Motor record -- URIP with soft limits

["Fong, Nia W." <niafong@slac.stanford.edu>]

Hi,

We just setup our motors to use a readback link URIP, getting motor position from an external LVDT device and are running into a problem when the motor is moved to one of its soft limits.

We notice that when a motor is moved to its soft limit, it is possible for the motor to end up at a position slightly outside of its soft limit (how far out depends on how high we set the retry deadband RDBD).  As a result, the motor can no longer be moved until the soft limit it is violating is manually widened outside of the RBV value.  According to the motor record documentation, HLM uses the VAL, but it looks like it is instead using the RBV field.  Both fields would seem valid depending on the application.  

Has anyone else run into this problem using URIP and the HLM and DLM?  How was it resolved?


Thanks,
Nia