RE: [Ext] RE: Help with motorNewport config

[Mark Rivers via Tech-talk <tech-talk at aps.anl.gov>]

Hi Jesse,

 

• 2024/11/12 14:15:20.402 XPSAxis:getPID:. XPS XPS1 axis 5 corrector type is NoCorrector. Cannot get PID.
  
  

That message is normal for axes without feedback, not a problem.

 

• 2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:FixedTime devAsynFloat64::processCallbackOutput process write error
  
  

I don’t know what is causing those errors.  How have you changed motor.substitutions.xps5?

 

• I also tried enabling the Aux configuration and still get the same kinds of errors:
• 2024/11/12 14:15:11.994 drvXPSAsynAux::XPSAuxPoller error calling GPIOAnalogGet=-8
  
  

What version of the XPS is this, XPS-C8, XPS-Q8, or XPS-D8?  As I recall the XPSAux code needs work to run on the XPS-D8.

 

• The only output we use from the XPS controllers at the moment is the PCO, I don't know if this will affect our ability to use that or not. If not, I'm happy to just leave it disabled/ignore it.

 

The XPSAux code is not needed for the PCO output, or the trigger pulse output from trajectory scans/profile moves.  It is only needed for direct digital I/O and analog I/O.

 

Mark

 

From: Jesse Hopkins <jhopkins1 at iit.edu>
Sent: Tuesday, November 12, 2024 2:20 PM
To: Mark Rivers <rivers at cars.uchicago.edu>
Cc: EPICS Tech Talk <tech-talk at aps.anl.gov>
Subject: Re: [Ext] RE: Help with motorNewport config

 

Hi Mark,

 

Thanks for the quick response! Changing to the correct version of the config commands seems to have fixed most of the issues. There are still a few more things I'm not sure about. After configuring one of the axes I get the following message. Should I be concerned? This motor doesn't have encoders, so my suspicion is it's about that:

XPSCreateAxis("XPS1",5,"Group6.Pos",   "50")
2024/11/12 14:15:20.402 XPSAxis:getPID:. XPS XPS1 axis 5 corrector type is NoCorrector. Cannot get PID.

 

And on iocInit I get some errors about the profile:

iocInit
Starting iocInit
############################################################################
## EPICS R7.0.8
## Rev. 2024-03-01T16:24-0600
## Rev. Date build date/time:
############################################################################
drvStreamInit: Warning! STREAM_PROTOCOL_PATH not set.
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:FixedTime devAsynFloat64::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:Acceleration devAsynFloat64::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:TimeMode devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:MoveMode devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:M1UseAxis devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:M2UseAxis devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:M3UseAxis devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:M4UseAxis devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:M5UseAxis devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:NumAxes devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:NumPoints devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:NumPulses devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:StartPulses devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:EndPulses devAsynInt32::processCallbackOutput process write error

 

 

Here's the full IOC startup in case it's useful:

(main) biocat@dalek:/opt/epics/epics_iocs/soft_iocs/newport_test/iocBoot/iocnewport_test$ ./st.cmd
#!../../bin/linux-x86_64/newport_test
#errlogInit(5000)
< envPaths
epicsEnvSet("IOC","iocnewport_test")
epicsEnvSet("TOP","/opt/epics/epics_iocs/soft_iocs/newport_test")
epicsEnvSet("SUPPORT","/opt/epics/synApps_6_3/support")
epicsEnvSet("EPICS_BASE","/opt/epics/base")
epicsEnvSet("ALIVE","/opt/epics/synApps_6_3/support/alive-R1-4-1")
epicsEnvSet("ASYN","/opt/epics/synApps_6_3/support/asyn-R4-44-2")
epicsEnvSet("AUTOSAVE","/opt/epics/synApps_6_3/support/autosave-R5-11")
epicsEnvSet("BUSY","/opt/epics/synApps_6_3/support/busy-R1-7-4")
epicsEnvSet("CALC","/opt/epics/synApps_6_3/support/calc-R3-7-5")
epicsEnvSet("CAMAC","/opt/epics/synApps_6_3/support/camac-R2-7-5")
epicsEnvSet("CAPUTRECORDER","/opt/epics/synApps_6_3/support/caputRecorder-R1-7-6")
epicsEnvSet("DAC128V","/opt/epics/synApps_6_3/support/dac128V-R2-10-1")
epicsEnvSet("DELAYGEN","/opt/epics/synApps_6_3/support/delaygen-R1-2-4")
epicsEnvSet("DEVIOCSTATS","/opt/epics/synApps_6_3/support/iocStats-3-1-16")
epicsEnvSet("ETHERIP","/opt/epics/synApps_6_3/support/ether_ip-ether_ip-3-3")
epicsEnvSet("GALIL","/opt/epics/synApps_6_3/support/Galil-4-0-02")
epicsEnvSet("IP","/opt/epics/synApps_6_3/support/ip-R2-22")
epicsEnvSet("IP330","/opt/epics/synApps_6_3/support/ip330-R2-10")
epicsEnvSet("IPAC","/opt/epics/synApps_6_3/support/ipac-2-16")
epicsEnvSet("IPUNIDIG","/opt/epics/synApps_6_3/support/ipUnidig-R2-12")
epicsEnvSet("LABJACK","/opt/epics/synApps_6_3/support/LabJack-master")
epicsEnvSet("LOVE","/opt/epics/synApps_6_3/support/love-R3-2-9")
epicsEnvSet("LUA","/opt/epics/synApps_6_3/support/lua-R3-1")
epicsEnvSet("MCA","/opt/epics/synApps_6_3/support/mca-R7-10")
epicsEnvSet("MEASCOMP","/opt/epics/synApps_6_3/support/measComp-master")
epicsEnvSet("MODBUS","/opt/epics/synApps_6_3/support/modbus-R3-3")
epicsEnvSet("MOTOR","/opt/epics/synApps_6_3/support/motor-R7-3-1")
epicsEnvSet("OPTICS","/opt/epics/synApps_6_3/support/optics-R2-14")
epicsEnvSet("SCALER","/opt/epics/synApps_6_3/support/scaler-4-1")
epicsEnvSet("SNCSEQ","/opt/epics/synApps_6_3/support/sequencer-mirror-R2-2-9")
epicsEnvSet("SOFTGLUE","/opt/epics/synApps_6_3/support/softGlue-R2-8-4")
epicsEnvSet("SOFTGLUEZYNQ","/opt/epics/synApps_6_3/support/softGlueZynq-R2-0-5")
epicsEnvSet("SSCAN","/opt/epics/synApps_6_3/support/sscan-R2-11-6")
epicsEnvSet("STD","/opt/epics/synApps_6_3/support/std-R3-6-4")
epicsEnvSet("STREAM","/opt/epics/synApps_6_3/support/StreamDevice-2-8-24")
epicsEnvSet("VAC","/opt/epics/synApps_6_3/support/vac-R1-9-2")
epicsEnvSet("VME","/opt/epics/synApps_6_3/support/vme-R2-9-5")
epicsEnvSet("XXX","/opt/epics/synApps_6_3/support/xxx-R6-3")
epicsEnvSet("YOKOGAWA_DAS","/opt/epics/synApps_6_3/support/Yokogawa_DAS-R2-0-2")
epicsEnvSet("ALLENBRADLEY","/opt/epics/synApps_6_3/support/allenBradley-2-3")
epicsEnvSet("ULDAQ","/opt/epics/synApps_6_3/support/measComp-R4-2/libuldaq-1.2.1")
# Tell EPICS all about the record types, device-support modules, drivers,
# etc. in this build from CARS
dbLoadDatabase("../../dbd/iocnewport_testLinux.dbd")
iocnewport_testLinux_registerRecordDeviceDriver(pdbbase)
### Motors
dbLoadTemplate "motor.substitutions.xps5"
#dbLoadTemplate "XPSAux.substitutions"
# asyn port, IP address, IP port, number of axes,
# active poll period (ms), idle poll period (ms),
# enable set position, set position settling time (ms)
XPSCreateController("XPS1", "164.54.204.74", 5001, 8, 10, 500, 0, 500)
#asynSetTraceIOMask("XPS1", 0, 2)
#asynSetTraceMask("XPS1", 0, 255)
# asynPort, IP address, IP port, poll period (ms)
#XPSAuxConfig("XPS_AUX1", "164.54.204.74", 5001, 50)
#asynSetTraceIOMask("XPS_AUX1", 0, 2)
#asynSetTraceMask("XPS_AUX1", 0, 255)
# XPS asyn port,  axis, groupName.positionerName, stepSize
#XPSCreateAxis("XPS1",0,"GROUP.PHI",      "1000")
# PR50PP
XPSCreateAxis("XPS1",5,"Group6.Pos",   "50")
2024/11/12 14:15:20.402 XPSAxis:getPID:. XPS XPS1 axis 5 corrector type is NoCorrector. Cannot get PID.
# ILS50PP
XPSCreateAxis("XPS1",6,"Group7.Pos",   "2000")
# ILS50PP
XPSCreateAxis("XPS1",7,"Group8.Pos",   "5000")
# XPS asyn port,  max points, FTP username, FTP password
# Note: this must be done after configuring axes
XPSCreateProfile("XPS1", 2000, "Administrator", "Administrator")
iocInit
Starting iocInit
############################################################################
## EPICS R7.0.8
## Rev. 2024-03-01T16:24-0600
## Rev. Date build date/time:
############################################################################
drvStreamInit: Warning! STREAM_PROTOCOL_PATH not set.
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:FixedTime devAsynFloat64::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:Acceleration devAsynFloat64::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:TimeMode devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:MoveMode devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:M1UseAxis devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:M2UseAxis devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:M3UseAxis devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:M4UseAxis devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:M5UseAxis devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:NumAxes devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:NumPoints devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:NumPulses devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:StartPulses devAsynInt32::processCallbackOutput process write error
2024/11/12 14:15:20.944 18ID_D_Newport:Prof1:EndPulses devAsynInt32::processCallbackOutput process write error
iocRun: All initialization complete

 

I also tried enabling the Aux configuration and still get the same kinds of errors:

2024/11/12 14:15:11.994 drvXPSAsynAux::XPSAuxPoller error calling GPIOAnalogGet=-8
2024/11/12 14:15:11.994 drvXPSAsynAux::XPSAuxPoller error calling GPIODigitalGet=-8
2024/11/12 14:15:11.995 drvXPSAsynAux::XPSAuxPoller error calling GPIODigitalGet=-8
2024/11/12 14:15:11.995 drvXPSAsynAux::XPSAuxPoller error calling GPIODigitalGet=-8
2024/11/12 14:15:12.046 drvXPSAsynAux::XPSAuxPoller error calling GPIOAnalogGet=-8

 

The only output we use from the XPS controllers at the moment is the PCO, I don't know if this will affect our ability to use that or not. If not, I'm happy to just leave it disabled/ignore it.

 

All the best.

- Jesse

 

----
Jesse Hopkins, PhD
Deputy Director
BioCAT, Sector 18
Advanced Photon Source

 

 

On Tue, Nov 12, 2024 at 1:59 PM Mark Rivers <rivers at cars.uchicago.edu> wrote:

Hi Jesse,

 

I suggest commenting out this line, at least to start:

XPSAuxConfig("XPS_AUX1", "164.54.204.74", 5001, 50)

That is used only for auxiliary analog and digital I/O, not for motor control.  It is generating a lot of your error messages.

 

• IOC:m6Offset devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_OFFSET
  recGblRecordError: ao: init_record Error (514,11) PV: IOC:m6Offset
  IOC:m6Resolution devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_RESOLUTION

The above messages are because you are using the old Model 2 driver via the XPSConfig command.  You should use the new Model 3 driver, which uses XPSCreateController.  Look at st.cmd.xps5 for an example.

 

Mark

 

 

 

From: Tech-talk <tech-talk-bounces at aps.anl.gov> On Behalf Of Jesse Hopkins via Tech-talk
Sent: Tuesday, November 12, 2024 1:48 PM
To: EPICS Tech Talk <tech-talk at aps.anl.gov>
Subject: Help with motorNewport config

 

Hi folks,

 

I'm attempting to set up a Newport XPS-D8 using the motorNewport module, and having some trouble. Basically, the configuration seems to go fine, but as soon as I call iocInit I get a bunch of error messages. I suspect I'm not actually configuring it correctly, there are ~5 XPS start.cmd files in the example IOC, and they're all a bit different, so I wasn't quite sure how to proceed there. Any help anyone can provide would be greatly appreciated!

 

For reference:

EPICS: 7.0.8

Motor: 7-3-1

Asyn: 4-44-2

motorNewport: 1-2-1

OS: Debian 12

XPS firmware: XPS-D-N13019

 

Here's an abbreviated output from trying to start the IOC. 

biocat@dalek:/opt/epics/epics_iocs/soft_iocs/newport_test/iocBoot/iocnewport_test$ ./st.cmd
#!../../bin/linux-x86_64/newport_test
#errlogInit(5000)
< envPaths
epicsEnvSet("IOC","iocnewport_test")
epicsEnvSet("TOP","/opt/epics/epics_iocs/soft_iocs/newport_test")
epicsEnvSet("SUPPORT","/opt/epics/synApps_6_3/support")
epicsEnvSet("EPICS_BASE","/opt/epics/base")
epicsEnvSet("ALIVE","/opt/epics/synApps_6_3/support/alive-R1-4-1")
epicsEnvSet("ASYN","/opt/epics/synApps_6_3/support/asyn-R4-44-2")
epicsEnvSet("AUTOSAVE","/opt/epics/synApps_6_3/support/autosave-R5-11")
epicsEnvSet("BUSY","/opt/epics/synApps_6_3/support/busy-R1-7-4")
epicsEnvSet("CALC","/opt/epics/synApps_6_3/support/calc-R3-7-5")
epicsEnvSet("CAMAC","/opt/epics/synApps_6_3/support/camac-R2-7-5")
epicsEnvSet("CAPUTRECORDER","/opt/epics/synApps_6_3/support/caputRecorder-R1-7-6")
epicsEnvSet("DAC128V","/opt/epics/synApps_6_3/support/dac128V-R2-10-1")
epicsEnvSet("DELAYGEN","/opt/epics/synApps_6_3/support/delaygen-R1-2-4")
epicsEnvSet("DEVIOCSTATS","/opt/epics/synApps_6_3/support/iocStats-3-1-16")
epicsEnvSet("ETHERIP","/opt/epics/synApps_6_3/support/ether_ip-ether_ip-3-3")
epicsEnvSet("GALIL","/opt/epics/synApps_6_3/support/Galil-4-0-02")
epicsEnvSet("IP","/opt/epics/synApps_6_3/support/ip-R2-22")
epicsEnvSet("IP330","/opt/epics/synApps_6_3/support/ip330-R2-10")
epicsEnvSet("IPAC","/opt/epics/synApps_6_3/support/ipac-2-16")
epicsEnvSet("IPUNIDIG","/opt/epics/synApps_6_3/support/ipUnidig-R2-12")
epicsEnvSet("LABJACK","/opt/epics/synApps_6_3/support/LabJack-master")
epicsEnvSet("LOVE","/opt/epics/synApps_6_3/support/love-R3-2-9")
epicsEnvSet("LUA","/opt/epics/synApps_6_3/support/lua-R3-1")
epicsEnvSet("MCA","/opt/epics/synApps_6_3/support/mca-R7-10")
epicsEnvSet("MEASCOMP","/opt/epics/synApps_6_3/support/measComp-master")
epicsEnvSet("MODBUS","/opt/epics/synApps_6_3/support/modbus-R3-3")
epicsEnvSet("MOTOR","/opt/epics/synApps_6_3/support/motor-R7-3-1")
epicsEnvSet("OPTICS","/opt/epics/synApps_6_3/support/optics-R2-14")
epicsEnvSet("SCALER","/opt/epics/synApps_6_3/support/scaler-4-1")
epicsEnvSet("SNCSEQ","/opt/epics/synApps_6_3/support/sequencer-mirror-R2-2-9")
epicsEnvSet("SOFTGLUE","/opt/epics/synApps_6_3/support/softGlue-R2-8-4")
epicsEnvSet("SOFTGLUEZYNQ","/opt/epics/synApps_6_3/support/softGlueZynq-R2-0-5")
epicsEnvSet("SSCAN","/opt/epics/synApps_6_3/support/sscan-R2-11-6")
epicsEnvSet("STD","/opt/epics/synApps_6_3/support/std-R3-6-4")
epicsEnvSet("STREAM","/opt/epics/synApps_6_3/support/StreamDevice-2-8-24")
epicsEnvSet("VAC","/opt/epics/synApps_6_3/support/vac-R1-9-2")
epicsEnvSet("VME","/opt/epics/synApps_6_3/support/vme-R2-9-5")
epicsEnvSet("XXX","/opt/epics/synApps_6_3/support/xxx-R6-3")
epicsEnvSet("YOKOGAWA_DAS","/opt/epics/synApps_6_3/support/Yokogawa_DAS-R2-0-2")
epicsEnvSet("ALLENBRADLEY","/opt/epics/synApps_6_3/support/allenBradley-2-3")
epicsEnvSet("ULDAQ","/opt/epics/synApps_6_3/support/measComp-R4-2/libuldaq-1.2.1")
# Tell EPICS all about the record types, device-support modules, drivers,
# etc. in this build from CARS
dbLoadDatabase("../../dbd/iocnewport_testLinux.dbd")
iocnewport_testLinux_registerRecordDeviceDriver(pdbbase)
### Motors
dbLoadTemplate "motor.substitutions.xps3"
dbLoadTemplate "XPSAux.substitutions"
# asyn port, IP address, IP port, number of axes, active poll period (ms), idle poll period (ms)
#XPSConfig("XPS1", "164.54.204.74", 5001, 8, 20, 500)
# asynPort, IP address, IP port, poll period (ms)
#XPSAuxConfig("XPS_AUX1", "164.54.204.74", 5001, 50)
#asynSetTraceMask("XPS_AUX1", 0, 255)
#asynSetTraceIOMask("XPS_AUX1", 0, 2)
##### Maybe this
# cards (total controllers)
XPSSetup(1)
# card, IP, PORT, number of axes, active poll period (ms), idle poll period (ms)
XPSConfig(0, "164.54.204.74", 5001, 8, 10, 5000)
# asynPort, IP address, IP port, poll period (ms)
XPSAuxConfig("XPS_AUX1", "164.54.204.74", 5001, 50)
#asynSetTraceMask("XPS_AUX1", 0, 255)
#asynSetTraceIOMask("XPS_AUX1", 0, 2)
# asyn port, driver name, controller index, max. axes)
drvAsynMotorConfigure("XPS1", "motorXPS", 0, 8)
XPSInterpose("XPS1")
# card,  axis, groupName.positionerName, stepSize
# PR50PP
XPSConfigAxis(0,5,"Group6.Pos",   50)
# ILS50PP
XPSConfigAxis(0,6,"Group7.Pos",   2000)
# ILS50PP
XPSConfigAxis(0,7,"Group8.Pos",   5000)
#XPSEnableSetPosition(XPS1, 0)
#XPSSetPositionSettlingTime(XPS1, 200)
#dbLoadRecords("$(MOTOR)/motorApp/Db/trajectoryScan.db", "P=IOC:,R=traj1,NAXES=2,NELM=2000,NPULSE=2000,DONPV=13LAB:str:EraseStart,DONV=1,DOFFPV=13LAB:str:StopAll,DOFFV=1")
iocInit
Starting iocInit
############################################################################
## EPICS R7.0.8
## Rev. 2024-03-01T16:24-0600
## Rev. Date build date/time:
############################################################################
drvStreamInit: Warning! STREAM_PROTOCOL_PATH not set.
IOC:m6Offset devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_OFFSET
recGblRecordError: ao: init_record Error (514,11) PV: IOC:m6Offset
IOC:m6Resolution devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_RESOLUTION
recGblRecordError: ao: init_record Error (514,11) PV: IOC:m6Resolution
IOC:m7Offset devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_OFFSET
recGblRecordError: ao: init_record Error (514,11) PV: IOC:m7Offset
IOC:m7Resolution devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_RESOLUTION
recGblRecordError: ao: init_record Error (514,11) PV: IOC:m7Resolution
IOC:m8Offset devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_OFFSET
recGblRecordError: ao: init_record Error (514,11) PV: IOC:m8Offset
IOC:m8Resolution devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_RESOLUTION
recGblRecordError: ao: init_record Error (514,11) PV: IOC:m8Resolution
IOC:m6Direction devAsynInt32::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_DIRECTION
IOC:m7Direction devAsynInt32::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_DIRECTION
IOC:m8Direction devAsynInt32::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_DIRECTION
2024/11/12 13:27:13.484 motorAxisSetDouble: XPS does not support setting encoder ratio
2024/11/12 13:27:13.484 devMotorAsyn::init_controller, IOC:m6 failed to set encoder ratio to inf
2024/11/12 13:27:13.486 motorAxisSetDouble: XPS does not support setting encoder ratio
2024/11/12 13:27:13.486 devMotorAsyn::init_controller, IOC:m7 failed to set encoder ratio to inf
2024/11/12 13:27:13.487 motorAxisSetDouble: XPS does not support setting encoder ratio
2024/11/12 13:27:13.487 devMotorAsyn::init_controller, IOC:m8 failed to set encoder ratio to inf
2024/11/12 13:27:13.501 drvXPSAsynAux::XPSAuxPoller error calling GPIOAnalogGet=-8
...
2024/11/12 13:27:13.942 drvXPSAsynAux::XPSAuxPoller error calling GPIODigitalGet=-8
2024/11/12 13:27:13.991 IOC:XPSAux1Bi0 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:13.992 IOC:XPSAux1Bi1 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:13.992 IOC:XPSAux1Bi2 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:13.993 drvXPSAsynAux::XPSAuxPoller error calling GPIOAnalogGet=-8
2024/11/12 13:27:13.993 IOC:XPSAux1Bi3 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:13.994 drvXPSAsynAux::XPSAuxPoller error calling GPIODigitalGet=-8
2024/11/12 13:27:13.994 IOC:XPSAux1Bi4 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:13.995 drvXPSAsynAux::XPSAuxPoller error calling GPIODigitalGet=-8
2024/11/12 13:27:13.995 IOC:XPSAux1Bi5 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:13.996 IOC:XPSAux1Bi6 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:13.996 drvXPSAsynAux::XPSAuxPoller error calling GPIODigitalGet=-8
2024/11/12 13:27:13.997 IOC:XPSAux1Bi7 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:13.997 IOC:XPSAux2Bi0 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:13.998 IOC:XPSAux2Bi1 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:13.998 IOC:XPSAux2Bi2 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:13.999 IOC:XPSAux2Bi3 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.008 IOC:XPSAux2Bi4 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.009 IOC:XPSAux2Bi5 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.012 IOC:XPSAux4Bi0 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.012 IOC:XPSAux4Bi1 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.012 IOC:XPSAux4Bi2 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.013 IOC:XPSAux4Bi3 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.013 IOC:XPSAux4Bi4 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.014 IOC:XPSAux4Bi5 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.014 IOC:XPSAux4Bi6 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.015 IOC:XPSAux4Bi7 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.015 IOC:XPSAux4Bi8 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.015 IOC:XPSAux4Bi9 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.017 IOC:XPSAux4Bi10 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.024 IOC:XPSAux4Bi11 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.025 IOC:XPSAux4Bi12 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.025 IOC:XPSAux4Bi13 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.026 IOC:XPSAux4Bi14 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.026 IOC:XPSAux4Bi15 devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.026 IOC:XPSAux1Li devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.027 IOC:XPSAux2Li devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
2024/11/12 13:27:14.028 IOC:XPSAux4Li devAsynUInt32Digital::processCallbackInput process read error drvXPSAsynAux::readUInt32D error calling GPIODigitalGet=-8
iocRun: All initialization complete
# This IOC does not use save/restore, so set values of some PVs
#dbpf("IOC:m1.RTRY", "0")
#dbpf("IOC:m1.TWV", "0.1")
#dbpf("IOC:m2.RTRY", "0")
#dbpf("IOC:m2.TWV", "0.1")
#dbpf("IOC:m3.RTRY", "0")
#dbpf("IOC:m3.TWV", "0.1")
#dbpf("IOC:m4.RTRY", "0")
#dbpf("IOC:m4.TWV", "0.1")
#dbpf("IOC:m5.RTRY", "0")
#dbpf("IOC:m5.TWV", "0.1")
dbpf("IOC:m6.RTRY", "0")
DBF_SHORT:          0 = 0x0  
dbpf("IOC:m6.TWV", "0.1")
DBF_DOUBLE:         0.1      
dbpf("IOC:m7.RTRY", "0")
DBF_SHORT:          0 = 0x0  
dbpf("IOC:m7.TWV", "0.1")
DBF_DOUBLE:         0.1      
dbpf("IOC:m8.RTRY", "0")
DBF_SHORT:          0 = 0x0  
dbpf("IOC:m8.TWV", "0.1")
DBF_DOUBLE:         0.1      
2024/11/12 13:27:14.047 drvXPSAsynAux::XPSAuxPoller error calling GPIOAnalogGet=-8
...

 

 

Here's the contents of my motor.substitutions file:

file "$(MOTOR)/db/basic_asyn_motor.db"
{
pattern
{P,     N,  M,        DTYP,         PORT,  ADDR,  DESC,          EGU,  DIR,  VELO,  VBAS,  ACCL,  BDST,  BVEL,  BACC,  MRES,   PREC,  DHLM,  DLLM,  INIT}
{IOC:,  6,  "m$(N)",  "asynMotor",  XPS1,  5,     "size Rot",  deg,   Pos,  20.,     0,    0.25,    0,     1,    .2,    0.02,    2,     1000000.0,  -1000000.0,      ""}
{IOC:,  7,  "m$(N)",  "asynMotor",  XPS1,  6,     "size X",    mm,    Pos,  50.,     0,    0.25,    0,     1,    .2,    0.0005,  4,     25.0,     -25.0,      ""}
{IOC:,  8,  "m$(N)",  "asynMotor",  XPS1,  7,     "size Y",    mm,    Pos,  50.,     0,    0.25,    0,     1,    .2,    0.0005,  4,     25.0,  -25.0,      ""}
}
file "$(MOTOR)/db/XPS_extra.db"
{
pattern
{P,     R,  PORT,  ADDR}
{IOC:,  m6, XPS1,  5}
{IOC:,  m7, XPS1   6}
{IOC:,  m8, XPS1   7}
}

 

 

Here's the contents of my XPSAux.substitions file:

file "$(MOTOR)/db/XPSAuxLi.db"
{
pattern
{P,     R,          PORT,       CHAN,   SCAN}
{IOC:,  XPSAux1Li,  XPS_AUX1,   0,      "I/O Intr"}
{IOC:,  XPSAux2Li,  XPS_AUX1,   1,      "I/O Intr"}
{IOC:,  XPSAux3Li,  XPS_AUX1,   2,      "I/O Intr"}
{IOC:,  XPSAux4Li,  XPS_AUX1,   3,      "I/O Intr"}
}

file "$(MOTOR)/db/XPSAuxBi.db"
{
pattern
{P,    R,           PORT,     CHAN,  MASK,     SCAN}
{IOC:, XPSAux1Bi0,  XPS_AUX1, 0,     0x000001, "I/O Intr"}
{IOC:, XPSAux1Bi1,  XPS_AUX1, 0,     0x000002, "I/O Intr"}
{IOC:, XPSAux1Bi2,  XPS_AUX1, 0,     0x000004, "I/O Intr"}
{IOC:, XPSAux1Bi3,  XPS_AUX1, 0,     0x000008, "I/O Intr"}
{IOC:, XPSAux1Bi4,  XPS_AUX1, 0,     0x000010, "I/O Intr"}
{IOC:, XPSAux1Bi5,  XPS_AUX1, 0,     0x000020, "I/O Intr"}
{IOC:, XPSAux1Bi6,  XPS_AUX1, 0,     0x000040, "I/O Intr"}
{IOC:, XPSAux1Bi7,  XPS_AUX1, 0,     0x000080, "I/O Intr"}
{IOC:, XPSAux2Bi0,  XPS_AUX1, 1,     0x000001, "I/O Intr"}
{IOC:, XPSAux2Bi1,  XPS_AUX1, 1,     0x000002, "I/O Intr"}
{IOC:, XPSAux2Bi2,  XPS_AUX1, 1,     0x000004, "I/O Intr"}
{IOC:, XPSAux2Bi3,  XPS_AUX1, 1,     0x000008, "I/O Intr"}
{IOC:, XPSAux2Bi4,  XPS_AUX1, 1,     0x000010, "I/O Intr"}
{IOC:, XPSAux2Bi5,  XPS_AUX1, 1,     0x000020, "I/O Intr"}
{IOC:, XPSAux3Bi0,  XPS_AUX1, 2,     0x000001, "I/O Intr"}
{IOC:, XPSAux3Bi1,  XPS_AUX1, 2,     0x000002, "I/O Intr"}
{IOC:, XPSAux3Bi2,  XPS_AUX1, 2,     0x000004, "I/O Intr"}
{IOC:, XPSAux3Bi3,  XPS_AUX1, 2,     0x000008, "I/O Intr"}
{IOC:, XPSAux3Bi4,  XPS_AUX1, 2,     0x000010, "I/O Intr"}
{IOC:, XPSAux3Bi5,  XPS_AUX1, 2,     0x000020, "I/O Intr"}
{IOC:, XPSAux4Bi0,  XPS_AUX1, 3,     0x000001, "I/O Intr"}
{IOC:, XPSAux4Bi1,  XPS_AUX1, 3,     0x000002, "I/O Intr"}
{IOC:, XPSAux4Bi2,  XPS_AUX1, 3,     0x000004, "I/O Intr"}
{IOC:, XPSAux4Bi3,  XPS_AUX1, 3,     0x000008, "I/O Intr"}
{IOC:, XPSAux4Bi4,  XPS_AUX1, 3,     0x000010, "I/O Intr"}
{IOC:, XPSAux4Bi5,  XPS_AUX1, 3,     0x000020, "I/O Intr"}
{IOC:, XPSAux4Bi6,  XPS_AUX1, 3,     0x000040, "I/O Intr"}
{IOC:, XPSAux4Bi7,  XPS_AUX1, 3,     0x000080, "I/O Intr"}
{IOC:, XPSAux4Bi8,  XPS_AUX1, 3,     0x000100, "I/O Intr"}
{IOC:, XPSAux4Bi9,  XPS_AUX1, 3,     0x000200, "I/O Intr"}
{IOC:, XPSAux4Bi10, XPS_AUX1, 3,     0x000400, "I/O Intr"}
{IOC:, XPSAux4Bi11, XPS_AUX1, 3,     0x000800, "I/O Intr"}
{IOC:, XPSAux4Bi12, XPS_AUX1, 3,     0x001000, "I/O Intr"}
{IOC:, XPSAux4Bi13, XPS_AUX1, 3,     0x002000, "I/O Intr"}
{IOC:, XPSAux4Bi14, XPS_AUX1, 3,     0x004000, "I/O Intr"}
{IOC:, XPSAux4Bi15, XPS_AUX1, 3,     0x008000, "I/O Intr"}
}

file "$(MOTOR)/db/XPSAuxBo.db"
{
pattern
{P,    R,           PORT,     CHAN, MASK}
{IOC:, XPSAux1Bo0,  XPS_AUX1, 0,    0x000001}
{IOC:, XPSAux1Bo1,  XPS_AUX1, 0,    0x000002}
{IOC:, XPSAux1Bo2,  XPS_AUX1, 0,    0x000004}
{IOC:, XPSAux1Bo3,  XPS_AUX1, 0,    0x000008}
{IOC:, XPSAux1Bo4,  XPS_AUX1, 0,    0x000010}
{IOC:, XPSAux1Bo5,  XPS_AUX1, 0,    0x000020}
{IOC:, XPSAux1Bo6,  XPS_AUX1, 0,    0x000040}
{IOC:, XPSAux1Bo7,  XPS_AUX1, 0,    0x000080}
{IOC:, XPSAux3Bo0,  XPS_AUX1, 1,    0x000001}
{IOC:, XPSAux3Bo1,  XPS_AUX1, 1,    0x000002}
{IOC:, XPSAux3Bo2,  XPS_AUX1, 1,    0x000004}
{IOC:, XPSAux3Bo3,  XPS_AUX1, 1,    0x000008}
{IOC:, XPSAux3Bo4,  XPS_AUX1, 1,    0x000010}
{IOC:, XPSAux3Bo5,  XPS_AUX1, 1,    0x000020}
{IOC:, XPSAux4Bo0,  XPS_AUX1, 2,    0x000001}
{IOC:, XPSAux4Bo1,  XPS_AUX1, 2,    0x000002}
{IOC:, XPSAux4Bo2,  XPS_AUX1, 2,    0x000004}
{IOC:, XPSAux4Bo3,  XPS_AUX1, 2,    0x000008}
{IOC:, XPSAux4Bo4,  XPS_AUX1, 2,    0x000010}
{IOC:, XPSAux4Bo5,  XPS_AUX1, 2,    0x000020}
{IOC:, XPSAux4Bo6,  XPS_AUX1, 2,    0x000040}
{IOC:, XPSAux4Bo7,  XPS_AUX1, 2,    0x000080}
{IOC:, XPSAux4Bo8,  XPS_AUX1, 2,    0x000100}
{IOC:, XPSAux4Bo9,  XPS_AUX1, 2,    0x000200}
{IOC:, XPSAux4Bo10, XPS_AUX1, 2,    0x000400}
{IOC:, XPSAux4Bo11, XPS_AUX1, 2,    0x000800}
{IOC:, XPSAux4Bo12, XPS_AUX1, 2,    0x001000}
{IOC:, XPSAux4Bo13, XPS_AUX1, 2,    0x002000}
{IOC:, XPSAux4Bo14, XPS_AUX1, 2,    0x004000}
{IOC:, XPSAux4Bo15, XPS_AUX1, 2,    0x008000}
}

file "$(MOTOR)/db/XPSAuxLo.db"
{
pattern
{P,     R,         PORT,     CHAN}
{IOC:,  XPSAux1Lo, XPS_AUX1, 0}
{IOC:,  XPSAux3Lo, XPS_AUX1, 1}
{IOC:,  XPSAux4Lo, XPS_AUX1, 2}
}


file "$(MOTOR)/db/XPSAuxAi.db"
{
pattern
{P,    R,          PORT,     CHAN, LOPR,   HOPR,  PREC, SCAN}
{IOC:, XPSAuxAi0,  XPS_AUX1, 0,    -10.0,  10.0,  4,    "1 second"}
{IOC:, XPSAuxAi1,  XPS_AUX1, 1,    -10.0,  10.0,  4,    "1 second"}
{IOC:, XPSAuxAi2,  XPS_AUX1, 2,    -10.0,  10.0,  4,    "1 second"}
{IOC:, XPSAuxAi3,  XPS_AUX1, 3,    -10.0,  10.0,  4,    "1 second"}
}

file "$(MOTOR)/db/XPSAuxAo.db"
{
pattern
{P,    R,          PORT,     CHAN, DRVL,   LOPR,   DRVH,  HOPR,  PREC}
{IOC:, XPSAuxAo0,  XPS_AUX1, 0,    -10.0,  -10.0,  10.0,  10.0,   4}
{IOC:, XPSAuxAo1,  XPS_AUX1, 1,    -10.0,  -10.0,  10.0,  10.0,   4}
{IOC:, XPSAuxAo2,  XPS_AUX1, 2,    -10.0,  -10.0,  10.0,  10.0,   4}
{IOC:, XPSAuxAo3,  XPS_AUX1, 3,    -10.0,  -10.0,  10.0,  10.0    4}
}

 

 

All the best.

- Jesse

 

----
Jesse Hopkins, PhD
Deputy Director
BioCAT, Sector 18
Advanced Photon Source