Re: asynMotor device support and the motor specific driver (asynMotorContorller)

[Allan Serra Braga Bugyi via Tech-talk <tech-talk@aps.anl.gov>]

Confirmed: It detects the port, as you can see from the log.

Allan.

---

De: Mark Rivers <rivers@cars.uchicago.edu>
Enviado: segunda-feira, 8 de abril de 2019 16:38:48
Para: Allan Serra Braga Bugyi
Cc: tech-talk@aps.anl.gov
Assunto: RE: asynMotor device support and the motor specific driver (asynMotorContorller)

 

Sorry for the last blank message.

 

Try this command instead

 

asynReport 10

 

That will give a detailed report for all ports.

 

You might want to that after iocInit().

 

Mark

 

 

From: Allan Serra Braga Bugyi <allan.bugyi@lnls.br>
Sent: Monday, April 8, 2019 2:33 PM
To: Mark Rivers <rivers@cars.uchicago.edu>
Cc: tech-talk@aps.anl.gov
Subject: Re: asynMotor device support and the motor specific driver (asynMotorContorller)

 

That's weird. I can't find what's wrong.

 

[...]

PI_GCS2_CreateController("PIasyn3", "tcpip_e712",3, 0,0, 10, 250)
2019/04/08 16:29:41.272 read from tcpip_e712: (c)2015 Physik Instrumente (PI) GmbH & Co. KG, E-727, 0118027690, 14.04.01.02
PIasynAxis::PIasynAxis() 0: 1
PIasynAxis::PIasynAxis() 1: 2
PIasynAxis::PIasynAxis() 2: 3
dbLoadRecords("/usr/local/epics/motor-2019-04-02/db/PI_Support.db","P=PIE712:,R=m1:,PORT=PIasyn3,ADDR=0,TIMEOUT=1")
dbLoadRecords("/usr/local/epics/motor-2019-04-02/db/PI_Support.db","P=PIE712:,R=m2:,PORT=PIasyn3,ADDR=1,TIMEOUT=1")
dbLoadRecords("/usr/local/epics/motor-2019-04-02/db/PI_Support.db","P=PIE712:,R=m3:,PORT=PIasyn3,ADDR=2,TIMEOUT=1")
dbLoadRecords("/usr/local/epics/motor-2019-04-02/db/PI_SupportCtrl.db","P=PIE712:,R=m1:,PORT=PIasyn3,ADDR=0,TIMEOUT=1")
asynReport 10 “PIasyn3”
asynManager:report port “PIasyn3” not found
#setIocLogDisable 0
#iocLogInit
iocInit
Starting iocInit

[...]

 

 

Allan

---

De: Mark Rivers <rivers@cars.uchicago.edu>
Enviado: segunda-feira, 8 de abril de 2019 15:55:40
Para: Allan Serra Braga Bugyi
Cc: tech-talk@aps.anl.gov
Assunto: RE: asynMotor device support and the motor specific driver (asynMotorContorller)

 

asynReport says that port PIasyn3 does exist, so the commands I told you do use to set its trace mask should work.  Perhaps you put them before the line to create the port, rather than after?

 

Try enabling that, and disable the trace for the TCP port to reduce the number of messages.

 

Mark

 

 

From: Allan Serra Braga Bugyi <allan.bugyi@lnls.br>
Sent: Monday, April 8, 2019 1:32 PM
To: Mark Rivers <rivers@cars.uchicago.edu>
Cc: tech-talk@aps.anl.gov
Subject: Re: asynMotor device support and the motor specific driver (asynMotorContorller)

 

asynReport
tcpip_e712 multiDevice:No canBlock:Yes autoConnect:Yes
PIasyn3 multiDevice:Yes canBlock:Yes autoConnect:Yes
Simulation motor driver PIasyn3, numAxes=3
  axis 0
  axis 1
  axis 2
Port: PIasyn3

 

 

Please find it attached.

Thanks,

Allan

---

De: Mark Rivers <rivers@cars.uchicago.edu>
Enviado: segunda-feira, 8 de abril de 2019 15:07:15
Para: Allan Serra Braga Bugyi
Cc: tech-talk@aps.anl.gov
Assunto: Re: asynMotor device support and the motor specific driver (asynMotorContorller)

 

Turn the asynTrace on the IP port back to 9.

After the IOC boots type this command:

asynReport

I would have expected port PIasyn3 to exist.

Mark


Sent from my iPhone

On Apr 8, 2019, at 1:00 PM, Allan Serra Braga Bugyi <allan.bugyi@lnls.br<mailto:allan.bugyi@lnls.br>> wrote:


It says:

asynManager:report port “PIasyn3” not found


Please find attached the log.


Allan
<http://lnls.cnpem.br>

________________________________
De: Mark Rivers <rivers@cars.uchicago.edu<mailto:rivers@cars.uchicago.edu>>
Enviado: segunda-feira, 8 de abril de 2019 14:10:13
Para: Allan Serra Braga Bugyi
Cc: tech-talk@aps.anl.gov<mailto:tech-talk@aps.anl.gov>
Assunto: RE: asynMotor device support and the motor specific driver (asynMotorContorller)


Hi Allan,



What does the following command show?



asynReport 10 “PIasyn3”



You can also add these commands to your asynMotor.E-712.cmd script after PI_GCS2_CreateController("PIasyn3", "tcpip_e712",3, 0,0, 10, 250)



asynSetTraceIOMask("PIasyn3", -1, 0x2)

asynSetTraceMask("PIasyn3", -1, 0xff)



This will show lots more debugging info.



Mark





From: Allan Serra Braga Bugyi <allan.bugyi@lnls.br<mailto:allan.bugyi@lnls.br>>
Sent: Monday, April 8, 2019 9:59 AM
To: Mark Rivers <rivers@cars.uchicago.edu<mailto:rivers@cars.uchicago.edu>>
Cc: tech-talk@aps.anl.gov<mailto:tech-talk@aps.anl.gov>
Subject: Re: asynMotor device support and the motor specific driver (asynMotorContorller)



Hi Mark,



Yes, I already instantiated the driver and it's the one you thought. Below I'm showing you the files used to run the IOC. However, the stage is not responding when I do a caput to its VAL field of the motor record, in order to move. I believe that the device support is not able to load the PI commands, the reason for the stage not responding. Besides, I'm not sure if the PI's sources are a complete validated solution, since I didn't find the command set (used by start/build/end transaction) defined anywhere. What I did find were several methods inside the PIGCSController class which use the send/receive message function from asynOctetSyncIO interface in order to communicate with the stage. So I'm confused about using this driver:

- Calling these methods separately using the asynPortDriver methodology of pasynUnser->reason and OUT and INP fields;

- Or letting the device support to do all the job, in case of having the GCS command list loaded.



Since the intention is to obviously use the motor record, I'm obliged to go with the second approach.



Also, please find a log file attached.



--



EPICS IOC's files



  *   st.cmd



#!/usr/local/epics/synApps_6_0/support/motor-R6-10-1/motorExApp/WithAsyn/O.linux-x86_64/WithAsyn

< envPaths

## Register all support components

dbLoadDatabase("${TOP}/dbd/WithAsyn.dbd")
WithAsyn_registerRecordDeviceDriver(pdbbase)


drvAsynIPPortConfigure("tcpip_e712","10.0.9.74:50000",0,0,0)
asynOctetConnect("tcpip_e712", "tcpip_e712")
asynOctetSetInputEos("tcpip_e712",0,"\n")



< asynMotor.E-712.cmd



iocInit



  *   asynMotor.E-712.cmd



dbLoadTemplate("asynMotor.substitutions.E-712")

PI_GCS2_CreateController("PIasyn3", "tcpip_e712",3, 0,0, 10, 250)

dbLoadRecords("${TOP}/db/PI_Support.db","P=PIE712:,R=m1:,PORT=PIasyn3,ADDR=0,TIMEOUT=1")
dbLoadRecords("${TOP}/db/PI_Support.db","P=PIE712:,R=m2:,PORT=PIasyn3,ADDR=1,TIMEOUT=1")
dbLoadRecords("${TOP}/db/PI_Support.db","P=PIE712:,R=m3:,PORT=PIasyn3,ADDR=2,TIMEOUT=1")

dbLoadRecords("${TOP}/db/PI_SupportCtrl.db","P=PIE712:,R=m1:,PORT=PIasyn3,ADDR=0,TIMEOUT=1")





  *   asynMotor.substitutions.E-712



file "$(MOTOR)/motorApp/Db/basic_asyn_motor.db"

{

pattern

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

{PIE712:,  1,  "m$(N)",  "asynMotor",  "PIasyn3",  0,  "PI-STAGE-725-X",  um,  Pos,  1,     .1,    .2,    0,     1,     .2,  0.000001, 7,  0,     300,   "",  ""}

{PIE712:,  2,  "m$(N)",  "asynMotor",  "PIasyn3",  1,  "PI-STAGE-725-Y",  um,  Pos,  1,     .1,    .2,    0,     1,     .2,  0.000001, 7,  0,     300,   "",  ""}

{PIE712:,  3,  "m$(N)",  "asynMotor",  "PIasyn3",  2,  "PI-STAGE-725-Z",  um,  Pos,  1,     .1,    .2,    0,     1,     .2,  0.000001, 7,  0,     300,   "",  ""}

}



Thank you!

Best regards,
Allan S. B. Bugyi
Technology Development Analyst
allan.bugyi@lnls.br<mailto:allan.bugyi@lnls.br>
(+55 19) 3512-3520

SOL/Beamline Software Group
Brazilian Synchrotron Light Laboratory (LNLS)
Center of Research in Energy and Materials (CNPEM)
http://lnls.cnpem.br






________________________________

De: Mark Rivers <rivers@cars.uchicago.edu<mailto:rivers@cars.uchicago.edu>>
Enviado: segunda-feira, 8 de abril de 2019 11:30:23
Para: Allan Serra Braga Bugyi
Cc: tech-talk@aps.anl.gov<mailto:tech-talk@aps.anl.gov>
Assunto: Re: asynMotor device support and the motor specific driver (asynMotorContorller)



Hi Allan,


I am not sure I fully understand your question.  Have you tried to instantiate a controller and load a template file, and received errors, or are you not that far along?


Unfortunately motor does not seem to contain an example for your controller, but it does contain examples for lots of other controllers that use devMotorAsyn.c and asynMotorController.cpp.


Look in motor/iocBoot/iocWithAsyn/st.cmd.mcb4b for a simple example.


It creates a controller object with

MCB4BCreateController("MCB4B1", "serial1", 4, 100, 5000)


In your case I believe this would be:

PI_GCS2_CreateController(const char *portName, const char* asynPort, int numAxes, int priority, int stackSize, int movingPollingRate, int idlePollingRate)


and then loads a template file with several motor records:

dbLoadTemplate "motor.substitutions.mcb4b"

You need to create a template file for your motors.

The motor module is being split into separate repositories for each controller type.  Each repository will contain an example IOC to help with these types of questions.  These example IOCs will require help from the community, since at the APS we don't have all of the types of controllers that are supported, so we can't test examples.

Mark




________________________________
From: tech-talk-bounces@aps.anl.gov<mailto:tech-talk-bounces@aps.anl.gov> <tech-talk-bounces@aps.anl.gov<mailto:tech-talk-bounces@aps.anl.gov>> on behalf of Allan Serra Braga Bugyi via Tech-talk <tech-talk@aps.anl.gov<mailto:tech-talk@aps.anl.gov>>
Sent: Monday, April 8, 2019 8:39 AM
To: tech-talk@aps.anl.gov<mailto:tech-talk@aps.anl.gov>
Subject: asynMotor device support and the motor specific driver (asynMotorContorller)


Hello all,


I need a clarification about the motor module. The asynMotor device support (defined in 'motorApp/MotorSrc/devMotorAsyn.c') tries to find an asynDrvUser interface in init_record function, so that it can find the driver commands with findDrvInfo function. I'm using the asynMotorController driver that implements the PI's command set GCS. How can I connect this driver with the motor record through asynMotor device support?


Additional information:

A class diagram of the PI sources (please ignore the error message; using motor 6-11 now)

[cid:b8eb7e61-f6f9-41d6-8500-6813e6d2e809]


Thank you!
Allan S. B. Bugyi
Technology Development Analyst
allan.bugyi@lnls.br<mailto:allan.bugyi@lnls.br>
(+55 19) 3512-3520

SOL/Beamline Software Group
Brazilian Synchrotron Light Laboratory (LNLS)
Center of Research in Energy and Materials (CNPEM)
http://lnls.cnpem.br
<http://lnls.cnpem.br>



Aviso Legal: Esta mensagem e seus anexos podem conter informações confidenciais e/ou de uso restrito. Observe atentamente seu conteúdo e considere eventual consulta ao remetente antes de copiá-la, divulgá-la ou distribuí-la. Se você recebeu esta mensagem por engano, por favor avise o remetente e apague-a imediatamente.

Disclaimer: This email and its attachments may contain confidential and/or privileged information. Observe its content carefully and consider possible querying to the sender before copying, disclosing or distributing it. If you have received this email by mistake, please notify the sender and delete it immediately.

<pi563_iocLog_motor6-11_08-04.log>

#!/usr/local/epics/motor-2019-04-02/motorExApp/WithAsyn/O.linux-x86_64/WithAsyn
epicsEnvSet("EPICS_IOC_LOG_INET", "127.0.0.1")
< envPaths
epicsEnvSet("ARCH","linux-x86_64")
epicsEnvSet("IOC","iocWithAsyn")
epicsEnvSet("TOP","/usr/local/epics/motor-2019-04-02")
epicsEnvSet("SUPPORT","/usr/local/epics/synApps_6_0/support")
epicsEnvSet("ASYN","/usr/local/epics/synApps/support_6_0/asyn-R4-33")
epicsEnvSet("SNCSEQ","/usr/local/epics/synApps/support_6_0/seq-2-2-5")
epicsEnvSet("BUSY","/usr/local/epics/synApps_6_0/support/busy-R1-7")
epicsEnvSet("EPICS_BASE","/usr/local/epics/base_3_15_6")
epicsEnvSet("IPAC","/usr/local/epics/synApps_6_0/support/ipac-2-15")
epicsEnvSet("MOTOR","/usr/local/epics/motor-2019-04-02")
## Register all support components
dbLoadDatabase("/usr/local/epics/motor-2019-04-02/dbd/WithAsyn.dbd")
WithAsyn_registerRecordDeviceDriver(pdbbase)
drvAsynIPPortConfigure("tcpip_e712","10.0.9.74:50000",0,0,0)
asynOctetConnect("tcpip_e712", "tcpip_e712")
asynOctetSetInputEos("tcpip_e712",0,"\n")
#asynSetTraceIOMask("tcpip_e712", -1, 0x2)
#asynSetTraceMask("tcpip_e712", -1, 0xff)
< asynMotor.E-712.cmd
dbLoadTemplate("asynMotor.substitutions.E-712")
PI_GCS2_CreateController("PIasyn3", "tcpip_e712",3, 0,0, 10, 250)
2019/04/08 17:04:42.012 read from tcpip_e712: (c)2015 Physik Instrumente (PI) GmbH & Co. KG, E-727, 0118027690, 14.04.01.02
PIasynAxis::PIasynAxis() 0: 1
PIasynAxis::PIasynAxis() 1: 2
PIasynAxis::PIasynAxis() 2: 3
dbLoadRecords("/usr/local/epics/motor-2019-04-02/db/PI_Support.db","P=PIE712:,R=m1:,PORT=PIasyn3,ADDR=0,TIMEOUT=1")
dbLoadRecords("/usr/local/epics/motor-2019-04-02/db/PI_Support.db","P=PIE712:,R=m2:,PORT=PIasyn3,ADDR=1,TIMEOUT=1")
dbLoadRecords("/usr/local/epics/motor-2019-04-02/db/PI_Support.db","P=PIE712:,R=m3:,PORT=PIasyn3,ADDR=2,TIMEOUT=1")
dbLoadRecords("/usr/local/epics/motor-2019-04-02/db/PI_SupportCtrl.db","P=PIE712:,R=m1:,PORT=PIasyn3,ADDR=0,TIMEOUT=1")
#asynReport 10 â??PIasyn3â??
#setIocLogDisable 0
#iocLogInit
iocInit
Starting iocInit
############################################################################
## EPICS R3.15.6
## EPICS Base built Mar  7 2019
############################################################################
PI_SUP_TargetAO: 0.000000 for axis 0
PI_SUP_TargetAO: 0.000000 for axis 1
PI_SUP_TargetAO: 0.000000 for axis 2
iocRun: All initialization complete
#asynReport
epics> asynReport 10
tcpip_e712 multiDevice:No canBlock:Yes autoConnect:Yes
    enabled:Yes connected:Yes numberConnects 1
    nDevices 0 nQueued 0 blocked:No
    asynManagerLock:No synchronousLock:No
    exceptionActive:No exceptionUsers 1 exceptionNotifys 0
    traceMask:0x1 traceIOMask:0x0 traceInfoMask:0x1
    interposeInterfaceList
        asynOctet pinterface 0x7f03cf2f1600 drvPvt 0x55cd166f1eb0
    interfaceList
        asynCommon pinterface 0x7f03cf2ee7d0 drvPvt 0x55cd166ee620
        asynOption pinterface 0x7f03cf2ee7f0 drvPvt 0x55cd166ee620
        asynOctet pinterface 0x55cd166ee740 drvPvt 0x55cd166ee620
    Port 10.0.9.74:50000: Connected
                    fd: 4
    Characters written: 4774
       Characters read: 12106
PIasyn3 multiDevice:Yes canBlock:Yes autoConnect:Yes
    enabled:Yes connected:Yes numberConnects 1
    nDevices 3 nQueued 0 blocked:No
    asynManagerLock:No synchronousLock:No
    exceptionActive:No exceptionUsers 0 exceptionNotifys 0
    traceMask:0x1 traceIOMask:0x0 traceInfoMask:0x1
    interposeInterfaceList
        asynOctet pinterface 0x7f03cf2f1260 drvPvt 0x55cd16708130
    interfaceList
        asynCommon pinterface 0x7f03cf2f1970 drvPvt 0x55cd16707820
        asynDrvUser pinterface 0x7f03cf2f1760 drvPvt 0x55cd16707820
        asynOctet pinterface 0x7f03cf2f1880 drvPvt 0x55cd16707820
        asynInt32 pinterface 0x7f03cf2f1940 drvPvt 0x55cd16707820
        asynFloat64 pinterface 0x7f03cf2f18e0 drvPvt 0x55cd16707820
        asynFloat64Array pinterface 0x7f03cf2f17e0 drvPvt 0x55cd16707820
        asynGenericPointer pinterface 0x7f03cf2f17c0 drvPvt 0x55cd16707820
    addr 0 autoConnect Yes enabled Yes connected Yes exceptionActive No
        exceptionActive No exceptionUsers 0 exceptionNotifys 0
        blocked No
        traceMask:0x1 traceIOMask:0x0 traceInfoMask:0x1
    addr 1 autoConnect Yes enabled Yes connected Yes exceptionActive No
        exceptionActive No exceptionUsers 0 exceptionNotifys 0
        blocked No
        traceMask:0x1 traceIOMask:0x0 traceInfoMask:0x1
    addr 2 autoConnect Yes enabled Yes connected Yes exceptionActive No
        exceptionActive No exceptionUsers 0 exceptionNotifys 0
        blocked No
        traceMask:0x1 traceIOMask:0x0 traceInfoMask:0x1
Simulation motor driver PIasyn3, numAxes=3
  axis 0
  axis 1
  axis 2
Port: PIasyn3
  Timestamp: <undefined>
  Input EOS[0]: 
  Output EOS[0]: 
Parameter list 0
Number of parameters is: 85
Parameter 0 type=asynFloat64, name=MOTOR_MOVE_REL, value is undefined
Parameter 1 type=asynFloat64, name=MOTOR_MOVE_ABS, value=176088.000000, status=0
Parameter 2 type=asynFloat64, name=MOTOR_MOVE_VEL, value is undefined
Parameter 3 type=asynFloat64, name=MOTOR_HOME, value is undefined
Parameter 4 type=asynInt32, name=MOTOR_STOP_AXIS, value is undefined
Parameter 5 type=asynFloat64, name=MOTOR_VELOCITY, value is undefined
Parameter 6 type=asynFloat64, name=MOTOR_VEL_BASE, value is undefined
Parameter 7 type=asynFloat64, name=MOTOR_ACCEL, value is undefined
Parameter 8 type=asynFloat64, name=MOTOR_POSITION, value=176065.000000, status=0
Parameter 9 type=asynFloat64, name=MOTOR_ENCODER_POSITION, value=176065.000000, status=0
Parameter 10 type=asynInt32, name=MOTOR_DEFER_MOVES, value is undefined
Parameter 11 type=asynInt32, name=MOTOR_MOVE_HOME, value is undefined
Parameter 12 type=asynFloat64, name=MOTOR_RESOLUTION, value is undefined
Parameter 13 type=asynFloat64, name=MOTOR_ENCODER_RATIO, value=inf, status=0
Parameter 14 type=asynFloat64, name=MOTOR_PGAIN, value is undefined
Parameter 15 type=asynFloat64, name=MOTOR_IGAIN, value is undefined
Parameter 16 type=asynFloat64, name=MOTOR_DGAIN, value is undefined
Parameter 17 type=asynFloat64, name=MOTOR_HIGH_LIMIT, value=0.000000, status=0
Parameter 18 type=asynFloat64, name=MOTOR_LOW_LIMIT, value=300000000.000000, status=0
Parameter 19 type=asynInt32, name=MOTOR_CLOSED_LOOP, value is undefined
Parameter 20 type=asynInt32, name=MOTOR_POWER_AUTO_ONOFF, value is undefined
Parameter 21 type=asynFloat64, name=MOTOR_POWER_ON_DELAY, value is undefined
Parameter 22 type=asynFloat64, name=MOTOR_POWER_OFF_DELAY, value is undefined
Parameter 23 type=asynInt32, name=MOTOR_POWER_OFF_FRACTION, value is undefined
Parameter 24 type=asynFloat64, name=MOTOR_POST_MOVE_DELAY, value is undefined
Parameter 25 type=asynInt32, name=MOTOR_STATUS, value=0, status=0
Parameter 26 type=asynInt32, name=MOTOR_UPDATE_STATUS, value is undefined
Parameter 27 type=asynInt32, name=MOTOR_STATUS_DIRECTION, value=0, status=0
Parameter 28 type=asynInt32, name=MOTOR_STATUS_DONE, value=1, status=0
Parameter 29 type=asynInt32, name=MOTOR_STATUS_HIGH_LIMIT, value=0, status=0
Parameter 30 type=asynInt32, name=MOTOR_STATUS_AT_HOME, value is undefined
Parameter 31 type=asynInt32, name=MOTOR_STATUS_SLIP, value is undefined
Parameter 32 type=asynInt32, name=MOTOR_STATUS_POWERED, value=0, status=0
Parameter 33 type=asynInt32, name=MOTOR_STATUS_FOLLOWING_ERROR, value is undefined
Parameter 34 type=asynInt32, name=MOTOR_STATUS_HOME, value is undefined
Parameter 35 type=asynInt32, name=MOTOR_STATUS_HAS_ENCODER, value is undefined
Parameter 36 type=asynInt32, name=MOTOR_STATUS_PROBLEM, value=1, status=0
Parameter 37 type=asynInt32, name=MOTOR_STATUS_MOVING, value=0, status=0
Parameter 38 type=asynInt32, name=MOTOR_STATUS_GAIN_SUPPORT, value=1, status=0
Parameter 39 type=asynInt32, name=MOTOR_STATUS_COMMS_ERROR, value is undefined
Parameter 40 type=asynInt32, name=MOTOR_STATUS_LOW_LIMIT, value=0, status=0
Parameter 41 type=asynInt32, name=MOTOR_STATUS_HOMED, value=1, status=0
Parameter 42 type=asynFloat64, name=MOTOR_REC_RESOLUTION, value=0.000001, status=0
Parameter 43 type=asynInt32, name=MOTOR_REC_DIRECTION, value=0, status=0
Parameter 44 type=asynFloat64, name=MOTOR_REC_OFFSET, value=0.000000, status=0
Parameter 45 type=asynInt32, name=PROFILE_NUM_AXES, value is undefined
Parameter 46 type=asynInt32, name=PROFILE_NUM_POINTS, value is undefined
Parameter 47 type=asynInt32, name=PROFILE_CURRENT_POINT, value is undefined
Parameter 48 type=asynInt32, name=PROFILE_NUM_PULSES, value is undefined
Parameter 49 type=asynInt32, name=PROFILE_START_PULSES, value is undefined
Parameter 50 type=asynInt32, name=PROFILE_END_PULSES, value is undefined
Parameter 51 type=asynInt32, name=PROFILE_ACTUAL_PULSES, value is undefined
Parameter 52 type=asynInt32, name=PROFILE_NUM_READBACKS, value is undefined
Parameter 53 type=asynInt32, name=PROFILE_TIME_MODE, value is undefined
Parameter 54 type=asynFloat64, name=PROFILE_FIXED_TIME, value is undefined
Parameter 55 type=asynFloat64Array, name=PROFILE_TIME_ARRAY, value is undefined
Parameter 56 type=asynFloat64, name=PROFILE_ACCELERATION, value is undefined
Parameter 57 type=asynInt32, name=PROFILE_MOVE_MODE, value is undefined
Parameter 58 type=asynInt32, name=PROFILE_BUILD, value is undefined
Parameter 59 type=asynInt32, name=PROFILE_BUILD_STATE, value is undefined
Parameter 60 type=asynInt32, name=PROFILE_BUILD_STATUS, value is undefined
Parameter 61 type=string, name=PROFILE_BUILD_MESSAGE, value is undefined
Parameter 62 type=asynInt32, name=PROFILE_EXECUTE, value is undefined
Parameter 63 type=asynInt32, name=PROFILE_EXECUTE_STATE, value=0, status=0
Parameter 64 type=asynInt32, name=PROFILE_EXECUTE_STATUS, value is undefined
Parameter 65 type=string, name=PROFILE_EXECUTE_MESSAGE, value is undefined
Parameter 66 type=asynInt32, name=PROFILE_ABORT, value is undefined
Parameter 67 type=asynInt32, name=PROFILE_READBACK, value is undefined
Parameter 68 type=asynInt32, name=PROFILE_READBACK_STATE, value is undefined
Parameter 69 type=asynInt32, name=PROFILE_READBACK_STATUS, value is undefined
Parameter 70 type=string, name=PROFILE_READBACK_MESSAGE, value is undefined
Parameter 71 type=asynInt32, name=PROFILE_USE_AXIS, value is undefined
Parameter 72 type=asynFloat64Array, name=PROFILE_POSITIONS, value is undefined
Parameter 73 type=asynFloat64Array, name=PROFILE_READBACKS, value is undefined
Parameter 74 type=asynFloat64Array, name=PROFILE_FOLLOWING_ERRORS, value is undefined
Parameter 75 type=asynFloat64, name=PI_SUP_POSITION, value=17.607285, status=0
Parameter 76 type=asynFloat64, name=PI_SUP_TARGET, value=0.000000, status=0
Parameter 77 type=asynInt32, name=PI_SUP_SERVO, value=0, status=0
Parameter 78 type=asynInt32, name=PI_SUP_LAST_ERR, value=0, status=0
Parameter 79 type=asynFloat64, name=PI_SUP_PIVOT_X, value is undefined
Parameter 80 type=asynFloat64, name=PI_SUP_PIVOT_Y, value is undefined
Parameter 81 type=asynFloat64, name=PI_SUP_PIVOT_Z, value is undefined
Parameter 82 type=asynFloat64, name=PI_SUP_RBPIVOT_X, value=0.000000, status=0
Parameter 83 type=asynFloat64, name=PI_SUP_RBPIVOT_Y, value=0.000000, status=0
Parameter 84 type=asynFloat64, name=PI_SUP_RBPIVOT_Z, value=0.000000, status=0
Parameter list 1
Number of parameters is: 85
Parameter 0 type=asynFloat64, name=MOTOR_MOVE_REL, value is undefined
Parameter 1 type=asynFloat64, name=MOTOR_MOVE_ABS, value=157024.000000, status=0
Parameter 2 type=asynFloat64, name=MOTOR_MOVE_VEL, value is undefined
Parameter 3 type=asynFloat64, name=MOTOR_HOME, value is undefined
Parameter 4 type=asynInt32, name=MOTOR_STOP_AXIS, value is undefined
Parameter 5 type=asynFloat64, name=MOTOR_VELOCITY, value is undefined
Parameter 6 type=asynFloat64, name=MOTOR_VEL_BASE, value is undefined
Parameter 7 type=asynFloat64, name=MOTOR_ACCEL, value is undefined
Parameter 8 type=asynFloat64, name=MOTOR_POSITION, value=157023.000000, status=0
Parameter 9 type=asynFloat64, name=MOTOR_ENCODER_POSITION, value=157023.000000, status=0
Parameter 10 type=asynInt32, name=MOTOR_DEFER_MOVES, value is undefined
Parameter 11 type=asynInt32, name=MOTOR_MOVE_HOME, value is undefined
Parameter 12 type=asynFloat64, name=MOTOR_RESOLUTION, value is undefined
Parameter 13 type=asynFloat64, name=MOTOR_ENCODER_RATIO, value=inf, status=0
Parameter 14 type=asynFloat64, name=MOTOR_PGAIN, value is undefined
Parameter 15 type=asynFloat64, name=MOTOR_IGAIN, value is undefined
Parameter 16 type=asynFloat64, name=MOTOR_DGAIN, value is undefined
Parameter 17 type=asynFloat64, name=MOTOR_HIGH_LIMIT, value=0.000000, status=0
Parameter 18 type=asynFloat64, name=MOTOR_LOW_LIMIT, value=300000000.000000, status=0
Parameter 19 type=asynInt32, name=MOTOR_CLOSED_LOOP, value is undefined
Parameter 20 type=asynInt32, name=MOTOR_POWER_AUTO_ONOFF, value is undefined
Parameter 21 type=asynFloat64, name=MOTOR_POWER_ON_DELAY, value is undefined
Parameter 22 type=asynFloat64, name=MOTOR_POWER_OFF_DELAY, value is undefined
Parameter 23 type=asynInt32, name=MOTOR_POWER_OFF_FRACTION, value is undefined
Parameter 24 type=asynFloat64, name=MOTOR_POST_MOVE_DELAY, value is undefined
Parameter 25 type=asynInt32, name=MOTOR_STATUS, value=0, status=0
Parameter 26 type=asynInt32, name=MOTOR_UPDATE_STATUS, value is undefined
Parameter 27 type=asynInt32, name=MOTOR_STATUS_DIRECTION, value=0, status=0
Parameter 28 type=asynInt32, name=MOTOR_STATUS_DONE, value=1, status=0
Parameter 29 type=asynInt32, name=MOTOR_STATUS_HIGH_LIMIT, value=0, status=0
Parameter 30 type=asynInt32, name=MOTOR_STATUS_AT_HOME, value is undefined
Parameter 31 type=asynInt32, name=MOTOR_STATUS_SLIP, value is undefined
Parameter 32 type=asynInt32, name=MOTOR_STATUS_POWERED, value=0, status=0
Parameter 33 type=asynInt32, name=MOTOR_STATUS_FOLLOWING_ERROR, value is undefined
Parameter 34 type=asynInt32, name=MOTOR_STATUS_HOME, value is undefined
Parameter 35 type=asynInt32, name=MOTOR_STATUS_HAS_ENCODER, value is undefined
Parameter 36 type=asynInt32, name=MOTOR_STATUS_PROBLEM, value=1, status=0
Parameter 37 type=asynInt32, name=MOTOR_STATUS_MOVING, value=0, status=0
Parameter 38 type=asynInt32, name=MOTOR_STATUS_GAIN_SUPPORT, value=1, status=0
Parameter 39 type=asynInt32, name=MOTOR_STATUS_COMMS_ERROR, value is undefined
Parameter 40 type=asynInt32, name=MOTOR_STATUS_LOW_LIMIT, value=0, status=0
Parameter 41 type=asynInt32, name=MOTOR_STATUS_HOMED, value=1, status=0
Parameter 42 type=asynFloat64, name=MOTOR_REC_RESOLUTION, value=0.000001, status=0
Parameter 43 type=asynInt32, name=MOTOR_REC_DIRECTION, value=0, status=0
Parameter 44 type=asynFloat64, name=MOTOR_REC_OFFSET, value=0.000000, status=0
Parameter 45 type=asynInt32, name=PROFILE_NUM_AXES, value is undefined
Parameter 46 type=asynInt32, name=PROFILE_NUM_POINTS, value is undefined
Parameter 47 type=asynInt32, name=PROFILE_CURRENT_POINT, value is undefined
Parameter 48 type=asynInt32, name=PROFILE_NUM_PULSES, value is undefined
Parameter 49 type=asynInt32, name=PROFILE_START_PULSES, value is undefined
Parameter 50 type=asynInt32, name=PROFILE_END_PULSES, value is undefined
Parameter 51 type=asynInt32, name=PROFILE_ACTUAL_PULSES, value is undefined
Parameter 52 type=asynInt32, name=PROFILE_NUM_READBACKS, value is undefined
Parameter 53 type=asynInt32, name=PROFILE_TIME_MODE, value is undefined
Parameter 54 type=asynFloat64, name=PROFILE_FIXED_TIME, value is undefined
Parameter 55 type=asynFloat64Array, name=PROFILE_TIME_ARRAY, value is undefined
Parameter 56 type=asynFloat64, name=PROFILE_ACCELERATION, value is undefined
Parameter 57 type=asynInt32, name=PROFILE_MOVE_MODE, value is undefined
Parameter 58 type=asynInt32, name=PROFILE_BUILD, value is undefined
Parameter 59 type=asynInt32, name=PROFILE_BUILD_STATE, value is undefined
Parameter 60 type=asynInt32, name=PROFILE_BUILD_STATUS, value is undefined
Parameter 61 type=string, name=PROFILE_BUILD_MESSAGE, value is undefined
Parameter 62 type=asynInt32, name=PROFILE_EXECUTE, value is undefined
Parameter 63 type=asynInt32, name=PROFILE_EXECUTE_STATE, value is undefined
Parameter 64 type=asynInt32, name=PROFILE_EXECUTE_STATUS, value is undefined
Parameter 65 type=string, name=PROFILE_EXECUTE_MESSAGE, value is undefined
Parameter 66 type=asynInt32, name=PROFILE_ABORT, value is undefined
Parameter 67 type=asynInt32, name=PROFILE_READBACK, value is undefined
Parameter 68 type=asynInt32, name=PROFILE_READBACK_STATE, value is undefined
Parameter 69 type=asynInt32, name=PROFILE_READBACK_STATUS, value is undefined
Parameter 70 type=string, name=PROFILE_READBACK_MESSAGE, value is undefined
Parameter 71 type=asynInt32, name=PROFILE_USE_AXIS, value is undefined
Parameter 72 type=asynFloat64Array, name=PROFILE_POSITIONS, value is undefined
Parameter 73 type=asynFloat64Array, name=PROFILE_READBACKS, value is undefined
Parameter 74 type=asynFloat64Array, name=PROFILE_FOLLOWING_ERRORS, value is undefined
Parameter 75 type=asynFloat64, name=PI_SUP_POSITION, value=15.700287, status=0
Parameter 76 type=asynFloat64, name=PI_SUP_TARGET, value=0.000000, status=0
Parameter 77 type=asynInt32, name=PI_SUP_SERVO, value=0, status=0
Parameter 78 type=asynInt32, name=PI_SUP_LAST_ERR, value is undefined
Parameter 79 type=asynFloat64, name=PI_SUP_PIVOT_X, value is undefined
Parameter 80 type=asynFloat64, name=PI_SUP_PIVOT_Y, value is undefined
Parameter 81 type=asynFloat64, name=PI_SUP_PIVOT_Z, value is undefined
Parameter 82 type=asynFloat64, name=PI_SUP_RBPIVOT_X, value is undefined
Parameter 83 type=asynFloat64, name=PI_SUP_RBPIVOT_Y, value is undefined
Parameter 84 type=asynFloat64, name=PI_SUP_RBPIVOT_Z, value is undefined
Parameter list 2
Number of parameters is: 85
Parameter 0 type=asynFloat64, name=MOTOR_MOVE_REL, value is undefined
Parameter 1 type=asynFloat64, name=MOTOR_MOVE_ABS, value=191540.000000, status=0
Parameter 2 type=asynFloat64, name=MOTOR_MOVE_VEL, value is undefined
Parameter 3 type=asynFloat64, name=MOTOR_HOME, value is undefined
Parameter 4 type=asynInt32, name=MOTOR_STOP_AXIS, value is undefined
Parameter 5 type=asynFloat64, name=MOTOR_VELOCITY, value is undefined
Parameter 6 type=asynFloat64, name=MOTOR_VEL_BASE, value is undefined
Parameter 7 type=asynFloat64, name=MOTOR_ACCEL, value is undefined
Parameter 8 type=asynFloat64, name=MOTOR_POSITION, value=191549.000000, status=0
Parameter 9 type=asynFloat64, name=MOTOR_ENCODER_POSITION, value=191549.000000, status=0
Parameter 10 type=asynInt32, name=MOTOR_DEFER_MOVES, value is undefined
Parameter 11 type=asynInt32, name=MOTOR_MOVE_HOME, value is undefined
Parameter 12 type=asynFloat64, name=MOTOR_RESOLUTION, value is undefined
Parameter 13 type=asynFloat64, name=MOTOR_ENCODER_RATIO, value=inf, status=0
Parameter 14 type=asynFloat64, name=MOTOR_PGAIN, value is undefined
Parameter 15 type=asynFloat64, name=MOTOR_IGAIN, value is undefined
Parameter 16 type=asynFloat64, name=MOTOR_DGAIN, value is undefined
Parameter 17 type=asynFloat64, name=MOTOR_HIGH_LIMIT, value=0.000000, status=0
Parameter 18 type=asynFloat64, name=MOTOR_LOW_LIMIT, value=300000000.000000, status=0
Parameter 19 type=asynInt32, name=MOTOR_CLOSED_LOOP, value is undefined
Parameter 20 type=asynInt32, name=MOTOR_POWER_AUTO_ONOFF, value is undefined
Parameter 21 type=asynFloat64, name=MOTOR_POWER_ON_DELAY, value is undefined
Parameter 22 type=asynFloat64, name=MOTOR_POWER_OFF_DELAY, value is undefined
Parameter 23 type=asynInt32, name=MOTOR_POWER_OFF_FRACTION, value is undefined
Parameter 24 type=asynFloat64, name=MOTOR_POST_MOVE_DELAY, value is undefined
Parameter 25 type=asynInt32, name=MOTOR_STATUS, value=0, status=0
Parameter 26 type=asynInt32, name=MOTOR_UPDATE_STATUS, value is undefined
Parameter 27 type=asynInt32, name=MOTOR_STATUS_DIRECTION, value=0, status=0
Parameter 28 type=asynInt32, name=MOTOR_STATUS_DONE, value=1, status=0
Parameter 29 type=asynInt32, name=MOTOR_STATUS_HIGH_LIMIT, value=0, status=0
Parameter 30 type=asynInt32, name=MOTOR_STATUS_AT_HOME, value is undefined
Parameter 31 type=asynInt32, name=MOTOR_STATUS_SLIP, value is undefined
Parameter 32 type=asynInt32, name=MOTOR_STATUS_POWERED, value=0, status=0
Parameter 33 type=asynInt32, name=MOTOR_STATUS_FOLLOWING_ERROR, value is undefined
Parameter 34 type=asynInt32, name=MOTOR_STATUS_HOME, value is undefined
Parameter 35 type=asynInt32, name=MOTOR_STATUS_HAS_ENCODER, value is undefined
Parameter 36 type=asynInt32, name=MOTOR_STATUS_PROBLEM, value=1, status=0
Parameter 37 type=asynInt32, name=MOTOR_STATUS_MOVING, value=0, status=0
Parameter 38 type=asynInt32, name=MOTOR_STATUS_GAIN_SUPPORT, value=1, status=0
Parameter 39 type=asynInt32, name=MOTOR_STATUS_COMMS_ERROR, value is undefined
Parameter 40 type=asynInt32, name=MOTOR_STATUS_LOW_LIMIT, value=0, status=0
Parameter 41 type=asynInt32, name=MOTOR_STATUS_HOMED, value=1, status=0
Parameter 42 type=asynFloat64, name=MOTOR_REC_RESOLUTION, value=0.000001, status=0
Parameter 43 type=asynInt32, name=MOTOR_REC_DIRECTION, value=0, status=0
Parameter 44 type=asynFloat64, name=MOTOR_REC_OFFSET, value=0.000000, status=0
Parameter 45 type=asynInt32, name=PROFILE_NUM_AXES, value is undefined
Parameter 46 type=asynInt32, name=PROFILE_NUM_POINTS, value is undefined
Parameter 47 type=asynInt32, name=PROFILE_CURRENT_POINT, value is undefined
Parameter 48 type=asynInt32, name=PROFILE_NUM_PULSES, value is undefined
Parameter 49 type=asynInt32, name=PROFILE_START_PULSES, value is undefined
Parameter 50 type=asynInt32, name=PROFILE_END_PULSES, value is undefined
Parameter 51 type=asynInt32, name=PROFILE_ACTUAL_PULSES, value is undefined
Parameter 52 type=asynInt32, name=PROFILE_NUM_READBACKS, value is undefined
Parameter 53 type=asynInt32, name=PROFILE_TIME_MODE, value is undefined
Parameter 54 type=asynFloat64, name=PROFILE_FIXED_TIME, value is undefined
Parameter 55 type=asynFloat64Array, name=PROFILE_TIME_ARRAY, value is undefined
Parameter 56 type=asynFloat64, name=PROFILE_ACCELERATION, value is undefined
Parameter 57 type=asynInt32, name=PROFILE_MOVE_MODE, value is undefined
Parameter 58 type=asynInt32, name=PROFILE_BUILD, value is undefined
Parameter 59 type=asynInt32, name=PROFILE_BUILD_STATE, value is undefined
Parameter 60 type=asynInt32, name=PROFILE_BUILD_STATUS, value is undefined
Parameter 61 type=string, name=PROFILE_BUILD_MESSAGE, value is undefined
Parameter 62 type=asynInt32, name=PROFILE_EXECUTE, value is undefined
Parameter 63 type=asynInt32, name=PROFILE_EXECUTE_STATE, value is undefined
Parameter 64 type=asynInt32, name=PROFILE_EXECUTE_STATUS, value is undefined
Parameter 65 type=string, name=PROFILE_EXECUTE_MESSAGE, value is undefined
Parameter 66 type=asynInt32, name=PROFILE_ABORT, value is undefined
Parameter 67 type=asynInt32, name=PROFILE_READBACK, value is undefined
Parameter 68 type=asynInt32, name=PROFILE_READBACK_STATE, value is undefined
Parameter 69 type=asynInt32, name=PROFILE_READBACK_STATUS, value is undefined
Parameter 70 type=string, name=PROFILE_READBACK_MESSAGE, value is undefined
Parameter 71 type=asynInt32, name=PROFILE_USE_AXIS, value is undefined
Parameter 72 type=asynFloat64Array, name=PROFILE_POSITIONS, value is undefined
Parameter 73 type=asynFloat64Array, name=PROFILE_READBACKS, value is undefined
Parameter 74 type=asynFloat64Array, name=PROFILE_FOLLOWING_ERRORS, value is undefined
Parameter 75 type=asynFloat64, name=PI_SUP_POSITION, value=19.156448, status=0
Parameter 76 type=asynFloat64, name=PI_SUP_TARGET, value=0.000000, status=0
Parameter 77 type=asynInt32, name=PI_SUP_SERVO, value=0, status=0
Parameter 78 type=asynInt32, name=PI_SUP_LAST_ERR, value is undefined
Parameter 79 type=asynFloat64, name=PI_SUP_PIVOT_X, value is undefined
Parameter 80 type=asynFloat64, name=PI_SUP_PIVOT_Y, value is undefined
Parameter 81 type=asynFloat64, name=PI_SUP_PIVOT_Z, value is undefined
Parameter 82 type=asynFloat64, name=PI_SUP_RBPIVOT_X, value is undefined
Parameter 83 type=asynFloat64, name=PI_SUP_RBPIVOT_Y, value is undefined
Parameter 84 type=asynFloat64, name=PI_SUP_RBPIVOT_Z, value is undefined
    int32 callback client address=0x7f03cf0a5600, addr=0, reason=77, userPvt=0x55cd1671f680
    int32 callback client address=0x7f03cf0a5600, addr=1, reason=77, userPvt=0x55cd1671fdd0
    int32 callback client address=0x7f03cf0a5600, addr=2, reason=77, userPvt=0x55cd16720330
    int32 callback client address=0x7f03cf0a5600, addr=0, reason=78, userPvt=0x55cd16729a30
    float64 callback client address=0x7f03cf0b7f70, addr=0, reason=75, userPvt=0x55cd16728530
    float64 callback client address=0x7f03cf0b7f70, addr=1, reason=75, userPvt=0x55cd16728a90
    float64 callback client address=0x7f03cf0b7f70, addr=2, reason=75, userPvt=0x55cd16729250
    float64 callback client address=0x7f03cf0b7f70, addr=0, reason=82, userPvt=0x55cd1672a500
    float64 callback client address=0x7f03cf0b7f70, addr=0, reason=83, userPvt=0x55cd1672ab10
    float64 callback client address=0x7f03cf0b7f70, addr=0, reason=84, userPvt=0x55cd1672b2f0
    genericPointer callback client address=0x7f03cf308fd0, addr=0, reason=25, userPvt=0x55cd1671dbd0
    genericPointer callback client address=0x7f03cf308fd0, addr=1, reason=25, userPvt=0x55cd1671e6a0
    genericPointer callback client address=0x7f03cf308fd0, addr=2, reason=25, userPvt=0x55cd1671ee90