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Subject: Re: Multi-axis sequenced move using asynMotor pseudo axis
From: "Peterson, Kevin M. via Tech-talk" <tech-talk@aps.anl.gov>
To: David Vine <dvine@sigray.com>, "tech-talk@aps.anl.gov" <tech-talk@aps.anl.gov>
Date: Fri, 8 Mar 2019 16:28:09 +0000
David,

I find SNL programs to be cleaner than pure database implementations for 
situations like this.  The SNL program might be more work initially, but 
it is often easier to maintain, especially if the sequenced move 
procedure needs to become more complicated in the future.  Breaking the 
implementation into well-defined states makes it easier for others to 
understand, troubleshoot, and modify the code.

Kevin

On 3/7/19 10:49 AM, David Vine via Tech-talk wrote:
> Hi all,
> 
> I'm looking for the cleanest way to implement a sequence of moves of 
> between different physical axes but hide it from the user so it appears 
> as just a single pseudo motor axis.
> 
> For example, I want to home axis A but to avoid a collision I need to 
> move axes XYZ to a particular location first, then home A, and then move 
> XYZ back to their original position at the end of the homing procedure. 
> And that sequence should occur just clicking the home PV of A.
> 
> I would like to set up a pseudo motor driver using an asynMotor driver 
> and implement the logic there. Is it possible to do channel access calls 
> from within an asynMotor driver? I couldn't find any examples. The 
> physical axes are connected across three galil controllers.
> 
> Implementing the logic within an SNL program would work but it seemed 
> simpler to do it within the motor driver.
> 
> Thanks,
> David
> -- 
> Best regards,
> David Vine
> (925) 326 7503
> dvine@sigray.com <mailto:dvine@sigray.com>
> 
> 5750 Imhoff Drive, Suite I  |  Concord, CA 94520  |  USA 
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> 
> http://www.Sigray.com <http://www.sigray.com/>
> 
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Replies:
Re: Multi-axis sequenced move using asynMotor pseudo axis David Vine via Tech-talk
References:
Multi-axis sequenced move using asynMotor pseudo axis David Vine via Tech-talk

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