Mark,
I have just noticed that the feature of enabling before moving coordinate system motors has not been tested on power pmac and there is a reasonable chance there is an issue here.
I'm looking at the DMOV problem for George today and will also investigate this.
Regards,
giles.
________________________________
From: Davis, Mark <[email protected]>
Sent: 08 May 2019 21:07
To: Knap, Giles (DLSLtd,RAL,LSCI); George Nicolas Kontogiorgos; [email protected]
Subject: Re: RES: Pmac Slits
HI Giles,
Your description sounds just like my setup (a PLC that "kills" the
amplifiers for motors 5 seconds after they stop moving), and this works
fine for control of individual motors. But not for coordinated motion.
If I comment out the kill command from my PLC code and enable the motors
manually using the "enable" command, then the coordination motion works
fine. If I let the PLC kill the amplifiers and then stop it from
running (or disable most of its logic by setting a flag I included for
doing so), then the coordinated motion stops working until I manually
issue the "enable" command for my CS.
Has the driver always issued an "enable" command before running a motion
program, or was that added sometime in the last year?
Is there any way to see the commands sent to the controller with any
kind of context filtering? Using the debug setting for the driver or
the asyn trace commands is like opening the valve on a fire hose.
Mark
Mark Davis NSCL/FRIB Control Systems Software Engineer [email protected]
On 5/7/2019 3:18 AM, [email protected] wrote:
> Hi Mark,
>
>
> That is good news.
>
>
> re: disabling amplifiers: At Diamond we use a 'kill when idle' PLC to kill motors that have been inactive for a configurable period. When you move a motor or virtual motor, the pmac driver sends an enable command before it does the move. Once it completes, the 'kill when idle' will kick in and send a kill which disables the amplifier.
>
>
> At present, this PLC is only written for turbo pmac but it should be easy to translate to power pmac. See our template at https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_dls-2Dcontrols_pmacUtil_blob_master_pmacUtilApp_pmc_PLC7-5Fkill-5Fwhen-5Fidle.pmc&d=DwIFAw&c=nE__W8dFE-shTxStwXtp0A&r=D7ZiziuMQuq40HlGYOZPBg&m=OjUDRBkIQTQLgKctNECgv3s3td5kmyqhghBf3FNQcBA&s=RjgonIAvztoJoaaiRlhn17BqsXYywflmpPfuHukjdmU&e=
>
>
> Regards,
>
> giles.
>
>
>
> ________________________________
> From: Davis, Mark <[email protected]>
> Sent: 03 May 2019 18:09:55
> To: George Nicolas Kontogiorgos; Knap, Giles (DLSLtd,RAL,LSCI); [email protected]
> Subject: Re: RES: Pmac Slits
>
> Hi Giles and George,
>
> Based on everyone's helpful input, I was able to get a really basic
> coordination motion config working yesterday, which consists of:
>
> On the IOC:
> - 2 motor records for the actual drivers
> - 2 motor records for the CS axes (center and gap for a slit)
> ON the Power Brick:
> - A CS definition providing the mapping between the CS axes and the
> motors
> - A motion program to process new settings for the center and gap axes
> - A PLC program to update the readbacks for the center and gap axes
>
> There are still a number of details I need to work on (like how to keep
> the motor amplifiers disabled most the time but still enable them just
> before the IOC sends the command to execute the motion program), but so
> far the moving status values in all the motor records are doing what
> they should.
>
> Mark
>
>
>
> Mark Davis NSCL/FRIB Control Systems Software Engineer [email protected]
> On 5/2/2019 2:05 PM, George Nicolas Kontogiorgos wrote:
>> Hi Giles,
>>
>> I could solve the problem od DMOV not returning to stopped status by changing the condition on callback function on pmacCSController.cpp. There is a if that compare type with pmacMessageBroker::PMAC_PRE_FAST_READ (the values are 2 and 3 respectively) and the result is false. It results that the code inside this if (which get the coordinate system status) is never executed. As consequence, EPICS can not get CS status and DMOV never come back to stopped state.
>>
>> To solve the problem I supposed that we are talking about a fast read, not pre fast read (the difference is that they have the same rate but variables on pre are read first, according to comments on pmacMessageBroker.cpp) since the variable type has value 2.
>>
>> After this modification DMOV work fine, since status is being refreshed.
>>
>> I did a pull request on dls repo in order to fix this issue. Feel free to suggest better modifications.
>>
>> Hi Mark,
>>
>> After all this studies I figured out that DMOV or MOVN doesn't need to be mapped manually, this is made by program itself (the system polls the status).
>>
>> I could solve the problem of slits at all by Wayne method.
>>
>> Regards
>> George
>>
>> -----Mensagem original-----
>> De: [email protected] <[email protected]>
>> Enviada em: terça-feira, 30 de abril de 2019 04:07
>> Para: George Nicolas Kontogiorgos <[email protected]>; Davis, Mark <[email protected]>
>> Assunto: Re: Pmac Slits
>>
>> I'm seeing this exact issue on my power clipper. It has started happening since I factory reset the configuration.
>>
>>
>> I have yet to work out which setting(s) are responsible but intend to spend time on this next week.
>>
>> ________________________________
>> From: [email protected] <[email protected]> on behalf of Davis, Mark via Tech-talk <[email protected]>
>> Sent: 29 April 2019 18:31:52
>> To: George Nicolas Kontogiorgos; [email protected]
>> Subject: Re: Pmac Slits
>>
>> Hi George,
>>
>> I haven't yet had a chance to try a configuration like one Wayne described (and Giles helped me understand). Hopefully I will have time this week to give it a try.
>>
>> The behavior you describe for the DMOV and MOVN does sound like an issue that needs to be addressed.
>>
>> Are you also using a Delta Tau Power Brick (or some other Power PMAC model) controller as I am?
>>
>> Regarding your Tech-Talk subscription: I would expect that once you are subscribed, you should be able to include the Tech-Talk list email in your To or Reply-To list (we will see momentarily, as I included it in the To list for this email).
>>
>> Mark
>>
>>
>> Mark Davis NSCL/FRIB Control Systems Software Engineer [email protected]<mailto:[email protected]>
>> On 4/29/2019 7:30 AM, George Nicolas Kontogiorgos wrote:
>> Hello Davis!
>>
>> I am George and I and @Luciano Carneiro Guedes<mailto:[email protected]> are working with coordinated motion on a 2 motor slit controlled by PowerPMAC and integrated with EPICS (The same setup as you).
>>
>> I saw your message on EPICS techtalk<https://urldefense.proofpoint.com/v2/url?u=https-3A__epics.anl.gov_tech-2Dtalk_2019_msg00684.php&d=DwMFAg&c=nE__W8dFE-shTxStwXtp0A&r=D7ZiziuMQuq40HlGYOZPBg&m=k7CLCJno5gjAruO8gtDsAKM9ugfmt3N1wib_vy4Mcn8&s=TuASR5lFnez6KMJ0vYQrq8TzXXQvv2A_q-ps57L7SFg&e=> and I would like to know you if your setup is running well.
>>
>> Here we achieved the point that we can drive a virtual motor using motor record as Wayne Lewis sad. The problem is that the DMOV (or MOVN) is not set to 1 (not moving) when all motors reach the setpoint specified by the kinematics.
>>
>> I could not reply the message on techtalk because I subscribed on it after you send those messages (and I don't know if it is possible to reply now.)
>>
>> Best regards
>> George Nicolas Kontogiorgos
>> Electrical Engineer
>> Beamline Software Group (SOL)
>> Brazilian Synchrotron Light Laboratory (LNLS) https://urldefense.proofpoint.com/v2/url?u=http-3A__www.lnls.cnpem.br&d=DwIFAw&c=nE__W8dFE-shTxStwXtp0A&r=D7ZiziuMQuq40HlGYOZPBg&m=rb2n3stwbYGCr-pSN_O8nBkdlvlL27qtR_1mA50Tie4&s=2ehNKztIJwNVKcs5qwU1cWwh-hYXxG5_PGOKQA2axyo&e=<https://urldefense.proofpoint.com/v2/url?u=http-3A__www.lnls.cnpem.br_&d=DwMFAg&c=nE__W8dFE-shTxStwXtp0A&r=D7ZiziuMQuq40HlGYOZPBg&m=k7CLCJno5gjAruO8gtDsAKM9ugfmt3N1wib_vy4Mcn8&s=bn2OpbndTqv8qG1bvTHojoFLoD_4u5TpWmPDvtkn--s&e=>
>>
>>
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>
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