epics-motor / motorsmaract Goto Github PK

EPICS motor drivers for SmarAct controllers

Makefile 9.44% Batchfile 1.47% C++ 85.49% Python 3.60%

motorsmaract's Introduction

motorSmarAct

EPICS motor drivers for the following SmarAct controllers: MCS, MCS2, SCU

motorSmarAct is a submodule of motor. When motorSmarAct is built in the motor/modules directory, no manual configuration is needed.

motorSmarAct can also be built outside of motor by copying it's EXAMPLE_RELEASE.local file to RELEASE.local and defining the paths to MOTOR and itself.

motorSmarAct contains an example IOC that is built if CONFIG_SITE.local sets BUILD_IOCS = YES. The example IOC can be built outside of driver module.

motorsmaract's People

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chrschroeder huijuan-xu julreinhardt edwinvanders zanmaticpratnemer domitto oksanagit kivel michas-git canadian-light-source ganymede42 diamondlightsource europeanspallationsource

motorsmaract's Issues

MCS2 zeroes position on power cycle

When the MCS2 controller is power cycled it resets the position to zero.

Is there a way to have the motor record restore the position on a connect/reconnect event?

Alternatively, is there a flag that indicates a disconnect/reconnect cycle occurred and that the user should rehome the stages?

Allow specifying unused MCS2 channels

If there is an unused channel between used channels (channel 0 and 2 are connected to stages and channel 1 is not), it causes timeouts when querying the readback position of the unused channel. This can give the appearance that the driver is taking much longer to poll than the specified idle polling period.

One possible workaround for this problem is to add a way for the used/unused axes to be specified from the iocsh and then make the getAxis methods in the only return an axis pointer for used channels.

smaract scu on windows x86_64 error

I got this error when trying to start smarAct IOC on windows.
Does anyone know what the cause might be?

C:\epics\modules\synApps_6_1_epics7\support\motor-R7-2-1\modules\motorSmarAct\iocs\smarActIOC\iocBoot\iocSmarAct>..\..\bin\windows-x64\smarAct.exe st.cmd
#!../../bin/linux-x86_64/smarAct
< envPaths
epicsEnvSet("IOC","iocSmarAct")
epicsEnvSet("TOP","C:/epics/modules/synApps_6_1_epics7/support/motor-R7-2-1/modules/motorSmarAct/iocs/smarActIOC")
epicsEnvSet("AUTOSAVE","C:/epics/modules/synApps_6_1_epics7/support/autosave-R5-10")
epicsEnvSet("MOTOR","C:/epics/modules/synApps_6_1_epics7/support/motor-R7-2-1")
epicsEnvSet("ASYN","C:/epics/modules/synApps_6_1_epics7/support/asyn-R4-38")
epicsEnvSet("SNCSEQ","C:/epics/modules/synApps_6_1_epics7/support/seq-2-2-7")
epicsEnvSet("BUSY","C:/epics/modules/synApps_6_1_epics7/support/busy-R1-7-2")
epicsEnvSet("IPAC","C:/epics/modules/synApps_6_1_epics7/support/ipac-2-15")
epicsEnvSet("EPICS_BASE","C:/epics/base-7.0.4")
epicsEnvSet("SUPPORT","C:/epics/modules/synApps_6_1_epics7/support")
cd "C:/epics/modules/synApps_6_1_epics7/support/motor-R7-2-1/modules/motorSmarAct/iocs/smarActIOC"
## Register all support components
dbLoadDatabase "dbd/smarAct.dbd"
smarAct_registerRecordDeviceDriver pdbbase
cd "C:/epics/modules/synApps_6_1_epics7/support/motor-R7-2-1/modules/motorSmarAct/iocs/smarActIOC/iocBoot/iocSmarAct"
## motorUtil (allstop & alldone)
dbLoadRecords("C:/epics/modules/synApps_6_1_epics7/support/motor-R7-2-1/db/motorUtil.db", "P=smarAct:")
# Uncomment one of the following lines for MCS or MCS2 controller
#< smaractmcs.iocsh
#< smaractmcs2.iocsh
< smaractscu.iocsh
### Motors
# Motors substitutions, customize this for your motor
dbLoadTemplate "motor.substitutions.smaractscu"
# Configure each controller
drvAsynSerialPortConfigure("serial1","COM3")
asynOctetSetOutputEos("serial1",0,"\n")
asynOctetSetInputEos("serial1",0,"\n")
#asynSetTraceIOMask("serial1",0,2)
#asynSetTraceMask("serial1",0,9)
#drvAsynSerialPortConfigure("serial2","COM6")
#asynOctetSetOutputEos("serial2",0,"\n")
#asynOctetSetInputEos("serial2",0,"\n")
#asynSetTraceIOMask("serial2",0,2)
#asynSetTraceMask("serial2",0,9)
# Controller port, asyn port, number of axis, moving poll period, idle poll period
# smarActSCUCreateController(const char *motorPortName, const char *ioPortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
smarActSCUCreateController("SCU1", "serial1", 2, .05, 1.0)
#smarActSCUCreateController("SCU2", "serial2", 3, .05, 1.0)
#asynSetTraceMask("SCU1", 0, 11)
#asynSetTraceMask("SCU1", 1, 11)
#asynSetTraceMask("SCU1", 2, 11)
#asynSetTraceMask("SCU2", 0, 11)
#asynSetTraceMask("SCU2", 1, 11)
#asynSetTraceMask("SCU2", 2, 11)
# Controller port, axis number, controller channel
# smarActSCUCreateAxis(const char *motorPortName, int axisNumber, int channel)
smarActSCUCreateAxis("SCU1", 0, 0);
2021/03/15 15:20:32.572 ERROR: sendCmd: status=1, sent: :GCLF0, received:
SmarActSCUAxis::SmarActSCUAxis -- channel 0 ASYN error 1
#smarActSCUCreateAxis("SCU1", 1, 1);
#smarActSCUCreateAxis("SCU1", 2, 2);
#smarActSCUCreateAxis("SCU2", 0, 0);
#smarActSCUCreateAxis("SCU2", 1, 1);
#smarActSCUCreateAxis("SCU2", 2, 2);
# Need to sleep for a second to allow poller to run.
# Without this the motors won't have their initial positions
epicsThreadSleep(1.0)
##
iocInit
Starting iocInit
############################################################################
## EPICS R7.0.4
## Rev. 2021-03-12T11:35
############################################################################
2021/03/15 15:20:34.587 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:20:34.589 devMotorAsyn::init_record: smarAct:m2 pasynGenericPointer->read returned 2021/03/15 15:20:34.589 devMotorAsyn::asynCallback: smarAct:m2 pasyn{Float64,Int32}->write returned
2021/03/15 15:20:34.589 devMotorAsyn::asynCallback: smarAct:m2 pasyn{Float64,Int32}->write returned
2021/03/15 15:20:34.590 devMotorAsyn::asynCallback: smarAct:m2 pasyn{Float64,Int32}->write returned
iocRun: All initialization complete
## motorUtil (allstop & alldone)
motorUtilInit("smarAct:")
# Boot complete
epics> 2021/03/15 15:20:36.666 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:20:36.666 smarAct:m2Offset devAsynFloat64::processCallbackOutput process write error
2021/03/15 15:20:36.668 smarAct:m2Resolution devAsynFloat64::processCallbackOutput process write error
2021/03/15 15:20:36.669 smarAct:m2Direction devAsynInt32::processCallbackOutput process write error
2021/03/15 15:20:38.742 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:20:40.816 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:20:42.888 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:20:46.964 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:20:49.046 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:20:51.129 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:20:53.206 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:20:57.299 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:20:59.391 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:21:03.469 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:21:05.549 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:21:09.647 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:21:13.735 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:21:15.811 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:21:19.905 ERROR: sendCmd: status=1, sent: :GA0, received:
2021/03/15 15:21:21.985 ERROR: sendCmd: status=1, sent: :GA0, received:

epics>
epics> 2021/03/15 15:21:24.063 ERROR: sendCmd: status=1, sent: :GA0, received:
e2021/03/15 15:21:26.139 ERROR: sendCmd: status=1, sent: :GA0, received:
xit

SmarAct releasing motors with new sensor types

The MCS driver, on creation, sends the command "GST" to get the axis' sensor type and then checks that value against a list of known values to see if it is dealing with a rotary motor or a linear one. Unfortunately, SmarAct is still releasing new motors that report new sensor types that aren't included in the list. Linear motors will default to correct operation, but new rotary motors don't work with the driver.

We could add the new sensor types to the list in the driver, but that would just be kicking the problem down the road a bit. I suggest switching the code to just send the command "GA" or "GP" and check which command sends a readable reply and which sends error code 143.

Making rint static breaks VxWorks builds

Commit e3ec0a9 breaks builds on VxWorks:

../smarActMCSMotorDriver.cpp: In function 'double rint(double)':
../smarActMCSMotorDriver.cpp:41: error: 'double rint(double)' was declared 'extern' and later 'static'
/APSshare/vw/vxWorks-6.9.4/vxworks-6.9.4/target/h/math.h:104: error: previous declaration of 'double rint(double)'
make[5]: *** [smarActMCSMotorDriver.o] Error 1
make[5]: Leaving directory `/net/s100dserv/xorApps/epics/motor-devel/support/motor-git/modules/motorSmarAct/smarActApp/src/O.vxWorks-ppc32'
make[4]: *** [install.vxWorks-ppc32] Error 2
make[4]: Leaving directory `/net/s100dserv/xorApps/epics/motor-devel/support/motor-git/modules/motorSmarAct/smarActApp/src'
make[3]: *** [src.install] Error 2
make[3]: Leaving directory `/net/s100dserv/xorApps/epics/motor-devel/support/motor-git/modules/motorSmarAct/smarActApp'
make[2]: *** [smarActApp.install] Error 2
make[2]: Leaving directory `/net/s100dserv/xorApps/epics/motor-devel/support/motor-git/modules/motorSmarAct'
make[1]: *** [motorSmarAct.install] Error 2
make[1]: Leaving directory `/net/s100dserv/xorApps/epics/motor-devel/support/motor-git/modules'
make: *** [modules.install] Error 2

SmartAct MCS failing at startup

Hi,
I'm trying to use the smarAct IOC with a gen1 MCS controller but it seems to be failing right after smartActMCSCreateAxis.
It looks like the GCLS command is waiting for a non-E response and this controller is returning E0,240 instead. I've attached the output with the asynSetTraceMask.
smarActIOC.txt

MCS2: unable to decode no-sensor-present error

If an axis is disconnected when the IOC starts, no-sensor-present errors occur during startup:

2022/04/06 16:32:00.198 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.199 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.199 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.200 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.201 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.202 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.203 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.204 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.205 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.205 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.206 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.207 MCS2Axis::clearErrors: Unable to decode 259
2022/04/06 16:32:00.208 MCS2Controller::MCS2Controller: Device Name: "MCS2-00000807"
259,"no sensor present"259,"no sensor present"259,"no sensor present"259,"no sensor present"259,"no sensor present"259,"no sensor present"259,"no sensor present"259,"no sensor present"259,"no sensor present"259,"no sensor present"259,"no sensor present"259,"no sensor present"

This error should be handled in the following switch statement:

motorSmarAct/smarActApp/src/smarActMCS2MotorDriver.cpp

Lines 124 to 146 in 56ef95f

 switch (errorCode){ 

 case 0: sprintf(errorMsg, "No error"); 

 break; 

 case -101: sprintf(errorMsg, "Invalid character"); 

 break; 

 case -103: sprintf(errorMsg, "Invalid seperator"); 

 break; 

 case -104: sprintf(errorMsg, "Data type error"); 

 break; 

 case -108: sprintf(errorMsg, "Parameter not allowed"); 

 break; 

 case -109: sprintf(errorMsg, "Missing parameter"); 

 break; 

 case -113: sprintf(errorMsg, "Command not exist"); 

 break; 

 case -151: sprintf(errorMsg, "Invalid string"); 

 break; 

 case -350: sprintf(errorMsg, "Queue overflow"); 

 break; 

 case -363: sprintf(errorMsg, "Buffer overrun"); 

 break; 

 default: sprintf(errorMsg, "Unable to decode %d", errorCode); 

 break;

It isn't obvious to me why the no-sensor-present error number is positive but the others are negative.

epics-motor / motorsmaract Goto Github PK

motorsmaract's Introduction

motorSmarAct

motorsmaract's People

Contributors

Stargazers

Watchers

Forkers

motorsmaract's Issues

MCS2 zeroes position on power cycle

Allow specifying unused MCS2 channels

smaract scu on windows x86_64 error

SmarAct releasing motors with new sensor types

Making rint static breaks VxWorks builds

SmartAct MCS failing at startup

MCS2: unable to decode no-sensor-present error

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	switch (errorCode){
	case 0: sprintf(errorMsg, "No error");
	break;
	case -101: sprintf(errorMsg, "Invalid character");
	break;
	case -103: sprintf(errorMsg, "Invalid seperator");
	break;
	case -104: sprintf(errorMsg, "Data type error");
	break;
	case -108: sprintf(errorMsg, "Parameter not allowed");
	break;
	case -109: sprintf(errorMsg, "Missing parameter");
	break;
	case -113: sprintf(errorMsg, "Command not exist");
	break;
	case -151: sprintf(errorMsg, "Invalid string");
	break;
	case -350: sprintf(errorMsg, "Queue overflow");
	break;
	case -363: sprintf(errorMsg, "Buffer overrun");
	break;
	default: sprintf(errorMsg, "Unable to decode %d", errorCode);
	break;