setup ioc stuff

ESB_MX.subs

@@ -0,0 +1,26 @@
+################################################################################
+#P, M - Define motor record name
+#PORT - Name of the ppmac controller port created by powerPmacCreateController
+#ADDR - Axis index - second parameter of powerPmacCreateAxis and powerPmacCreateVirtualAxis
+#
+#The rest are standard motor record fields
+################################################################################
+
+#!motor(mot=1,current=600,JogSpeed=102.4*5/25.6/10,servoSf=25.6*10,invDir=True)
+#       102.4*7/ 71.67/20 um/ms =0.500 mm/s -> use 0.40 mm/s
+
+#Speed: 102.4*5/25.6/10 um/ms =2 mm/s
+#Position Units are in um
+
+#ms to achive speed VELO -> same as Motor[1].JogTa (if positive). Motor[1].JogTa will be set to a caculated negative number
+# JAR  = EGU/s^2 -> JAR = VELO/ACCL (Jog acceleration)
+
+#global {M1="TX", M2="TZ", M3="RX", M4="RZ"}
+
+
+file PPMACMotor.template {
+pattern {DESC    ,P       ,M             ,PORT       ,ADDR   ,DIR,VMAX,VELO,JVEL,HVEL,ACCL,JAR,MRES  ,PREC,EGU ,DHLM,DLLM}
+{ "Rotation Y"   ,"$(P_M)","MOTOR_ROT_Y1","$(PORT_M)","$(M1)",0  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"deg",0   ,0}
+{ "Translation X","$(P_M)","MOTOR_X1"    ,"$(PORT_M)","$(M2)",0  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+{ "Translation Y","$(P_M)","MOTOR_Y1"    ,"$(PORT_M)","$(M3)",0  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+}

Makefile

@@ -0,0 +1,9 @@
+include /ioc/tools/driver.makefile
+MODULE = $(notdir $(shell pwd))
+BUILDCLASSES = Linux
+ARCH_FILTER = eldk42% SL6-x86_64
+EXCLUDE_VERSIONS = 3.14.8
+SCRIPTS+=$(wildcard add_device*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi qt/*.ui qt/*.jpg)
+#SOURCES+=src/DHVSaSub.cpp
+#DBDS+=src/DHVSaSub.dbd
+USR_CXXFLAGS+= -fno-operator-names

PPMACMotor.template

@@ -0,0 +1,27 @@
+record(motor,"$(P):$(M)")
+{
+    field(DESC,"$(DESC)")
+    field(DTYP,"asynMotor")
+    field(OUT,"@asyn($(PORT),$(ADDR))")
+    field(DIR,"$(DIR)")
+    field(VMAX,"$(VMAX)")
+    field(VELO,"$(VELO)")
+    field(JVEL,"$(JVEL)")
+    field(HVEL,"$(HVEL)")
+    field(ACCL,"$(ACCL)")
+    field(JAR, "$(JAR)")
+    field(MRES,"$(MRES)")
+    field(PREC,"$(PREC)")
+    field(EGU,"$(EGU)")
+    field(DHLM,"$(DHLM)")
+    field(DLLM,"$(DLLM)")
+}
+
+record(asyn,"$(P):ASYN")
+{
+    field(DTYP,"asynRecordDevice")
+    field(PORT,"$(PORT)")
+    field(ADDR,"0")
+    field(OMAX,"100")
+    field(IMAX,"100")
+}

add_device.cmd

@@ -0,0 +1,23 @@
+### Required Parameters ###
+#PORT='PPMAC1'
+#P='SARFE10-OAPU...'
+#M1_ADDR=1
+#powerPmacCreateController(<port_name>, <moving_poll_pseriod [ms]>, <idle_poll_period [ms]>)
+#powerPmacCreateController("$(PORT)", 100, 100) <<< done in commom module
+###########################
+require gpasciiCommander
+! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/mx-stage.cfg
+
+#M1=$(M1_ADDR)
+M1=1
+M2=$(M1)+1
+M3=$(M1)+2
+#M4=$(M1)+3
+
+powerPmacCreateAxis($(PORT), $(M1))
+powerPmacCreateAxis($(PORT), $(M2))
+powerPmacCreateAxis($(PORT), $(M3))
+#powerPmacCreateAxis($(PORT), $(M4))
+
+# Load databse
+dbLoadTemplate("$(ESB_MX_TEMPLATES)/ESB_MX.subs", "PORT_M=$(PORT),P_M=$(P),M1=$(M1),M2=$(M2),M3=$(M3)")

cfg/init.cfg

@@ -57,6 +57,10 @@ while(1)
   }
 }
 
+Motor[2].PhasePos=560 // 555   581  593  558
+Motor[3].PhasePos=1540 //1549  1531 1543 1537
+
+
 Motor[2].MaxDac=L20
 Motor[2].FatalFeLimit=L21
 Motor[2].JogSpeed=L22

cfg/mx-stage.cfg

@@ -36,9 +36,9 @@
 //Mot 7: Test Stepper: Vextra PK244M                           200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
 //Enc 7: Test Stepper: ssi_enc multiturn                       1 rev = 4096 enc_step
 
-$$$***
+//$$$***
 //!common()
-!common(PhaseFreq=20000,PhasePerServo=4)
+//!common(PhaseFreq=20000,PhasePerServo=4)
 //!common(PhaseFreq=20000,PhasePerServo=1)
 //!common(PhaseFreq=40000)
 

logbook.md

@@ -888,3 +888,20 @@ cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/;gpasciiCommander --hos
 
 enable plc 1
 
+
+
+cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/qt
+CAQTDM_DISPLAY_PATH=/sf/controls/config/qt
+EPICS_CA_ADDR_LIST='sf-cagw SAR-CPPM-EXPMX1'
+EPICS_CA_ADDR_LIST=SAR-CPPM-EXPMX1
+$ caget SAR-ESB_MX:MOTOR_X1
+
+
+dbl
+dbpf SAR-ESB_MX:MOTOR_Y1 10
+dbpf SAR-ESB_MX:MOTOR_X1 10
+
+dbpf SAR-ESB_MX:ASYN.AOUT 'enable plc 1'
+
+
+dbpf