turboPmac

Overview

This is a driver for the Turbo PMAC 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.

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 pmac motor controllers. To read their manual, run the scripts without any arguments.

• writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
• analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.

Developer guide

Usage in IOC shell

turboPmac exposes the following IOC shell functions (all in turboPmacController.cpp):

• turboPmacController: Create a new controller object.
• turboPmacAxis: Create a new axis object. These functions are parametrized as follows:

turboPmacController(
    "$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
    "$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
    8, # Maximum number of axes
    0.05, # Busy poll period in seconds
    1, # Idle poll period in seconds
    0.05 # Communication timeout in seconds
    );

turboPmacAxis(
    "$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
    1 # Index of the axis.
    );

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.