ISISComputingGroup · rerpha · Sep 3, 2026 · Sep 3, 2026 · Sep 3, 2026 · Sep 8, 2026
diff --git a/TC/TC-IOC-01App/Db/Makefile b/TC/TC-IOC-01App/Db/Makefile
@@ -13,6 +13,7 @@ include $(TOP)/configure/CONFIG
 DB += single_axis.db
 DB += axis_monitors.db
 DB += autoonoff.db
+DB += velo_monitor.db
 
 #----------------------------------------------------
 # If <anyname>.db template is not named <anyname>*.template add

diff --git a/TC/TC-IOC-01App/Db/axis_monitors.db b/TC/TC-IOC-01App/Db/axis_monitors.db
@@ -23,6 +23,14 @@ record(stringout, "$(P)MOT:$(MOTOR_PV):DESC_SEND")
     field(OMSL, "closed_loop")
 }
 
+record(stringout, "$(P)MOT:$(MOTOR_PV):UNITS_SEND")
+{
+    field(DESC, "Forward axis units to mtr rec")
+    field(DOL, "$(P)$(I):ASTAXES_$(AXIS_NUM):STDESC-SUNITS CP")
+    field(OUT, "$(P)MOT:$(MOTOR_PV).EGU")
+    field(OMSL, "closed_loop")
+}
+
 record(longin, "$(P)MOT:$(MOTOR_PV)_AXIS_NUM")
 {
     field(DESC, "Beckhoff axis number")

diff --git a/TC/TC-IOC-01App/Db/velo_monitor.db b/TC/TC-IOC-01App/Db/velo_monitor.db
@@ -0,0 +1,21 @@
+# DB to forward velocities from the beckhoff to the motor record.
+# This was previously removed in https://github.com/ISISComputingGroup/EPICS-ioc/commit/7b9360a00f855225a5be585981c8d36b12af6d5c due to 
+# issues where the beckhoff would sometimes set velocity to zero and then this code would forward it and prevent moves.
+# ISIS Beckhoffs before IMAT's recomission in 2026 still run the problematic code, so this is conditionally loaded by the IOC based on the FORWARD_VELO macro.
+
+record(dfanout, "$(P)MOT:$(MOTOR_PV):VELO_SEND")
+{
+    field(DESC, "Forward device velo SP to mtr rec")
+    field(DOL, "$(P)$(I):ASTAXES_$(AXIS_NUM):STCONTROL-FVELOCITY:RBV CP")
+    field(OUTA, "$(P)MOT:$(MOTOR_PV).VMAX")
+    field(OUTB, "$(P)MOT:$(MOTOR_PV).VELO")
+    field(OMSL, "closed_loop")
+}
+
+record(dfanout, "$(P)MOT:$(MOTOR_PV):JVEL_SEND")
+{
+    field(DESC, "Forward device jog velo SP to mtr rec")
+    field(DOL, "$(P)$(I):ASTAXES_$(AXIS_NUM):STCONTROL-FJOGVELOCITY:RBV CP")
+    field(OMSL, "closed_loop")
+    field(OUTA, "$(P)MOT:$(MOTOR_PV).JVEL")
+}
diff --git a/TC/TC-IOC-01App/src/build.mak b/TC/TC-IOC-01App/src/build.mak
@@ -38,6 +38,8 @@ $(APPNAME)_DBD += adsMotorSupport.dbd
 $(APPNAME)_DBD += luaSupport.dbd
 $(APPNAME)_DBD += asubFunctions.dbd 
 $(APPNAME)_DBD += ads.dbd 
+$(APPNAME)_DBD += sampleChanger.dbd 
+
 
 
 # Add all the support libraries needed by this IOC
@@ -67,6 +69,8 @@ $(APPNAME)_LIBS += utilities pugixml libjson zlib
 $(APPNAME)_LIBS += calc sscan
 $(APPNAME)_LIBS += pcrecpp pcre
 $(APPNAME)_LIBS += seq pv
+$(APPNAME)_LIBS += sampleChanger
+$(APPNAME)_LIBS += TinyXML
 
 # TC-IOC-01_registerRecordDeviceDriver.cpp derives from TC-IOC-01.dbd
 $(APPNAME)_SRCS += $(APPNAME)_registerRecordDeviceDriver.cpp

diff --git a/TC/configure/RELEASE b/TC/configure/RELEASE
@@ -72,6 +72,8 @@ SSCAN=$(SUPPORT)/sscan/master
 STREAMDEVICE=$(SUPPORT)/StreamDevice/master
 UTILITIES=$(SUPPORT)/utilities/master
 ZLIB=$(SUPPORT)/zlib/master
+SAMPLECHANGER=$(SUPPORT)/sampleChanger/master
+TINYXML=$(SUPPORT)/TinyXML/master
 
 # optional extra local definitions here
 -include $(TOP)/configure/RELEASE.private

diff --git a/TC/iocBoot/iocTC-IOC-01/config.xml b/TC/iocBoot/iocTC-IOC-01/config.xml
@@ -9,8 +9,11 @@
 <macro name="MTRCTRL" pattern="^[0-9]{1,2}$" description="Controller number used in motor address assignment" hasDefault="NO"/>
 <macro name="PLC_VERSION" pattern="^[1]$" description="The PLC version to communicate with: 0 for the old ISIS code (now removed) and 1 for new collaboration code" defaultValue="1" hasDefault="YES" />
 <macro name="FORWARD_DESC" pattern="^1|0$" description="Whether to poll and forward axis description to .DESC" hasDefault="YES" defaultValue="0" />
+<macro name="FORWARD_VELO" pattern="^1|0$" description="Whether to poll and forward axis velocities to motor record" hasDefault="YES" defaultValue="0" />
+<macro name="FORWARD_UNITS" pattern="^1|0$" description="Whether to poll and forward axis units to motor record" hasDefault="YES" defaultValue="0" />
 <macro name="ALLOW_FROZEN_OFFSETS" pattern="^1|0$" description="Whether to allow frozen offset behaviour" hasDefault="YES" defaultValue="0" />
 <macro name="ENABLE_AUTO_ON_OFF" pattern="^1|0$" description="Enable PVs for setting auto energising by controller" defaultValue="0" hasDefault="YES" />
+<macro name="ENABLE_HOMING_PVS" pattern="^1|0$" description="Enable PVs for getting/setting homing configuration" defaultValue="0" hasDefault="YES" />
 </macros>
 </config_part>
 </ioc_config>
diff --git a/TC/iocBoot/iocTC-IOC-01/st-common.lua b/TC/iocBoot/iocTC-IOC-01/st-common.lua
@@ -10,8 +10,11 @@ function twincat_stcommon_main()
 	local plc_version = ibex_utils.getMacroValue{macro="PLC_VERSION", default="1"}
 	local ads_port = ibex_utils.getMacroValue{macro="ADS_PORT"}
 	local forward_desc = ibex_utils.getMacroValue{macro="FORWARD_DESC", default="0"}
+	local forward_velo = ibex_utils.getMacroValue{macro="FORWARD_VELO", default="0"}
+	local forward_units = ibex_utils.getMacroValue{macro="FORWARD_UNITS", default="0"}
 	local enable_frozen_offsets = ibex_utils.getMacroValue{macro="ALLOW_FROZEN_OFFSETS", default="0"}
 	local enable_auto_on_off = ibex_utils.getMacroValue{macro="ENABLE_AUTO_ON_OFF", default="0"}
+	local enable_homing = ibex_utils.getMacroValue{macro="ENABLE_HOMING_PVS", default="0"}
 
 	asyn_port = ibex_utils.getMacroValue{macro="PORT"}
 
@@ -39,11 +42,22 @@ function twincat_stcommon_main()
 			iocsh.dbLoadRecords("$(MOTOREXT)/db/desc_tc.db", desc_tc_args)
 		end
 
+
+		if forward_units == "1" then 
+			local units_tc_args = string.format("P=%s,AXIS_NUM=%s,ADSPORT=%s,PORT=%s", ioc_prefix, axis_num, ads_port, asyn_port)
+			iocsh.dbLoadRecords("$(MOTOREXT)/db/units_tc.db", units_tc_args)
+		end
+
 		if enable_frozen_offsets == "1" then
 			local frozen_offsets_db_args = string.format("P=%s,AXIS_NUM=%s,ADSPORT=%s,PORT=%s", ioc_prefix, axis_num, ads_port, asyn_port)
 			iocsh.dbLoadRecords("$(MOTOREXT)/db/frozen_offsets.db", frozen_offsets_db_args)
 		end
 
+		if enable_homing == "1" then
+			local homing_pvs_db_args = string.format("P=%s,AXIS_NUM=%s,ADSPORT=%s,PORT=%s", ioc_prefix, axis_num, ads_port, asyn_port)
+			iocsh.dbLoadRecords("$(MOTOREXT)/db/homing_tc.db", homing_pvs_db_args)
+		end
+
 		motor_pv = string.format("MTR%02i%02i", mtrctrl, axis_num)
 
 		if enable_auto_on_off == "1" then 
@@ -65,8 +79,15 @@ function twincat_stcommon_main()
 		axis_monitors = "$(TOP)/db/axis_monitors.db"
 		axis_monitors_args = string.format("P=%s,I=%s,AXIS_NUM=%s,MOTOR_PV=%s", pv_prefix, ioc_name, axis_num, motor_pv)
 		iocsh.dbLoadRecords(axis_monitors, axis_monitors_args)
+
+		if forward_velo == "1" then
+			local forward_velo_args = string.format("P=%s,I=%s,AXIS_NUM=%s,MOTOR_PV=%s", pv_prefix, ioc_name, axis_num, motor_pv)
+			iocsh.dbLoadRecords("$(TOP)/db/velo_monitor.db", forward_velo_args)		
+		end
+
 		autosave_file:write(string.format("file \"motor_settings.req\" P=%s, M=MOT:%s\n", pv_prefix, motor_pv))
-		-- wrap around to next MTRCTRL - this is so we can show >8 axes in the IBEX table of motors. 
+		-- wrap around to next MTRCTRL and alias - this is so we can show >8 axes in the IBEX table of motors. 
+		-- for example, MTR0109 is also aliased to MTR0201, MTR0110 is aliased to MTR0202, etc.
 		if axis_num > 8 then
 			alias_args_orig = string.format("$(MYPVPREFIX)MOT:%s(.*)", motor_pv)
 			alias_args_aliased = string.format("$(MYPVPREFIX)MOT:MTR%02i%02i\\1", ((axis_num-1)//8) + mtrctrl, (axis_num-1)%8 + 1)