Bx9000_MBT is the EPICS driver and device support for Beckhoff Bx9000 and BK9050 couplers.
Bx9000 so far could be BC9000/BK9000/BX9000.
This driver talks to Bx9000 through ModBusTCP protocol. So you also need the
module called ModBusTCPClnt.

This driver and device support are OSI based, so your have to EPICS base 3.14
or above to use it.

Before using the Beckhoff controller, you must configure it for IP address.
For DHCP server based configuration, set DIP switch 9 to OFF and DIP switch 10 to ON.

Please follow the way described below to use this module:

!!!!!!!!!!!!!!!!!!!!!!!!!! WARNING WARNING WARNING WARNING WARNING WARNING !!!!!!!!!!!!!!!!!!!!!!!!!
There are watchdog timers in the Beckhoff. The driver will keep sending echo packets to Beckhoff
@2Hz to make one watchdog timer happy to maintain TCP connection.
Another watchdog timer will cause write failed then output turns to fail safe mode. 
There are three solutions:
1. Turn off this watchdog timer in Beckhoff KS2000 software:
	a. Disable write-protection by going to Online / Coupler / Services / Write Protection Abolished.
	b. Set Table 100, Register 24 to 0 (default 1000 ms) by going to Pos 0 (controller) / Tables / 100 / Offset 24
2. If you have input modules installed with same coupler, you keep scanning then you are ok.
3. If you have output modules only, then you have to make one output record scanned @ 10Hz
!!!!!!!!!!!!!!!!!!!!!!!!!! WARNING WARNING WARNING WARNING WARNING WARNING !!!!!!!!!!!!!!!!!!!!!!!!!

1. Add the following lines into your configure/RELEASE
	MODBUSTCPCLNT=$(EPICS_MODULES)/ModBusTCPClnt/$(MODBUSTCPCLNT_MODULE_VERSION)
	BX9000_MBT=$(EPICS_MODULES)/Bx9000_MBT/$(BX9000_MBT_MODULE_VERSION)

2.	Add the following lines to your XXXApp/src/Makefile
	XXX_DBD  += Bx9000_MBT.dbd
	XXX_LIBS += Bx9000_MBT
	XXX_LIBS += ModBusTCPClnt

3.	Copy the following files to your XXXApp/Db directory
	and customize them to match your needs
	Bx9000.substitutions
# For a KL3314 module (substitute modules as needed)
	KL3314.substitutions

4.	Add the following lines to your XXXApp/Db/Makefile
	EPICS will create these files from your substitutions files.
	DB += Bx9000.db
# For a KL3314 module (substitute modules as needed)
	DB += KL3314.db

5a. For VxWorks, add the following lines into your st.cmd (see 6b for EPICS)
	# Disclaimer: This is from prior version of README and is vxWorks specific,
	# however, I have not tested this on vxWorks.

	# ------------------------------------------------------------------------
	# ---------  Load ModBusTCPClnt + Bx9000_MBT Library ---------------------
	# ------------------------------------------------------------------------
	cd modbustcpclntbin
	ld < ModBusTCPClntLib.munch

	cd modbustcpclnt
	dbLoadDatabase("dbd/ModBusTCPClnt.dbd",0,0)
	ModBusTCPClnt_registerRecordDeviceDriver(pdbbase)

	cd bx9000_mbtbin
	ld < Bx9000_MBTLib.munch

	cd bx9000_mbt
	dbLoadDatabase("dbd/Bx9000_MBT.dbd",0,0)
	Bx9000_MBT_registerRecordDeviceDriver(pdbbase)

	......

	# Add coupler
	# Bx9000_Coupler_Add( UINT8 * cplrname, UINT8 * ipaddr, UINT8 * init_string)
	# Substitute your COUPLER hostname for ics-test-bh3
	Bx9000_Coupler_Add("ics-test-bh3","160.91.229.182",0)
	# Add terminals to the coupler
	# Bx9000_Terminal_Add( UINT8 * cplrname, UINT16 slot, UINT8 * btname, UINT8 * init_string)
	Bx9000_Terminal_Add("ics-test-bh3", 1, "KL4002", 0)
	Bx9000_Terminal_Add("ics-test-bh3", 2, "KL3468", 0)
	Bx9000_Terminal_Add("ics-test-bh3", 3, "KL3408", 0)
	Bx9000_Terminal_Add("ics-test-bh3", 4, "KL2408", 0)
	Bx9000_Terminal_Add("ics-test-bh3", 5, "KL1104", 0)
	# ...

	# Be sure to finish with a KL9010!
	Bx9000_Terminal_Add("ics-test-bh3", 16, "KL9010", 0)

	......

	# Substitute your COUPLER hostname and COUPLER_LOC EPICS prefix
	dbLoadRecords("db/beckhoff-ics-test-ioc1.db", "COUPLER=ics-test-bh3,COUPLER_LOC=AMO:R01:BHC:07")

5b. For EPICS, add the following lines into your st.cmd (see 6a for VxWorks)
	# Add coupler
	# Bx9000_Coupler_Add( UINT8 * cplrname, UINT8 * ipaddr, UINT8 * init_string)
	# Substitute your COUPLER hostname for ics-test-bh3
	Bx9000_Coupler_Add("ics-test-bh3","160.91.229.182",0)

	# Add terminals to the coupler
	# Bx9000_Terminal_Add( UINT8 * cplrname, UINT16 slot, UINT8 * btname, UINT8 * init_string)
	Bx9000_Terminal_Add("ics-test-bh3", 1, "KL9505", 0)
	Bx9000_Terminal_Add("ics-test-bh3", 2, "KL3314", 0)
	Bx9000_Terminal_Add("ics-test-bh3", 3, "KL3312", 0)
	# ...

	# Be sure to finish with a KL9010!
	Bx9000_Terminal_Add("ics-test-bh3", 16, "KL9010", 0)

	......

	# Substitute your COUPLER hostname and COUPLER_LOC EPICS prefix
	dbLoadRecords("db/Bx9000.db", "COUPLER=ics-test-bh3,COUPLER_LOC=AMO:R01:BHC:07")
	dbLoadRecords("db/KL3314.db", "COUPLER=ics-test-bh3,COUPLER_LOC=AMO:R01:BHC:07")
	dbLoadRecords("db/KL3064.db", "COUPLER=ics-test-bh3,COUPLER_LOC=AMO:R01:BHC:07")
	...

IN THE CASE OF THE KL9020 AND KL9050 BUS COUPLERS:

        Bx9000_Coupler_Add("bkhf-b34-cd02","134.79.219.106",0)
	Bx9000_Terminal_Add("bkhf-b34-cd02", 1, "KL3408", 0)
	Bx9000_Terminal_Add("bkhf-b34-cd02", 2, "KL9020", 0)
	Bx9000_Terminal_Add("bkhf-b34-cd02", 3, "KL3204", 0)
	Bx9000_Terminal_Add("bkhf-b34-cd02", 4, "KL9010", 0)

Note that there is no Bx9000_Terminal_Add entry for KL9050.  See
documentation/BeckhoffExtendedExample.png and
documentation/BeckhoffTopology.png for more info.

6. There is no screen built for each terminal in SHARE area,
   you should build your own one according to your application.
   But we do have two screens in SHARE area,
   they show the Bx9000 coupler status and installed bus terminals.
   You can run them like this, substituting your COUPLER_LOC EPICS name
	edm -x -m "COUPLER_LOC=AMO:R01:BHC:07" Bx9000Info.edl
	edm -x -m "COUPLER_LOC=AMO:R01:BHC:07" Bx9000InstalledBTs.edl
   Bx9000Info.edl shows the coupler connections' status and some other info.
   Bx9000InstalledBTs.edl shows the installed bus terminals on slot 0~16,
   if you need more, you should build your own one.

7. Optional signal averaging has been added for RTD and thermocouple signals,
   KL3314, KL3202, KL3222. Averaging is done in record processing. Two new 
   macros are used to configure this as follows:
     If no averaging is desired,
       set $(NSAM) to "1"
       set $(SCAN) to "1 second"
     If averaging is desired,
       set $(NSAM) to number of samples to average
       set $(SCAN) to rate to poll Beckhoff at (high-level PVs still update at 1 Hz)
   This is also described in Bx9000_MBTApp/Db/KL****-lcls.template