Experimental Physics and
Industrial Control System

"Rees, NP (Nick)" <[email protected]> · Tue, 13 Jan 2009 10:50:46 -0000

Dirk,

Gosh, suddenly everyone wants to know about the PMAC. 

As far as I can tell, you have configured your pmac correctly - in fact
better than the example I gave in the earlier response to Richard
Pastrick because the last parameter in drvAsynMotorConfigure should be
one more than the last parameter in pmacAsynMotorCreate (because of a
1-based and 0-based numbering conflict).

What seems to be happening is the first error message you get is a
timeout when sending a VR_PMAC_FLUSH command to the PMAC. This is what
pmacFlush does in the interpose layer. I can't explain this unless you
have a old version of the PMAC firmware which doesn't support all the
current functionality. Please let me know what the "ver" command returns
and what type of PMAC you are trying to control. This is my best guess
as to the problem. I assume you have it running TCP as discussed in the
last thread on this back in December.

In answer to your other questions:

> Can the motor record read the encoder values from PMAC?

The motor record has the current profiled demand position in RMP and the
encoder value in REP. What is meant by "encoder value" depends on how
you have configured the PMAC.

> How can I use programs (homing an scanning procedures) on the PMAC?

You have full access to all PMAC functionality via the asynOctet port.
At DLS, we also have a set of interface guidelines to interface motion
programs so everything is standardised, and if you abide by these
guidelines, then we also have a pmacAsynCoord driver to connect
coordinate system axes to motor records. The specific pmacAsynCoord
driver requirements are:

 - Q71..79 are reserved for the axis demand positions, and are set by
the EPICS software
 - A position reporting PLC must be implemented which reports back the
positions of co-ordinate system axes A,B,C,U,V,W,X,Y,Z on variables
Q81..89
 - The axis deadbands must be reported on variables Q91..Q99
 - A standard motion program to move the co-ordinate system axes must
also be implemented
 - If motor resolution and offset parameters need to be incorporated,
they should be defined in the variables P1xx and P3xx respectively (xx
represents the axis number)

> How to access other values (analog and binary IO) on the PMAC?

These are accessed directly through the asynOctet port. Unfortunately,
it seems that streamDevice and asynMotor drivers conflict and end up in
a deadlock, so currently we use asynRecord and scalc to do the parsing.
We suspect that if we change asynMotor to use FIFO's for the status
callbacks (like Mark modified all the standard asyn types to do last
year) then the deadlock will go away, but we haven't checked this.

My corrected example fo Richard Pastrick for a 4 axis PMAC you should
do:

 Configure the standard Ethernet asynIPPort
drvAsynIPPortConfigure("pmac1E", "172.23.86.84:1025", 0, 0, 0)

# Create the interpose layer on this port to properly handle the PMAC
protocol
pmacAsynIPPortConfigure("pmac1E", 0)

# Create a pmacAsynMotor driver connected tto this port
pmacAsynMotorCreate("pmac1E", 0, 0, 4)

# Setup the asynMotor layer (note the last parameter has to be one more
than the number of axes you specified in pmacAsynMotorCreate).
# Note the new asynPort name.
# There will be a warning at this stage about not being able to create
axis 0 - you should ignore this.
drvAsynMotorConfigure("pmac1", "pmacAsynMotor", 0, 5)

Cheers,

Nick Rees
Principal Software Engineer           Phone: +44 (0)1235-778430
Diamond Light Source                  Fax:   +44 (0)1235-446713 

> -----Original Message-----
> From: [email protected] 
> [mailto:[email protected]] On Behalf Of Dirk Zimoch
> Sent: 13 January 2009 09:19
> To: tech-talk
> Subject: PMAC IP and motor records
> 
> Hi all,
> 
> I am trying to set up a few motors on a PMAC system with 
> ethernet connection. I 
> have never worked with PMAC before and need some help.
> 
> I tried the tpmac package but I do not understand completely 
> what I have to 
> write in the startup script and how set up the motor records. 
> I need access to 
> 13 motors with the numbers 1,2,3,4,5,7,8,9,10,11,17,18,19.
> 
> Can someone send me an example startup script and an example 
> motor record, please?
> 
> So far, I guessed from various bits of documentation:
> 
> drvAsynIPPortConfigure pmac xx.xx.xx.xx:1025
> pmacAsynIPPortConfigure pmac 0
> pmacAsynMotorCreate pmac 0 0 19
> drvAsynMotorConfigure pmacmotor pmacAsynMotor 0 20
> 
> After pmacAsynMotorCreate, I get error messages like these:
> 
> Creating PMAC motor driver on port pmac, address 0: card: 0, naxes: 19
> 2009/01/13 10:06:18.004 pmac read pmacFlush failed - 
> thisRead=0, eomReason=0, 
> status=1
> 2009/01/13 10:06:18.666 pmac read pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:18.882 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:19.182 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:25.801 Read/write error to 
> PMAC card 0, axis 9 
> command I900=1. Status=1, Error=192.6.94.5:1025 timeout: 
> Resource temporarily 
> unavailable
> 2009/01/13 10:06:26.117 pmac read pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:26.317 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:26.910 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:27.127 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:27.427 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:34.050 Read/write error to 
> PMAC card 0, axis 
> 14 command I1400=1. Status=1, Error=192.6.94.5:1025 timeout: Resource 
> temporarily unavailable
> 2009/01/13 10:06:34.367 pmac read pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:34.567 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:36.050 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:36.270 
> drvPmacGetAxisInitialStatus: not all 
> status values returned
> 2009/01/13 10:06:42.269 pmac read pmacFlush failed - 
> thisRead=0, eomReason=0, 
> status=1
> 2009/01/13 10:06:42.370 pmac read pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:42.570 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:42.870 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:43.270 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:43.770 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:50.523 pmac read pmacFlush failed - 
> thisRead=0, eomReason=0, status=1
> 2009/01/13 10:06:50.624 pmac read pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:50.824 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:51.124 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:51.526 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:52.028 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:52.751 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:53.452 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:54.252 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:55.153 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:56.153 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:57.153 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:58.153 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:06:59.153 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:07:05.694 pmac read pmacFlush failed - 
> thisRead=0, eomReason=0, status=1
> 2009/01/13 10:07:05.794 pmac read pmacReadReady failed 
> status=1,retval=02009/01/13 10:07:05.994 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:07:06.294 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:07:06.694 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:07:07.194 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:07:07.794 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:07:08.494 pmac read 
> pmacReadReady failed 
> status=1,retval=02009/01/13 10:07:09.294 pmac read 
> pmacReadReady failed 
> status=1,retval=0
> 
> With only drvAsynIPPortConfigure and pmacAsynIPPortConfigure, 
> I can get access 
> to the asynOctet layer and get responses to strings like 
> "M9", but only 
> sometimes. Often, stopping the ioc brings the PMAC in a state 
> where it does not 
> respond any more. Only a power cycle of the PMAC help. Any 
> idea what is wrong?
> 
> Some more questions:
> Can the motor record read the encoder values from PMAC?
> How can I use programs (homing an scanning procedures) on the PMAC?
> How to access other values (analog and binary IO) on the PMAC?
> 
> Thanks in advance for any help
> Dirk
> 
> -- 
> Dr. Dirk Zimoch
> Paul Scherrer Institut, WBGB/006
> 5232 Villigen PSI, Switzerland
> Phone +41 56 310 5182
> 
> 
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Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System