Experimental Physics and
Industrial Control System

Hej all.

I think that this behaviour is - what it is.
In theory, the motorRecord could behave as you (and me) whish,
in proactise there are too many applications depending on this frequent
callbacks.

So this commit:

<https://github.com/epics-modules/motor/commit/c970afbfe71521d1587c51b0c7f3a634b03f5833>

Had to be reverted later:

<https://github.com/epics-modules/motor/commit/0ef39053aac72d8718ef99d08164da1be0825370>


For your case, writing to CNEN and wait for the controller to have
the amplifier switched on: Is this what you want ?

On our systems this power-on can take 0.6 seconds (typically)
up to 6 seconds (on a heavy drive, doing a self test after coldstart).
And if the safety relay is off after a power-fail,
it will never turn on.

So yes, in principle we could change the motorRecord to do what we want:
Wait for the driver to report "amplifier on".
In practise we would need a time out.
And a way to configure it.

I am not sure if it ith worth the effort (to change the motorRecord)
or if a simple poller with a timout in python is easier to implement.

HTH
BR
/Torsten





On 1/16/23 22:26, Marco A. Barra Montevechi Filho via Tech-talk wrote:
> Good evening all.
>
> Im working with the same IOC i was using here:
> https://epics.anl.gov/tech-talk/2023/msg00020.php
> <https://epics.anl.gov/tech-talk/2023/msg00020.php>. Now i loaded some
> motor records in it and am trying to control the IOC via pyepics.
> Something weird is happening.
>
> i made the following python script:
>
> import epics
> a = epics.Motor("MGN:B:E873A:DIAG:X:m1")
> a.put("CNEN", 1,wait=True)
> assert a.get("CNEN")==1
>
> And i frequently get assertion errors. What is happening? Shouldn't
> wait=True prevent this? How do i debug this?
> Even more weird: i tried debugging this with callbacks:
>
> import epics, time
>
> a = epics.Motor(
> "MGN:B:E873A:DIAG:X:m1")
>
> defprintvalue(**kwargs):
> print(kwargs["value"])
>
> b = epics.PV("MGN:B:E873A:DIAG:X:m1.CNEN")
> b.add_callback(printvalue)
>
> c = 1
>
> whileTrue:
>      c=1-c
> print("#####")
>      a.put("CNEN",c)
>      time.sleep(0.1)
> And i get prints like:
>
> #####
> 1
> #####
> 0
> #####
> 1
> 0
> #####
>
> Why do i sometimes get two callbacks and sometimes get only one? Thanks
> in advance for any help.
>
> I append the IOC initialization log and the substitutions file it loads:
>
> *INIT LOG:*
>
> #!/usr/local/epics/apps/pigcs2IOC/bin/linux-x86_64/pigcs2
> < /usr/local/epics/apps/pigcs2IOC/iocBoot/iocPIGCS2/envPaths
> epicsEnvSet("IOC","iocPIGCS2")
> epicsEnvSet("TOP","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/modules/motorPIGCS2-R1-1/iocs/pigcs2IOC")
> epicsEnvSet("SUPPORT","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support")
> epicsEnvSet("ASYN","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/asyn-R4-36")
> epicsEnvSet("STREAM","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/StreamDevice-2-8-9")
> epicsEnvSet("CALC","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/calc-R3-7-3")
> epicsEnvSet("RECCASTER","/usr/local/epics-nfs/apps/recsync/1.4_epics_3.15/client")
> epicsEnvSet("SNCSEQ","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/seq-2-2-6")
> epicsEnvSet("BUSY","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/busy-R1-7-2")
> epicsEnvSet("IPAC","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/ipac-2-15")
> epicsEnvSet("MOTOR","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1")
> epicsEnvSet("EPICS_BASE","/usr/local/epics-nfs/base/R3.15.6")
> cd
> "/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/modules/motorPIGCS2-R1-1/iocs/pigcs2IOC"
> ## Set up environment
> epicsEnvSet("DEV","MGN:B:E873A:DIAG:X:")
> epicsEnvSet("BL", "MGN:B:E873A:DIAG:X")
> epicsEnvSet("IOCNAME", "MGN-B-E873A-DIAG-X")
> epicsEnvSet("EPICS_CA_MAX_ARRAY_BYTES",15728645)
> # protocol file paths
> epicsEnvSet ("STREAM_PROTOCOL_PATH",
> ".:/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/db")
> ## Register all support components
> dbLoadDatabase "dbd/pigcs2.dbd"
> pigcs2_registerRecordDeviceDriver pdbbase
> cd
> "/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/modules/motorPIGCS2-R1-1/iocs/pigcs2IOC/iocBoot/iocPIGCS2"
> ## motorUtil (allstop & alldone)
> dbLoadRecords("/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/db/motorUtil.db", "P=MGN:B:E873A:DIAG:X:")
> ##
> # < PI_GCS2.cmd
> # PI GCS2 support
> dbLoadTemplate("/usr/local/epics/apps/config/PIGCS2/e873aX.substitutions")
> drvAsynIPPortConfigure("E873_ETH","CDE5B3D.abtlus.org.br:50000",0,0,0)
> # Turn on asyn trace
> # asynSetTraceMask("E873_ETH",0,3)
> # asynSetTraceIOMask("E873_ETH",0,1)
> # PI_GCS2_CreateController(portName, asynPort, numAxes, priority,
> stackSize, movingPollingRate, idlePollingRate)
> # # this is the final setup
> # PI_GCS2_CreateController("E873", "E873_ETH", 1, 0, 0, 100, 1000)
> # speedup debug
> PI_GCS2_CreateController("E873", "E873_ETH", 1, 0, 0, 50, 1000)
> 2023/01/16 18:23:03.949 read from E873_ETH: (c)2016-2020 Physik
> Instrumente (PI) GmbH & Co. KG, E-873.1AT, 120040762, 03.033
> PIasynAxis::PIasynAxis() 0: 1
> ----------------- axis num: 0 createCLParams() m_szAxisName:
> 1-------------------
> # Turn off asyn trace
> # asynSetTraceMask("E873_ETH",0,1)
> # asynSetTraceIOMask("E873_ETH",0,0)
> # Set end-of-string terminators (port, addr, terminator)
> asynOctetSetInputEos("E873_ETH", 0, "\n")
> asynOctetSetOutputEos("E873_ETH", 0, "\n")
> dbLoadRecords("/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/modules/motorPIGCS2-R1-1/iocs/pigcs2IOC/db/PI_Support.db","P=MGN:B:E873A:DIAG:X:,R=m1:,PORT=E873,ADDR=0,TIMEOUT=1")
> # asyn record for troubleshooting
> dbLoadRecords("/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/asyn-R4-36/db/asynRecord.db","P=MGN:B:E873A:DIAG:X:,R=asynEth,PORT=E873_ETH,ADDR=0,OMAX=256,IMAX=524288")
> # RECSYNC
> dbLoadRecords("/usr/local/epics-nfs/apps/recsync/1.4_epics_3.15/client/db/reccaster.db", "P=MGN:B:E873A:DIAG:X:REC:")
> # protocol
> #dbLoadRecords("$(MOTOR)/db/e873.db", "P=$(DEV),PORT=E873_ETH")
> iocInit
> Starting iocInit
> ############################################################################
> ## EPICS R3.15.6
> ## EPICS Base built Sep 27 2021
> ############################################################################
>
>
> *e873aX.substitutions FILE:*
>
> file "$(MOTOR)/motorApp/Db/asyn_motor.db"
> {
> pattern
> {P,              M,     DTYP,       PORT, ADDR,      DESC,  EGU,  DIR,
>   VELO,  VBAS,  ACCL,  BDST,  BVEL,  BACC,  MRES,  PREC,  DHLM,  DLLM,
>   INIT}
> {MGN:B:E873A:DIAG:X:,  "m1",  "asynMotor",  "E873",    0,  "Motor 1",
> mm,  Pos,    1,    0,    .1,    0,      0,    0,   0.000001,  7,    
> 5.0,   -5.0,  ""}
> }
>
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