Experimental Physics and
Industrial Control System

Mark Rivers <[email protected]> · Thu, 18 Jul 2013 16:49:44 +0000

Hi Martin,

I looked at the source code (drvPC6K.cc) and I see the problem.

The problem is that total_cards gets initialized in the motor_init() function, which is called from the initialization routine in device support.  That does not happen until iocInit.

So your PC6KUpLoad command must not be given before iocInit, it must be after iocInit.

Mark

-----Original Message-----
From: [email protected] [mailto:[email protected]] On Behalf Of Konrad, Martin
Sent: Thursday, July 18, 2013 10:14 AM
To: [email protected]
Subject: motor record & PC6K: program upload fails

Hi,
I'm trying to use two Parker Gemini GT6K controllers with the motor
record. Basic communication to the controller seems to work (I can move
the motor by caput) but there seems to be some problem if I try to
upload a program during IOC start. Here is the relevant output during
IOC boot:

...
drvAsynIPPortConfigure("GT6Krad", "192.168.238.4:5002", 0, 0, 0)
asynOctetConnect("GT6Krad", "GT6Krad")
asynOctetSetInputEos("GT6Krad", 0, ">")
asynOctetSetOutputEos("GT6Krad", 0, "\r")
drvAsynIPPortConfigure("GT6Kang", "192.168.238.5:5002", 0, 0, 0)
asynOctetConnect("GT6Kang", "GT6Kang")
asynOctetSetInputEos("GT6Kang", 0, ">")
asynOctetSetOutputEos("GT6Kang", 0, "\r")
PC6KSetup(2, 60)
PC6KConfig(0, "GT6Krad")
PC6KConfig(1, "GT6Kang")
PC6KUpLoad(0,"minimalControllerInit.prg")
{PC6KUpLoad: Controller does not exist - 0
PC6KUpLoad(1,"minimalControllerInit.prg")
{PC6KUpLoad: Controller does not exist - 1

The curly brace at the beginning of the last line is caused by a typo in
the source code. Obviously the variable total_cards is 0. It should be
initialized by motor_init(). Is this function called automatically or is
something missing in my st.cmd?

I'm using motor 6.7.1, asyn 4.21 and base 3.14.12.3 (all from BNL's
Debian packages) on Ubuntu 13.04. I also tried motor 6.8 but same
problem there as well (there seems to be no change in the PC6K code
between those two revisions).

Any help is appreciated

Martin

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System