Subject: |
Motor Module, Deferred Movement, .VAL field set to .RBV after motion |
From: |
Jacob DeFilippis <[email protected]> |
To: |
[email protected] |
Date: |
Wed, 29 Jun 2016 11:32:48 -0700 |
Hello,
I am working on implementing a multiple axis synchronized motion
using the motor module's asynController base class (model 3). The move
function is set up such that it stores the .VAL to variables inside the
physical controller when the deferredMove flag is 1, and when there is a
transition from 1-> 0 on the flag I issue the controller command that
moves the motors synchronously to the commanded target.
My problem is when the move completes the .VAL field is set to the
.RBV field. This happens when the .DMOV is returned to 1. I tracked
down the cause, which is found in motorRecord.cc in function
postProcess(motorRecord * pmr) line 762 (In the github repo). It
executes "pmr->val = pmr->rbv" . I am unsure why this postprocess is
occurring. Is there anything extra I should implement in my function
that issues synchronized motion? or possibly something extra in the
polling function. Is this because the RTRY field is set to 0?
An example of the bad behavior:
SMOTOR:AXIS:1.VAL 2016-06-29 11:05:24.259733 4
SMOTOR:AXIS:1.DMOV 2016-06-29 11:05:24.474977 1
SMOTOR:AXIS:1.RBV 2016-06-29 11:05:27.892752 3.0181
SMOTOR:AXIS:1.DMOV 2016-06-29 11:05:27.892752 0
SMOTOR:AXIS:1.RBV 2016-06-29 11:05:30.090092 3.4665
SMOTOR:AXIS:1.RBV 2016-06-29 11:05:32.287451 3.9155
SMOTOR:AXIS:1.RBV 2016-06-29 11:05:34.484984 3.9993
SMOTOR:AXIS:1.VAL 2016-06-29 11:05:34.484984 3.9993
<--My problem
SMOTOR:AXIS:1.DMOV 2016-06-29 11:05:34.484984 1
My motor record
record(motor, "$(P):$(M):$(ADDR)") {
field(SCAN, "Passive")
field(DTYP, "asynMotor")
field(DISS, "NO_ALARM")
field(DIR, "$(DIR)")
field(VELO, "$(VELO)")
field(VBAS, "$(VBAS)")
field(VMAX, "$(VMAX)")
field(URIP, "No")
field(PREC, "4")
field(EGU, "mm")
field(MRES, "$(MRES)")
field(OUT, "@asyn($(PORT),$(ADDR))")
field(TWV, ".1")
field(ASG, "MC_MAINT")
field(FOFF, "Frozen")
field(PRIO, "HIGH")
field(OMSL, "closed_loop")
field(RTRY, "0")
}
My function that triggers synchronized motion
asynStatus Axis::processDeferredMoves()
{
asynStatus status;
/*resets controller flag*/
status = resetFlags();
if(status) goto skip;
/*sends command to start synchronized motion*/
sprintf(pC_->outString_,GOSYNC);
status = pC_->writeController();
skip:
setIntegerParam(pC_->motorStatusDone_, 0);
setIntegerParam(pC_->motorStatusCommsError_, status ? 1:0);
callParamCallbacks();
pC_->wakeupPoller();
return asynSuccess;
}
Thanks in advance,
Jacob
- Replies:
- Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Ron Sluiter
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