Experimental Physics and
Industrial Control System

"Pearson, Matthew R." <[email protected]> · Wed, 11 Apr 2018 13:55:26 +0000

Hi,

> I would like to automate phasing of servomotors in Delta Tau.
> 1.      Send phasing command via asyn, wait

How is the phasing command sent to the controller? The driver should probably support this, and be able to read back the successful/unsuccessful status. 

> 2.      If Phasing successful(bit x is set), ->DONE
> 3.      If Phasing error(bit y is set),  do 1 again.
>  
> I would like to do it in the database, and not via sequencer, because it will give me a luxury of using a substitution file and repeating the same for 9 motors and looks much easier. It would be interesting to see how Delta Tau will handle several simultaneous phasing requests. 
>  

If you only want to retry a few times before giving up, then a seq or sseq record will work, something like:

record(sseq, “PhaseAndRetry”)
{
  field(DLY1, “0”)
  field(DOL1, “1”)
  field(LNK1, “DoThePhase.PROC PP”)
  field(DLY2, “1”) #Wait 1s
  field(DOL2, “1”)
  field(LNK2, “CheckThePhase.PROC PP”)
  field(DLY3, “0”)
  field(DOL3, “1”)
  field(LNK3, “DoThePhase.PROC PP”)
  field(DLY4, “1”)  #Wait 1s
  field(DOL4, “1”)
  field(LNK4, “CheckThePhase.PROC PP”)
  etc...
}

The CheckThePhase can process the ABORT field in the sseq if the phase was successful.

Alternatively, if this is a common task, the driver could handle the retries as well as sending the command and reading the status.

Cheers,
Matt

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System