Re: motor record/Aerotech Automation1

[Mark Rivers via Tech-talk <tech-talk at aps.anl.gov>]

Hi John,

Is this a DC motor with an encoder? 

If so, then the definition of “done” is a bit fuzzy, since the controller is constantly doing feedback to minimize the error. 

Controllers have different algorithms for deciding when a move is complete, e.g.

- The error is less than some threshold for a defined time period.

- The velocity is less than some threshold

- The theoretical move profile is complete.

In some cases these criteria can be adjusted by the user.

Mark

Sent from my iPhone

On Dec 16, 2024, at 2:18 PM, John Dobbins via Tech-talk <tech-talk at aps.anl.gov> wrote:



All,

I don't have a lot of experience with EPICS motors , so I don't know if this issue is specific to the motor record or the Aerotech Automation1 support.

[ Alma 9,  base-7.0.6, motor - current master, Automation1 - master from October ]

If I command a move, DMOV goes high before the move is complete.  Here is an example camonitor output for the motor RRBV and DMOV

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:02.376122 0  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:03.380158 2  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:04.384190 -1  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:05.389343 1  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:06.394224 3  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:07.398213 -1  

S5C1_DCM_BRG_MTR:m1.DMOV       2024-12-16 14:49:07.398213 0  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:07.754199 0  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:07.858188 17189  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:07.962166 105223  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:08.066075 263412  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:08.170173 441394  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:08.274134 622471  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:08.378163 776297  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:08.482268 854418  

S5C1_DCM_BRG_MTR:m1.DMOV       2024-12-16 14:49:08.482268 1  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:09.487278 874672  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:10.491359 874669  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:11.495310 874668  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:12.499206 874666  

S5C1_DCM_BRG_MTR:m1.RRBV       2024-12-16 14:49:13.503320 874668

One can see that DMOV has transitioned to one simultaneous with a position short of the final value.

What can I do about this?

Thanks,

John Dobbins

Research Support Specialist

Cornell High Energy Synchrotron Source

Cornell University

www.chess.cornell.edu