Re: help requested about motorPI module

[Dariush Hampai via Tech-talk <tech-talk@aps.anl.gov>]

Hi Kevin,
following the mail of 8 July by Matt, have you included to PIGCS2 the 
src file for the chain mode?
By this, I will update the module in order to use PIGCS2...
awaiting your reply

Dariush

Il 14/07/2025 16:55, Dariush Hampai ha scritto:
> Hi Kevin
> following your suggestions I modify the PI_C663.cmd as following:
> #drvAsynSerialPortConfigure("serial1", "/dev/ttyS0", 0, 0, 0)
>
> dbLoadTemplate("PI_C663.substitutions")
>
> # PI C-663 driver setup parameters:
> #     (1) maximum number of controllers in system
> #     (2) motor task polling rate (min=1Hz,max=60Hz)
> PIC663Setup(2, 10)
>
> # PI C-663 driver configuration parameters:
> #     (1) controller# being configured
> #     (2) ASYN port name
> #     (3) address (GPIB only)
> PIC663Config(0, "serial_pi_1")
> #!drvPIC844debug = 4
>
> 1) However, is it right "PIC663Config(0, "serial_pi_1")", or "0 
> controller# being configured?
> PI_C663.substitutions as
> file "$(MOTOR)/db/motor.db"
> {
> pattern
> {P,     N,  M,        DTYP,      C,  S,  DESC,          EGU, DIR, 
> VELO,  VBAS,  ACCL,  BDST,  BVEL,  BACC,  MRES,  PREC, DHLM, DLLM,  INIT}
> {pi_1:,   1,  "m$(N)",  "PIC663",  0,  0,  "L-611.90 $(N)", degrees,  
> Pos,  25,     .1,    200,    0,     1,     .2, 102400, 4,     
> 1000000,   -100,  ""}
> {pi_1:,   2,  "m$(N)",  "PIC663",  0,  0,  "PLS-85 $(N)",  mm, Pos,  
> 10,     .2,    200,    0,     1,     .2,    409600,  3, 102,   -1,  ""}
> }
>
> 2) running the st.cmd I obtain errors on controller cards:
>
> [xlabsrv2@xlabsrv2 iocPI]$ ./st.cmd
> #!../../bin/linux-x86_64/pi
> ## You may have to change pi to something else
> ## everywhere it appears in this file
> < envPaths
> epicsEnvSet("IOC","iocPI")
> epicsEnvSet("TOP","/home/xlabsrv2/epics/IOCs/piIOC")
> epicsEnvSet("SUPPORT","/home/xlabsrv2/epics/synApps_6_3/support/")
> epicsEnvSet("ASYN","/home/xlabsrv2/epics/synApps_6_3/support//asyn-R4-44-2") 
>
> epicsEnvSet("STREAM","/home/xlabsrv2/epics/synApps_6_3/support//StreamDevice-2-8-24") 
>
> epicsEnvSet("MOTOR","/home/xlabsrv2/epics/synApps_6_3/support/motor-R7-3-1") 
>
> epicsEnvSet("EPICS_BASE","/home/xlabsrv2/epics")
> epicsEnvSet("SNCSEQ","/home/xlabsrv2/epics/synApps_6_3/support//sequencer-mirror-R2-2-9") 
>
> epicsEnvSet("BUSY","/home/xlabsrv2/epics/synApps_6_3/support//busy-R1-7-4") 
>
> epicsEnvSet("IPAC","/home/xlabsrv2/epics/synApps_6_3/support//ipac-2-16")
> epicsEnvSet("LUA","/home/xlabsrv2/epics/synApps_6_3/support//lua-R3-1")
> ######cd "${TOP}"
> ## Register all support components
> dbLoadDatabase "../../dbd/pi.dbd"
> pi_registerRecordDeviceDriver pdbbase
> #####cd "${TOP}/iocBoot/${IOC}"
> ## motorUtil (allstop & alldone)
> dbLoadRecords("/home/xlabsrv2/epics/synApps_6_3/support/motor-R7-3-1/db/motorUtil.db", 
> "P=pi_1:")
> drvAsynIPPortConfigure("serial_pi_1","100.100.0.11:4001",0,0,0)
> asynOctetSetInputEos("serial_pi_1",0,"\n")
> asynOctetSetOutputEos("serial_pi_1",0,"\n")
> ##
> < PI_C663.cmd
> #drvAsynSerialPortConfigure("serial1", "/dev/ttyS0", 0, 0, 0)
> dbLoadTemplate("PI_C663.substitutions")
> # PI C-663 driver setup parameters:
> #     (1) maximum number of controllers in system
> #     (2) motor task polling rate (min=1Hz,max=60Hz)
> PIC663Setup(2, 10)
> # PI C-663 driver configuration parameters:
> #     (1) controller# being configured
> #     (2) ASYN port name
> #     (3) address (GPIB only)
> PIC663Config(0, "serial_pi_1")
> #!drvPIC844debug = 4
> #!< PI_C844.cmd
> #!< PI_C848.cmd
> #!< PI_E662.cmd
> #!< PI_C862.cmd
> #!< PI_E816.cmd
> iocInit
> Starting iocInit
> ############################################################################ 
>
> ## EPICS R7.0.8.2-DEV
> ## Rev. R7.0.8.1-142-g144f9756eac4e800f18d
> ## Rev. Date Git: 2025-02-05 10:16:16 -0600
> ############################################################################ 
>
> recGblRecordError: motor_init_record_com(): card does not exist! 
> Illegal field value PV: pi_1:m1
> recGblRecordError: motor_init_record_com(): card does not exist! 
> Illegal field value PV: pi_1:m2
> iocRun: All initialization complete
> ## motorUtil (allstop & alldone)
> motorUtilInit("pi_1:")
> # Boot complete
> epics>
>
>
> What am I wrong?
>
> awaiting your reply
> Dariush
>
> p.s.: @Matt, following your PIGC2 mod module, I can use it once it 
> will be implemented in official version...
>
> Il 11/07/2025 18:42, Peterson, Kevin M. ha scritto:
> > Dariush,
> >
> > The support in motorPI is very limited compared to the support in 
> > motorPIGCS2.  I don't know if copying the C-844 support and renaming 
> > it for the C-663 will work.  If it does work, it would be difficult 
> > to add missing features to the motorPI support, because the drivers 
> > are model-1 drivers, which aren't easily extensible.
> > A simpler approach would be to use one serial port per C-663 and use 
> > motorPIGCS2 or do use the old verison of motorPIGCS2 that supports 
> > daisy-chaining.
> > I will attempt to answer your questions:
> >
> > 1. That st.cmd looks ok to me.
> >
> > 2. In the PI_C663.cmd, this line only specifies one controller:
> >
> > PIC663Setup(1, 10)
> >
> > I would change it to support two controllers:
> >
> > PIC663Setup(2, 10)
> >
> > 3. Macro explanations:
> >
> > N = a macro that is usually only used to set both the motor name (M) 
> > and description (DESC) fields to "m$(N)."  This isn't actually a 
> > macro that is required by the database and can be exlcuded if none of 
> > the values use "$(N)".
> > M = the motor's name.  The full record name of the motor is "$(P)$(M)"
> > C = card index (starting from zero)
> > S = slot index (starting from zero)
> >
> > For a daisy chain of multi-axis controllers, C is usually the index 
> > of the controller and S is usually the index of the motor.  Some 
> > controllers, however, are smart enough to know that multiple 
> > controllers are daisy chained and and present themselves as a single 
> > controller (C=0 for all axes), so the S in that case would range from 
> > 0 to (num controllers * num axes per control - 1).
> > I don't know how the daisy-chain addressing works with the C-663 
> > controller, so I don't know if the motor record for the 2nd axis 
> > should have C=0 & S=1 or C=1 and S=0.
> > Kevin
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Dr. Dariush Hampai, PhD

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