Micronix MMC100 issues

[Jeffrey Gamsby via Tech-talk <tech-talk@aps.anl.gov>]

Hi All,

 I am trying to get a Micronix MMC-100 IOC running and while I can connect to it and move the axes, the position is not right and I think it may be due to the controller not being set to a MMC-100. I am not sure though.

When I start the IOC I see this message:
2025/07/24 18:17:42.839 MMC200Axis::MMC200Axis: version string is invalid.

This is my st.cmd

#!/opt/epics/synApps_6.1/support/motor-R7-2-2/modules/motorMicronix/iocs/micronixIOC/bin/linux-x86_64/micronix
cd /opt/iocs/micronix/iocBoot
< envPaths
## Register all support components
dbLoadDatabase "/opt/epics/synApps_6_1/support/motor-R7-2-2/modules/motorMicronix/iocs/micronixIOC/dbd/micronix.dbd"
micronix_registerRecordDeviceDriver pdbbase
## motorUtil (allstop & alldone)
dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=micronix:")
##
< motor.cmd.mmc200
#log debug output to file
streamSetLogfile StreamDebug.log
iocInit
## motorUtil (allstop & alldone)
motorUtilInit("micronix:")
var streamDebug 1
# Boot complete

This is my substitutions file:

file "$(MOTOR)/motorApp/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}
  {end1:,     x, "asynMotor", mmc200_1,  0,    "m1x",    mm,       Pos,  3.,   1.,    .05,    .5,    0,       1.0,    2,        1e-6,    5,   0,       0,  ""}
  {end1:,     y, "asynMotor", mmc200_1,  1,    "m1y",    mm,       Pos,  3.,   1.,    .05,    .5,    0,       1.0,    2,        1e-6,    5,   0,       0,  ""}
  {end2:,     x, "asynMotor", mmc200_1,  2,    "m2x",    mm,       Pos,  3.,   1.,    .05,    .5,    0,       1.0,    2,  1e-6,    5,   0,       0,  ""}
  {end2:,     y, "asynMotor", mmc200_1,  3,    "m2y",    mm,       Pos,  3.,   1.,    .05,    .5,    0,       1.0,    2,  1e-6,    5,   0,       0,  ""}
  {end3:,     x, "asynMotor", mmc200_1,  4,    "m3x",    mm,       Pos,  3.,   1.,    .05,    .5,    0,       1.0,    2,  1e-6,    5,   0,       0,  ""}
  {end3:,     y, "asynMotor", mmc200_1,  5,    "m3y",    mm,       Pos,  3.,   1.,    .05,    .5,    0,       1.0,    2,  1e-6,    5,   0,       0,  ""}
}

and this is my motor.cmd.mmc200

dbLoadTemplate("motor.substitutions.mmc200")
### RS-232 with RS-485 adpater (serial1)
drvAsynSerialPortConfigure("serial1", "/dev/ttyUSB0", 0, 0, 0)
asynSetOption ("serial1", 0, "baud", "38400")
#asynSetOption ("serial1", 0, "baud", "115200")
asynSetOption ("serial1", 0, "bits", "8")
asynSetOption ("serial1", 0, "parity", "none")
asynSetOption ("serial1", 0, "stop", "1")
asynSetOption ("serial1", 0, "clocal", "Y")
#asynSetOption ("serial1", 0, "crtscts", "N")
asynOctetSetInputEos("serial1",0,"\r")
asynOctetSetOutputEos("serial1",0,"\r")
MMC200CreateController("mmc200_1", "serial1", 6, 500, 2000, 1)
# Turn off asyn traces
#!asynSetTraceIOMask("serial1",0,0x0)
#!asynSetTraceMask("serial1",0,0x1)

output from ./st.cmd

#!/opt/epics/synApps_6.1/support/motor-R7-2-2/modules/motorMicronix/iocs/micronixIOC/bin/linux-x86_64/micronix
cd /opt/iocs/micronix/iocBoot
< envPaths
epicsEnvSet("IOC","iocMicronix")
epicsEnvSet("TOP","/opt/epics/synApps/support/motor-R7-2-2/modules/motorMicronix/iocs/micronixIOC")
epicsEnvSet("MOTOR","/opt/epics/synApps/support/motor-R7-2-2")
epicsEnvSet("ASYN","/opt/epics/synApps/support/asyn-R4-36")
epicsEnvSet("SNCSEQ","/opt/epics/synApps/support/seq-2-2-6")
epicsEnvSet("BUSY","/opt/epics/synApps/support/busy-R1-7-2")
epicsEnvSet("IPAC","/opt/epics/synApps/support/ipac-2-15")
epicsEnvSet("EPICS_BASE","/opt/epics/base")
## Register all support components
dbLoadDatabase "/opt/epics/synApps_6_1/support/motor-R7-2-2/modules/motorMicronix/iocs/micronixIOC/dbd/micronix.dbd"
micronix_registerRecordDeviceDriver pdbbase
Warning: IOC is booting with TOP = "/opt/epics/synApps/support/motor-R7-2-2/modules/motorMicronix/iocs/micronixIOC"
          but was built with TOP = "/opt/epics/synApps_6.1/support/motor-R7-2-2/modules/motorMicronix/iocs/micronixIOC"
## motorUtil (allstop & alldone)
dbLoadRecords("/opt/epics/synApps/support/motor-R7-2-2/db/motorUtil.db", "P=micronix:")
##
< motor.cmd.mmc200
dbLoadTemplate("motor.substitutions.mmc200")
### RS-232 with RS-485 adpater (serial1)
drvAsynSerialPortConfigure("serial1", "/dev/ttyUSB0", 0, 0, 0)
#drvAsynSerialPortConfigure("serial1", "/dev/ttymmc1", 0, 0, 0)
#drvAsynSerialPortConfigure("serial1", "/dev/ttyUSB2", 0, 0, 0)
#drvAsynSerialPortConfigure("serial1", "/dev/ttyUSB1", 0, 0, 0)
asynSetOption ("serial1", 0, "baud", "38400")
#asynSetOption ("serial1", 0, "baud", "115200")
asynSetOption ("serial1", 0, "bits", "8")
asynSetOption ("serial1", 0, "parity", "none")
asynSetOption ("serial1", 0, "stop", "1")
asynSetOption ("serial1", 0, "clocal", "Y")
#asynSetOption ("serial1", 0, "crtscts", "N")
asynOctetSetInputEos("serial1",0,"\r")
asynOctetSetOutputEos("serial1",0,"\r")
MMC200CreateController("mmc200_1", "serial1", 6, 500, 2000, 1)
2025/07/24 18:22:27.003 MMC200Axis::MMC200Axis: version string is invalid.
2025/07/24 18:22:27.067 MMC200Axis::MMC200Axis: version string is invalid.
2025/07/24 18:22:27.131 MMC200Axis::MMC200Axis: version string is invalid.
2025/07/24 18:22:27.195 MMC200Axis::MMC200Axis: version string is invalid.
2025/07/24 18:22:27.259 MMC200Axis::MMC200Axis: version string is invalid.
2025/07/24 18:22:27.323 MMC200Axis::MMC200Axis: version string is invalid.
# Turn off asyn traces
#!asynSetTraceIOMask("serial1",0,0x0)
#!asynSetTraceMask("serial1",0,0x1)
#log debug output to file
streamSetLogfile StreamDebug.log
st.cmd line 20: Command streamSetLogfile not found.
iocInit
Starting iocInit
############################################################################
## EPICS R7.0.5
## Rev. 2024-10-30T19:45+0000
############################################################################
cas warning: Configured TCP port was unavailable.
cas warning: Using dynamically assigned TCP port 35877,
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
## motorUtil (allstop & alldone)
motorUtilInit("micronix:")
var streamDebug 1
Var streamDebug not found.
# Boot complete

Could it just be my MRES value? Or is the MMC100 not being identified correctly? Or something else?

Thanks,

Jeff