Experimental Physics and
Industrial Control System
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| <== Date ==> | <== Thread ==> |
|---|
| Subject: | RE: :tdir messages in ioc for Pmac |
| From: | Mark Rivers <[email protected]> |
| To: | "'Gofron, Kazimierz'" <[email protected]>, "[email protected]" <[email protected]> |
| Date: | Tue, 22 May 2018 19:08:20 +0000 |
|
We have a similar problem with the Newport XPS. The problem occurs because the encoder is indicating that the motor is moving in the “wrong” direction because of overshoot,
etc. and the motor record then stops the motion. IMHO this is a design error in the motor record, it should not stop the motion when it thinks there is a problem, that is the job of the driver or controller. We work around the problem by setting the NTM field to 0 by adding the following commands to the startup script after iocInit. dbpf("13BMD:m89.NTM","0") dbpf("13BMD:m90.NTM","0") dbpf("13BMD:m91.NTM","0") Note that I have not tested that this is still necessary with the latest release of the motor record, so perhaps the problem has been fixed and we no longer need this workaround. I suggest you try this and see if it fixes the problem for you. Mark From: [email protected] [mailto:[email protected]]
On Behalf Of Gofron, Kazimierz Hi, Perhaps someone resolved this problem. My turbo pmac motors sometimes get 'stuck', mainly when tweaking them, and particularly when motion direction is reversed. Pressing tweak value several times increases
requested position, but no motion occurs. Pressing 'Kill" results in motion to proceed to the requested position. In the same time, there are ':tdir' messages in the IOC itself: epics> XF:11IDB-ES{Dif-Ax:Gam}Mtr:tdir = 1 XF:11IDB-ES{Dif-Ax:Gam}Mtr:tdir = 0 XF:11IDB-ES{Dif-Ax:Gam}Mtr:tdir = 0 XF:11IDB-ES{Dif-Ax:Gam}Mtr:tdir = 0 XF:11IDB-ES{Dif-Ax:Del}Mtr:tdir = 0 XF:11IDB-ES{Dif-Ax:Gam}Mtr:tdir = 0 epics> XF:11IDB-ES{Dif-Ax:Del}Mtr:tdir = 0 XF:11IDB-ES{Dif-Ax:Gam}Mtr:tdir = 0 ======== ================= EPICS:
base-3.14.12.3-8 streamdevice 2.6 sncseq 2.1.17 asyn 4.23 vme 2.8.1 vac 1.4.1 std 3.2 softGlue 2.4.1 sscan 2.9 mdautils 1.3.1 optics 2.9.2 motor 6.8.1 modbus 2.7 mca 7.5 love 3.2.5 ipUnidig 2.9 i330 2.7 ip 2.15 ipac 2.12 delaygen 1.1.0 dc128V 2.7 calc 3.4 busy 1.6 System: Debian 7.11 (wheezy), 3.2.0-4-amd64 #1 SMP Debian 3.2.89-2 x86_64 GNU/Linux epics> dbpr XF:11IDB-ES{Dif-Ax:Gam}Mtr 4 ACCL: 0.2 ACKS: NO_ALARM ACKT: YES ADEL: 0 ALST: 0 ASG: ASP: (nil) ATHM: 0 BACC: 0.5 BDST: 0 BKPT: 00 BVEL: 0 CARD: 0 CBAK: 0xe81cc0 CDIR: 0 CNEN: Disable DCOF: 0 DESC: Gamma DHLM: 0 DIFF: 0 DINP:CONSTANT DIR: Pos DISA: 0 DISP: 0 DISS: NO_ALARM DISV: 1 DLLM: 0 DLY: 0 DMOV: 1 DOL:CONSTANT DPVT: 0xe81db0 DRBV: 51.5416973976 DSET: 0x7f095de16280 DTYP: asynMotor DVAL: 51.5416973976 EGU: deg ERES: 2.86479e-05 EVNT: 0 FLNK:CONSTANT 0 FOF: 0 FOFF: Variable FRAC: 1 HHSV: NO_ALARM HIGH: 0 HIHI: 0 HLM: 0 HLS: 0 HLSV: NO_ALARM HOMF: 0 HOMR: 0 HOPR: 0 HSV: NO_ALARM HVEL: 0 ICOF: 0 INIT: JAR: 0 JOGF: 0 JOGR: 0 JVEL: 0 LCNT: 0 LDVL: 51.5416973976 LLM: 0 LLS: 0 LLSV: NO_ALARM LOCK: NO LOLO: 0 LOPR: 0 LOW: 0 LRLV: 0 LRVL: 1799144 LSET: 0xe88220 LSPG: Go LSV: NO_ALARM LVAL: 51.5416973976 LVIO: 0 MDEL: 0 MIP: 0 MISS: 0 MLIS: 90 c0 06 54 09 7f 00 00 60 b0 ff 00 00 00 00 00 ad 01 00 00 MLOK: c0 68 df 00 00 00 00 00 MLST: 0 MMAP: 0 MOVN: 0 MRES: 2.86479e-05 MSTA: 18691 NAME: XF:11IDB-ES{Dif-Ax:Gam}Mtr NMAP: 0 NSEV: NO_ALARM NSTA: NO_ALARM NTM: YES NTMF: 2 OFF: 0 OMSL: supervisory OUT:INST_IO @asyn(motor,2) PACT: 0 PCOF: 0 PHAS: 0 PINI: NO POST: PP: 0 PPN: (nil) PPNR: (nil) PREC: 4 PREM: PRIO: LOW PROC: 0 PUTF: 0 RBV: 51.5416973976 RCNT: 0 RDBD: 2.86479e-05 RDBL:CONSTANT RDES: 0xc0d9b0 RDIF: 0 REP: 1799144 RHLS: 0 RINP:CONSTANT RLLS: 0 RLNK:CONSTANT RLV: 0 RMOD: Default RMP: 1799144 RPRO: 0 RRBV: 1799144 RRES: 0 RSET: 0x7f095de160a0 RTRY: 0 RVAL: 1799144 RVEL: 0 S: 0 SBAK: 0 SBAS: 0 SCAN: Passive SDIS:CONSTANT SET: Use SEVR: NO_ALARM SMAX: 0 SPMG: Go SPVT: (nil) SREV: 200 SSET: 0 STAT: NO_ALARM STOO:CONSTANT STOP: 0 STUP: OFF SUSE: 0 SYNC: 0 TDIR: 1 TIME: <undefined> TPRO: 0 TSE: 0 TSEL:CONSTANT TWF: 0 TWR: 0 TWV: 0 UDF: 0 UEIP: No UREV: 0.00572958 URIP: No VAL: 51.5416973976 VBAS: 0 VELO: 0 VERS: 6.81 VMAX: 0 VOF: 0 epics> ================ epics> dbpr XF:11IDB-ES{Dif-Ax:Del}Mtr 4 ACCL: 0.2 ACKS: NO_ALARM ACKT: YES ADEL: 0 ALST: 0 ASG: ASP: (nil) ATHM: 0 BACC: 0.5 BDST: 0 BKPT: 00 BVEL: 0 CARD: 0 CBAK: 0xe81900 CDIR: 1 CNEN: Disable DCOF: 0 DESC: Delta DHLM: 0 DIFF: -6.5474440000024e-04 DINP:CONSTANT DIR: Pos DISA: 0 DISP: 0 DISS: NO_ALARM DISV: 1 DLLM: 0 DLY: 0 DMOV: 1 DOL:CONSTANT DPVT: 0xe819a0 DRBV: 2.0006547444 DSET: 0x7f095de16280 DTYP: asynMotor DVAL: 2 EGU: deg ERES: 2.86479e-05 EVNT: 0 FLNK:CONSTANT 0 FOF: 0 FOFF: Variable FRAC: 1 HHSV: NO_ALARM HIGH: 0 HIHI: 0 HLM: 0 HLS: 0 HLSV: NO_ALARM HOMF: 0 HOMR: 0 HOPR: 0 HSV: NO_ALARM HVEL: 0 ICOF: 0 INIT: JAR: 0 JOGF: 0 JOGR: 0 JVEL: 0 LCNT: 0 LDVL: 2 LLM: 0 LLS: 0 LLSV: NO_ALARM LOCK: NO LOLO: 0 LOPR: 0 LOW: 0 LRLV: 0 LRVL: 69813 LSET: 0xe88200 LSPG: Go LSV: NO_ALARM LVAL: 2 LVIO: 0 MDEL: 0 MIP: 0 MISS: 0 MLIS: 20 cc 06 54 09 7f 00 00 90 b7 ff 00 00 00 00 00 a7 01 00 00 MLOK: 50 68 df 00 00 00 00 00 MLST: 0 MMAP: 0 MOVN: 0 MRES: 2.86479e-05 MSTA: 2307 NAME: XF:11IDB-ES{Dif-Ax:Del}Mtr NMAP: 0 NSEV: NO_ALARM NSTA: NO_ALARM NTM: YES NTMF: 2 OFF: 0 OMSL: supervisory OUT:INST_IO @asyn(motor,1) PACT: 0 PCOF: 0 PHAS: 0 PINI: NO POST: PP: 0 PPN: (nil) PPNR: (nil) PREC: 4 PREM: PRIO: LOW PROC: 0 PUTF: 0 RBV: 2.0006547444 RCNT: 0 RDBD: 2.86479e-05 RDBL:CONSTANT RDES: 0xc0d9b0 RDIF: -23 REP: 69836 RHLS: 0 RINP:CONSTANT RLLS: 0 RLNK:CONSTANT RLV: 0 RMOD: Default RMP: 69836 RPRO: 0 RRBV: 69836 RRES: 0 RSET: 0x7f095de160a0 RTRY: 0 RVAL: 69813 RVEL: 0 S: 0 SBAK: 0 SBAS: 0 SCAN: Passive SDIS:CONSTANT SET: Use SEVR: NO_ALARM SMAX: 0 SPMG: Go SPVT: (nil) SREV: 200 SSET: 0 STAT: NO_ALARM STOO:CONSTANT STOP: 0 STUP: OFF SUSE: 0 SYNC: 0 TDIR: 1 TIME: 2018-05-22 13:45:45.833378801 TPRO: 0 TSE: 0 TSEL:CONSTANT TWF: 0 TWR: 0 TWV: 0.02 UDF: 0 UEIP: No UREV: 0.00572958 URIP: No VAL: 2 VBAS: 0 VELO: 0 VERS: 6.81 VMAX: 0 VOF: 0 epics> |
- Replies:
- Re: :tdir messages in ioc for Pmac Wayne Lewis
- References:
- :tdir messages in ioc for Pmac Gofron, Kazimierz
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