Re: motorRecord with phytron support: record send goto 0 command before reference is done

[Kevin Peterson via Tech-talk <tech-talk at aps.anl.gov>]

A better solution would be to modify the phytron driver to NOT set the 
limit bits of the MSTA if a home is in progress, for homing routines 
that use the limits:

https://github.com/epics-motor/motorPhytron/blob/9acb974257dc61512017f18f9b823be0495e948d/phytronApp/src/phytronAxisMotor.cpp#L1056-L1057

Those bits are why the motor record believes a limit is hit and the 
motion is done:

https://github.com/epics-modules/motor/blob/cc6c6a9b181691e8b04981c64ec99f8a887a937e/motorApp/MotorSrc/motorRecord.cc#L3693-L3694

Kevin

On 3/29/22 13:10, Torsten Bögershausen wrote:
> I think that there may be a potential problem in the motorRecord itself.
> The first one is that the record assumes that a motor is “done”,
> when a limit switch is hit:
> <https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/motorRecord.cc#L3707>
>
> While this may be true for some controllers, it is not, especially for modern controllers
> that have a “homing sequence” which looks like
> “hit the limit switch, once activated, revert and drive slowly until the switch is released”
>
> I don’t have a Phytron to test this.
> If you have time to modify the motorRecord itself and test, you can modify line 3707
> from above.