robotApp EPICS application

robot includes a complete EPICS application, including:

• A database file and corresponding autosave request file that contain the PVs required by the robot.py base class.

• OPI screens for medm

• An example IOC application that can be used to run the above databases. The databases are loaded in the IOC with the example substitutions file, robot.substitutions.

Base class files

The following tables list all of the records in the robot.template file. These records are used by the robot base class and so are required.

robot.template

This is the database file that contains only the PVs required by the amcontrol.py base class robot.template.

Example PV Prefixes

Record name	Record type	Description
$(P)$(R)CameraPVPrefix	stringout	Contains the prefix for the detector, e.g. 2bmbSP2:

Example PV name

Record name	Record type	Description
$(P)$(R)ExamplePVName	stringout	Contains a PV name, e.g. 32id:m1

Sample pick-up location

Record name	Record type	Description
$(P)$(R)SampleX	ao	Contains the Rayleigh Length value
$(P)$(R)SampleY	ao	Contains the BeamWaist value
$(P)$(R)SampleZ	ao	Contains the BeamWaistYPosition value
$(P)$(R)SampleTopX	ao	Contains the DesiredBeamDiameter value
$(P)$(R)SampleTopZ	ao	Contains the SampleHeight value

Robot status via Channel Access

Record name	Record type	Description
$(P)$(R)Go	busy	Setting this record to 1 starts a control action.
$(P)$(R)RobotStatus	waveform	This record will be updated with the scan status while scanning.
$(P)$(R)ServerRunning	bi	This record will be Running if the Python server is running and Stopped if not. It is controlled by a watchdog timer, and will change from Running to Stopped within 5 seconds if the Python server exits.

medm files

robot.adl

The following is the MEDM screen robot.adl during a scan. The status information is updating.

robotEPICS_PVs.adl

The following is the MEDM screen robotEPICS_PVs.adl.

If these PVs are changed robot must be restarted.