Experimental Physics and
Industrial Control System

"James Rezende Piton" <[email protected]> · Thu, 11 Nov 2010 07:21:56 -0200

Hello,
I am trying to adapt the motorExApp,
under motor-6-5, to try a MDrive motor
under EPICS.
I (un)commented the proper lines (I think
so) and got the binaries.
I chose basic_asyn_motor.db as my base.
I changed a line in the original
motor.substitutions - instead of C and
S (card/slot), I created PORT and ADDR, following
the basic_asyn_motor model, with L0 and 2 (the axis address
recorded and tested in my motor controller).
======== motor.substitutions ==========

file "$(MOTOR)/db/basic_asyn_motor.db"

{

pattern

{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR,
VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}

{IOC:, 1, "m$(N)", "MDrive", L0, 2, "motor $(N)", degrees, Pos,
1, .1, .2, 0, 1, .2, 0.01, 5, 100, -100, ""}

}
======= basic_asyn_motor.db ========================
record(motor,"$(P)$(M)")
{
	field(DESC,"$(DESC)")
	field(DTYP,"$(DTYP)")
	field(DIR,"$(DIR)")
	field(VELO,"$(VELO)")
	field(VBAS,"$(VBAS)")
	field(ACCL,"$(ACCL)")
	field(BDST,"$(BDST)")
	field(BVEL,"$(BVEL)")
	field(BACC,"$(BACC)")
	field(OUT,"@asyn(\"$(PORT)\",$(ADDR))")
	field(MRES,"$(MRES)")
	field(PREC,"$(PREC)")
	field(EGU,"$(EGU)")
	field(DHLM,"$(DHLM)")
	field(DLLM,"$(DLLM)")
	field(INIT,"$(INIT)")
	field(TWV,"1")
}

My st.cmd.unix was correspondingly modified to
configure the USB-serial adapter and with
MDriveSetup(1, 10)
and
MDriveConfig(0, "L0")
Then I start IOC
[iocWithAsyn]# ../../bin/linux-x86/WithAsyn st.cmd.unix

=======================================
< envPaths
epicsEnvSet("ARCH","linux-x86")
epicsEnvSet("IOC","iocWithAsyn")
epicsEnvSet("TOP","/root/epics/synApps_5_5/support/motor-6-5")
epicsEnvSet("SUPPORT","/root/epics/synApps_5_5/support")
epicsEnvSet("ASYN","/root/epics/synApps_5_5/support/asyn-4-13")
epicsEnvSet("EPICS_BASE","/root/epics/synApps_5_5/support/../../base")
epicsEnvSet("IPAC","/root/epics/synApps_5_5/support/ipac-2-11")
epicsEnvSet("MOTOR","/root/epics/synApps_5_5/support/motor-6-5")
dbLoadDatabase("/root/epics/synApps_5_5/support/motor-6-5/dbd/WithAsyn.dbd")
WithAsyn_registerRecordDeviceDriver(pdbbase)
drvAsynSerialPortConfigure("L0","/dev/ttyUSB0",0,0,0)
asynSetOption("L0", -1, "baud", "9600")
asynSetOption("L0", -1, "bits", "8")
asynSetOption("L0", -1, "parity", "none")
asynSetOption("L0", -1, "stop", "1")
asynSetOption("L0", -1, "clocal", "Y")
asynSetOption("L0", -1, "crtscts", "N")
dbLoadTemplate("motor.substitutions")
Can't set "IOC:m1.OUT" to "@asyn("L0",2)"

Error at or before ")" in file
"/root/epics/synApps_5_5/support/motor-6-5/db/basic_asyn_motor.db" line 12
dbLoadRecords("/root/epics/synApps_5_5/support/motor-6-5/db/motorUtil.db",
"P=IOC:")
iocInit

Starting iocInit

############################################################################

## EPICS R3.14.11 $R3-14-11$ $2009/08/28 18:47:36$

## EPICS Base built Sep 8 2010

############################################################################

Illegal field value PV: IOC:m1 motor_init_record_com(): card does not
exist!
iocRun: All initialization complete
# motorUtil (allstop & alldone)
motorUtilInit("IOC:")
epics>

=================================================================

I am not sure about the right asyn syntax, but
why that ``Can't set "IOC:m1.OUT" to "@asyn("L0", 2)"'' at all?
My USB adapter works and so does the motor communicate,
tested in the same SL system.
Thanks in advance for any tip!
Another question: why are there some examples with "grecord",
instead of "record"?

Regards,
--
James Rezende Piton
grupo SOL
(Software de OperaÃÃo das Linhas de Luz)
LaboratÃrio Nacional de Luz SÃncrotron â CNPEM/ABTLuS
+ 55(19) 3512 1228
BRAZIL
[email protected]
http://www.lnls.br

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System