pmacCoord EPICS Support Module

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Introduction

This module contains an asyn motor driver for Delta Tau PMAC co-ordinate systems (CS), along with some sample CS definitions. This allows the programmer to set axes to move in a synchronised fashion according to arbitrary mathematical transfer functions. For instance it allows 3 vertical jacks of a table to scan pitch at a constant velocity, or the bragg and vertical axes of a DCM to scan energy linearly. There is a great deal of information on writing CSs in the Delta Tau Turbo PMAC User Manual p275 (Coordinate-System Kinematic Calculations). This documentation will not cover this in detail, but will focus on how to setup the EPICS driver and associated databases.

Build

Make sure you have the following modules built and defined in configure/RELEASE:

There is an example IOC for each available CS in the iocs/ directory. Initially, it is recommended you comment out the build of the examples in the Makefile in the directory root, then try and build the module. You can they try changing the configure/RELEASE file and building an example. Each IOC contains a file defs.pmc in the root which contains an instantiated pmc file with the CS definitions that can be loaded onto a PMAC using PEWinPro

CS Driver

To see detailed information on how the EPICS driver communicates to the lower level see:

Supplied CS definitions

The following co-ordinate system definitions are supplied, you can use these as is, or as a template for writing your own. Make sure you read the DLS PMAC Programming Standards document before writing your own.

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