SmarAct SmarPod EPICS Driver

EPICS StreamDevice driver for SmarAct SmarPod Piezo Hexapod controller.

Requirements

Though it may work on other versions, the driver was tested on these:

1. EPICS base 3.14.12.3 http://www.aps.anl.gov/epics/
2. asyn 4-18 http://www.aps.anl.gov/epics/modules/soft/asyn/
3. StreamDevice 2.5+ http://epics.web.psi.ch/software/streamdevice/

Optional

1. EDM http://ics-web.sns.ornl.gov/edm/log/getLatest.php

Installation

1. Install EPICS

   1. If using a Debian-based system (e.g., Ubuntu), use the packages here http://epics.nsls2.bnl.gov/debian/
   2. If no packages are available for your distribution, build from source

2. Edit configure/RELEASE

   1. Point the directories listed in there to the appropriate places
   2. If using the Debian packages, everything can be pointed to /usr/lib/epics

3. Edit iocBoot/iocSmarPod/st.cmd

   1. Change the shebang on the top of the script if your architecture is different than linux-x86: #!../../bin/linux-x86/hxnSmarPod (check if the environment variable EPICS_HOST_ARCH is set, or perhaps uname -a, or ask someone if you don't know)

   2. The following lines set the prefix to all of the additional (i.e., non-motor record) PVs (with $(P)$(R)):

      epicsEnvSet "P" "$(P=E1:)"
      epicsEnvSet "R" "$(R=SmarPod:)"
      

      Set the second quoted strings appropriately.

   3. Set the IP address of the controller here:

      epicsEnvSet "SMARPOD_IP" "$(SMARPOD_IP=10.0.3.9)"
      epicsEnvSet "SMARPOD_PORT" "$(SMARPOD_PORT=2000)"
      

      The port should not be changed.

   4. For each device, load the necessary records:

      dbLoadRecords("$(TOP)/db/devSmarPod.db","P=$(P),R=$(R),PORT=$(ASYN_PORT),A=0")
      

4. Go to the top directory and make

5. If all goes well:

   $ cd iocBoot/iocSmarPod
   $ chmod +x st.cmd
   $ ./st.cmd
   

6. Run EDM:

   $ export EDMDATAFILES=$TOP/op/edl:$EDMDATAFILES
   $ edm -x -m "P=E1:,R=SmarPod:" smarpod