This is a driver for the masterMacs motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.

Compatible to MasterMACS software 2.0.0.

User guide

This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

The folder "utils" contains utility scripts for working with masterMacs motor controllers:

decodeStatus.py: Take the return message of a R10 (read status) command and print it in human-readable form.
decodeError.py: Take the return message of a R11 (read error) command and print it in human-readable form.
writeRead.py: Send messages to the controller and receive answers.

Developer guide

Usage in IOC shell

masterMacs exposes the following IOC shell functions (all in masterMacsController.cpp):

masterMacsController: Create a new controller object.
masterMacsAxis: Create a new axis object.

The full mcu.cmd file looks like this:

# Define the name of the controller and the corresponding port
epicsEnvSet("NAME","mcu")
epicsEnvSet("ASYN_PORT","p$(NAME)")

# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")

# Create the controller object with the defined name and connect it to the socket via the port name.
# The other parameters are as follows:
# 8: Maximum number of axes
# 0.05: Busy poll period in seconds
# 1: Idle poll period in seconds
# 1: Socket communication timeout in seconds
masterMacsController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);

# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
masterMacsAxis("$(NAME)",1);
masterMacsAxis("$(NAME)",2);
masterMacsAxis("$(NAME)",5);

# Set the number of subsequent timeouts 
setMaxSubsequentTimeouts("$(NAME)", 20);

# Configure the timeout frequency watchdog:
setThresholdComTimeout("$(NAME)", 100, 1);

# Parametrize the EPICS record database with the substitution file named after the MCU.
epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/sinqMotor.db")
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/masterMacs.db")
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
dbLoadRecords("$(masterMacs_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")

Versioning

Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

How to build it

Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.