Experimental Physics and
Industrial Control System

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

Subject:	RE: Attocube AMC100
From:	"Ivashkevych, Oksana via Tech-talk" <tech-talk at aps.anl.gov>
To:	"Lang, Keenan C." <klang at anl.gov>, Tech-talk <tech-talk at aps.anl.gov>
Date:	Tue, 18 Oct 2022 20:27:45 +0000

Hi Keenan,

Thank you very much.

After changing the lua scrip file the way you suggested, I was able to move all my three motors.

After running a few tests, I have discovered a few other problems:

The motor does not stop on the limit. It does show that the limit has been hit, but it continues to output current pushing the motor forward. Writing 1 to the STOP does not help, and later I have tested that the STOP does not work at all for me.

The ways I was able to stop are 1) shut power to the controller, 2) disconnect controller from the beamline, connect to the laptop, run vendor app and press the stop there.

I was wondering if anyone else in APS or other places experienced similar problems and what did you do about it?

Also would appreciate suggestion how I could fix it.

Thank you

Oksana

From: Lang, Keenan C. <klang at anl.gov>
Sent: Monday, October 17, 2022 5:55 PM
To: Ivashkevych, Oksana <oksana at bnl.gov>; Tech-talk <tech-talk at aps.anl.gov>
Subject: Re: Attocube AMC100

I didn't experience this with the device I originally tested on, but I do know that Dave Cyl here at the APS did end up running into a similar issue with a more recent AMC100. We think that there were API changes causing behavior changes, but haven't been able to fully test out changes.

What he ended up changing:

Add the following to the move function, after the send(request) line that sends a request for "com.attocube.amc.move.setControlTargetPosition"

local request = {

jsonrpc = "2.0",

method = "com.attocube.amc.control.setControlMove",

params = { AXIS ,true },

id = AXIS,

api = 2 }

send(request)

Add the following to the poll function, after it checks if limits have been reached:

if (status == "in target range") then

local request = {

jsonrpc = "2.0",

method = "com.attocube.amc.control.setControlMove",

params = { AXIS ,false },

id = AXIS,

api = 2 }

send(request)

end

Keenan

From: Ivashkevych, Oksana <oksana at bnl.gov>
Sent: Monday, October 17, 2022 2:31 PM
To: Lang, Keenan C. <klang at anl.gov>; Tech-talk <tech-talk at aps.anl.gov>
Subject: RE: Attocube AMC100

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