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Galil
This page contains information and references regarding the operation and maintenance of the Galil IOC
Useful information about the Galil can be found on the following pages:
- Motors Trouble Shooting
- IOC And Device Trouble Shooting
- Differences between real Galil and simulated motor
- Migrating Galil motors from SECI to IBEX
- Motor SetPoints
- Barndoors and Momentum Slits on MUON Front End
- Creating soft motors to control real motors
- Migrating instrument configurations
For each Galil crate in use on the IOC, you should have a corresponding Galilnn.cmd file in C:\Instrument\Settings\config\NDW1836\configurations\galil. For example, if I am using galil crate 1, I have a file called Galil01.cmd
The file should contain 3 sets of commands:
GalilCreateController("Galil", "$(GALILADDR)", 20)
This initiates the Galil controller program. It takes the following arguments:
- Port name
- Address: This is typically the macro to the address of the crate and will correspond to the macro name used in the IOC setup for this Galil.
- Update period: The number of ms between polls of the Galil. If this number is set to be negative then the Galil will use synchronous rather than asynchronous polling by default
- Quiet start: If set to 1, the Galil program will check on startup whether any new code is waiting to be uploaded to the Galil. If not, it will leave any existing control programs running. If set to 0 (or defaulted as in this case) then all threads will be restarted along with the IOC. This is especially relevant for the LET oscillating collimator
GalilCreateAxis("Galil","A",0,"",1)
GalilCreateAxis("Galil","B",0,"",1)
These lines create the axis controllers. For a list of parameters, refer to "GalilCreateAxis" in [Galil submodule]\GalilSup\src\GalilController.cpp
GalilStartController("Galil","$(GALIL)/gmc/galil_Default_Header.gmc;$(GALIL)/gmc/galil_Home_Dummy_Do_Nothing.gmc!$(GALIL)/gmc/galil_Home_Dummy_Do_Nothing.gmc!$(GALIL)/gmc/galil_Home_Dummy_Do_Nothing.gmc!$(GALIL)/gmc/galil_Home_Dummy_Do_Nothing.gmc!$(GALIL)/gmc/galil_Home_Dummy_Do_Nothing.gmc!$(GALIL)/gmc/galil_Home_Dummy_Do_Nothing.gmc!$(GALIL)/gmc/galil_Home_Dummy_Do_Nothing.gmc!$(GALIL)/gmc/galil_Home_Dummy_Do_Nothing.gmc;$(GALIL)/gmc/galil_Default_Footer.gmc!$(GALIL)/gmc/galil_Oscillating_Collimator_Merlin.gmc",0,0,3)
This starts the Galil controller. It takes the following arguments:
- Port name: As before
- Code file: The code to be uploaded to the Galil
- Burn program: Whether to burn the program to EEPROM
- Display code: Whether to display the code being uploaded
- Thread mask: Which threads we expect to be running after code has been delivered (e.g.
7,1+2+4for threads 0, 1, and 2)
The largest and most frequently changed of these arguments is the code file. It uses semi colons and exclamation marks to demarcate different sections of the Galil code. It is arranged as:
[Header];[Body];[Footer]
- Header: Sets initial conditions on the Galil and initiates the homing programs on thread 1
- Body: This should be an 8 element list of exclamation mark separated values. Each element is a path to the homing routine used for each axis in sequence A-H.
- Footer: Additional code executed after homing programs have started
As you can see above, we have two programs in the footer, separated by exclamation marks.
Threads 0 and 1 are reserved for homing operations. As described above, thread 0 is where the uploaded code is executed. It delegates the homing programs to thread 1.
Threads 2-8 are available for other operations but beware of conflicts. For example, the LET oscillating collimator is currently set to run on thread 2 by default.
By default, the Galil IOC will stop all running threads when it restarts. If you wish for active threads to keep running, then the upload program cannot have changed since the previous launch and the quiet_start parameter must be set in GalilController as described above.
- Oscillating collimator. LET, MERLIN. Thread number defaults to 2, but can be set via PV
- Fermi chopper lift. EMMA. Thread number fixed to 5