Mclennan PM600 motor controller

[Peter Linardakis <peter.linardakis@anu.edu.au>]

Greetings

 

I have progressed as far as I can with implementing an EPICS controlled motor through a Mclennan SimStep single axis stepper controller.  The IOC seg faults upon boot, with the output being:

 

#!../../bin/linux-arm/pitest

## You may have to change pitest to something else

## everywhere it appears in this file

< envPaths

epicsEnvSet("ARCH","linux-arm")

epicsEnvSet("IOC","iocpitest")

epicsEnvSet("TOP","/opt/epics/pitest")

epicsEnvSet("EPICS_BASE","/opt/epics/base")

epicsEnvSet("ASYN","/opt/epics/modules/asyn4-21")

epicsEnvSet("CALC","/opt/epics/modules/calc-3-2")

epicsEnvSet("MOTOR","/opt/epics/modules/motorR6-8")

## Register all support components

dbLoadDatabase("../../dbd/pitest.dbd",0,0)

pitest_registerRecordDeviceDriver(pdbbase)

## Load record instances

dbLoadRecords("../../db/sum.db","INST=pitest")

# Test SE (test-se1)

drvAsynIPPortConfigure("test-se1-1", "172.16.0.108:5300")

# Test for Mclennan PM600 stepper motor controller

# PM304Setup(controller count, poll rate (Hz))

# PM304Config(card being configured, asyn port name,  number of axes)

PM304Setup(1,5)

PM304Config(1, "test-se1-1", 1)

iocInit()

Starting iocInit

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

## EPICS R3.14.12.3 $Date: Mon 2012-12-17 14:11:47 -0600$

## EPICS Base built Aug 13 2013

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

2013/12/11 04:10:26.697 devMotorAsyn::init_record, test:buncher:motor find int32 interface failed

Segmentation fault

 

 

Points to note are:

·         The controller within the SimStep is a single PM600

·         I’m connecting to the SimStep via a Ethernet to serial adapter, through which I can successfully communicate to the PM600 using a telnet console

·         If the Ethernet to serial adapter is off during IOC boot, I still get the “interface failed”, but it doesn’t seg fault.

·         The SimSteps can be daisy chained to provide multi axis control, so more than one card can be addressed on the same port

 

The relevant sections of the application Makefile is:

 

…

# Include dbd files from all support applications:

#pitest_DBD += xxx.dbd

 

pitest_DBD += asyn.dbd

pitest_DBD += asynRecord.dbd

pitest_DBD += drvAsynIPPort.dbd

 

pitest_DBD += motorRecord.dbd

pitest_DBD += motorSupport.dbd

pitest_DBD += devMclennanMotor.dbd

 

# Add all the support libraries needed by this IOC

#pitest_LIBS += xxx

pitest_LIBS += asyn

pitest_LIBS += motor

pitest_LIBS += Mclennan

 

# pitest_registerRecordDeviceDriver.cpp derives from pitest.dbd

pitest_SRCS += pitest_registerRecordDeviceDriver.cpp

…

 

 

And the record database includes:

 

# Test record for Mclennan PM600 Stepper Motor driver

record(motor, "test:buncher:motor") {

  field(DTYP, "asynMotor")

  field(OUT, "@asyn(test-se1-1 1)")

  field(RRES, "1.0")

  field(PREC, "0")

  field(TWV, "10")

  field(VELO, "50")

}

 

I can see a few places where I might have gone wrong, but I don’t know exactly where.  HELP! J

 

Regards

Peter

 

--

Dr Peter Linardakis

Accelerator Research and Development Engineer

Nuclear Physics | Research School of Physics and Engineering

Australian National University

e: peter.linardakis@anu.edu.au

p: (02) 6125 2862 f: (02) 6215 0748