Experimental Physics and
Industrial Control System

Hello Ernest,

No one has checked anything into the motor module since August 2nd, so,
no, those changes have not been applied.

Hello Martin,

Looking at the differences between the github and SVN versions of the motor
module, I see lots of lines with,

290c290
<       send_mess(card, buff, (char) NULL);
---
>       send_mess(card, buff, (char *) NULL);

We are not getting warnings on these lines and we should.
What platform and compiler are you using where you see these warnings?

Ron

On 8/8/2013 6:19 PM, Williams Jr., Ernest L. wrote:

Hi,

Have these changes been applied to SVN repository for the motor module?
I was hoping that we could pull your bug fixes from SVN HEAD

Cheers,
Ernest

-----Original Message-----
From: [email protected] [mailto:[email protected]] On Behalf Of Konrad, Martin
Sent: Thursday, August 08, 2013 7:55 AM
To: [email protected]; [email protected]; [email protected]
Cc: [email protected]
Subject: Re: motor record: continuously update limit switches

Dear MotorRecord maintainers,
you can find my fix for the issue here:

https://github.com/mark0n/motorRecord

The repository also includes patches to eliminate some compiler warnings. Feel free to cherry pick.

Please let me know if you have any concerns regarding the changes I made.

Thanks,

Martin

On 07/29/2013 03:18 PM, Konrad, Martin wrote:

Hi,

I tested the OMS-58 and MSTA does update if the limit is disconnected
and STUP is set to 1.

Mark, thanks for providing these details. With your information I was
able to track the issue further down:
Even with the "sendMsg = false;" line commented out in the device
support, the MSTA field does not show a change in the limit-switch
status while the motor is stopped (as far as I can see commenting out
this line has no effect on the behavior at all).

Sniffing the TCP connection between the IOC and the motor controller I
learned that the issue is caused by the behavior of the motor
controller which only transmits some sort of a "limit switch hit while moving"
status as a response to the TAS (transmit axis data) command. In other
words: The limit status in this message is not updated while the motor
is stopped and triggering STUP is pretty useless (at least regarding
the limit switches)...

Nevertheless it is possible to read out the state of the limit inputs
with the TLIM (transmit limits) or LIMFNC (input function for limit
inputs) commands. Here is an example:
# all limit switches in "ok" position:

TAS

*TAS0000_0100_0000_0001_0000_0000_0000_0000

TLIM

*TLIM110

LIMFNC

*LIMFNC1-R POS LIMIT INPUT       - STATUS ON
*LIMFNC2-S NEG LIMIT INPUT       - STATUS ON
*LIMFNC3-T HOME LIMIT INPUT      - STATUS OFF

# negative limit switch pressed (while motor stopped):

TAS

*TAS0000_0100_0000_0001_0000_0000_0000_0000

TLIM

*TLIM100

LIMFNC

*LIMFNC1-R POS LIMIT INPUT       - STATUS ON
*LIMFNC2-S NEG LIMIT INPUT       - STATUS OFF
*LIMFNC3-T HOME LIMIT INPUT      - STATUS OFF

As far as I can see the PC6K device support should use one of TLIM or
LIMFNC to determine the status of the limit switches. Can anyone of
the maintainers confirm that? - I don't want to make changes to the
code that do not have a chance to be included into the next version of
motor record...

Thanks for your help,

Martin

Replies:

RE: motor record: continuously update limit switches Mark Rivers

References:

motor record: continuously update limit switches Konrad, Martin

Re: motor record: continuously update limit switches Konrad, Martin

Re: motor record: continuously update limit switches Konrad, Martin

RE: motor record: continuously update limit switches Williams Jr., Ernest L.

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