Re: Home motorSim Device

[William Cork via Tech-talk <tech-talk at aps.anl.gov>]

Mark,

Interesting. I've switched to the motorSim included with the motor module in synApps.

Behaviour is as you've stated. As for bugs, I've also seen the following when starting the IOC:

```

#!../../bin/linux-x86_64/motorSim
< envPaths
epicsEnvSet("IOC","iocMotorSim")
epicsEnvSet("TOP","/mnt/Data/Development/CXRO/tpi/iocs/tpi-motor-sim")
epicsEnvSet("EPICS_BASE","/opt/epics/base")
epicsEnvSet("ASYN","/opt/epics/modules/synApps/support/asyn-R4-37")
epicsEnvSet("MOTOR","/opt/epics/modules/synApps/support/motor-R7-1")
epicsEnvSet("SUPPORT","/opt/epics/modules/synApps/support")
epicsEnvSet("SNCSEQ","/opt/epics/modules/synApps/support/seq-2-2-6")
epicsEnvSet("BUSY","/opt/epics/modules/synApps/support/busy-R1-7-2")
epicsEnvSet("IPAC","/opt/epics/modules/synApps/support/ipac-2-15")
epicsEnvSet("MOTOR_MOTORSIM","/opt/epics/modules/synApps/support/motor-R7-1/modules/motorMotorSim")
cd "/mnt/Data/Development/CXRO/tpi/iocs/tpi-motor-sim"
## Register all support components
dbLoadDatabase "dbd/motorSim.dbd"
motorSim_registerRecordDeviceDriver pdbbase
cd "/mnt/Data/Development/CXRO/tpi/iocs/tpi-motor-sim/iocBoot/iocMotorSim"
dbLoadTemplate("motor.substitutions")
# Create simulated motors: ( start card , start axis , low limit, high limit, home posn, # cards, # axes to setup)
motorSimCreate( 0, 0, -32000, 32000, 0, 1, 4 )
Creating motor simulator: card: 0, axis: 0, hi: 32000, low -32000, home: 0, ncards: 1, naxis: 4
Created motor for card 0, signal 0 OK
Created motor for card 0, signal 1 OK
Created motor for card 0, signal 2 OK
Created motor for card 0, signal 3 OK
# Setup the Asyn layer (portname, low-level driver drvet name, card, number of axes on card)
drvAsynMotorConfigure("motorSim1", "motorSim", 0, 4)
motorSimCreateController("motorSim2", 8)
# asynSetTraceIOMask("motorSim2", 0, 4)
# asynSetTraceMask("motorSim2", 0, 255)
# motorSimConfigAxis(port, axis, lowLimit, highLimit, home, start)
motorSimConfigAxis("motorSim2", 0, 20000, -20000,  500, 0)
motorSimDriver:motorSimConfigAxis: configuring controller motorSim2 axis 0
motorSimConfigAxis("motorSim2", 1, 20000, -20000, 1500, 0)
motorSimDriver:motorSimConfigAxis: configuring controller motorSim2 axis 1
motorSimConfigAxis("motorSim2", 2, 20000, -20000, 2500, 0)
motorSimDriver:motorSimConfigAxis: configuring controller motorSim2 axis 2
motorSimConfigAxis("motorSim2", 3, 20000, -20000, 3000, 0)
motorSimDriver:motorSimConfigAxis: configuring controller motorSim2 axis 3
## motorUtil (allstop & alldone)
dbLoadRecords("/opt/epics/modules/synApps/support/motor-R7-1/db/motorUtil.db", "P=motorSim:")
##
iocInit
Starting iocInit
############################################################################
## EPICS R7.0.3.1
## EPICS Base built Jan  7 2020
############################################################################
IOC:m1Direction devAsynInt32::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_DIRECTION
IOC:m2Direction devAsynInt32::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_DIRECTION
IOC:m3Direction devAsynInt32::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_DIRECTION
IOC:m4Direction devAsynInt32::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_DIRECTION
IOC:m1Offset devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_OFFSET
Error (514,514) PV: IOC:m1Offset ao: init_record

IOC:m1Resolution devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_RESOLUTION
Error (514,514) PV: IOC:m1Resolution ao: init_record

IOC:m2Offset devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_OFFSET
Error (514,514) PV: IOC:m2Offset ao: init_record

IOC:m2Resolution devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_RESOLUTION
Error (514,514) PV: IOC:m2Resolution ao: init_record

IOC:m3Offset devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_OFFSET
Error (514,514) PV: IOC:m3Offset ao: init_record

IOC:m3Resolution devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_RESOLUTION
Error (514,514) PV: IOC:m3Resolution ao: init_record

IOC:m4Offset devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_OFFSET
Error (514,514) PV: IOC:m4Offset ao: init_record

IOC:m4Resolution devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_RESOLUTION
Error (514,514) PV: IOC:m4Resolution ao: init_record

iocRun: All initialization complete
## motorUtil (allstop & alldone)
motorUtilInit("motorSim:")
epics>

```

Otherwise, the simulator works as intended. Including the allstop and alldone util records.

-Will

On Fri, Apr 10, 2020 at 9:49 AM Mark Rivers <rivers at cars.uchicago.edu> wrote:

Hi Will,


I don't know the state of Kunal's repository that you referenced.  I think the more "official" simulated motor repository is this one:


https://github.com/epics-motor/motorMotorSim


There are actually 2 drivers in that source code, a "Model 2" driver (drvMotorSim.c) and a new "Model 3" driver (motorSimDriver.cpp).  I recommend only using motorSimDriver.cpp since that is the current standard framework.


The example IOC loads 8 motors.  The first 4 are the old Model 2 driver, and the last 4 are the new Model 3 driver.


I just tested homing with both drivers.


With the Model 2 driver when the homing is complete MSTA is 0xa.  This is bits 1 and 3 which mean

        unsigned int RA_HOME        :1; /* The home signal is on */
        unsigned int RA_DONE        :1; /* a motion is complete */

With the Model 3 driver when the homing is complete the MSTA is 0x82.  This is bits 1 and 7 which mean
        unsigned int EA_HOME        :1; /* encoder home signal on */
        unsigned int RA_DONE        :1; /* a motion is complete */

So one driver sets RA_HOME (not encoder home) while the other set EA_HOME (encoder home).

Note that neither of them set bit 14 which is
  unsigned int RA_HOMED       :1; /* Axis has been homed.*/

This is probably an bug in these drivers, they should be setting that bit as well.

Mark






________________________________
From: Tech-talk <tech-talk-bounces at aps.anl.gov> on behalf of William Cork via Tech-talk <tech-talk at aps.anl.gov>
Sent: Friday, April 10, 2020 10:25 AM
To: tech-talk at aps.anl.gov
Subject: Home motorSim Device

Playing around with the motor and asyn modules to get more familiar with EPICS motion control.

I'm using an example motorSim found here: https://github.com/shroffk/motorsim.git
Using:
asyn-R4-37
motor-R7-1
calc-R3-7-3

Having an issue where I tell an sioc using motorSim to home but, the MSTA record never updates the HOMED bit.

Startup deck has these lines to configure motorSim device:
```
motorSimCreate( 0, 0, -32000, 32000, 0, 1, 6 )
drvAsynMotorConfigure("motorSim1", "motorSim", 0, 6)
```

fakemotor.db:
```
record(ao, "$(Sys)$(Dev)-SP") {
    field(FLNK, "$(Sys)$(Dev)-SP_")
}

record(seq, "$(Sys)$(Dev)-SP_") {
    #disable mtr rec processing
    field(DOL1, "1")
    field(LNK1, "$(Mtr).DISA")

    # write setpoint to mtr rec
    field(DLY2, "0.1")
    field(DOL2, "$(Sys)$(Dev)-SP")
    field(LNK2, "$(Mtr).VAL CP")

    # to re-enable mtr rec processing, write or process "$(Sys)$(Dev)Cmd:Go-Cmd"
}

record(ai, "$(Sys)$(Dev)-I") {
    field(INP, "$(Mtr).RBV CPP")
}

record(bo, "$(Sys)$(Dev)Cmd:Go-Cmd") {
    field(DOL, "0")
    field(OUT, "$(Mtr).DISA CPP")
}

record(bo, "$(Sys)$(Dev)Cmd:Stop-Cmd") {
    field(VAL, "1")
    field(OUT, "$(Mtr).STOP CPP")
}

record(bi, "$(Sys)$(Dev)Sts:Moving-Sts") {
    field(INP, "$(Mtr).DMOV CPP")
    field(ZNAM, "Moving")
    field(ONAM, "Done")
}
```

Does motorSim have support for homing?
Is it broken from the seq record in fakemotor.db?

Your help is appreciated,
Will