From aa6e620202c90bf7e33aa1c9e4dc342a10283102 Mon Sep 17 00:00:00 2001
From: divall_e <divall_e@noreply.localhost>
Date: Mon, 1 Dec 2025 09:40:30 +0100
Subject: [PATCH] Upload files to "ThorLabs_ELL_motors/IOC"

---
 ThorLabs_ELL_motors/IOC/ELL_MOTOR.template    | 520 ++++++++++++++++++
 ThorLabs_ELL_motors/IOC/ELL_cmd               | 112 ++++
 .../IOC/SLAAT-CPCL-LELL01_ELL.subs            |  43 ++
 ThorLabs_ELL_motors/IOC/startup.script        |  11 +
 .../IOC/startup.script_SLAAT-CPCL-LELL01      |  21 +
 5 files changed, 707 insertions(+)
 create mode 100644 ThorLabs_ELL_motors/IOC/ELL_MOTOR.template
 create mode 100644 ThorLabs_ELL_motors/IOC/ELL_cmd
 create mode 100644 ThorLabs_ELL_motors/IOC/SLAAT-CPCL-LELL01_ELL.subs
 create mode 100644 ThorLabs_ELL_motors/IOC/startup.script
 create mode 100644 ThorLabs_ELL_motors/IOC/startup.script_SLAAT-CPCL-LELL01

diff --git a/ThorLabs_ELL_motors/IOC/ELL_MOTOR.template b/ThorLabs_ELL_motors/IOC/ELL_MOTOR.template
new file mode 100644
index 0000000..aaea9ae
--- /dev/null
+++ b/ThorLabs_ELL_motors/IOC/ELL_MOTOR.template
@@ -0,0 +1,520 @@
+
+
+#-------- G E T   T H E   V E R S I O N   /   I D N   /   D E S C  ---------------
+
+record(stringin, "$(SYSTEM):NAME") {
+  field(DESC, "$(DESC)")
+  field(VAL, "$(DESC)")
+}
+
+record(stringin, "$(SYSTEM):UNIT") {
+  field(DESC, "$(DESC)")
+  field(VAL, "$(UNIT)")
+}
+# read the IDN from the device
+record(stringin, "$(SYSTEM):GET_IDN") {
+  field(DESC, "$(DESC)")
+  field(DTYP, "stream")
+  field(INP,  "@$(SDNC) GET_ID($(UNIT),$(SYSTEM)) $(IP)")  
+  field(PINI, "YES")
+}
+
+# model number
+record(ai, "$(SYSTEM):ID_MODEL") {
+  field(DESC, "Model number")
+}
+# serial number
+record(stringin, "$(SYSTEM):ID_SN") {
+  field(DESC, "Serial number")
+}
+# year and fw
+record(stringin, "$(SYSTEM):ID_YEARFW") {
+  field(DESC, "Year and FW in one")
+}
+# year and fw
+record(ai, "$(SYSTEM):ID_TRAVEL") {
+  field(DESC, "Travel range")
+}
+# pulses per
+record(ai, "$(SYSTEM):ID_PULSEPP") {
+  field(DESC, "pulse per position")
+}
+
+
+#---- S T A T U S
+record(ai, "$(SYSTEM):GET_STATUS") {
+  field(SCAN, "Passive")
+  field(INP,  "@$(SDNC) GET_STATUS($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(mbbi, "$(SYSTEM):STATUS"){   #
+  field(DESC, "scan range")
+  field(SCAN, "Passive")
+  field(NOBT, "14")
+  field(ZRVL, "0")
+  field(ONVL, "1")
+  field(TWVL, "2")
+  field(THVL, "3")
+  field(FRVL, "4")
+  field(FVVL, "5")
+  field(SXVL, "6")
+  field(SVVL, "7")
+  field(EIVL, "8")
+  field(NIVL, "9")
+  field(TEVL, "10")
+  field(ELVL, "11")
+  field(TVVL, "12")
+  field(TTVL, "13")
+
+  field(ZRST, "OK - No Error")
+  field(ONST, "Comms time out")
+  field(TWST, "Mechanical time out")
+  field(THST, "Command error")
+  field(FRST, "Value out of range")
+  field(FVST, "Module isolated")
+  field(SXST, "Module out of isolation")
+  field(SVST, "Init error")
+
+  field(EIST, "Thermal error")
+  field(NIST, "Busy")
+  field(TEST, "Sensor error")
+  field(ELST, "Motor error")
+  field(TVST, "Out of range")
+  field(TTST, "Over current error")
+
+}
+
+#---- C H A N G E     A D D R E S S 
+record(ai, "$(SYSTEM):NEW_ADDRESS") {   #hold here so that isn't set automatically
+  field(DESC, "address to set")
+}
+
+record(ai, "$(SYSTEM):CHANGE_ADDRESS") {
+  field(DESC, "change unit address")
+  field(INP,  "@$(SDNC) CHANGE_ADDR($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+
+#----  M O T O R   I N F O  ---   M O T O R  1
+record(ai, "$(SYSTEM):M1_GET_INFO") {
+  field(SCAN, "Passive")
+  field(INP,  "@$(SDNC) GET_INFO_M1($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ai, "$(SYSTEM):M1_LOOP_ON") {
+  field(DESC, "Loop ON")
+}
+record(ai, "$(SYSTEM):M1_WORKING") {
+  field(DESC, "Motor working")
+}
+record(ai, "$(SYSTEM):M1_CURRENT") {
+  field(DESC, "Motor current")
+}
+record(ai, "$(SYSTEM):M1_RAMP_UP") {
+  field(DESC, "ramp up")
+}
+record(ai, "$(SYSTEM):M1_RAMP_DOWN") {
+  field(DESC, "ramp down")
+}
+record(ai, "$(SYSTEM):M1_FWD_PERIOD") {
+  field(DESC, "forward period")
+}
+record(ai, "$(SYSTEM):M1_BWD_PERIOD") {
+  field(DESC, "backward period")
+}
+
+record(ao, "$(SYSTEM):M1_SET_FWD_PERIOD") {
+  field(DESC, "set forward period")
+  field(SCAN, "Passive")
+  field(OUT,  "@$(SDNC) SET_FWD_PER_M1($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ao, "$(SYSTEM):M1_SET_BWD_PERIOD") {
+  field(DESC, "set backward period")
+  field(SCAN, "Passive")
+  field(OUT,  "@$(SDNC) SET_BWD_PER_M1($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ao, "$(SYSTEM):M1_SEARCH_FREQ") {
+  field(DESC, "search freq")
+  field(SCAN, "Passive")
+  field(OUT,  "@$(SDNC) SEARCH_FREQ_M1($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ao, "$(SYSTEM):M1_SCAN_CURRENT") {
+  field(DESC, "scan current curve")
+  field(SCAN, "Passive")
+  field(OUT,  "@$(SDNC) SCAN_CURR_M1($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+
+
+#----  M O T O R   I N F O  ---   M O T O R  2
+record(ai, "$(SYSTEM):M2_GET_INFO") {
+  field(SCAN, "Passive")
+  field(INP,  "@$(SDNC) GET_INFO_M2($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ai, "$(SYSTEM):M2_LOOP_ON") {
+  field(DESC, "Loop ON")
+}
+record(ai, "$(SYSTEM):M2_WORKING") {
+  field(DESC, "Motor working")
+}
+record(ai, "$(SYSTEM):M2_CURRENT") {
+  field(DESC, "Motor current")
+}
+record(ai, "$(SYSTEM):M2_RAMP_UP") {
+  field(DESC, "ramp up")
+}
+record(ai, "$(SYSTEM):M2_RAMP_DOWN") {
+  field(DESC, "ramp down")
+}
+record(ai, "$(SYSTEM):M2_FWD_PERIOD") {
+  field(DESC, "forward period")
+}
+record(ai, "$(SYSTEM):M2_BWD_PERIOD") {
+  field(DESC, "backward period")
+}
+
+record(ao, "$(SYSTEM):M2_SET_FWD_PERIOD") {
+  field(DESC, "set forward period")
+  field(SCAN, "Passive")
+  field(OUT,  "@$(SDNC) SET_FWD_PER_M2($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ao, "$(SYSTEM):M2_SET_BWD_PERIOD") {
+  field(DESC, "set backward period")
+  field(SCAN, "Passive")
+  field(OUT,  "@$(SDNC) SET_BWD_PER_M2($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ao, "$(SYSTEM):M2_SEARCH_FREQ") {
+  field(DESC, "search freq")
+  field(SCAN, "Passive")
+  field(OUT,  "@$(SDNC) SEARCH_FREQ_M2($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ao, "$(SYSTEM):M2_SCAN_CURRENT") {
+  field(DESC, "scan current curve")
+  field(SCAN, "Passive")
+  field(OUT,  "@$(SDNC) SCAN_CURR_M2($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+
+
+
+
+
+#----  H O M I N G       - try and use same names as smaract
+record(ao, "$(SYSTEM):FRM_BACK") {
+  field(DESC, "Home backwards")
+  field(OUT,  "@$(SDNC) HOME_BWD($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ao, "$(SYSTEM):FRM_FORW") {
+  field(DESC, "Home forwards")
+  field(OUT,  "@$(SDNC) HOME_FWD($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+
+record(ao, "$(SYSTEM):AUTO_HOME_ON") {
+  field(DESC, "Home on startup")
+  field(OUT,  "@$(SDNC) AUTO_HOME_ON($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ao, "$(SYSTEM):AUTO_HOME_OFF") {
+  field(DESC, "Home on startup")
+  field(OUT,  "@$(SDNC) AUTO_HOME_OFF($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+#----  M O V I N G 
+
+#----  D R I V E  - A B S
+
+
+record(ao, "$(SYSTEM):DRIVE") {
+  field(DESC, "move absolute")
+  field(FLNK, "$(SYSTEM):DRIVE_LIM_CALC")
+  field(PREC, "2")
+  #field(FLNK, "$(SYSTEM):POS_2_COMP")
+}
+
+record(ao, "$(SYSTEM):HLM") {
+  field(DESC, "High limit")
+  field(VAL,  "$(HLM=0)")
+  field(PREC, "2")
+}
+
+record(ao, "$(SYSTEM):LLM") {
+  field(DESC, "low limit")
+  field(VAL,  "$(LLM=0)")
+  field(PREC, "2")
+}
+
+
+record(calcout, "$(SYSTEM):DRIVE_LIM_CALC"){     #4byte hex = 
+  field(DESC, "check limits")
+  field(INPA,  "$(SYSTEM):DRIVE")  		#-m...+m
+  field(INPB,  "$(SYSTEM):LLM")			#half range
+  field(INPC,  "$(SYSTEM):HLM")  		#2^32 = 4294967296  
+  field(INPD,  "$(SYSTEM):MRES")  			#deg to steps conv
+  field(CALC,  "B=C?A/D:A>C?C/D:A<B?B/D:A/D")   #divide by MRES
+  field(FLNK, "$(SYSTEM):POS_2_COMP")
+  field(PREC, "2")
+}
+
+#Bits	Unsigned value	Signed value
+#(Two's complement)
+#0000 0000	0	0
+#0000 0001	1	1
+#0000 0010	2	2
+#0111 1110	126	126
+#0111 1111	127	127
+#1000 0000	128	−128
+#1000 0001	129	−127
+#1000 0010	130	−126
+#1111 1110	254	−2
+#1111 1111	255	−1
+
+record(calcout, "$(SYSTEM):POS_2_COMP"){     #4byte hex = 
+  field(DESC, "position to 2s compliment")
+  field(INPA,  "$(SYSTEM):DRIVE_LIM_CALC")  		#-m...+m
+  field(INPB,  "2147483648")			#half range
+  field(INPC,  "4294967296")  			#2^32 = 4294967296  
+  field(CALC,  "A>=0?A:C+A")
+  field(OUT,   "$(SYSTEM):ABS_POS_OUT PP")
+}
+
+record(ao, "$(SYSTEM):ABS_POS_OUT") {
+  field(DESC, "send out abs pos")
+  field(OUT,  "@$(SDNC) MOVE_ABS($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+#----  D R I V E  - T W E A K /// J O G
+
+record(ai, "$(SYSTEM):TWV") {
+  field(DESC, "tweak distance")
+  field(FLNK, "$(SYSTEM):TWV_2_COMP")
+  field(PREC, "2")
+  field(VAL, "1")
+}
+
+record(calcout, "$(SYSTEM):TWV_2_COMP"){     #4byte hex = 
+  field(DESC, "position to 2s compliment")
+  field(INPA,  "$(SYSTEM):TWV")  		#-m...+m
+  field(INPB,  "2147483648")			#half range
+  field(INPC,  "4294967296")  			#2^32 = 4294967296  
+  field(INPD,  "$(MRES)")  			#deg to steps conv
+  field(CALC,  "A>=0?A/D:0")			#limit to pos... else field(CALC,  "A>=0?A:C+A")
+  field(OUT,   "$(SYSTEM):TWV_POS_OUT PP")
+}
+
+record(ao, "$(SYSTEM):TWV_POS_OUT") {
+  field(DESC, "send out tweak pos")
+  field(OUT,  "@$(SDNC) SET_JOG($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ao, "$(SYSTEM):GET_JOG") {
+  field(DESC, "tweak forward")
+  field(OUT,  "@$(SDNC) GET_JOG($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+  field(PINI, "YES")
+}
+
+record(ao, "$(SYSTEM):TWV_RB") {
+  field(DESC, "readback of tweak value")
+  field(PREC, "2")
+}
+
+#--- T W E A K    F W D
+record(calcout, "$(SYSTEM):TWF"){    	 #4byte hex = 
+  field(DESC, "tweak forward")
+  field(INPA,  "$(SYSTEM):MOTRBV")		#-m...+m
+  field(INPD,  "$(SYSTEM):TWV")
+  field(OOPT,  "When Non-zero")
+  field(CALC,  "A+D")		#limit to pos... else field(CALC,  "A>=0?A:C+A")
+  field(OUT,   "$(SYSTEM):DRIVE PP")
+  field(PREC, "2")
+}
+
+record(calcout, "$(SYSTEM):TWR"){    	 #4byte hex = 
+  field(DESC, "tweak forward")
+  field(INPA,  "$(SYSTEM):MOTRBV")		#-m...+m 
+  field(INPD,  "$(SYSTEM):TWV")
+  field(OOPT,  "When Non-zero")
+  field(CALC,  "A-D")		#limit to pos... else field(CALC,  "A>=0?A:C+A")
+  field(OUT,   "$(SYSTEM):DRIVE PP")
+  field(PREC, "2")
+}
+
+#the prober jog cannot cope with going negative... therefore will use abs move instead
+#record(calcout, "$(SYSTEM):TWF"){    	 #4byte hex = 
+#  field(DESC, "tweak forward")
+#  field(INPA,  "$(SYSTEM):MOTRBV")		#-m...+m
+#  field(INPB,  "$(SYSTEM):LLM")		#half range
+#  field(INPC,  "$(SYSTEM):HLM")		#2^32 = 4294967296  
+#  field(INPD,  "$(SYSTEM):TWV_RB")
+#  field(OOPT,  "When Non-zero")
+#  field(CALC,  "B=C?1:(A+D)>C?0:1")		#limit to pos... else field(CALC,  "A>=0?A:C+A")
+#  field(OUT,   "$(SYSTEM):TWF_GO.PROC PP")
+#}
+
+#record(ao, "$(SYSTEM):TWF_GO") {
+# field(DESC, "tweak forward")
+#  field(OUT,  "@$(SDNC) JOG_FWD($(UNIT),$(SYSTEM)) $(IP)")  
+#  field(DTYP, "stream")
+#}
+
+#--- T W E A K    B W D
+#record(calcout, "$(SYSTEM):TWR"){    	 #4byte hex = 
+#  field(DESC, "tweak forward")
+#  field(INPA,  "$(SYSTEM):MOTRBV")		#-m...+m
+#  field(INPB,  "$(SYSTEM):LLM")		#half range
+#  field(INPC,  "$(SYSTEM):HLM")		#2^32 = 4294967296  
+#  field(INPD,  "$(SYSTEM):TWV_RB")
+#  field(OOPT,  "When Non-zero")
+#  field(CALC,  "B=C?1:(A-D)<B?0:1")		#limit to pos... else field(CALC,  "A>=0?A:C+A")
+#  field(OUT,   "$(SYSTEM):TWR_GO.PROC PP")
+#}
+
+#record(ao, "$(SYSTEM):TWR_GO") {
+#  field(DESC, "tweak forward")
+#  field(OUT,  "@$(SDNC) JOG_BWD($(UNIT),$(SYSTEM)) $(IP)")  
+#  field(DTYP, "stream")
+#}
+
+#---- V E L O C I T Y
+
+record(ao, "$(SYSTEM):SET_VEL") {
+  field(DESC, "set velocity")
+  field(OUT,  "@$(SDNC) SET_VEL($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+  field(FLNK, "$(SYSTEM):VEL_RB")
+}
+
+record(ao, "$(SYSTEM):VEL_RB") {
+  field(DESC, "readback of velocity value")
+  field(OUT,  "@$(SDNC) GET_VEL($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+#---- S T O P 
+
+record(ao, "$(SYSTEM):STOP") {
+  field(DESC, "Stop movement")
+  field(OUT,  "@$(SDNC) STOP($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+record(ao, "$(SYSTEM):GET_POS") {
+  field(DESC, "Read current Pos")
+  field(SCAN, "5 second")
+  field(OUT,  "@$(SDNC) GET_POS($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+  field(FLNK, "$(SYSTEM):GET_STATUS")
+}
+
+record(ai, "$(SYSTEM):POS") {  #Raw pos
+  field(DESC, "raw pos - convert with 2s compliment")
+}
+
+
+record(ao, "$(SYSTEM):OPTIMIZE") {
+  field(DESC, "optimize motors")
+  field(OUT,  "@$(SDNC) OPTIMIZE($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+record(ao, "$(SYSTEM):CLEAN") {
+  field(DESC, "run cleaning seq")
+  field(OUT,  "@$(SDNC) CLEAN_MOTOR($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+
+
+
+record(ao, "$(SYSTEM):MRES") {
+  field(DESC, "calibration")
+  field(VAL,  "$(MRES=0.002511161)")  
+}
+
+
+
+
+
+record(calcout, "$(SYSTEM):MOTRBV"){     #4byte hex = 
+  field(DESC, "2s compliment to pos")
+  field(INPA,  "$(SYSTEM):POS CP")  		#
+  field(INPB,  "2147483648")			#half range
+  field(INPC,  "4294967296")  			#2^32 = 4294967296  
+  field(INPD,  "$(SYSTEM):MRES")  			#deg to steps conv
+  field(CALC,  "A<B?A*D:(A-C)*D")
+  field(EGU,   "$(EGU)")
+  field(PREC, "2")
+}
+
+
+
+
+record(stringout, "$(SYSTEM):SEND_STRING") {
+  field(DESC, "send a string for diags")
+  field(OUT,  "@$(SDNC) SEND_STRING($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+
+record(stringin, "$(SYSTEM):REPLY") {
+  field(DESC, "reply holder for send a string")
+
+}
+
+
+record(stringout, "$(SYSTEM):SEND_STRING2") {
+  field(DESC, "send a string no unit")
+  field(OUT,  "@$(SDNC) SEND_STRING2($(UNIT),$(SYSTEM)) $(IP)")  
+  field(DTYP, "stream")
+}
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/ThorLabs_ELL_motors/IOC/ELL_cmd b/ThorLabs_ELL_motors/IOC/ELL_cmd
new file mode 100644
index 0000000..1d4a88a
--- /dev/null
+++ b/ThorLabs_ELL_motors/IOC/ELL_cmd
@@ -0,0 +1,112 @@
+#
+#  Commands to communicate with
+#
+#  ThorLabs EL motors
+#
+#  9600 baud 8N1       XT-nano username:admin  pw:XT (or xt?)
+
+#08.02.2024 11:12:09 - Tx: 0in
+#08.02.2024 11:12:09 - Rx: 0IN0E1140002520241801016800023000    0IN 0E 11400025 2024 18 01 0168 00023000
+
+
+
+ReplyTimeout  = 500;
+ReadTimeout   = 400;
+WriteTimeout  = 400;
+#Separator = "@";
+#Terminator = CR LF;
+InTerminator = CR LF;
+OutTerminator= CR LF;
+#ExtraInput    = Ignore;
+
+
+GET_ID		{out "\$1in";in "\$1IN%(\$2:ID_MODEL)2X%(\$2:ID_SN)8s%(\$2:ID_YEARFW)8s%(\$2:ID_TRAVEL)4X%(\$2:ID_PULSEPP)8X"}   #0IN 0E 11400025 2024 18 01 0168 00023000
+
+GET_STATUS	{out "\$1gs";in "\$1GS%(\$2:STATUS)2X"}   	#0x0..0x...   error code  0=OK
+
+SAVE_USER_DATA	{out "\$1us";in "\$1GS%(\$2:STATUS)2X"}   	#save parameters - returns status
+
+CHANGE_ADDR	{out "\$1ca%(\$2:NEW_ADDRESS)1X";in "\$1GS%(\$2:STATUS)2X"}   	#change the address [0..F] - returns status
+
+
+
+GET_INFO_M1	{out "\$1i1";in "\$1I1%(\$2:M1_LOOP_ON)1X%(\$2:M1_WORKING)1X%(\$2:M1_CURRENT)4X%(\$2:M1_RAMP_UP)4X%(\$2:M1_RAMP_DOWN)4X%(\$2:M1_FWD_PERIOD)4X%(\$2:M1_BWD_PERIOD)4X"}	#0I1 1 0 0000 FFFF FFFF 00BB 0090
+
+SET_FWD_PER_M1	{out "\$1f1%4X";in "\$1GS%(\$2:STATUS)2X"}   	#set FWD period - motor 1
+
+SET_BWD_PER_M1	{out "\$1b1%4X";in "\$1GS%(\$2:STATUS)2X"}   	#set BWD period - motor 1
+
+SEARCH_FREQ_M1	{out "\$1s1";in "\$1GS%(\$2:STATUS)2X"}   	#search frequencies - for ELL14,17,18 and 20 devices
+
+SCAN_CURR_M1	{out "\$1c1";in "\$1GS%(\$2:STATUS)2X"}   	#scan current curve
+
+
+
+GET_INFO_M2	{out "\$1i2";in "\$1I2%(\$2:M2_LOOP_ON)1X%(\$2:M2_WORKING)1X%(\$2:M2_CURRENT)4X%(\$2:M2_RAMP_UP)4X%(\$2:M2_RAMP_DOWN)4X%(\$2:M2_FWD_PERIOD)4X%(\$2:M2_BWD_PERIOD)4X"}	#0I1 1 0 0000 FFFF FFFF 00BB 0090
+
+SET_FWD_PER_M2	{out "\$1f2%4X";in "\$1GS%(\$2:STATUS)2X"}   	#set FWD period - motor 2
+
+SET_BWD_PER_M2	{out "\$1b2%4X";in "\$1GS%(\$2:STATUS)2X"}   	#set BWD period - motor 2
+
+SEARCH_FREQ_M2	{out "\$1s2";in "\$1GS%(\$2:STATUS)2X"}   	#search frequencies - for ELL14,17,18 and 20 devices
+
+SCAN_CURR_M2	{out "\$1c2";in "\$1GS%(\$2:STATUS)2X"}   	#scan current curve
+
+
+
+HOME_FWD	{out "\$1ho0";in "\$1PO%(\$2:POS)8X"; @mismatch {in "\$1GS%(\$2:STATUS)2X"}}   	#2's compliment
+HOME_BWD	{out "\$1ho1";in "\$1PO%(\$2:POS)8X"; @mismatch {in "\$1GS%(\$2:STATUS)2X"}}   	#2's compliment
+
+AUTO_HOME_ON	{out "\$1ah1";in "\$1GS%(\$2:STATUS)2X"}   	#auto home at start up
+AUTO_HOME_OFF	{out "\$1ah0";in "\$1GS%(\$2:STATUS)2X"}   	#auto home at start up
+
+
+MOVE_ABS	{out "\$1ma%08X";in "\$1PO%(\$2:POS)8X"; @mismatch {in "\$1GS%(\$2:STATUS)2X"}}   	#set pos...    2's compliment
+MOVE_REL	{out "\$1mr%08X";in "\$1PO%(\$2:POS)8X"; @mismatch {in "\$1GS%(\$2:STATUS)2X"}} 
+
+
+SET_VEL		{out "\$1sv%02X";in "\$1GS%(\$2:STATUS)2X"} 	#velocity   \$1GV%(\$2:VEL_RB)8X
+GET_VEL		{out "\$1gv";    in "\$1GV%(\$2:VEL_RB)2X"}
+
+SET_JOG		{out "\$1sj%08X";in "\$1GS%(\$2:STATUS)2X"} 	#Jog distance   \$1GJ%(\$2:TWV_RB)8X
+JOG_FWD		{out "\$1fw";    in "\$1PO%(\$2:POS)8X"; @mismatch {in "\$1GS%(\$2:STATUS)2X"}} 	#Jog +
+JOG_BWD		{out "\$1bw";    in "\$1PO%(\$2:POS)8X"; @mismatch {in "\$1GS%(\$2:STATUS)2X"}} 	#Jog -
+GET_JOG		{out "\$1gj";    in "\$1GJ%(\$2:TWV_RB)8X"} 
+
+STOP		{out "\$1st";in "\$1GS%(\$2:STATUS)2X"}   	#STOP!
+
+GET_POS		{out "\$1gp";in "\$1PO%(\$2:POS)8X"; @mismatch {in "\$1GS%(\$2:STATUS)2X"}} 	#Jog -
+
+OPTIMIZE	{out "\$1om";in "\$1GS%(\$2:STATUS)2X"}   	#optimize motors
+
+CLEAN_MOTOR	{out "\$1cm";in "\$1GS%(\$2:STATUS)2X"}   	#optimize motors
+
+SEND_STRING	{out "\$1%s";in "%(\$2:REPLY)s"}   		#send a string
+
+SEND_STRING2	{out "%s";in "%(\$2:REPLY)s"}
+
+
+#Bits	Unsigned value	Signed value
+#(Two's complement)
+#0000 0000	0	0
+#0000 0001	1	1
+#0000 0010	2	2
+#0111 1110	126	126
+#0111 1111	127	127
+#1000 0000	128	−128
+#1000 0001	129	−127
+#1000 0010	130	−126
+#1111 1110	254	−2
+#1111 1111	255	−1
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/ThorLabs_ELL_motors/IOC/SLAAT-CPCL-LELL01_ELL.subs b/ThorLabs_ELL_motors/IOC/SLAAT-CPCL-LELL01_ELL.subs
new file mode 100644
index 0000000..c969726
--- /dev/null
+++ b/ThorLabs_ELL_motors/IOC/SLAAT-CPCL-LELL01_ELL.subs
@@ -0,0 +1,43 @@
+
+
+#caqtdm -macro C=SLAAR1-LMOT-ELL1,A="" SLG-L-ELL-BASIC-TEMPLATE.ui&
+#caqtdm -macro C=SLAAR1-LMOT-ELL2,A="" SLG-L-ELL-BASIC-TEMPLATE.ui&
+
+#SPR = Steps/rev.... For ELL14 then calibration is 143360 steps/rev   => MRES=143360/360 => 0.002511161
+
+#SDNC		Command file to use	
+#IP		IP address to use  NB. one IP address can have upto 16 motors [0..F]
+#UNIT		Unit address for this stage [0..F]
+#SYSTEM		PV base name
+#Desc		Description to show on Panel
+#EGU		Units
+#MRES		Calipration steps to EGU
+#LLM HLM	Limits  (0,0 to ignore, but rotator has built in -360 to 360 deg range)
+
+file ELL_MOTOR.template {
+     { SDNC       = "ELL_cmd",
+       IP         = "ELL1",
+       UNIT	  = "1",
+       SYSTEM     = "SLAAT-LMOT-ELL1",
+       DESC       = "ThorLabs WavePlate",
+       EGU        = "Deg",
+       MRES       = 0.002511161
+       LLM	  = -360
+       HLM        =  360
+     }
+}
+
+
+
+#file ELL_MOTOR.template {
+#     { SDNC       =  "ELL_cmd",
+#       IP         = "ELL1",
+#       UNIT	  = "1",
+#       SYSTEM     = "SLAAR21-LMOT-ELL2",
+#       DESC       = "ThorLabs Rot Plate",
+#       EGU        = "Deg",
+#       MRES       = 0.002511161
+#       LLM	  = -360
+#       HLM        =  360
+#     }
+#}
diff --git a/ThorLabs_ELL_motors/IOC/startup.script b/ThorLabs_ELL_motors/IOC/startup.script
new file mode 100644
index 0000000..f1c13ce
--- /dev/null
+++ b/ThorLabs_ELL_motors/IOC/startup.script
@@ -0,0 +1,11 @@
+# The following lines were generated by "ioc install"
+# Generated at: 2024-03-05 16:48:36.821777
+
+epicsEnvSet IOC SLAAT-CPCL-LELL01
+epicsEnvSet ENGINEER divall_e
+< /ioc/startup/startup.script_linux
+
+# ---- ioc/system specific startup script(s)
+< startup.script_SLAAT-CPCL-LELL01
+
+iocInit
diff --git a/ThorLabs_ELL_motors/IOC/startup.script_SLAAT-CPCL-LELL01 b/ThorLabs_ELL_motors/IOC/startup.script_SLAAT-CPCL-LELL01
new file mode 100644
index 0000000..9f6d521
--- /dev/null
+++ b/ThorLabs_ELL_motors/IOC/startup.script_SLAAT-CPCL-LELL01
@@ -0,0 +1,21 @@
+require "stream"
+require "array"
+
+epicsEnvSet STREAM_PROTOCOL_PATH :protocols:./cfg
+
+addScan 60
+
+
+var streamError 1
+
+#first system - Xt-nano    user:admin  pw:XT or xt?
+#drvAsynIPPortConfigure ("ELL1", "FINSS-L-SHT21A:1002")
+drvAsynIPPortConfigure ("ELL1", "172.26.114.232:1002")
+
+
+
+# The following lines were generated by "ioc install"
+# Generated at: 2024-03-05 16:48:36.816675
+
+cd "/ioc/SLAAT-CPCL-LELL01"
+dbLoadTemplate("SLAAT-CPCL-LELL01_ELL.subs")