devSoftAux::soft_motor_task: adding dinp link for motor 13BMA:pm1 link=13BMA:KBVB:Done
devSoftAux::soft_motor_task: adding urip link for motor 13BMA:pm1 link=13BMA:KBVB:Readback.G
devSoftAux::soft_motor_task: adding urip link for motor 13BMA:pm2 link=13BMA:KBVB:Readback.H
devSoftAux::soft_motor_task: adding dinp link for motor 13BMA:pm3 link=13BMA:KBVP:Done
devSoftAux::soft_motor_task: adding urip link for motor 13BMA:pm3 link=13BMA:KBVP:Readback.G
devSoftAux::soft_motor_task: adding urip link for motor 13BMA:pm4 link=13BMA:KBVP:Readback.H
devSoftAux::soft_motor_task: adding dinp link for motor 13BMA:pm5 link=13BMA:KBVT:Done
devSoftAux::soft_motor_task: adding urip link for motor 13BMA:pm5 link=13BMA:KBVT:Readback.G
devSoftAux::soft_motor_task: adding urip link for motor 13BMA:pm6 link=13BMA:KBVT:Readback.H
The above output shows the problem. For each soft motor it should be adding callbacks for both the dinp (done moving) and urip (position) links. It is correctly adding the urip link for each motor. However, it is only adding the dinp
links for every other motor (pm1, pm3, pm5). It is not adding the dinp link for (pm2,pm4,pm6).
I don’t understand this, since pm1 and pm2 seem to be defined identically for their DINP links.
ioc13bma> dbpr "13BMA:pm1",2
ACCL: 0.1 ACKS: NO_ALARM ACKT: YES ADEL: 0
ASG: ATHM: 0 BACC: 0.1 BDST: 0
BKPT: 00 BVEL: 1 CDIR: 0 CNEN: Disable
DCOF: 0 DESC: Curvature DHLM: 10000 DIFF: 0
DINP:DB_LINK 13BMA:KBVB:Done NPP NMS DIR: Pos DISA: 0
DISP: 0 DISS: NO_ALARM DISV: 1 DLLM: -10000
DLY: 0 DMOV: 1 DOL:CONSTANT DRBV: 0.25
DTYP: Soft Channel DVAL: 0.25 EGU: mm ERES: 1.0e-04
EVNT: FLNK:CONSTANT FOF: 0 FOFF: Frozen
FRAC: 1 HHSV: NO_ALARM HIGH: 0 HIHI: 0
HLM: 10000 HLS: 0 HLSV: NO_ALARM HOMF: 0
HOMR: 0 HOPR: 0 HSV: NO_ALARM HVEL: 0.1
ICOF: 0 IGSET: 0 INIT: JAR: 10
JOGF: 0 JOGR: 0 JVEL: 1 LCNT: 0
LDVL: 0.25 LLM: -10000 LLS: 0 LLSV: NO_ALARM
LOCK: NO LOLO: 0 LOPR: 0 LOW: 0
LRLV: 0 LRVL: 2500 LSPG: Go LSV: NO_ALARM
LVAL: 0.25 LVIO: 0 MDEL: 0 MISS: 0
MOVN: 0 MRES: 1.0e-04 NAME: 13BMA:pm1 NSEV: NO_ALARM
NSTA: NO_ALARM NTM: NO NTMF: 2 OFF: 0
OMSL: supervisory OUT:DB_LINK 13BMA:pm1DVAL.VAL PP MS PACT: 0
PCOF: 0 PHAS: 0 PINI: NO POST:
PP: 0 PREC: 3 PREM: PRIO: LOW
PUTF: 0 RBV: 0.25 RCNT: 0 RDBD: 1.0e-04
RDBL:DB_LINK 13BMA:KBVB:Readback.G NPP NMS RDIF: 0
REP: 0 RHLS: 0 RINP:CONSTANT RLLS: 0
RLNK:CONSTANT RLV: 0 RMOD: Default RMP: 2500
RPRO: 0 RRBV: 2500 RRES: 1 RTRY: 0
RVAL: 2500 RVEL: 0 S: 50 SBAK: 50
SBAS: 5 SCAN: Passive SDIS:CONSTANT SET: Use
SEVR: NO_ALARM SMAX: 50 SPMG: Go SREV: 200
SSET: 0 STAT: NO_ALARM STOO:DB_LINK 13BMA:KBVB:Stop PP MS
STOP: 0 SUSE: 0 SYNC: 0 TDIR: 0
TIME: 2018-09-07 17:04:51.807438608 TPRO: 0 TSE: 0
TSEL:CONSTANT TWF: 0 TWR: 0 TWV: 0.2
UDF: 0 UDFS: INVALID UEIP: No UREV: 0.02
URIP: Yes VAL: 0.25 VBAS: 0.1 VELO: 1
VERS: 6.1 VMAX: 1 VOF: 0
value = 0 = 0x0
ioc13bma> dbpr "13BMA:pm2",2
ACCL: 0.1 ACKS: NO_ALARM ACKT: YES ADEL: 0
ASG: ATHM: 0 BACC: 0.1 BDST: 0
BKPT: 00 BVEL: 1 CDIR: 0 CNEN: Disable
DCOF: 0 DESC: Ellipticity DHLM: 10000 DIFF: 0
DINP:DB_LINK 13BMA:KBVB:Done NPP NMS DIR: Pos DISA: 0
DISP: 0 DISS: NO_ALARM DISV: 1 DLLM: -10000
DLY: 0 DMOV: 1 DOL:CONSTANT DRBV: -0.0999
DTYP: Soft Channel DVAL: -0.0999 EGU: mm ERES: 1.0e-04
EVNT: FLNK:CONSTANT FOF: 0 FOFF: Frozen
FRAC: 1 HHSV: NO_ALARM HIGH: 0 HIHI: 0
HLM: 10000 HLS: 0 HLSV: NO_ALARM HOMF: 0
HOMR: 0 HOPR: 0 HSV: NO_ALARM HVEL: 0.1
ICOF: 0 IGSET: 0 INIT: JAR: 10
JOGF: 0 JOGR: 0 JVEL: 1 LCNT: 0
LDVL: -0.0999 LLM: -10000 LLS: 0 LLSV: NO_ALARM
LOCK: NO LOLO: 0 LOPR: 0 LOW: 0
LRLV: 0 LRVL: -999 LSPG: Go LSV: NO_ALARM
LVAL: -0.0999 LVIO: 0 MDEL: 0 MISS: 0
MOVN: 0 MRES: 1.0e-04 NAME: 13BMA:pm2 NSEV: NO_ALARM
NSTA: NO_ALARM NTM: NO NTMF: 2 OFF: 0
OMSL: supervisory OUT:DB_LINK 13BMA:pm2DVAL.VAL PP MS PACT: 0
PCOF: 0 PHAS: 0 PINI: NO POST:
PP: 0 PREC: 3 PREM: PRIO: LOW
PUTF: 0 RBV: -0.0999 RCNT: 0 RDBD: 1.0e-04
RDBL:DB_LINK 13BMA:KBVB:Readback.H NPP NMS RDIF: 0
REP: 0 RHLS: 0 RINP:CONSTANT RLLS: 0
RLNK:CONSTANT RLV: 0 RMOD: Default RMP: -999
RPRO: 0 RRBV: -999 RRES: 1 RTRY: 0
RVAL: -999 RVEL: 0 S: 50 SBAK: 50
SBAS: 5 SCAN: Passive SDIS:CONSTANT SET: Use
SEVR: NO_ALARM SMAX: 50 SPMG: Go SREV: 200
SSET: 0 STAT: NO_ALARM STOO:DB_LINK 13BMA:KBVB:Stop PP MS
STOP: 0 SUSE: 0 SYNC: 0 TDIR: 0
TIME: 2018-09-07 17:04:51.807438608 TPRO: 0 TSE: 0
TSEL:CONSTANT TWF: 0 TWR: 0 TWV: 0.1
UDF: 0 UDFS: INVALID UEIP: No UREV: 0.02
URIP: Yes VAL: -0.0999 VBAS: 0.1 VELO: 1
VERS: 6.1 VMAX: 1 VOF: 0
value = 0 = 0x0
So one problem is fixed, and I know what the other problem is, but not yet how to fix it.
Mark
From: Mooney, Tim M. <[email protected]>
Sent: Friday, September 7, 2018 12:15 PM
To: Mark Rivers <[email protected]>; Peterson, Kevin M. <[email protected]>; Johnson, Andrew N. <[email protected]>
Cc: [email protected]
Subject: Re: Problems with soft motors