Controller PVs¶

Controller-level PVs provide identity information, status monitoring, and global configuration for a Galil controller. They are defined in two templates:

galil_dmc_ctrl.template -- for DMC motion controllers (full feature set)
galil_rio_ctrl.template -- for RIO remote I/O controllers (subset)

All PVs use the prefix $(P), which is typically set to something like DMC01: or RIO01: in the IOC startup script.

DMC Controller PVs¶

The DMC template exposes the complete set of controller PVs described in the sections below.

Controller Identity and Status¶

These read-only PVs report the controller's hardware identity and communication health.

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`DRIVER_MON`	stringin	`CONTROLLER_DRIVER`	--	Driver version string (set internally by driver)
`MODEL_MON`	stringin	`CONTROLLER_MODEL`	RV	Controller model (e.g. "DMC4143"). Queried at connection via binary RV command
`ADDRESS_MON`	stringin	`CONTROLLER_ADDRESS`	--	Controller address (from `GalilCreateController` parameter)
`ETHADDR_MON`	stringin	`CONTROLLER_ETHADDR`	TH	Ethernet MAC address. Parsed from TH (Tell Ethernet Handle) response
`SERIALNUM_MON`	stringin	`CONTROLLER_SERIALNUM`	MG _BN	Controller serial number. Queried via MG _BN (Message, internal variable)
`COMMERR_STATUS`	bi	`CONTROLLER_COMMERR`	--	Communication error. 0 = OK, 1 = Error (MAJOR alarm). Driver-internal status
`START_STATUS`	bi	`CONTROLLER_START`	--	Startup status. 0 = Error (MAJOR alarm), 1 = OK. Driver-internal status
`SSICAPABLE_STATUS`	bi	`CONTROLLER_SSICAPABLE`	SIA, SIE	SSI encoder capable (determined from model string and SIA=?/SIE=? queries)
`BISSCAPABLE_STATUS`	bi	`CONTROLLER_BISSCAPABLE`	SSA, SSE	BiSS encoder capable (determined from model string and SSA=?/SSE=? queries)
`PVTCAPABLE_STATUS`	bi	`CONTROLLER_PVTCAPABLE`	--	PVT trajectory capable (determined from model string: 30xx/40xx/50xx series)
`ECATCAPABLE_STATUS`	bi	`CONTROLLER_ECATCAPABLE`	--	EtherCat capable (determined from model string: 50xx series)

Switch Configuration¶

These PVs configure how the controller interprets limit and home switches. They all map to the Galil CN (Configure) command.

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`LIMITTYPE_CMD`	bo	`CONTROLLER_LIMITTYPE`	CN	Set limit switch type: NO (normally open) or NC (normally closed)
`LIMITTYPE_STATUS`	bi	`CONTROLLER_LIMITTYPE`	MG _CN0	Readback of limit switch type
`HOMETYPE_CMD`	bo	`CONTROLLER_HOMETYPE`	CN	Set home switch type: NO or NC
`HOMETYPE_STATUS`	bi	`CONTROLLER_HOMETYPE`	CN	Readback of home switch type
`HOMEEDGE_CMD`	bo	`CONTROLLER_HOMEEDGE`	CN	Home edge: Reverse or Forward
`HOMEEDGE_STATUS`	bi	`CONTROLLER_HOMEEDGE`	CN	Readback of home edge

EtherCat¶

These PVs control and monitor the EtherCat network interface, available on controllers with EtherCat hardware (50xx series).

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`ECATNETWORK_CMD`	bo	`CONTROLLER_ECAT_NETWORK`	EU	Enable (`EU1`) or disable (`EU0`) the EtherCat network
`ECATNETWORK_STATUS`	bi	`CONTROLLER_ECAT_NETWORK`	MG _EU0	EtherCat network status
`ECATFLT_STATUS`	ai	`CONTROLLER_ECAT_FAULT`	--	EtherCat fault code (polled at 1 second)

Deferred Moves¶

Deferred moves allow multiple axes to start simultaneously. When deferred mode is active, move commands are buffered. The Galil BG (Begin) command is issued when the mode is set back to Go.

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`DEFER_CMD`	bo	`MOTOR_DEFER_MOVES`	BG	Set deferred mode: Go (execute immediately) or Defer (buffer moves). Issues BG (Begin) with axes or coordinate system when set to Go
`DEFER_STATUS`	bi	`MOTOR_DEFER_MOVES`	--	Deferred moves status (driver-internal)
`DEFER_MODE_CMD`	bo	`CONTROLLER_DEFERRED_MODE`	--	Deferred mode: "Sync start only" or "Sync start/stop". When set to "Sync start/stop", the ST (Stop) command is also deferred. Driver-internal setting
`DEFER_MODE_STATUS`	bi	`CONTROLLER_DEFERRED_MODE`	--	Deferred mode readback

Coordinate System Selection¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`COORDSYS_CMD`	bo	`COORDINATE_SYSTEM`	CA	Select active coordinate system: S or T. Issues CA (Coordinate Axes define)
`COORDSYS_STATUS`	bi	`COORDINATE_SYSTEM`	MG _CA	Active coordinate system readback

Output Compare¶

Output compare generates a pulse on a digital output when the encoder crosses specified positions. It uses the Galil OC (Output Compare) command. Two output compare channels are available: OC1 covers axes A through D, and OC2 covers axes E through H.

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`OC1START_CMD`	ao	`OUTPUT_COMPARE_START` (addr 0)	OC	Output compare 1 start position
`OC1START_MON`	ai	`OUTPUT_COMPARE_START` (addr 0)	OC	Readback
`OC1INCR_CMD`	ao	`OUTPUT_COMPARE_INCR` (addr 0)	OC	Output compare 1 increment
`OC1INCR_MON`	ai	`OUTPUT_COMPARE_INCR` (addr 0)	OC	Readback
`OC1AXIS_CMD`	mbbo	`OUTPUT_COMPARE_AXIS` (addr 0)	OC	Output compare 1 axis: OFF, A, B, C, D
`OC1AXIS_STATUS`	mbbi	`OUTPUT_COMPARE_AXIS` (addr 0)	OC	Readback
`OC2START_CMD`	ao	`OUTPUT_COMPARE_START` (addr 1)	OC	Output compare 2 start position
`OC2START_MON`	ai	`OUTPUT_COMPARE_START` (addr 1)	OC	Readback
`OC2INCR_CMD`	ao	`OUTPUT_COMPARE_INCR` (addr 1)	OC	Output compare 2 increment
`OC2INCR_MON`	ai	`OUTPUT_COMPARE_INCR` (addr 1)	OC	Readback
`OC2AXIS_CMD`	mbbo	`OUTPUT_COMPARE_AXIS` (addr 1)	OC	Output compare 2 axis: OFF, E, F, G, H
`OC2AXIS_STATUS`	mbbi	`OUTPUT_COMPARE_AXIS` (addr 1)	OC	Readback
`OCMESSAGE_MON`	waveform	`OUTPUT_COMPARE_MESSAGE`	--	Output compare status message (driver-internal)

User Array Upload¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`UPLOAD_CMD`	bo	`CONTROLLER_UARRAY_UPLOAD`	QU	Trigger upload of user arrays from controller. Issues QU (Upload Array) for each array
`UPLOAD_STATUS`	bi	`CONTROLLER_UARRAY_UPLOAD`	--	Upload status: Idle or Uploading

Error Display¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`ERROR_MON`	waveform	`CONTROLLER_ERROR`	--	Controller error message (256-character waveform). Driver-internal status buffer

Command Console¶

These PVs provide a pass-through interface for sending arbitrary Galil commands and reading the responses.

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`SEND_STR_CMD`	stringout	`USER_OCTET`	(any)	Send any Galil command string to the controller
`SEND_STR_MON`	waveform	`USER_OCTET`	(any)	Response string from the last command (256-character waveform)
`SEND_STRVAL_MON`	ai	`USER_OCTET_VAL`	(any)	Numeric value parsed from the last command response

Amplifier Fault Clear¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`CLEARAMPFAULTS_CMD`	bo	`CONTROLLER_CLEARAMPFAULTS`	AZ	Clear amplifier faults. Issues AZ1 (Clear Latched Amplifier Errors, all amps). 40xx/41xx series only

RIO Controller PVs¶

The RIO template (galil_rio_ctrl.template) provides a subset of the DMC controller PVs, limited to what is relevant for a remote I/O controller without motor axes.

Included PVs¶

Identity: DRIVER_MON, MODEL_MON, ADDRESS_MON, ETHADDR_MON, SERIALNUM_MON

Status: COMMERR_STATUS, START_STATUS

User Array Upload: UPLOAD_CMD, UPLOAD_STATUS

Error Display: ERROR_MON

Command Console: SEND_STR_CMD, SEND_STR_MON, SEND_STRVAL_MON

These PVs have the same record types, asyn drvInfo strings, Galil commands, and behavior as their DMC counterparts described above.

Features Not Available on RIO¶

The following DMC features are not present in the RIO template:

Switch configuration (LIMITTYPE, HOMETYPE, HOMEEDGE)
Deferred moves (DEFER, DEFER_MODE)
Coordinate system selection (COORDSYS)
Output compare (OC1*, OC2*, OCMESSAGE)
EtherCat (ECATNETWORK, ECATFLT)
Capability flags (SSICAPABLE, BISSCAPABLE, PVTCAPABLE, ECATCAPABLE)
Amplifier fault clear (CLEARAMPFAULTS)