Experimental Physics and Industrial Control System
FYI, I don’t see this for a normal move (with or without UEIP, with or without non-zero RTRY), but I do see this for these conditions:
* STOP field was set to 1 during the move
* the move was externally generated
* the move stopped due to a limit switch
jog based moves should also cause it.
Here is a normal move:
BL100:Mot:shutter.DMOV 2016-06-30 12:48:03.536661 0
BL100:Mot:shutter.VAL 2016-06-30 12:48:10.133930 11
BL100:Mot:shutter.RBV 2016-06-30 12:48:10.486333 9.99375
BL100:Mot:shutter.RBV 2016-06-30 12:48:10.974228 10.3125
BL100:Mot:shutter.RBV 2016-06-30 12:48:11.460077 10.8063
BL100:Mot:shutter.RBV 2016-06-30 12:48:11.945679 10.9719
BL100:Mot:shutter.RBV 2016-06-30 12:48:12.434507 10.9781
BL100:Mot:shutter.DMOV 2016-06-30 12:48:12.434507 1
BL100:Mot:shutter.RBV 2016-06-30 12:48:12.935817 10.9719
and a small externally generated move:
BL100:Mot:shutter.RBV 2016-06-30 12:49:19.644680 12.075
BL100:Mot:shutter.DMOV 2016-06-30 12:49:19.644680 0
BL100:Mot:shutter.RBV 2016-06-30 12:49:20.129310 12.5125
BL100:Mot:shutter.RBV 2016-06-30 12:49:20.614913 12.6156
BL100:Mot:shutter.VAL 2016-06-30 12:49:20.614913 12.6156
BL100:Mot:shutter.DMOV 2016-06-30 12:49:20.614913 1
BL100:Mot:shutter.RBV 2016-06-30 12:49:21.919218 12.5906
It seems to be the postProcess() function in the motor record that would cause VAL to be changed, but I can’t see how that is called for a normal move caused by writing to VAL.
Cheers,
Matt
> On Jun 30, 2016, at 11:41 AM, Jacob DeFilippis <[email protected]> wrote:
>
> @Torsten
> It is a servo motor with an internal encoder that has 4,000 count per revolution resolution
> The problem is this not the standard behavior if the motor doesn't reach the setpoint, the setpoint should not change,
> or at least this is how I understand it. I think this would be confusing for a user driving the motors.
>
> The MRES field is set to 0.0001. But this is arbitrary for now since setpoint values are converted to counts.
>
> dbpr SMOTOR:AXIS:1 10
> ACCL: 0.2 ACKS: NO_ALARM ACKT: YES ADEL: 0
> ALST: 0 ASG: MC_MAINT ASP: (nil) ATHM: 0
> BACC: 0.5 BDST: 0 BKPT: 00 BVEL: 0.1
> CARD: 0 CBAK: 0x85dd6f8 CDIR: 0 CNEN: Disable
> DCOF: 0 DESC: DHLM: 0 DIFF: 0.4905
> DINP:CONSTANT DIR: Neg DISA: 0 DISP: 0
> DISS: NO_ALARM DISV: 1 DLLM: 0 DLY: 0
> DMOV: 1 DOL:CONSTANT DPVT: 0x85e3db8 DRBV: 4.0e-04
> DSET: 0x98b960 DTYP: asynMotor DVAL: 0.4909 EGU: mm
> ERES: 1.0e-04 EVNT: 0 FLNK:CONSTANT 0 FOF: 0
> FOFF: Frozen FRAC: 1 HHSV: NO_ALARM HIGH: 0
> HIHI: 0 HLM: 0 HLS: 0 HLSV: NO_ALARM
> HOMF: 0 HOMR: 0 HOPR: 0 HSV: NO_ALARM
> HVEL: 0.1 ICOF: 0 INIT: JAR: 2.5
> JOGF: 0 JOGR: 0 JVEL: 0.5 LCNT: 0
> LDVL: 0.4909 LLM: 0 LLS: 0 LLSV: NO_ALARM
> LOCK: NO LOLO: 0 LOPR: 0 LOW: 0
> LRLV: 0 LRVL: 4909 LSET: 0x85e5750 LSPG: Go
> LSV: NO_ALARM LVAL: -0.4909 LVIO: 0 MDEL: 0
> MIP: 0 MISS: 0
> MLIS: b0 b0 61 08 d8 a1 61 08 49 00 00 00 MLOK: d8 b9 5d 08
> MLST: 0 MMAP: 0 MOVN: 0 MRES: 1.0e-04
> MSTA: 2306 NAME: SMOTOR:AXIS:1 NMAP: 0 NSEV: NO_ALARM
> NSTA: NO_ALARM NTM: YES NTMF: 2 OFF: 0
> OMSL: supervisory OUT:INST_IO @asyn(SM1,1) PACT: 0
> PCOF: 0 PHAS: 0 PINI: NO POST:
> PP: 0 PPN: (nil) PPNR: (nil) PREC: 4
> PREM: PRIO: HIGH PROC: 0 PUTF: 0
> RBV: -4.0e-04 RCNT: 0 RDBD: 1.0e-04 RDBL:CONSTANT
> RDES: 0x85a6310 RDIF: 4905 REP: 4 RHLS: 0
> RINP:CONSTANT RLLS: 0 RLNK:CONSTANT RLV: 0
> RMOD: Default RMP: 4 RPRO: 0 RRBV: 4
> RRES: 0 RSET: 0x98b880 RTRY: 0 RVAL: 4909
> RVEL: 0 S: 25 SBAK: 5 SBAS: 5
> SCAN: Passive SDIS:CONSTANT SET: Use SEVR: NO_ALARM
> SMAX: 183.5 SPMG: Go SPVT: (nil) SREV: 200
> SSET: 0 STAT: NO_ALARM STOO:CONSTANT STOP: 0
> STUP: OFF SUSE: 0 SYNC: 0 TDIR: 0
> TIME: 2016-06-30 08:23:12.109352047 TPRO: 0 TSE: 0
> TSEL:CONSTANT TWF: 0 TWR: 0 TWV: 0.1
> UDF: 0 UEIP: No UREV: 0.02 URIP: No
> VAL: -0.4909 VBAS: 0.1 VELO: 0.5 VERS: 6.9
> VMAX: 3.67 VOF: 0
>
> The motorStatusDone_ field is updated by
> sprintf(pC_->outString_, REPORTSTATUS0, canAddr_); // Report 16-bit status word
> status = pC_->writeReadController();
> if (status) goto skip;
> currentStatus_ = atoi(pC_->inString_);
> setIntegerParam(pC_->smartStatus_,currentStatus_);
> done = (currentStatus_ & MOVING)?0:1; // Trajectory in progress, MOVING is a bit mask
> *moving = done ? false:true;
> setIntegerParam(pC_->motorStatusDone_, done);
>
> If I create a public repo I will post on the thread
> On 6/30/2016 8:28 AM, Torsten Bögershausen wrote:
>> Hej again,
>> I can’t reproduce it here.
>>
>> What does
>> dbpr SMOTOR:AXIS:1
>> give ?
>>
>> And another question:
>> What does your driver put into
>>
>> setIntegerParam(pC_->motorStatusMoving_
>> and what into
>> setIntegerParam(pC_->motorStatusDone_
>>
>> Can you send us a copy of the driver code, or is it somewhere on a public repo ?
>>
>>
>> Am 30.06.2016 um 13:54 schrieb Mark Rivers <[email protected]>:
>>
>>> Hi Jacob,
>>>
>>> You did not answer this question:
>>>
>>>> Does the controller ever report that the position is equal to the requested position, or is it always off by that small amount, i.e. even after a move is complete and the controller is reporting its position at the slow poll rate?
>>> Some more questions:
>>>
>>> - Is this a motor that accepts and reports its positions in steps, or does it use engineering units? If it uses steps then if you tell the motor to go to a step position does it always report that it reached that exact position? If not then I think there is a bug in the controller. If the controller is programmed in engineering units, then it is the responsibility of your driver to convert motor record positions (in steps) to engineering units for move commands, and to convert engineering units to steps for readback commands. It is also your driver's responsibility to ensure that the motor record step positions are actually positions that are reachable by the controller, i.e. that they are integer numbers of controller steps.
>>>
>>> What controller is this?
>>>
>>> Mark
>>>
>>> ________________________________________
>>> From: Jacob DeFilippis [[email protected]]
>>> Sent: Wednesday, June 29, 2016 7:13 PM
>>> To: Mark Rivers; 'Ron Sluiter'
>>> Cc: [email protected]
>>> Subject: Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion
>>>
>>> Okay so in the original poll function the readback is set before the
>>> status. So I changed the order. Unfortunately this did not produce
>>> better results. I then placed in a delay before the readback when the
>>> DMOV goes from 0 to 1. The behavior persists.
>>>
>>> SMOTOR:AXIS:1 2016-06-29 17:04:30.658694 30
>>> SMOTOR:AXIS:1.DMOV 2016-06-29 17:04:30.658894 1
>>> SMOTOR:AXIS:1.RBV 2016-06-29 17:04:31.135564 25.0821
>>> SMOTOR:AXIS:1.DMOV 2016-06-29 17:04:31.135564 0
>>> SMOTOR:AXIS:1.RBV 2016-06-29 17:04:33.578796 26.3076
>>> SMOTOR:AXIS:1.RBV 2016-06-29 17:04:36.021029 27.529
>>> SMOTOR:AXIS:1.RBV 2016-06-29 17:04:38.463166 28.7494
>>> SMOTOR:AXIS:1.RBV 2016-06-29 17:04:40.903696 29.9656
>>> SMOTOR:AXIS:1 2016-06-29 17:04:43.142160 29.9656
>>> SMOTOR:AXIS:1.DMOV 2016-06-29 17:04:43.142160 1
>>> SMOTOR:AXIS:1.RBV 2016-06-29 17:04:45.823197 29.9996
>>>
>>> You can see that the last readback updates a few seconds after the DMOV
>>> goes high, but the setpoint still is changed to the readback. This
>>> happened under single motion with 0 retries.
>>>
>>> The delay works as follows, prevDone is a field of the axis class, done
>>> is a local variable
>>> if(done && !prevDone_ ){
>>> prevDone_ = done;
>>> goto skip;
>>> }
>>> prevDone_ = done;
>>> pollPosition();
>>>
>>> ....
>>>
>>> skip:
>>> callParamCallbacks()
>>>
>>> Jacob
>>>
>>> On 6/29/2016 2:21 PM, Mark Rivers wrote:
>>>> So this problem really has nothing to do with deferred moves. The same undesired behavior is seen when using a normal move if retries is 0.
>>>>
>>>> Does the controller ever report that the position is equal to the requested position, or is it always off by that small amount, i.e. after a move is complete and the motor is reporting its position at the slow poll rate?
>>>>
>>>> In your poller are you reading the position before or after you read the done moving status? If you are reading it before then perhaps that is the problem? What if you read the position after the done moving status? Perhaps even add a small delay when you detect that a move has just completed before reading the position. I have done that in some of my drivers in the past.
>>>>
>>>> Mark
>>>>
>>>>
>>>> -----Original Message-----
>>>> From: Jacob DeFilippis [mailto:[email protected]]
>>>> Sent: Wednesday, June 29, 2016 3:15 PM
>>>> To: Mark Rivers; 'Ron Sluiter'
>>>> Cc: [email protected]
>>>> Subject: Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion
>>>>
>>>> @Ron
>>>> Version 6.9
>>>>
>>>> @Mark
>>>> This is not necessarily the case for example, this is a single move with
>>>> a non-zero number of retries
>>>> SMOTOR:AXIS:1.DMOV 2016-06-29 13:10:48.487763 1
>>>> SMOTOR:AXIS:1.VAL 2016-06-29 13:10:48.487763 19.9926
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:10:48.487763 19.9936
>>>> SMOTOR:AXIS:1.DMOV 2016-06-29 13:10:48.487763 0
>>>> SMOTOR:AXIS:1.VAL 2016-06-29 13:10:55.927566 25
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:10:57.765592 20.0858
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:10:59.962699 21.1839
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:11:02.159951 22.283
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:11:04.357444 23.382
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:11:06.555026 24.4807
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:11:08.753050 24.9996
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:11:13.147318 24.9993
>>>> SMOTOR:AXIS:1.DMOV 2016-06-29 13:11:23.890093 1
>>>> /*no setpoint change*/
>>>>
>>>> But a single move with a zero number of retries
>>>> SMOTOR:AXIS:1.DMOV 2016-06-29 13:11:24.378107 1
>>>> SMOTOR:AXIS:1.VAL 2016-06-29 13:11:24.378107 25
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:11:24.378107 24.9993
>>>> SMOTOR:AXIS:1.DMOV 2016-06-29 13:11:24.378107 0
>>>> SMOTOR:AXIS:1.VAL 2016-06-29 13:12:26.321196 30
>>>> SMOTOR:AXIS:1.DMOV 2016-06-29 13:12:26.321564 1
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:12:26.795562 25.0862
>>>> SMOTOR:AXIS:1.DMOV 2016-06-29 13:12:26.795562 0
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:12:28.992570 26.1841
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:12:31.190003 27.2832
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:12:33.387377 28.3824
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:12:35.584989 29.4812
>>>> SMOTOR:AXIS:1.RBV 2016-06-29 13:12:37.782270 29.9996
>>>> SMOTOR:AXIS:1.VAL 2016-06-29 13:12:37.782270 29.9996 <-
>>>> setpoint change
>>>> SMOTOR:AXIS:1.DMOV 2016-06-29 13:12:37.782270 1
>>>>
>>>>
>>>> Unfortunately setting a non-zero retry does not help when it comes to
>>>> deferred motion. I should mention at this point I have been using a work
>>>> around which stops this behavior. If the OMSL field is set to
>>>> closed_loop this behavior does not show. This field is unrelated to
>>>> motion,but it will avoid the branch of logic that is executed in the
>>>> motor record.
>>>>
>>>> I am not using an encoder the controller reports back step counts, those
>>>> are then translated via MRES (UEIP = No). I think the controller is
>>>> moving to the correct position and the setpoint is within the resolution
>>>> of the motor. Ultimately the EPICs side should trust the controller
>>>> with is special synchronized motion algorithm.
>>>>
>>>> On 6/29/2016 12:39 PM, Mark Rivers wrote:
>>>>> I think the motor record does always sets the VAL field to match the RBV field when motion completes. This is true regardless of whether you are using deferred moves or not.
>>>>>
>>>>> What happens if you do the same camonitor on a normal move of this axis, not a deferred move?
>>>>>
>>>>> Why your controller is saying that the position is 3.993 and that the move is complete, when it was told to go to 4.000? Does this motor have an encoder? Are you using the encoder for readback, i.e. what is the value of the UEIP field?
>>>>>
>>>>> Mark
>>>>>
>>>>>
>>>>> -----Original Message-----
>>>>> From: [email protected] [mailto:[email protected]] On Behalf Of Ron Sluiter
>>>>> Sent: Wednesday, June 29, 2016 2:23 PM
>>>>> To: Jacob DeFilippis
>>>>> Cc: [email protected]
>>>>> Subject: Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion
>>>>>
>>>>> Hello Jacob,
>>>>>
>>>>> What version (VERS field) of the motor record are you using?
>>>>>
>>>>> The folks at Diamond are the experts in the use of the motor record
>>>>> deferred move function. I defer to them on this topic.
>>>>>
>>>>> Ron
>>>>>
>>>>> On 6/29/2016 1:32 PM, Jacob DeFilippis wrote:
>>>>>> Hello,
>>>>>> I am working on implementing a multiple axis synchronized motion
>>>>>> using the motor module's asynController base class (model 3). The move
>>>>>> function is set up such that it stores the .VAL to variables inside
>>>>>> the physical controller when the deferredMove flag is 1, and when
>>>>>> there is a transition from 1-> 0 on the flag I issue the controller
>>>>>> command that moves the motors synchronously to the commanded target.
>>>>>>
>>>>>> My problem is when the move completes the .VAL field is set to the
>>>>>> .RBV field. This happens when the .DMOV is returned to 1. I tracked
>>>>>> down the cause, which is found in motorRecord.cc in function
>>>>>> postProcess(motorRecord * pmr) line 762 (In the github repo). It
>>>>>> executes "pmr->val = pmr->rbv" . I am unsure why this postprocess is
>>>>>> occurring. Is there anything extra I should implement in my function
>>>>>> that issues synchronized motion? or possibly something extra in the
>>>>>> polling function. Is this because the RTRY field is set to 0?
>>>>>>
>>>>>> An example of the bad behavior:
>>>>>> SMOTOR:AXIS:1.VAL 2016-06-29 11:05:24.259733 4
>>>>>> SMOTOR:AXIS:1.DMOV 2016-06-29 11:05:24.474977 1
>>>>>> SMOTOR:AXIS:1.RBV 2016-06-29 11:05:27.892752 3.0181
>>>>>> SMOTOR:AXIS:1.DMOV 2016-06-29 11:05:27.892752 0
>>>>>> SMOTOR:AXIS:1.RBV 2016-06-29 11:05:30.090092 3.4665
>>>>>> SMOTOR:AXIS:1.RBV 2016-06-29 11:05:32.287451 3.9155
>>>>>> SMOTOR:AXIS:1.RBV 2016-06-29 11:05:34.484984 3.9993
>>>>>> SMOTOR:AXIS:1.VAL 2016-06-29 11:05:34.484984 3.9993
>>>>>> <--My problem
>>>>>> SMOTOR:AXIS:1.DMOV 2016-06-29 11:05:34.484984 1
>>>>>>
>>>>>> My motor record
>>>>>> record(motor, "$(P):$(M):$(ADDR)") {
>>>>>> field(SCAN, "Passive")
>>>>>> field(DTYP, "asynMotor")
>>>>>> field(DISS, "NO_ALARM")
>>>>>> field(DIR, "$(DIR)")
>>>>>> field(VELO, "$(VELO)")
>>>>>> field(VBAS, "$(VBAS)")
>>>>>> field(VMAX, "$(VMAX)")
>>>>>> field(URIP, "No")
>>>>>> field(PREC, "4")
>>>>>> field(EGU, "mm")
>>>>>> field(MRES, "$(MRES)")
>>>>>> field(OUT, "@asyn($(PORT),$(ADDR))")
>>>>>> field(TWV, ".1")
>>>>>> field(ASG, "MC_MAINT")
>>>>>> field(FOFF, "Frozen")
>>>>>> field(PRIO, "HIGH")
>>>>>> field(OMSL, "closed_loop")
>>>>>> field(RTRY, "0")
>>>>>> }
>>>>>>
>>>>>> My function that triggers synchronized motion
>>>>>> asynStatus Axis::processDeferredMoves()
>>>>>> {
>>>>>> asynStatus status;
>>>>>>
>>>>>> /*resets controller flag*/
>>>>>> status = resetFlags();
>>>>>> if(status) goto skip;
>>>>>>
>>>>>> /*sends command to start synchronized motion*/
>>>>>> sprintf(pC_->outString_,GOSYNC);
>>>>>> status = pC_->writeController();
>>>>>>
>>>>>> skip:
>>>>>> setIntegerParam(pC_->motorStatusDone_, 0);
>>>>>> setIntegerParam(pC_->motorStatusCommsError_, status ? 1:0);
>>>>>> callParamCallbacks();
>>>>>> pC_->wakeupPoller();
>>>>>> return asynSuccess;
>>>>>> }
>>>>>>
>>>>>> Thanks in advance,
>>>>>> Jacob
>>>
>
>
- References:
- Motor Module, Deferred Movement, .VAL field set to .RBV after motion Jacob DeFilippis
- Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Ron Sluiter
- RE: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Mark Rivers
- Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Jacob DeFilippis
- RE: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Mark Rivers
- Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Jacob DeFilippis
- RE: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Mark Rivers
- Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Torsten Bögershausen
- Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Jacob DeFilippis
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