5 INSTALLATION GUIDE

5.1 Installation Requirements

5.1.1 Hardware Requirements

In addition to the default LCU hardware (see [6]), the following boards are required for MCM:

· Motion controller board (optional):

MACCON MAC4-INC, Version 4.1A or higher (recommended is 4.2A)

MACCON MAC4-SSI, Version 4.1A or higher (recommended is 4.2A)

MACCON MAC4-STP, Version 2.0A or higher

· Digital I/O board (optional):

ACROMAG, Series 948x

· Time Interface Module TIM (optional)

· Amplifier board:

ESO VME4SA-X1 4-Channel DC Servo Amplifier, any version

ESO VME4ST 4-Channel STP, any version

or any other board not controlled by MCM, but compatible with the motion controller (in this case, the motion controller is mandatory).

5.1.2 Software Requirements

· VLT Common Software, Release OCT98 (from DEC95, but for the device driver mcon).

5.2 Building the Software

The MCM modules are part of the VLT Common Software, thus their generation is part of the standard installation procedure, as described in [6].

5.3 LCU Environment Configuration

The configuration of the already existing LCU environment (directory $VLTDATA/ENVIRONMENTS/$LOCALENV) is performed using the tool vccConfigLcu tool exclusively (see [8]).

In order to get the MCM modules loaded (see vccConfigLcu panel below):

1. Click the mouse in the field User Mod.

2. Type in the following name, entering the input by clicking on Add Below:

mcm

3. Check if the motServer process is in the list of PROCESSES .

4. Save the configuration (button Write Files, do overwrite the already existing files)

5. Configure LCU.

5.3.1 Local Database

Before the LCU shall be rebooted, the appropriate database must be generated. Therefore, the file $VLTDATA/ENVIRONMENTS/$LOCALENV/dbl/DATABASE.db must be edited.

A branch config file (BCF) may be included, the file must have been installed under $XXXROOT/dbl or $XXXROOT/vw/dbl (where XXXROOT is VLTROOT or INTROOT):

Example:

#define motNUMBER_NAMED_POSITIONS 10

#define motNUMBER_NAMED_SPEEDS 5

#define motNUMBER_INITHW_STEPS 3

#define motNUMBER_CONV_METHODS 4

#define motMOTORROOT :Instr1:Motors:Motor1

#define motMOTORTYPE motDVAMI

#define motMOTORNAME M1

#include "motor.db"

The DB branch :Instr1:Motors:Motor1 will be created that contains the default values as for the class DVAMI. Using the Engineering Tool motei, one can modify/customize the configuration of the motor. When the motor has been fully configured and tested, the configuration file M1.dbcfg shall be generated and stored in the ./config path of the application module. This file shall then be installed in the $INS_ROOT/config path and shall be read from motServer at installation time by motInitDb(1) before invoking motInstall(1).

Important Note: When instanciating a motor, one should pay attention to the number of entries for the NamedPositions, NamedSpeeds, InitializationProcedure and UnitConversionMethods. At run-time, it is not possible to add any new entry but solely modify the existing ones. By default, when also no number of entries is specified, the numbers of entries are defaulted to motMAX_NAMED_POSITION=15, motMAX_NAMED_SPEED=15, motMAX_INIT_ACTION=12 and motMIN_CONV_METHOD=4 (see motDefines.h).

The MCM branch(es) may also be fully described as shown below; however, this method is not any more recommended since one would have to regenerate the database each time an attribute is modified.

Example:

Create a motor Motor1 as an instance of the class motDVAMI, but circular axis and unit conversions; its absolute path shall be :Instr1:Motors:Motor1 (Do not forget to assign a valid alias, here M1). This description may be put as content of the BCF motor.db as for the previous example.

#include "motMOTORS.class"

POINT BASE_CLASS :Instr1:Motors

BEGIN

ATTRIBUTE motDVAMI Motor1

BEGIN

ALIAS "M1"

//

// Axis Type

//

ATTRIBUTE int32 SERVER:CONF.axis motAXIS_CIRCULAR

//

// Unit Conversion Methods

//

ATTRIBUTE Table SERVER:UNIT.unitConversion (4)

BEGIN

Value (

("degToEnc",motLINEAR,"",0,0.0,200.0,motDB_UNIT_LINEAR_FILLER),

("deg/secToEnc/ms",motLINEAR,"",0,0.0,0.2,motDB_UNIT_LINEAR_FILLER),

("deg/secToRef",motLINEAR,"",0,0.0,0.2,motDB_UNIT_LINEAR_FILLER),

("mAToDig",motLINEAR,"",0,0.0,50.8,motDB_UNIT_LINEAR_FILLER))

END

END

All the attributes may be overloaded, sub-classes may be created, etc....

The attributes of type TABLE (SERVER:CONF.namedPositions, SERVER:CONF.namedSpeeds, SERVER:INIT.actions and SERVER:UNIT.unitConversion) are defaulted with 1 record.

Examples are available under the module directory mot/lcu/dbl.

The following command, using the db target , generates the LCU database:

% make db

When the database has been successfully generated, the last step of the LCU configuration may be performed from the panel vccConfigLcu:

7. Reboot LCU

Set the connection time to about 180 seconds, and check that the procedure completes successfully.

8. Close the connection and quit the panel.

5.3.2 Verification

Functions performed during the installation phase always log 2 (for SUCCESS) or 1 (for FAILURE) on the console.

The tools, described in section 3.3, can be used to test that the motor library has been installed correctly. From the VxWorks Shell, issue the following commands, which display the module version on the console:

lte32->mcmVersion

mcm - Motor Control Module Revision: 2.7 - OCT98

motci - Motor Control Module CI Version 2.1 - JUL98

mot - Motor Control Module API Version 2.7 - SEP98

sdl - SDL Common Module Version 1.11 - MAR98

mac4 - Motion Controller SDL Version 3.2 - JUL98

vme4sa - Servo Amplifier SDL Version 2.2 - MAR98

value = 1 = 0x1

lte32->

The version of each module may also be retrieved:

lte32->motVersion

mot - Motor Control Module API Version V.VV - MMMYY

value = 2 = 0x2 = + 0x1

lte32->motciVersion

motci - Motor Control Module CI Version V.VV - MMMYY

value = 2 = 0x2 = + 0x1

lte32->sdlVersion

sdl - SDL Common Module Version V.VV - MMMYY¹

value = 2 = 0x2 = + 0x1

lte32->mac4Version

mac4 - Motion Controller SDL Version V.VV - MMMYY

value = 2 = 0x2 = + 0x1

lte32->vme4saVersion

vme4sa - Servo Amplifier SDL Version V.VV - MMMYY

value = 2 = 0x2 = + 0x1

lte32->

In order to verify the installation of the ACI, invoke the CCS Engineering Interface ccseiMsg, select the correct environment and the process motServer and enter the command VERSION. The reply should contain the two following lines:

VERSION mot - Motor Control Module API Version V.VV - MMMYY

VERSION motci - Motor Control Module CI Version V.VV - MMMYY

The version may also be retrieved directly from the Unix shell (from known RTAP environment):

pduhoux@te49:~/MCM 58->msgSend -n lted motServer "VERSION" ""

MESSAGEBUFFER:

mot - Motor Control Module API Version V.VV - MMMYY

MESSAGEBUFFER:

motci - Motor Control Module CI Version V.VV - MMMYY

pduhoux@te49:~/MCM 59->

After installation of motors, one can check the motors which have been installed:

luvics1->motPrintMotors

Installed Motors

===============================================================================

| Motor Alias | Database absolute path

-------------------------------------------------------------------------------

| DVAMI | :MOTEI:DVAMI

| DPOSM | :Appl_data:uves:ins:preSlit:depolarizer:slide:MOTOR

| DPORM | :Appl_data:uves:ins:preSlit:depolarizer:rotate:MOTOR

| SVSMS | :MOTEI:SVSMS

| DXXMA | :MOTEI:DXXMA

| DXXMI | :MOTEI:DXXMI

| DVAMA | :MOTEI:DVAMA

| DVA0X | :MOTEI:DVA0X

===============================================================================

value = 2 = 0x2

¹

Version identifier: V.VV is the version number e.g. 1.12, and MMMYY the date (month/year) e.g NOV97

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