EPICS RE: Attocube AMC100

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<== Date ==>		<== Thread ==>

Hi Keenan at al,

It looks like I can not move the motors from the EPICS interface. The commanded position changes, but the readback does not. No errors in the epics shell.

It seems the driver tries to moves it judging by Mtr.MOVN changing value, but the motor does not move.

If I exit the epics while motor is commanded to move and still makes attempts, I see these errors:

2022/10/17 15:29:07.609 asynMotorController:writeFloat64 error, status=3 axis=0, function=1, value=1468813.000000

2022/10/17 15:29:07.609 devMotorAsyn::asynCallback: XF:18IDB-ES{Comp-m1}Mtr pasyn{Float64,Int32}->write returned

I have motors with sensors, I can move them from the vendor application.

Left only single motor configured for now. Any ideas what could be wrong, or how I can troubleshoot it?

Thank you

iocScriptMotor]$ more motor.substitutions.Attocube_AMC

file "$(MOTOR)/db/asyn_motor.db"

{

pattern

{P, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VMAX, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}

{XF:18IDB-ES, "{Comp-m1}Mtr", "asynMotor", AMC-1, 0, "CLp Motor1", mm, Pos, 15., 3., .05, .5, 0, 1.0, 2, .025, 5, 0, 0, ""}

## {XF:18IDB-ES, "{Comp-m2}Mtr", "asynMotor", AMC-1, 1, "CLp Motor2", mm, Pos, 15., 3., .05, .5, 0, 1.0, 2, .025, 5, 0, 0, ""}

## {XF:18IDB-ES, "{Comp-m3}Mtr", "asynMotor", AMC-1, 2, "CLp Motor3", mm, Pos, 15., 3., .05, .5, 0, 1.0, 2, .025, 5, 0, 0, ""}

}

file "$(TOP)/db/ScriptMotorReload.db"

{

pattern

{P, PORT}

{XF:18IDB-ES:, AMC-1}

}

(base) [oksana@xf18idb-ioc1 iocScriptMotor]$ ./st.cmd.Attocube_AMC

#!../../bin/linux-x86_64/scriptMotor

< envPaths

epicsEnvSet("IOC","iocScriptMotor")

epicsEnvSet("TOP","/epics/devel/support/motor/modules/motorScriptMotor/iocs/scriptMotorIOC")

epicsEnvSet("MOTOR","/epics/devel/support/motor")

epicsEnvSet("ASYN","/epics/devel/support/asyn")

epicsEnvSet("SNCSEQ","/epics/devel/support/seq")

epicsEnvSet("BUSY","/epics/devel/support/busy")

epicsEnvSet("IPAC","/epics/devel/support/ipac")

epicsEnvSet("EPICS_BASE","/epics/devel/epics-base")

epicsEnvSet("SUPPORT","/epics/devel/support")

epicsEnvSet("LUA","/epics/devel/support/lua")

< /epics/common/xf18idb-ioc1-netsetup.cmd

# BEGIN ANSIBLE MANAGED BLOCK

epicsEnvSet("EPICS_CA_AUTO_ADDR_LIST", "NO")

epicsEnvSet("EPICS_CA_ADDR_LIST", "10.66.139.255")

epicsEnvSet("EPICS_CAS_AUTO_BEACON_ADDR_LIST", "NO")

epicsEnvSet("EPICS_CAS_BEACON_ADDR_LIST", "10.66.139.255")

epicsEnvSet("EPICS_CAS_INTF_ADDR_LIST", "10.66.139.26")

# END ANSIBLE MANAGED BLOCK

dbLoadDatabase("/epics/devel/support/motor/modules/motorScriptMotor/iocs/scriptMotorIOC/dbd/scriptMotor.dbd")

scriptMotor_registerRecordDeviceDriver(pdbbase)

epicsEnvSet("LUA_SCRIPT_PATH", "./scripts")

#epicsEnvSet("IP_ADDRESS", "123.456.789.000")

epicsEnvSet("IP_ADDRESS", "10.66.138.124")

# Connect to virtual motor controller server

drvAsynIPPortConfigure("AMC","10.66.138.124:9090", 0, 0, 0)

#ScriptControllerConfig( "PORT_NAME", num_axes, "lua_script", "PARAMS=")

##ScriptControllerConfig("AMC-1", 3, "Attocube_AMC.lua", "PORT=AMC")

ScriptControllerConfig("AMC-1", 1, "AMC100.lua", "PORT=AMC")

ScriptAxisConfig("AMC-1", 0, "OPEN_LOOP='NO'")

##ScriptAxisConfig("AMC-1", 1, "OPEN_LOOP='NO'")

##ScriptAxisConfig("AMC-1", 2, "OPEN_LOOP='NO'")

#ScriptAxisConfig("AMC-1", 0, "OPEN_LOOP='YES'")

dbLoadTemplate("motor.substitutions.Attocube_AMC")

dbLoadRecords("/epics/devel/support/asyn/db/asynRecord.db", "P=XF:18IDB-ES{MCS:14}, R=Asyn, PORT=AMC, ADDR=0, OMAX=256, IMAX=256")

#asynSetTraceMask("MCS2", 0, 255)

asynSetTraceIOMask("MCS2", -1, 0x8)

asynManager:connectDevice port MCS2 not found

iocInit

Starting iocInit

############################################################################

## EPICS R7.0.5

## Rev. R7.0.5

############################################################################

cas warning: Configured TCP port was unavailable.

cas warning: Using dynamically assigned TCP port 40293,

cas warning: but now two or more servers share the same UDP port.

cas warning: Depending on your IP kernel this server may not be

cas warning: reachable with UDP unicast (a host's IP in EPICS_CA_ADDR_LIST)

iocRun: All initialization complete

epics>

From: Lang, Keenan C. <klang at anl.gov>
Sent: Wednesday, October 12, 2022 5:46 PM
To: Tech-talk <tech-talk at aps.anl.gov>; Ivashkevych, Oksana <oksana at bnl.gov>
Subject: Re: Attocube AMC100

This is a known issue with the current master branch of lua

https://github.com/epics-modules/lua/issues/24

../../../luaApp/src/luaaa/luaaa.hpp:979: · Issue #24 · epics-modules/lua

Hello, When I run IOC of AMC100, I found this issue. Connect to virtual motor controller server drvAsynIPPortConfigure("AMC-1_IP","192.168.0.110:9090", 0, 0, 0) #ScriptControlle...

github.com

You can either use the latest tagged version instead, or define CXX11_SUPPORT=NO in CONFIG_SITE.local.Linux

From: Tech-talk <tech-talk-bounces at aps.anl.gov> on behalf of Ivashkevych, Oksana via Tech-talk <tech-talk at aps.anl.gov>
Sent: Wednesday, October 12, 2022 4:14 PM
To: Tech-talk <tech-talk at aps.anl.gov>
Subject: Attocube AMC100

Hello,

We have a new Attocube AMC 100 unit.

I found the following communication about support of the new AMC controllers

https://epics.anl.gov/tech-talk/2021/msg01321.php

I built lua, motorScriptMotor within motor, and found st.cmd.Attocube_AMC startup script.

I am getting nullptr error and the core dump.

I have tried using AMC100.lua script (as was suggested in the link above) instead of Attocube_AMC.lua; renamed the port, thinking that some characters could be the culprit, yet I have same error and the core dump.

When I use vmc.lua I do not have the core dump. Just errors.

Thanks

iocScriptMotor]$ ../../bin/linux-x86_64/scriptMotor st.cmd.Attocube_AMC