Motor Axis PVs¶

This section documents the PVs associated with each motor axis in the Galil IOC. PV names use the macros $(P) (prefix, e.g. DMC01:), $(M) (motor name, e.g. A), and $(ADDR) (axis number 0--7).

Standard Motor Record¶

The IOC uses the standard EPICS motor record with DTYP="asynMotor". The template loaded depends on the motor record version:

galil_motor-v6-10up.template -- motor record 6.10 and later
galil_motor-v6-9down.template -- motor record 6.9 and earlier

The table below shows how the Galil driver maps motor record fields to Galil commands.

Motor Record Field	Galil Command	Description
`.VAL` (move)	PA / PR	Commanded position. Driver selects PA (Position Absolute) or PR (Position Relative) based on move type.
`.JOGF` / `.JOGR`	JG	Jog velocity. Issues JG with positive or negative velocity.
`.HOMF` / `.HOMR`	HM, FI, FE	Home sequence. Uses generated DMC code combining Home (HM), Find Index (FI), and Find Edge (FE).
`.STOP`	ST	Stops axis motion.
`.VELO`	SP	Commanded velocity.
`.ACCL`	AC, DC	Acceleration and deceleration time. The driver calculates counts/s^2 from VELO and ACCL.
`.BDST`	PR	Backlash distance. Performed as a separate relative move.
`.SET`	DP, DE	Set position mode. Defines the encoder register (DP) and step count register (DE).
`.UEIP`	--	Use Encoder If Present. When 1, position readback comes from the main encoder (TP). When 0, from the step counter (TD).
`.MRES`	--	Motor resolution. Converts between EGU and counts.
`.ERES`	--	Encoder resolution.
`.RBV`	TP / TD	Position readback. Source depends on UEIP and motor type. Read from the data record, not by issuing a direct command.
`.MSTA`	Data record status bits	Motor status word. Parsed from the binary data record status word.
`.DVAL`	--	Dial value.

Most status readbacks -- position, velocity, limits, moving state -- come from the data record rather than individual Galil commands. The poller reads the binary data record blob and updates the asyn parameter list each cycle.

Motor Extras PVs¶

These Galil-specific PVs are loaded from galil_motor_extras.template and provide configuration and status beyond what the standard motor record offers. The PV pattern is $(P)$(M)_SUFFIX.

Motor Configuration¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_MTRTYPE_CMD`	mbbo	MOTOR_TYPE	MT	Motor type selection: Servo, Rev Servo, HA Stepper, LA Stepper, Rev HA Stepper, Rev LA Stepper, PWM servo, PWM rev servo, EtherCat Position, EtherCat Torque, EtherCat Rev Torque, Servo 2PB, Rev Servo 2PB
`_MTRTYPE_STATUS`	mbbi	MOTOR_TYPE	MT	Motor type readback
`_BRTYPE_CMD`	mbbo	BRUSH_TYPE	BR	Brush type: External Drive (-1), Brushless (0), Brush (1)
`_BRTYPE_STATUS`	mbbi	BRUSH_TYPE	BR	Brush type readback
`_ON_CMD`	mbbo	MOTOR_CLOSED_LOOP	SH / MO	Motor on/off. On issues SH (Servo Here) to enable the servo loop; Off issues MO (Motor Off) to disable it.
`_ON_STATUS`	bi	MOTOR_STATUS_POWERED	Data record	Motor power status from the data record
`_AXIS_STATUS`	mbbi	MOTOR_AXIS	--	Axis channel (A--H). Informational only.

Encoder Configuration¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_MENCTYPE_CMD`	mbbo	MOTOR_MAIN_ENCODER	CE	Main encoder type: Normal Quadrature, Pulse and Dir, Reverse Quadrature, Rev Pulse and Dir
`_MENCTYPE_STATUS`	mbbi	MOTOR_MAIN_ENCODER	CE	Main encoder readback
`_AENCTYPE_CMD`	mbbo	MOTOR_AUX_ENCODER	CE	Aux encoder type. Values 0, 4, 8, 12 select the upper bits of the CE command.
`_AENCTYPE_STATUS`	mbbi	MOTOR_AUX_ENCODER	CE	Aux encoder readback
`_ENC_TOLERANCE_SP`	longout	MOTOR_ENCODER_TOLERANCE	--	Encoder tolerance in counts for motion and direction detection
`_ENC_TOLERANCE_MON`	longin	MOTOR_ENCODER_TOLERANCE	--	Readback

SSI Absolute Encoder¶

All SSI PVs map to the Galil SI command.

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_SCONN_STATUS`	bi	MOTOR_SSI_CONNECTED	--	SSI connection status. Goes to MAJOR alarm when disconnected.
`_SSIINPUT_CMD`	mbbo	MOTOR_SSIINPUT	SI	SSI input mode: Off, Replace main, Replace aux
`_SSIINPUT_STATUS`	mbbi	MOTOR_SSIINPUT	SI	SSI input readback
`_SSITOTBITS_SP`	ao	MOTOR_SSITOTBITS	SI	SSI total bits (default 25)
`_SSITOTBITS_MON`	ai	MOTOR_SSITOTBITS	SI	Readback
`_SSISINGLETBITS_SP`	ao	MOTOR_SSISINGLETBITS	SI	SSI single-turn bits (default 13)
`_SSISINGLETBITS_MON`	ai	MOTOR_SSISINGLETBITS	SI	Readback
`_SSIERRBITS_SP`	ao	MOTOR_SSIERRBITS	SI	SSI error bits (default 0)
`_SSIERRBITS_MON`	ai	MOTOR_SSIERRBITS	SI	Readback
`_SSITIME_SP`	ao	MOTOR_SSITIME	SI	SSI clock rate timecode (default 13)
`_SSITIME_MON`	ai	MOTOR_SSITIME	SI	Readback
`_SSIDATA_CMD`	bo	MOTOR_SSIDATA	SI	SSI data format: Binary or Gray
`_SSIDATA_STATUS`	bi	MOTOR_SSIDATA	SI	Readback
`_SSIINVERT_CMD`	bo	MOTOR_SSIINVERT	--	Invert SSI direction: Off / On
`_SSIINVERT_STATUS`	bi	MOTOR_SSIINVERT	--	Readback

BiSS Absolute Encoder¶

BiSS configuration PVs map to the Galil SS command; the active level PVs use SY.

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_BISSINPUT_CMD`	mbbo	MOTOR_BISSINPUT	SS	BiSS input mode: Off, Replace main, Replace aux
`_BISSINPUT_STATUS`	mbbi	MOTOR_BISSINPUT	SS	BiSS input readback
`_BISSDATA1_SP`	longout	MOTOR_BISSDATA1	SS	BiSS data bits 1 (-38 to 38, default 27)
`_BISSDATA1_MON`	longin	MOTOR_BISSDATA1	SS	Readback
`_BISSDATA2_SP`	longout	MOTOR_BISSDATA2	SS	BiSS data bits 2 (0 to 38, default 27)
`_BISSDATA2_MON`	longin	MOTOR_BISSDATA2	SS	Readback
`_BISSZP_SP`	longout	MOTOR_BISSZP	SS	BiSS zero pad bits (0 to 7)
`_BISSZP_MON`	longin	MOTOR_BISSZP	SS	Readback
`_BISSCD_SP`	longout	MOTOR_BISSCD	SS	BiSS clock divider (4 to 26, default 14)
`_BISSCD_MON`	longin	MOTOR_BISSCD	SS	Readback
`_BISSLEVEL_CMD`	mbbo	MOTOR_BISSLEVEL	SY	BiSS active level: Low/Low, Low/High, High/Low, High/High
`_BISSLEVEL_STATUS`	mbbi	MOTOR_BISSLEVEL	SY	Readback
`_BISSSTAT_TIMEOUT`	bi	MOTOR_BISSSTAT_TIMEOUT	--	BiSS timeout status (MAJOR alarm when active)
`_BISSSTAT_CRC`	bi	MOTOR_BISSSTAT_CRC	--	BiSS CRC valid/invalid (MAJOR alarm on invalid)
`_BISSSTAT_ERROR`	bi	MOTOR_BISSSTAT_ERROR	--	BiSS error status (MAJOR alarm when active)
`_BISSSTAT_WARN`	bi	MOTOR_BISSSTAT_WARN	--	BiSS warning (MAJOR alarm when active)
`_BISSSTAT_POLL_CMD`	bo	MOTOR_BISSSTAT_POLL	--	Enable or disable BiSS status polling
`_BISSSTAT_POLL`	bi	MOTOR_BISSSTAT_POLL	--	BiSS status poll readback

Homing¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_HOMING_STATUS`	bi	MOTOR_HOMING	--	True while homing is in progress, including any jog-after-home move
`_HOMING_MONITOR`	calcout	--	--	Combined homing status derived from HOMR, HOMF, and HOMING_STATUS
`_HOMR_CMD`	bo	MOTOR_HOMR	Generated home code	Trigger independent home reverse
`_HOMF_CMD`	bo	MOTOR_HOMF	Generated home code	Trigger independent home forward
`_ULAH_CMD`	bo	MOTOR_USELIMITASHOME	--	Use limit switch as home: No / Yes
`_ULAH_STATUS`	bi	MOTOR_USELIMITASHOME	--	Readback
`_UINDEX_CMD`	bo	MOTOR_USEINDEX	FI	Use index pulse during home: No / Yes
`_UINDEX_STATUS`	bi	MOTOR_USEINDEX	FI	Readback
`_USWITCH_CMD`	bo	MOTOR_USESWITCH	--	Use home switch: No / Yes
`_USWITCH_STATUS`	bi	MOTOR_USESWITCH	--	Readback
`_JAH_CMD`	bo	MOTOR_JOG_AHOME	JG	Jog after home: No / Yes
`_JAH_STATUS`	bi	MOTOR_JOG_AHOME	JG	Readback
`_JAHV_SP`	ao	MOTOR_JOG_AHOME_VALUE	PA	Jog-after-home target position in EGU
`_JAHV_MON`	ai	MOTOR_JOG_AHOME_VALUE	PA	Readback
`_HOMEALLOWED_CMD`	mbbo	MOTOR_HOME_ALLOWED	--	Permitted home directions: None, Reverse, Forward, Both
`_HOMEALLOWED_STATUS`	mbbi	MOTOR_HOME_ALLOWED	--	Readback

Encoder Stall Detection¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_ESTALL_STATUS`	bi	MOTOR_STATUS_SLIP	Data record	Encoder stall detected (MAJOR alarm)
`_ESTALLTIME_SP`	ao	MOTOR_ENCODER_STALL_TIME	--	Time the encoder must be stopped before a stall is declared, in seconds (default 0.2)
`_ESTALLTIME_MON`	ai	MOTOR_ENCODER_STALL_TIME	--	Readback

Step Motor Smoothing¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_STEPSMOOTH_SP`	ao	MOTOR_STEPSMOOTH	KS	Smoothing factor for stepper axes (0.25 to 128, default 1.313)
`_STEPSMOOTH_MON`	ai	MOTOR_STEPSMOOTH	KS	Readback

Servo Error¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_ERRLIMIT_SP`	ao	MOTOR_ERRLIM	ER	Position error limit in counts (default 16384)
`_ERRLIMIT_MON`	ai	MOTOR_ERRLIM	ER	Readback
`_ERR_MON`	ai	MOTOR_ERR	Data record (`_TEn`)	Current position error in counts, read from the data record
`_OFFONERR_CMD`	mbbo	MOTOR_OOE	OE	Off-on-error mode: Off, Position error, Limits, Both
`_OFFONERR_STATUS`	mbbi	MOTOR_OOE	OE	Readback

Velocity Readback¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_VELOCITYRAW_MON`	ai	MOTOR_VELOCITY_RAW	Data record (`_TVn`)	Velocity in counts/s from the data record
`_VELOCITYEGU_MON`	ai	MOTOR_VELOCITY_EGU	Data record	Velocity in EGU/s, converted from raw using MRES

Motor Power Auto On/Off¶

When enabled, the driver automatically issues SH before a move and MO after the move completes, with configurable delays.

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_AUTOONOFF_CMD`	bo	MOTOR_AUTO_ONOFF	SH / MO	Enable auto on/off
`_AUTOONOFF_STATUS`	bi	MOTOR_AUTO_ONOFF	--	Readback
`_ONDELAY_SP`	ao	MOTOR_AUTO_ONDELAY	--	Delay after SH before starting the move (0.001 to 3 s, default 0.2)
`_ONDELAY_MON`	ai	MOTOR_AUTO_ONDELAY	--	Readback
`_OFFDELAY_SP`	ao	MOTOR_AUTO_OFFDELAY	--	Delay after move completes before issuing MO (0.001 to 3 s, default 0.2)
`_OFFDELAY_MON`	ai	MOTOR_AUTO_OFFDELAY	--	Readback

Brake Control¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_BRAKE_STATUS`	bi	MOTOR_BRAKE	SB / CB	Brake on/off status. SB (Set Bit) engages; CB (Clear Bit) releases.
`_AUTOBRAKE_CMD`	bo	MOTOR_AUTO_BRAKE	SB / CB	Enable automatic brake engagement between moves
`_AUTOBRAKE_STATUS`	bi	MOTOR_AUTO_BRAKE	--	Readback
`_BRAKEPORT_SP`	ao	MOTOR_BRAKEPORT	--	Digital output port for the brake (-1 = disabled, 0 to 16)
`_BRAKEPORT_MON`	ai	MOTOR_BRAKEPORT	--	Readback
`_BRAKEONDELAY_SP`	ao	MOTOR_AUTO_BRAKEONDELAY	--	Delay after move before engaging brake (0.001 to 3 s, default 0.2)
`_BRAKEONDELAY_MON`	ai	MOTOR_AUTO_BRAKEONDELAY	--	Readback

Limit Protection¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_WLP_CMD`	bo	MOTOR_WLP	--	Wrong limit protection: Off / On (default On). Stops the motor if the wrong limit switch activates during travel.
`_WLP_STATUS`	bi	MOTOR_WLP	--	Readback
`_WLPSTOP_STATUS`	bi	MOTOR_WLP_STOP	--	WLP triggered a stop (MAJOR alarm)
`_EGUAFTLIMIT_SP`	ao	MOTOR_EGUAFTER_LIMIT	--	EGU distance to move off a limit (default 0.001)
`_EGUAFTLIMIT_MON`	ai	MOTOR_EGUAFTER_LIMIT	--	Readback
`_LIMITDISABLE_CMD`	mbbo	MOTOR_LIMIT_DISABLE	LD	Disable limits: Off, Fwd Disabled, Rev Disabled, Both Disabled
`_LIMITDISABLE_STATUS`	mbbi	MOTOR_LIMIT_DISABLE	LD	Readback
`_LIMITCONSISTENT_STATUS`	mbbi	MOTOR_LIMIT_CONSISTENT	--	Limit consistency check: Unknown, Consistent, Not consistent (MAJOR alarm when inconsistent)

Amplifier Configuration¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_AMPMODEL_STATUS`	longin	MOTOR_AMP_MODEL	--	Internal amplifier model number
`_AMPGAIN_CMD`	mbbo	MOTOR_AMP_GAIN	AG	Amplifier gain. Enumeration values depend on the amplifier model.
`_AMPGAIN_STATUS`	mbbi	MOTOR_AMP_GAIN	AG	Readback
`_AMPCLGAIN_CMD`	mbbo	MOTOR_AMP_CURRENTLOOP_GAIN	AU	Current loop gain. Enumeration values depend on the amplifier model.
`_AMPCLGAIN_STATUS`	mbbi	MOTOR_AMP_CURRENTLOOP_GAIN	AU	Readback
`_AMPLC_SP`	ao	MOTOR_AMP_LOWCURRENT	LC	Low current stepper mode setting (-32767 to 32767)
`_AMPLC_MON`	ai	MOTOR_AMP_LOWCURRENT	LC	Readback

Microstep Configuration¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_MICROSTEP_CMD`	mbbo	MOTOR_MICROSTEP	YA	Microsteps per step: 1, 2, 4, 16, 64, 256. Available values depend on the amplifier model.
`_MICROSTEP_STATUS`	mbbi	MOTOR_MICROSTEP	YA	Readback

EtherCat¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_ECATADDR_SP`	ao	MOTOR_ECAT_ADDR	--	EtherCat slave address (-255 to 255)
`_ECATADDR_MON`	ai	MOTOR_ECAT_ADDR	--	Readback
`_ECATFLT_STATUS`	bi	MOTOR_ECAT_FAULT	--	EtherCat fault (MAJOR alarm)
`_ECATFLTRST_CMD`	bo	MOTOR_ECAT_FAULTRESET	--	Reset EtherCat fault

Amplifier Status¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_HALLERROR_STATUS`	bi	MOTOR_HALLERROR_STATUS	Data record, TA	Hall sensor error (MAJOR alarm)
`_ATTORQUELIMIT_STATUS`	bi	MOTOR_ATTORQUELIMIT_STATUS	Data record	At torque limit (MAJOR alarm)

Miscellaneous¶

PV Suffix	Record Type	asyn drvInfo	Galil Cmd	Description
`_MCONN_STATUS`	bi	MOTOR_MCONN	--	Motor connected status. Goes to MINOR alarm when disconnected.
`_USERDATA_MON`	ai	MOTOR_USER_DATA	ZA	User-defined data from the data record
`_USERDATADEADB_SP`	ao	MOTOR_USER_DATA_DEADB	--	Deadband for user data updates (default 1)
`_STOPDELAY_SP`	ao	MOTOR_STOP_DELAY	--	Delay before issuing a stop command, in seconds (default 0)
`_STOPDELAY_MON`	ai	MOTOR_STOP_DELAY	--	Readback
`_STATUS_POLL_DELAY_CMD`	ao	MOTOR_STATUS_POLL_DELAY	--	Status poll interval for slow-changing items such as axis and encoder status (0.1 to 10 s, default 1)
`_STATUS_POLL_DELAY_MON`	ai	MOTOR_STATUS_POLL_DELAY	--	Readback