Motor control IOC: Delta Tau GeoBrick register (Y:) access from EPICS

["Ha, Kiman via Tech-talk" <tech-talk at aps.anl.gov>]

Hello all,

 

I’m working with a Delta Tau GeoBrick (Turbo PMAC2 family) controlled by an EPICS IOC using a motor record with DTYP=asynMotor.

 

My purpose is to sniff/verify the EIB1512 EnDat2 encoder protocol for a PandABox interface, so I’d like to read the encoder input raw EnDat2 register words directly from the controller, for example:

• Y:$78B20 (EnDat Data A, Ch1)
• Y:$78B21 (EnDat Data B, Ch1)
• Y:$78B24 (EnDat Data A, Ch2)
• Y:$78B25 (EnDat Data B, Ch2)

 

From the motor record I see:
• XF:23ID2-OP{Mono-Ax}Mtr.DTYP = asynMotor
• XF:23ID2-OP{Mono-Ax}Mtr.OUT = @asyn(motor,2)

 

Any suggestions on the recommended way to read these Y: registers as raw words from the IOC (e.g., via an asynOctet port/asynRecord, or a standard PMAC/GeoBrick register PV template).

 

Thanks,

Kiman