Re: Using Aerotech Automation1 motor controller with EPICS - controller initialization

["Peterson, Kevin M. via Tech-talk" <tech-talk at aps.anl.gov>]

John,

There is helpful Automation1 platform architecture documentation here:

https://urldefense.us/v3/__https://help.aerotech.com/automation1/Content/Platform-Architecture.htm__;!!G_uCfscf7eWS!Y1qxwAaIYVtvZ2ybnNoEpSOrEkiAkvrh-Rh7UXbpSrSz7vM5dR7N_KsJSb5mdtqlGeDl3PpZZ7RUFzY8Rqg0Adk$ 

The Automation1 "controller" is either a PC or drive-based controller running the Automation1-iSMC (Intelligent Software-Based Machine Controller) software.  The Automation1 Studio is a part of the Automation1-MDK (the Automation1 Machine & Motion Development Kit), which can be installed on any Windows 10 or 11 computer.  If a PC-based Automation1 controller is purchased from Aerotech, both the iSMC and MDK are installed on the Windows PC, but the MDK can reside on a different computer than the iSMC.

The controller settings can be saved to the iSMC using the Automation1 Studio, but the changes are not saved automatically, iirc.  The software should show you which settings are changed and give you the option to write them to the controller.  The initial controller settings should match the associated .mcd file provided by Aerotech.  When settings are changed, new .mcd files should be created.  The .mcd file is a backup of the settings in the controller; it is not loaded automatically.

When the controller is restarted, the iSMC should start automatically and the settings should be ones that were last saved using the Automation1 studio.  The controller should be functional even if the Automation1 Studio isn't running, though the Studio app can show you if there are problems.

When the EPICS IOC starts, many values are queried from the controller but very few parameters, if any, are changed until one interacts with the motor record.  The velocity and acceleration are only sent to the controller from EPICS when a move is commanded.  None of the parameters modified by EPICS (acceleration, velocity) are saved in the controller's non-volatile memory.

Kevin

________________________________________
From: Tech-talk <tech-talk-bounces at aps.anl.gov> on behalf of John Dobbins via Tech-talk <tech-talk at aps.anl.gov>
Sent: Thursday, January 2, 2025 12:52 PM
To: tech-talk at aps.anl.gov
Cc: Seth Bywater; Eric J. Edwards
Subject: Using Aerotech Automation1 motor controller with EPICS - controller initialization

All,

I am working on integrating an Aerotech Automation1 Motor Controller into operations at CHESS.

We are using an EPICS IOC as a layer between the motor controller and SPEC, the software beamline scientists use to control experiment data acquisition.  The IOC appears to work, i.e. we can enable/disable the motor, home the motor,  and command moves through EPICS.

I am wondering about what is required for controller initialization.

The Automation1 controllers are new to us, but my understanding is that when one connects Automation1 Studio to the controller, the controller is configured using an associated .mcd file.

In my tests to date I believe the controller has already been configured by Automation1 Studio before I start the IOC.   I am wondering if this is a requirement, i.e. if the controller is for example power cycled, does it need to be configured via Autmation1 Studio before it is usable by the EPICS IOC.

The EPICS IOC does some initialization of the controller, e.g. setting velocity, but I don't know if and doubt that this initialization is complete.

Also, more generally, if the motor controller is initialized via Automation Studio and the controller is power cycled, what state does the motor controller come up in?  Are the settings non-volatile? Or does the controller come up in a 'blank' state?

Regards and Happy 2025,

John Dobbins

Research Support Specialist
Cornell High Energy Synchrotron Source
Cornell University

https://urldefense.us/v3/__http://www.chess.cornell.edu__;!!G_uCfscf7eWS!Y1qxwAaIYVtvZ2ybnNoEpSOrEkiAkvrh-Rh7UXbpSrSz7vM5dR7N_KsJSb5mdtqlGeDl3PpZZ7RUFzY8BLfK7LE$ <https://urldefense.us/v3/__http://www.chess.cornell.edu__;!!G_uCfscf7eWS!cuQlww43uJ8hhJGKqDWOuw_stOI8K72gGx18LHPPYaywoJshEvzyPMc89DVRCeza3FVdsP6_7g96wLic1coD6v1Rn9JGsls$>