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<== Date ==> <== Thread ==>

Subject: RE: Newport XPS-Q8 and Motor Record - armv5teb architecture
From: Mark Rivers <rivers@cars.uchicago.edu>
To: Torsten Bögershausen <torsten.bogershausen@esss.se>, Tonia Batten <Tonia.Batten@lightsource.ca>, "Tech-talk@aps.anl.gov" <Tech-talk@aps.anl.gov>
Date: Tue, 6 May 2014 10:17:58 +0000
The value was being converted from a double to a float for one of the debugging statements, which explains the small difference in the value printed.

Mark

________________________________________
From: Torsten Bögershausen [torsten.bogershausen@esss.se]
Sent: Tuesday, May 06, 2014 12:20 AM
To: Mark Rivers; Tonia Batten; Tech-talk@aps.anl.gov
Subject: Re: Newport XPS-Q8 and Motor Record - armv5teb architecture

>2014/05/02 10:10:56.266 devMotorAsyn::send_msg: SMTR1608-9-B20-05:brag command=7, pact=1, value=45000.000000
>devAsynMotor::build_trans, calling queueRequest, pmsg=0x60b3cc, command=7, interface=1, dvalue=45000.000046

>This is fine, the value 45000. has been copied to pmsg->dvalue

Is it?
The first trace says:
45000.000000

The second says:
45000.000046
           ^^

Could you make a printout showing the address of the double (not only the address of the struct),
and the sizeof(double) ?
Could we make a hexdump of the double value ?





On 5/4/14 12:32 AM, Mark Rivers wrote:
> Folks,
>
> Tonia Batten is having a very strange problem that I cannot understand, perhaps someone on tech-talk has an idea.
>
> She is using the Newport XPS motor driver.  It works fine when it is run on an Intel machine.  However, when it is run on an armv5teb she is seeing a behavior I cannot understand.  This happens both with the older model 2 XPS driver (C code), as well as the newer model 3 driver (C++).
>
> The asyn device support defines the following message structure:
>
> typedef struct {
>      motorCommand command;
>      interfaceType interface;
>      int ivalue;
>      double dvalue;
> } motorAsynMessage;
>
> In the code that is called from the motor record it does the following:
>
>     /* Make a copy of asynUser.  This is needed because we can have multiple
>      * requests queued.  It will be freed in the callback */
>      pasynUser = pasynManager->duplicateAsynUser(pasynUser, asynCallback, 0);
>      pmsg = pasynManager->memMalloc(sizeof *pmsg);
>      pmsg->ivalue=0;
>      pmsg->dvalue=0.;
>      pmsg->interface = float64Type;
>      pasynUser->userData = pmsg;
>
>      switch (command) {
> ...
>      case SET_VELOCITY:
>          pmsg->command = motorVelocity;
>          pmsg->dvalue = *param;
>          break;
>   ...
>
>      /* Queue asyn request, so we get a callback when driver is ready */
>      pasynUser->reason = pPvt->driverReasons[pmsg->command];
>      status = pasynManager->queueRequest(pasynUser, 0, 0);
>
> So in the case of the SET_VELOCITY it copies the desired velocity to pmsg->dvalue.  It calls pasynManager->queueRequest to call back device support when the driver is ready.
>
> This is the start of the code in the device support callback function:
>
> static void asynCallback(asynUser *pasynUser)
> {
>      motorAsynPvt *pPvt = (motorAsynPvt *)pasynUser->userPvt;
>      motorRecord *pmr = pPvt->pmr;
>      motorAsynMessage *pmsg = pasynUser->userData;
>      int status;
>      int commandIsMove = 0;
>
>      pasynUser->reason = pPvt->driverReasons[pmsg->command];
>
> Tonia has added some debugging to the device support code.  When the velocity is being set, for example the code called by the motor record prints the following:
>
> 2014/05/02 10:10:56.266 devMotorAsyn::send_msg: SMTR1608-9-B20-05:brag command=7, pact=1, value=45000.000000
> devAsynMotor::build_trans, calling queueRequest, pmsg=0x60b3cc, command=7, interface=1, dvalue=45000.000046
>
> This is fine, the value 45000. has been copied to pmsg->dvalue
>
> However, when pasynManager does the callback to device support from the queueRequest she sees the following:
>
> devAsynMotor::asynCallback, entry, pmsg=0x60b3cc, command=7, interface=1, dvalue=0.000000
> 2014/05/02 10:10:56.308 devMotorAsyn::asynCallback: SMTR1608-9-B20-05:brag command=7, ivalue=0, dvalue=0.000000, pasynUser->reason=7
> 2014/05/02 10:10:56.310 asynMotorController:writeFloat64:: axis=0, function=7, value=0.000000
>
> Note that pmsg has the same address (=0x60b3cc,), so it is getting a pointer to the same address as before the queueRequest.
>
> However, pmsg->dvalue is now 0, rather than 45000.
>
> Any idea how this could happen?
>
> Thanks,
> Mark
>
>
> ________________________________
> From: Tonia Batten [Tonia.Batten@lightsource.ca]
> Sent: Friday, May 02, 2014 12:18 PM
> To: Mark Rivers
> Subject: RE: Newport XPS-Q8 and Motor Record - armv5teb architecture
>
> Hi Mark,
>
> I am experiencing the same problem using the model 3 XPS driver.  I have included details from my testing below.  I can’t see anything in asyn-4-22/asyn/asynDriver/asynManager.c queueRequest function that would cause this.  Any insight you can provide is appreciated.
>
> Regards, Tonia
>
> Here is my st.cmd file.
> #!./bin/linux-armv5teb/ideasMonoMtr
>
> ## You may have to change ideasMonoMtr to something else
> ## everywhere it appears in this file
>
> #< envPaths
>
> ## Register all support components
> dbLoadDatabase("./dbd/ideasMonoMtr.dbd",0,0)
> ideasMonoMtr_registerRecordDeviceDriver(pdbbase)
>
> ## Load record instances
> dbLoadRecords("./db/IDEAS_MonoMtr.db")
> dbLoadRecords("./db/IDEAS_MonoPseudoMtr.db")
> dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=SMTR1608-9-B20-05:")
>
> # asyn port, IP address, IP port, number of axes,
> # active poll period (ms), idle poll period (ms),
> # enable set position, set position settling time (ms)
> XPSCreateController("XPS1", "192.168.0.254", 5001, 1, 10, 5000, 0, 5000)
>
> # asynPort, IP address, IP port, poll period (ms)
> XPSAuxConfig("XPS_AUX1", "192.168.0.254", 5001, 500)
>
> # XPS asyn port,  axis, groupName.positionerName, stepSize
> XPSCreateAxis("XPS1",0,"S.Pos","10000")
>
> asynSetTraceMask("XPS1",0,0xFF)
> asynSetTraceIOMask("XPS1",0,0x2)
>
> # XPS asyn port,  max points, FTP username, FTP password
> # Note: this must be done after configuring axes
> XPSCreateProfile("XPS1", 2000, "Administrator", "Administrator")
>
> iocInit
>
> Here is the asyn Trace information when I try and move the motor.
> 2014/05/02 10:10:56.253 SMTR1608-9-B20-05:brag devMotorAsyn::update_values, needUpdate=0
> 2014/05/02 10:10:56.257 devMotorAsyn::send_msg: SMTR1608-9-B20-05:brag command=5, pact=1, value=1000.000000
> devAsynMotor::build_trans, calling queueRequest, pmsg=0x597bd4, command=6, interface=1, dvalue=1000.000001
> 2014/05/02 10:10:56.260 XPS1 addr 0 queueRequest priority 0 not lockHolder
> 2014/05/02 10:10:56.262 devMotorAsyn::send_msg: SMTR1608-9-B20-05:brag command=6, pact=1, value=10000.000000
> devAsynMotor::build_trans, calling queueRequest, pmsg=0x60b224, command=5, interface=1, dvalue=10000.000012
> 2014/05/02 10:10:56.266 XPS1 addr 0 queueRequest priority 0 not lockHolder
> 2014/05/02 10:10:56.266 devMotorAsyn::send_msg: SMTR1608-9-B20-05:brag command=7, pact=1, value=45000.000000
> devAsynMotor::build_trans, calling queueRequest, pmsg=0x60b3cc, command=7, interface=1, dvalue=45000.000046
> 2014/05/02 10:10:56.267 XPS1 addr 0 queueRequest priority 0 not lockHolder
> 2014/05/02 10:10:56.268 devMotorAsyn::send_msg: SMTR1608-9-B20-05:brag command=0, pact=1, value=246415.275059
> 2014/05/02 10:10:56.268 devMotorAsyn::send_msg: SMTR1608-9-B20-05:brag command=8, pact=1, value=0.000000
> devAsynMotor::build_trans, calling queueRequest, pmsg=0x60b574, command=0, interface=1, dvalue=0.000000
> 2014/05/02 10:10:56.269 XPS1 addr 0 queueRequest priority 0 not lockHolder
> 2014/05/02 10:10:56.272 asynManager::portThread port=XPS1 callback
> devAsynMotor::asynCallback, entry, pmsg=0x597bd4, command=6, interface=1, dvalue=0.000000
> 2014/05/02 10:10:56.273 devMotorAsyn::asynCallback: SMTR1608-9-B20-05:brag command=6, ivalue=0, dvalue=0.000000, pasynUser->reason=6
> 2014/05/02 10:10:56.274 asynMotorController:writeFloat64:: axis=0, function=6, value=0.000000
> 2014/05/02 10:10:56.274 asynManager::portThread port=XPS1 callback
> devAsynMotor::asynCallback, entry, pmsg=0x60b224, command=5, interface=1, dvalue=0.000000
> 2014/05/02 10:10:56.285 devMotorAsyn::asynCallback: SMTR1608-9-B20-05:brag command=5, ivalue=0, dvalue=0.000000, pasynUser->reason=5
> 2014/05/02 10:10:56.291 asynMotorController:writeFloat64:: axis=0, function=5, value=0.000000
> 2014/05/02 10:10:56.299 SMTR1608-9-B20-05:brag devMotorAsyn::update_values, needUpdate=0
> 2014/05/02 10:10:56.303 asynManager::portThread port=XPS1 callback
> devAsynMotor::asynCallback, entry, pmsg=0x60b3cc, command=7, interface=1, dvalue=0.000000
> 2014/05/02 10:10:56.308 devMotorAsyn::asynCallback: SMTR1608-9-B20-05:brag command=7, ivalue=0, dvalue=0.000000, pasynUser->reason=7
> 2014/05/02 10:10:56.310 asynMotorController:writeFloat64:: axis=0, function=7, value=0.000000
> 2014/05/02 10:10:56.311 asynManager::portThread port=XPS1 callback
> devAsynMotor::asynCallback, entry, pmsg=0x60b574, command=0, interface=1, dvalue=0.000000
> 2014/05/02 10:10:56.314 devMotorAsyn::asynCallback: SMTR1608-9-B20-05:brag command=0, ivalue=0, dvalue=0.000000, pasynUser->reason=1
> 2014/05/02 10:10:56.316 XPSAxis:move: Set XPS XPS1, axis 0 move to 0.000000, min vel=0.000000, max_vel=0.000000, accel=0.000000, minJerk=0.005000, maxJerk=0.050000
> 2014/05/02 10:10:56.325 SendAndReceive unexpected response =-17,GroupMoveAbsolute (S.Pos,5.66625162537e-311),EndOfAPI
> 2014/05/02 10:10:56.329 XPSAxis:move: Error performing GroupMoveAbsolute[XPS1,0] -17
> 2014/05/02 10:10:56.330 SMTR1608-9-B20-05:brag devMotorAsyn::statusCallback new value=[p:60000.000000,e:60007.000000,s:4980]  P
> 2014/05/02 10:10:56.332 asynMotorController:writeFloat64: Set driver XPS1, axis 0 move absolute to 0.000000, base velocity=0.000000, velocity=0.000000, acceleration=0.000000
> 2014/05/02 10:10:56.334 asynMotorController:writeFloat64 error, status=3 axis=0, function=1, value=0.000000
> 2014/05/02 10:10:56.336 devMotorAsyn::asynCallback: SMTR1608-9-B20-05:brag pasyn{Float64,Int32}->write returned
> 2014/05/02 10:10:56.337 SMTR1608-9-B20-05:brag devMotorAsyn::update_values, needUpdate=1
> 2014/05/02 10:10:56.344 XPSAxis:poll: [XPS1,0]: S.Pos axisStatus=11
> 2014/05/02 10:10:56.353 SMTR1608-9-B20-05:brag devMotorAsyn::statusCallback new value=[p:60000.000000,e:60007.000000,s:4982]
> 2014/05/02 10:10:56.354 SMTR1608-9-B20-05:brag devMotorAsyn::update_values, needUpdate=1
>
> epics> dbpr SMTR1608-9-B20-05:brag 10
> ACCL: 0.2           ACKS: NO_ALARM      ACKT: YES           ADEL: 0
> ALST: 0             ASG:                ASP: (nil)          ATHM: 0
> BACC: 0.2           BDST: 0             BKPT: 00            BVEL: 1
> CARD: 0             CBAK: 0x597710      CDIR: 1             CNEN: Disable
> DCOF: 0             DESC: Mono Brag     DHLM: 59
> DIFF: 18.6415275058764                  DINP:CONSTANT       DIR: Pos
> DISA: 0             DISP: 0             DISS: NO_ALARM      DISV: 1
> DLLM: 1             DLY: 0              DMOV: 1             DOL:CONSTANT
> DPVT: 0x597728      DRBV: 6             DSET: 0x47f3d0      DTYP: asynMotor
> DVAL: 24.6415275058764                  EGU: degrees        ERES: 1.0e-04
> EVNT: 0             FLNK:CONSTANT 0     FOF: 0              FOFF: Variable
> FRAC: 1             HHSV: NO_ALARM      HIGH: 0             HIHI: 0
> HLM: 59             HLS: 0              HLSV: NO_ALARM      HOMF: 0
> HOMR: 0             HOPR: 0             HSV: NO_ALARM       HVEL: 0.1
> ICOF: 0             INIT:               JAR: 5              JOGF: 0
> JOGR: 0             JVEL: 1             LCNT: 0
> LDVL: 24.6415275058764                  LLM: 1              LLS: 0
> LLSV: NO_ALARM      LOCK: NO            LOLO: 0             LOPR: 0
> LOW: 0              LRLV: 0             LRVL: 246415        LSET: 0x597ff0
> LSPG: Go            LSV: NO_ALARM       LVAL: 24.6415275058764
> LVIO: 0             MDEL: 0             MIP: 0              MISS: 0
> MLIS: 00 5c ee 80 00 5f b9 40 00 00 00 46                   MLOK: 00 59 50 c8
> MLST: 0             MMAP: 0             MOVN: 0             MRES: 1.0e-04
> MSTA: 18818         NAME: SMTR1608-9-B20-05:brag            NMAP: 0
> NSEV: NO_ALARM      NSTA: NO_ALARM      NTM: YES            NTMF: 2
> OFF: 0              OMSL: supervisory   OUT:INST_IO @asyn(XPS1,0)
> PACT: 0             PCOF: 0             PHAS: 0             PINI: NO
> POST:               PP: 0               PPN: (nil)          PPNR: (nil)
> PREC: 5             PREM:               PRIO: LOW           PROC: 0
> PUTF: 0             RBV: 6              RCNT: 0             RDBD: 1.0e-04
> RDBL:CONSTANT       RDES: 0x548f38      RDIF: 186415        REP: 60007
> RHLS: 0             RINP:CONSTANT       RLLS: 0             RLNK:CONSTANT
> RLV: 0              RMOD: Default       RMP: 60000          RPRO: 0
> RRBV: 60000         RRES: 0             RSET: 0x47f1d0      RTRY: 0
> RVAL: 246415        RVEL: 0             S: 50               SBAK: 50
> SBAS: 5             SCAN: Passive       SDIS:CONSTANT       SET: Use
> SEVR: NO_ALARM      SMAX: 0             SPMG: Go            SPVT: (nil)
> SREV: 200           SSET: 0             STAT: NO_ALARM      STOO:CONSTANT
> STOP: 0             STUP: OFF           SUSE: 0             SYNC: 0
> TDIR: 0             TIME: 2014-05-02 10:12:37.121731000     TPRO: 0
> TSE: 0              TSEL:CONSTANT       TWF: 0              TWR: 0
> TWV: 1              UDF: 0              UEIP: No            UREV: 0.02
> URIP: No            VAL: 24.6415275058764                   VBAS: 0.1
> VELO: 1             VERS: 6.8           VMAX: 0             VOF: 0
>
> epics> asynReport 10 XPS1
> XPS1 multiDevice:Yes canBlock:Yes autoConnect:Yes
>      enabled:Yes connected:Yes numberConnects 1
>      nDevices 1 nQueued 0 blocked:No
>      asynManagerLock:No synchronousLock:No
>      exceptionActive:No exceptionUsers 0 exceptionNotifys 0
>      traceMask:0x1 traceIOMask:0x0 traceInfoMask:0x1
>      interposeInterfaceList
>          asynOctet pinterface 0x47f984 drvPvt 0x574470
>      interfaceList
>          asynCommon pinterface 0x47fb40 drvPvt 0x572760
>          asynDrvUser pinterface 0x47fc28 drvPvt 0x572760
>          asynOctet pinterface 0x47fb8c drvPvt 0x572760
>          asynInt32 pinterface 0x47fb4c drvPvt 0x572760
>          asynFloat64 pinterface 0x47fb7c drvPvt 0x572760
>          asynFloat64Array pinterface 0x47fbf0 drvPvt 0x572760
>          asynGenericPointer pinterface 0x47fc00 drvPvt 0x572760
>      addr 0 autoConnect Yes enabled Yes connected Yes exceptionActive No
>          exceptionActive No exceptionUsers 0 exceptionNotifys 0
>          blocked No
>          traceMask:0xff traceIOMask:0x2 traceInfoMask:0x1
> XPS motor driver: XPS1
>                   numAxes: 1
>          firmware version: XPS-Q8 Firmware Standard V1.2.1
>        moving poll period: 0.010000
>          idle poll period: 5.000000
>         enableSetPosition: 0
> setPositionSettlingTime: 5.000000
>                 IPAddress: 192.168.0.254
>                    IPPort: 5001
>               ftpUserName: Administrator
>           ftpUserPassword: Administrator
>             movesDeferred: 0
>                autoEnable: 1
>            noDisableError: 0
>    axis 0
>      name = S.Pos
>      step size = 0.0001
>      poll socket = 0, moveSocket = 3
>      status = 11
> Port: XPS1
>    Timestamp: <undefined>
>    Input EOS[0]:
>    Output EOS[0]:
> Parameter list 0
> Number of parameters is: 78
> Parameter 0 type=asynFloat64, name=MOTOR_MOVE_REL, value is undefined
> Parameter 1 type=asynFloat64, name=MOTOR_MOVE_ABS, value=0.000000, status=0
> Parameter 2 type=asynFloat64, name=MOTOR_MOVE_VEL, value is undefined
> Parameter 3 type=asynFloat64, name=MOTOR_HOME, value is undefined
> Parameter 4 type=asynInt32, name=MOTOR_STOP_AXIS, value is undefined
> Parameter 5 type=asynFloat64, name=MOTOR_VELOCITY, value=0.000000, status=0
> Parameter 6 type=asynFloat64, name=MOTOR_VEL_BASE, value=0.000000, status=0
> Parameter 7 type=asynFloat64, name=MOTOR_ACCEL, value=0.000000, status=0
> Parameter 8 type=asynFloat64, name=MOTOR_POSITION, value=60000.000000, status=0
> Parameter 9 type=asynFloat64, name=MOTOR_ENCODER_POSITION, value=60006.000000, status=0
> Parameter 10 type=asynInt32, name=MOTOR_DEFER_MOVES, value is undefined
> Parameter 11 type=asynInt32, name=MOTOR_MOVE_HOME, value is undefined
> Parameter 12 type=asynFloat64, name=MOTOR_RESOLUTION, value is undefined
> Parameter 13 type=asynFloat64, name=MOTOR_ENCODER_RATIO, value is undefined
> Parameter 14 type=asynFloat64, name=MOTOR_PGAIN, value=0.000000, status=0
> Parameter 15 type=asynFloat64, name=MOTOR_IGAIN, value=0.000000, status=0
> Parameter 16 type=asynFloat64, name=MOTOR_DGAIN, value=0.000000, status=0
> Parameter 17 type=asynFloat64, name=MOTOR_HIGH_LIMIT, value=590000.000000, status=0
> Parameter 18 type=asynFloat64, name=MOTOR_LOW_LIMIT, value=10000.000000, status=0
> Parameter 19 type=asynInt32, name=MOTOR_CLOSED_LOOP, value is undefined
> Parameter 20 type=asynInt32, name=MOTOR_STATUS, value=18818, status=0
> Parameter 21 type=asynInt32, name=MOTOR_UPDATE_STATUS, value is undefined
> Parameter 22 type=asynInt32, name=MOTOR_STATUS_DIRECTION, value=0, status=0
> Parameter 23 type=asynInt32, name=MOTOR_STATUS_DONE, value=1, status=0
> Parameter 24 type=asynInt32, name=MOTOR_STATUS_HIGH_LIMIT, value=0, status=0
> Parameter 25 type=asynInt32, name=MOTOR_STATUS_AT_HOME, value is undefined
> Parameter 26 type=asynInt32, name=MOTOR_STATUS_SLIP, value is undefined
> Parameter 27 type=asynInt32, name=MOTOR_STATUS_POWERED, value is undefined
> Parameter 28 type=asynInt32, name=MOTOR_STATUS_FOLLOWING_ERROR, value=0, status=0
> Parameter 29 type=asynInt32, name=MOTOR_STATUS_HOME, value=1, status=0
> Parameter 30 type=asynInt32, name=MOTOR_STATUS_HAS_ENCODER, value=1, status=0
> Parameter 31 type=asynInt32, name=MOTOR_STATUS_PROBLEM, value=0, status=0
> Parameter 32 type=asynInt32, name=MOTOR_STATUS_MOVING, value=0, status=0
> Parameter 33 type=asynInt32, name=MOTOR_STATUS_GAIN_SUPPORT, value=1, status=0
> Parameter 34 type=asynInt32, name=MOTOR_STATUS_COMMS_ERROR, value=0, status=0
> Parameter 35 type=asynInt32, name=MOTOR_STATUS_LOW_LIMIT, value=0, status=0
> Parameter 36 type=asynInt32, name=MOTOR_STATUS_HOMED, value=1, status=0
> Parameter 37 type=asynInt32, name=PROFILE_NUM_AXES, value is undefined
> Parameter 38 type=asynInt32, name=PROFILE_NUM_POINTS, value is undefined
> Parameter 39 type=asynInt32, name=PROFILE_CURRENT_POINT, value is undefined
> Parameter 40 type=asynInt32, name=PROFILE_NUM_PULSES, value is undefined
> Parameter 41 type=asynInt32, name=PROFILE_START_PULSES, value is undefined
> Parameter 42 type=asynInt32, name=PROFILE_END_PULSES, value is undefined
> Parameter 43 type=asynInt32, name=PROFILE_ACTUAL_PULSES, value is undefined
> Parameter 44 type=asynInt32, name=PROFILE_NUM_READBACKS, value is undefined
> Parameter 45 type=asynInt32, name=PROFILE_TIME_MODE, value is undefined
> Parameter 46 type=asynFloat64, name=PROFILE_FIXED_TIME, value is undefined
> Parameter 47 type=asynFloat64Array, name=PROFILE_TIME_ARRAY, value is undefined
> Parameter 48 type=asynFloat64, name=PROFILE_ACCELERATION, value is undefined
> Parameter 49 type=asynInt32, name=PROFILE_BUILD, value is undefined
> Parameter 50 type=asynInt32, name=PROFILE_BUILD_STATE, value is undefined
> Parameter 51 type=asynInt32, name=PROFILE_BUILD_STATUS, value is undefined
> Parameter 52 type=string, name=PROFILE_BUILD_MESSAGE, value is undefined
> Parameter 53 type=asynInt32, name=PROFILE_EXECUTE, value is undefined
> Parameter 54 type=asynInt32, name=PROFILE_EXECUTE_STATE, value=0, status=0
> Parameter 55 type=asynInt32, name=PROFILE_EXECUTE_STATUS, value is undefined
> Parameter 56 type=string, name=PROFILE_EXECUTE_MESSAGE, value is undefined
> Parameter 57 type=asynInt32, name=PROFILE_ABORT, value is undefined
> Parameter 58 type=asynInt32, name=PROFILE_READBACK, value is undefined
> Parameter 59 type=asynInt32, name=PROFILE_READBACK_STATE, value is undefined
> Parameter 60 type=asynInt32, name=PROFILE_READBACK_STATUS, value is undefined
> Parameter 61 type=string, name=PROFILE_READBACK_MESSAGE, value is undefined
> Parameter 62 type=asynInt32, name=PROFILE_USE_AXIS, value is undefined
> Parameter 63 type=asynFloat64Array, name=PROFILE_POSITIONS, value is undefined
> Parameter 64 type=asynFloat64Array, name=PROFILE_READBACKS, value is undefined
> Parameter 65 type=asynFloat64Array, name=PROFILE_FOLLOWING_ERRORS, value is undefined
> Parameter 66 type=asynFloat64, name=PROFILE_MOTOR_RESOLUTION, value is undefined
> Parameter 67 type=asynInt32, name=PROFILE_MOTOR_DIRECTION, value is undefined
> Parameter 68 type=asynFloat64, name=PROFILE_MOTOR_OFFSET, value is undefined
> Parameter 69 type=asynFloat64, name=XPS_MIN_JERK, value=0.005000, status=0
> Parameter 70 type=asynFloat64, name=XPS_MAX_JERK, value=0.050000, status=0
> Parameter 71 type=asynFloat64, name=XPS_PROFILE_MAX_VELOCITY, value is undefined
> Parameter 72 type=asynFloat64, name=XPS_PROFILE_MAX_ACCELERATION, value is undefined
> Parameter 73 type=asynFloat64, name=XPS_PROFILE_MIN_POSITION, value is undefined
> Parameter 74 type=asynFloat64, name=XPS_PROFILE_MAX_POSITION, value is undefined
> Parameter 75 type=string, name=XPS_PROFILE_GROUP_NAME, value is undefined
> Parameter 76 type=string, name=XPS_TRAJECTORY_FILE, value is undefined
> Parameter 77 type=asynInt32, name=XPS_STATUS, value=11, status=0
>      int32 callback client address=0xd42c8, addr=0, reason=77, userPvt=0x5935c8
>      float64 callback client address=0xdf1cc, addr=0, reason=8, userPvt=0x596aa0
>      genericPointer callback client address=0x927a8, addr=0, reason=20, userPvt=0x597728
>
>
>



References:
RE: Newport XPS-Q8 and Motor Record - armv5teb architecture Mark Rivers
Re: Newport XPS-Q8 and Motor Record - armv5teb architecture Torsten Bögershausen

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