6",   "1000")
XPSCreateAxis("XPS2",2,"rX.BGS80PPV6"  ,   "100000")
XPSCreateAxis("XPS2",3,"rZ.URS75BPPV6" ,   "100000" )
XPSCreateAxis("XPS2",4,"rY.URS150BPPV6",   "100000" )
XPSCreateAxis("XPS2",5,"Harp.MDC"      ,   "100000" )

iocInit