Re: Problem with aborting motor record

[Ron Sluiter <sluiter@aps.anl.gov>]

Hello Harvey,

What is the value of the Motion In Progress (MIP) field during all this?

Can you put a camonitor on MIP, DMOV and MOVN and send me the results?

I will try to re-create the problem.

What are the "SLAC modifications for RTEMS"?

I added Jens Eden's (BESSY) changes to support the MAXv driver (drvMAXv.cc)
on RTEMS with R6-3. As far as I know, no other change are required for RTEMS
support.

Ron

Rarback, Harvey wrote:
> 	Motor record gurus,
>
> This is another one of those difficult-to-reproduce problems I am having with the motor record.
>
> I am using motor driver version 6.22 (with SLAC modifications for RTEMS) on EPICS base 3.14.8.2.  The hardware is an OMS MAXv-8000 motor controller along with Kramert 505F SSI encoder readout.  I have configured the motor record to have backlash correction and multiple retries.  Occasionally when I try to abort a move (sending a 1 to the STOP field), usually near the time of backlash correction or small retry move, the DMOV field does not get set to 1 after the abort.  What I do see is that the ST command gets sent to the motor hardware, the hardware returns status "PDNN", the done bit in the Motor Status (MSTA) field get set and the MOVN field is set to 0.  If the motor status returns "PNNN" it seems to set the DMOV field ok.  The only way I am able to move the motor again is to reboot the IOC to set the DMOV field.
>
> Does anyone know what is happening here?  Is there a less destructive way to recover from this situation (MOVN and DMOV both 0)?
>
> Thanks.
>
>                                  --Harvey Rarback
>
>
>