RE: PowerPMAC pmacAsynCoord

["Mercado, Ronaldo \(DLSLtd, RAL, LSCI\) via Tech-talk" <tech-talk at aps.anl.gov>]

I can’t explain the error, I am using linux-x86-64, not vxWorks.

Here’s the relevant lines in my startup script:

 

# Create SSH Port (PortName, IPAddress, Username, Password, Priority, DisableAutoConnect, noProcessEos)

drvAsynPowerPMACPortConfigure("SSHP", "192.168.0.200", "root", "deltatau", "0", "0", "0")

# Configure Model 3 Controller Driver (ControlerPort, LowLevelDriverPort, Address, Axes, MovingPoll, IdlePoll)

pmacCreateController("pwbrick", "SSHP", 0, 4, 100, 1000)

# Configure Model 3 Axes Driver (Controler Port, Axis Count)

pmacCreateAxes("pwbrick", 4)

# Create CS (CSPortName, ControllerPort, CSNumber, ProgramNumber)

pmacCreateCS("PPMAC_1_CS_2", "pwbrick", 2, 10)

# Configure Model 3 CS Axes Driver (CSPortName, CSAxisCount)

pmacCreateCSAxes("PPMAC_1_CS_2", 9)

 

The dbd and lib entries from pmac and motor in the ioc TS02I-CS-IOC-02App/src/Makefile are

 

TS02I-CS-IOC-02_DBD += drvAsynIPPort.dbd                                                                                                                                                                           

TS02I-CS-IOC-02_DBD += drvAsynPowerPMACPort.dbd                                                                                                                                                                   

TS02I-CS-IOC-02_DBD += motorSupport.dbd                                                                                                                                                                            

TS02I-CS-IOC-02_DBD += devSoftMotor.dbd                                                                                                                                                                            

TS02I-CS-IOC-02_DBD += pmacAsynMotorPort.dbd                                                                                                                                                                       

 

TS02I-CS-IOC-02_LIBS += pmacAsynMotorPort                                                                                                                                                                         

TS02I-CS-IOC-02_LIBS += softMotor                                                                                                                                                                                 

TS02I-CS-IOC-02_LIBS += motor                                                                                                                                                                                      

TS02I-CS-IOC-02_LIBS += powerPmacAsynPort                                                                                                                                                                          

 

Yes, the coordinate system relies on a position reporting plc, a forward kinematic, a reverse kinematic and a motion program.

 

This has not changed from pmacAsynCoord

 

Regards,

Ronaldo

 

From: Tech-talk <tech-talk-bounces at aps.anl.gov> On Behalf Of Hidas, Dean via Tech-talk
Sent: Wednesday, August 16, 2023 4:15 PM
To: tech-talk at aps.anl.gov
Subject: Re: PowerPMAC pmacAsynCoord

 

Thank you for your response.  In trying this I may be missing a lib/db?:

pmacCreateCS("BrickCS2", "Brick", 2, 2)

st.cmd line 54: Command pmacCreateCS not found.

 

I notice in pmac-2-5-20/dbd/pmacAsynMotorPortVxWorks.dbd I see (I am not using VxWorks):

function(pmacCreateCS)

function(pmacCreateCSAxis);

function(pmacCreateCSAxes);

 

but I do not see them elsewhere in dbd/*.  My src/Makefile is in line with (pmac version):

https://github.com/dls-controls/pmac/blob/dls-master/docs/source/migration.rst

 

Also, does this rely on a position reporting plc as pmacAsynCoord, so it is looking for something like Coord[2].Q[81]?

 

Thank you again for the help.

 

Best,

 

-Dean

 

From: Mercado, Ronaldo (DLSLtd,RAL,LSCI) <ronaldo.mercado at diamond.ac.uk>
Date: Wednesday, August 16, 2023 at 9:23 AM
To: Hidas, Dean <dhidas at bnl.gov>, tech-talk at aps.anl.gov <tech-talk at aps.anl.gov>
Subject: RE: PowerPMAC pmacAsynCoord

Hi,

 

I can comment that you don’t need pmacAsynCoord any longer when using the pmac driver.

pmacAsynCoord was a separate module from tpmac, but pmac supports coordinate systems using the built-in

pmacCreateCS and pmacCreateCSAxes

 

I would be pleased to give you an example that I tested only a few weeks ago – excerpt below:

 

# Create CS (CSPortName, ControllerPort, CSNumber, ProgramNumber)

pmacCreateCS("PPMAC_1_CS_2", "pwbrick", 2, 10)

# Configure Model 3 CS Axes Driver (CSPortName, CSAxisCount)

pmacCreateCSAxes("PPMAC_1_CS_2", 9)

 

Thanks,

 

Ronaldo

 

From: Tech-talk <tech-talk-bounces at aps.anl.gov> On Behalf Of Hidas, Dean via Tech-talk
Sent: Wednesday, August 16, 2023 1:54 PM
To: tech-talk at aps.anl.gov
Subject: PowerPMAC pmacAsynCoord

 

Greetings EPICS Experts,

 

I’m currently trying to use pmacAsynCoord with the power pmac (pmac-2-5-20 from https://github.com/dls-controls/pmac), which I’ve used successfully on the turbo many times.  When calling pmacAsynCoordCreate() I get a spew of errors of the form:

 

2023/08/16 08:45:37.298 drvPmacAxisGetStatus: not all status values returned. Status: 0

Command :&2??

Response:

$0000780000060001

$0000780000060001

 

This is the same output as I get from the controller.  I’m not so experienced with the Power version and am wondering if I may just be missing some pmac setting or if there is something else I may be misconfiguring.  Any advice is much appreciated.  My st.cmd is below.

 

Best Regards,

 

-Dean Hidas

 

 

 

#!../../bin/linux-x86_64/IVU18

 

< envPaths

 

epicsEnvSet("PMAC1_IP", "192.168.0.200")

epicsEnvSet("sys", "SR:C09-ID:G1")

epicsEnvSet("dev", "IVU18:1")

epicsEnvSet("STREAM_PROTOCOL_PATH", "/usr/lib/epics/protocol:$(TOP)/proto")

 

cd "${TOP}"

 

## Register all support components

dbLoadDatabase "dbd/IVU18.dbd"

IVU18_registerRecordDeviceDriver pdbbase

 

# Create SSH Port (PortName, IPAddress, Username, Password, Priority, DisableAutoConnect, noProcessEos)

drvAsynPowerPMACPortConfigure("BRICK1port", $(PMAC1_IP), "root", "deltatau", "0", "0", "0")

 

# Configure Model 3 Controller Driver (ControlerPort, LowLevelDriverPort, Address, Axes, MovingPoll, IdlePoll)

pmacCreateController("Brick", "BRICK1port", 0, 8, 100, 1000)

# Configure Model 3 Axes Driver (Controler Port, Axis Count)

pmacCreateAxes("Brick", 8)

 

# Create CS (ControllerPort, Addr, CSNumber, CSRef, Prog)

# Gap: Coordinate System 2 | PROG 2

pmacAsynCoordCreate("BRICK1port", 0, 2, 0, 2)

 

# Configure CS (PortName, DriverName, CSRef, NAxes)

drvAsynMotorConfigure("BrickCS2", "pmacAsynCoord", 0, 4)

 

cd "${TOP}/iocBoot/${IOC}"

iocInit

 

-- 

Dean Andrew Hidas, Ph.D.

Sr. Physicist

Brookhaven National Laboratory

Upton, NY 11973, U.S.A.

Phone: +1 631 344 3568

https://www.bnl.gov/staff/dhidas

 

 

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Any opinions expressed within this e-mail are those of the individual and not necessarily of Diamond Light Source Ltd.
Diamond Light Source Ltd. cannot guarantee that this e-mail or any attachments are free from viruses and we cannot accept liability for any damage which you may sustain as a result of software viruses which may be transmitted in or with the message.
Diamond Light Source Limited (company no. 4375679). Registered in England and Wales with its registered office at Diamond House, Harwell Science and Innovation Campus, Didcot, Oxfordshire, OX11 0DE, United Kingdom