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

[Bernhard Kuner via Tech-talk <tech-talk at aps.anl.gov>]

@Torsten: Phymotion works as you explained: hit the switch, leave slowly
and than reset counter and send motor halt status. So the motor changes
its moving direction and the record treat this no longer as ls_active
and so as reference is done.

https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/motorRecord.cc#L3697

Kevin: I like your idea to program around in the phytronAxis controller.
Thats what I'll do. Ok, not the best solution, but I'm afraid of
patching the motorRecord - without overlook to all implications of other
supports.

Thank you very much for your help.

Best regards

Bernhard

> > On 29 Mar 2022, at 16:06, Bernhard.Kuner via Tech-talk <tech-talk at aps.anl.gov> wrote:
> >
> > Hallo Kevin,
> >
> > thank You for the help to understand what happens in the motorRecord,
> > nasty  beast this record!
> >
> > The homing type is here on the positive end-switch "Mn.m+". Poll period
> > 0.5s but ACCL=2.0
> >
> > There was a bug in the phyMotion software if you use the positive
> > end-switch, but there is an update from phytron and now it works if you
> > give this command by the phyLogic software.
> >
> > Ok, You say the record recognises a motor action to be done by
> > pC_->motorStatusDone_  This is set in the poll routine by the command
> > "Mn.m==H". In the log you can see that there is no "M1.1==H" with the
> > answer "E" for done after hitting the end-switch and before the new move
> > comand occurs. So we suppose a problem in the record.
> 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.
>
>
> > By the way, we have a support for the phytron IO modules. There I
> > introduced support for stringout -in Record to communicate with the
> > motor controller. If you send a home command this way, it works as expected.
> >
> > Bernhard
> >
> >
> > ________________________________
> >
> > Helmholtz-Zentrum Berlin für Materialien und Energie GmbH
> >
> > Mitglied der Hermann von Helmholtz-Gemeinschaft Deutscher Forschungszentren e.V.
> >
> > Aufsichtsrat: Vorsitzender Dr. Volkmar Dietz, stv. Vorsitzende Dr. Jutta Koch-Unterseher
> > Geschäftsführung: Prof. Dr. Bernd Rech, Thomas Frederking
> >
> > Sitz Berlin, AG Charlottenburg, 89 HRB 5583
> >
> > Postadresse:
> > Hahn-Meitner-Platz 1
> > 14109 Berlin
> > Deutschland
________________________________

Helmholtz-Zentrum Berlin für Materialien und Energie GmbH

Mitglied der Hermann von Helmholtz-Gemeinschaft Deutscher Forschungszentren e.V.

Aufsichtsrat: Vorsitzender Dr. Volkmar Dietz, stv. Vorsitzende Dr. Jutta Koch-Unterseher
Geschäftsführung: Prof. Dr. Bernd Rech, Thomas Frederking

Sitz Berlin, AG Charlottenburg, 89 HRB 5583

Postadresse:
Hahn-Meitner-Platz 1
14109 Berlin
Deutschland