motorDSM can also be built outside of motor by copying it's configure/EXAMPLE_RELEASE.local file to RELEASE.local and defining the paths to EPICS_BASE, MOTOR, and itself.

motorDSM contains an example IOC that is built if configure/CONFIG_SITE.local sets BUILD_IOCS = YES. The example IOC can be built outside of the driver module. Copy iocs/dsmIOC/configure/EXAMPLE_RELEASE.local to RELEASE.local and uncomment and set the paths for the appropriate lines depending on whether motorDSM was built inside the motor module or independently.

Running an example IOC

To run the example IOC, in the iocs/dsmIOC/iocBoot/iocDsm directory, run

$ ../../bin/linux-x86_64/dsm st.cmd.md90

for one attached MD-90 controller, or

$ ../../bin/linux-x86_64/dsm st.cmd.md90.multi

for eight attached MD-90 controllers.

You will need to set the path(s) for the serial port(s) in st.cmd.md90 (for a single unit) or st.cmd.md90.multi (for multiple units). You will also need to ensure they match the names used in motor.substitutions.md90 (or motor.substitutions.md90.multi). By default, ports are assumed to be at /dev/ttyUSB0, /dev/ttyUSB1, etc. You will also need to comment or uncomment lines depending on the number of drivers you have connected. For each driver, make sure you uncomment/call the following functions:

1. Define a new serial port named "serial0"
drvAsynSerialPortConfigure([serial name], [device location], 0, 0, 0)
e.g., drvAsynSerialPortConfigure("serial0", "/dev/ttyUSB0", 0, 0, 0)

2. Configure the port

Baud = 115200
Bits = 8
Parity = none
Stop bits = 1
Input end of message: "\r"
Output end of message: "\r"
Trace IO mask: 2

asynSetOption([serial name], 0, "baud", "115200")
asynSetOption([serial name], 0, "bits", "8")
asynSetOption([serial name], 0, "parity", "none")
asynSetOption([serial name], 0, "stop", "1")
asynOctetSetInputEos("serial0", 0, "\r")
asynOctetSetOutputEos("serial0", 0, "\r")
asynSetTraceIOMask("serial0", 0, 2)

where [serial name] is the name you assigned in step 1, surrounded by double quotes.

3. Set initial parameters

Power supply enabled (EPS command)
Deadband = 10 nm (SDB 10 command)

asynOctetConnect("initConnection", [serial name], 0)
asynOctetWrite("initConnection", "EPS")
asynOctetWrite("initConnection", "SDB 10")
asynOctetDisconnect('initConnection')

4. Create MD90 Controller object
MD90CreateController([controller name], [serial name], 1, 100, 5000)
where [controller name] is the name of the motor to assign. Convention is to use "MD90n", starting with n=0.

5. Intialize the IOC
After calling iocInit, run the following lines for each motor. The example below uses DSM:m0 but it should be run for each line described in motor.substitutions.md90 (or motor.substitutions.md90.multiple).

dbpf("DSM:m0.RTRY", "0")	#sets retries to 0; this is automatic on the MD90
dbpf("DSM:m0.TWV", "0.1")	#Tweak distance
dbpf("DSM:m0.VMAX", "1.0")	#Sets max velocity to 1 mm/s
dbpf("DSM:m0.HVEL", "1.0")	#Sets max velocity to 1 mm/s

Compiling motorDSM

To set up a full EPICS stack for development and testing, install and configure all of the following dependencies:

epics-base

Install make, gcc, and perl packages if not already installed, then clone and build epics-base:

$ export SUPPORT=/path/to/install/directory
$ cd $SUPPORT
$ git clone git@github.com:epics-base/epics-base.git
$ cd epics-base
$ make distclean
$ make

asyn

$ cd $SUPPORT
$ git clone git@github.com:epics-modules/asyn.git

You may need to install (on Arch Linux) rpcsvc-proto package to get rpcgen binary needed to make asyn.

In asyn/configure, create the file RELEASE.local with contents:
SUPPORT=/path/to/install/directory
EPICS_BASE=/path/to/epics-base

In asyn/configure, create CONFIG_SITE.local file with the line:
TIRPC=YES
if appropriate header files are in /usr/include/tirpc/rpc instead of /usr/include/rpc.

$ cd $SUPPORT/asyn
$ make clean
$ make

seq

$ cd $SUPPORT
$ git clone git@github.com:ISISComputingGroup/EPICS-seq.git seq

Install the re2c package (Arch) if needed.

Create seq/configure/RELEASE.local and set path for EPICS_BASE. (Note this package seems to forget to git-ignore the .local file.)

Edit seq/configure/RELEASE to add the missing '-' before the include for ISIS_CONFIG on the next to last line. This seems to be a typo.

$ cd $SUPPORT/seq
$ make clean
$ make

motor

$ cd $SUPPORT
$ git clone git@github.com:epics-modules/motor.git

Create motor/configure/RELEASE.local and set SUPPORT, ASYN, SNCSEQ, and EPICS_BASE to the appropriate paths.

$ cd $SUPPORT/motor
$ make distclean
$ make

motorDSM (this package)

$ cd $SUPPORT
$ git clone git@github.com:Binary-Coalescence/motorDSM.git

In motorDSM/configure, copy EXAMPLE_RELEASE.local to RELEASE.local and set paths for EPICS_BASE, MOTOR, and MOTOR_DSM.

In motorDSM/configure, copy EXAMPLE_CONFIG_SITE.local to CONFIG_SITE.local and uncomment to set:
BUILD_IOCS = YES

In motorDSM/iocs/dsmIOC/configure, copy EXAMPLE_RELEASE.local to RELEASE.local. Comment out the "if built inside motor" lines, uncomment the "if built outside motor" lines, and set the path for MOTOR_DSM.

$ cd $SUPPORT/motorDSM
$ make distclean
$ make

Example usage

After building, run the example IOC described at the top of this section in one terminal window. Open another terminal window and navigate to [EPICS install directory]/epics-base/bin/linux-x86_64/ (or wherever you built EPICS base.
Use the commands caput and caget to set and read process variables.

For example, to get the current position, use ./caget DSM:m0.REP. This reads the REP variable, which is the "Raw Encoder Position". Set m0 to m1, m2, etc. for multiple motors.

Other examples

Homing the motor (must be done before you can issue position commands):
./caput DSM:m0.HOMF 1 #Begins homing sequence in the forward direction
./caput DSM:m0.HOMR 1 #Begins homing sequence in the reverse direction

Moving to a position target:
./caput DSM:m0.VAL 2.345 #Moves to 2.345 mm

Setting a velocity target:
./caput DSM:m0.VELO 0.5 #Sets velocity target to 0.5 mm/s
Note that velocity targets are appropriate only. They adjust the step rate of the motor, and are not guaranteed to be exact.