[motorPIGCS2] can't turn on servo state of PI E-712

[Chiang, Liang-Chih [江良志] via Tech-talk <tech-talk@aps.anl.gov>]

Hello all,

I'm trying to control PI E-712 with one axis(E-711.AM5A).

But the error message said that the motor driver can't turn on the servo state.

I use motor module(version 6.9) with the content of motorApp/PIGCS2Src

replaced by motorPIGCS2 (https://github.com/epics-motor/motorPIGCS2).

I use MOXA NPort 5650-8-DT(serial-to-Ethernet converter) to turn the RS-232 interface of PI E-712 to Ethernet interface.

The st.cmd executes pie712.cmd, then iocInit.

pie712.cmd (stripped):

dbLoadTemplate("pie712_motors.substitutions")
asynSetTraceMask(PIE712,-1,0x3)  
asynSetTraceIOMask(PIE712,-1,0x1)

$(PIE712-1P)drvAsynIPPortConfigure("PIE712", "192.168.2.52:4006", 0, 0, 0)

asynSetTraceMask(PIE712,-1,0x1) 
asynSetTraceIOMask(PIE712,-1,0x0)

$(PIE712-1P)PI_GCS2_CreateController("PIE712-1P", "PIE712", 1, 0, 0, 100, 1000)

$(PIE712-1P)dbLoadRecords("$(MOTOR)/db/PI_Support.db","P=13a:,R=PIE712-1P:,PORT=PIE712-1P,ADDR=0,TIMEOUT=1")

$(PIE712-1P)dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=13a:,R=PIE712-1P:Asyn,PORT=PIE712,ADDR=0,OMAX=256,IMAX=256")

pie712_motors.substitutions:

file "$(MOTOR)/Db/asyn_motor.db"

{

  {ALIAS,             P,               M,    DTYP,        PORT,         ADDR,   DESC,        EGU,  DIR,  VELO,  VBAS,  ACCL,  BDST,  BVEL,  BACC,    MRES, PREC, DHLM, DLLM,  INIT}
  {13a:4BCC:X3,       13a:PIE712-1:,  "A", "asynMotor",  "PIE712-1P",     0,   "Xtal 3 X",   mm,  Pos,    .2,    .1,    .5,     0,     1,    .2,   .00001,    4,   20,  -20,  ""}
}

When executing pie712.cmd, there are error messages:

PI_GCS2_CreateController("PIE712-1P", "PIE712", 1, 0, 0, 100, 1000)
2019/07/31 10:41:58.938 read from PIE712: (c)2015 Physik Instrumente (PI) GmbH & Co. KG, E-712, 118031913, 14.05.12.03
PIasynAxis::PIasynAxis() 0: 1
2019/07/31 10:41:58.947 PIGCSController::getGCSError() GCS error code = 5
2019/07/31 10:41:58.947 PIGCSController::getGCSError() GCS error, Unallowable move attempted on unreferenced axis, or move attempted with servo off
2019/07/31 10:41:58.947 Could not set servo state!
# optional PI_Support.db
dbLoadRecords("/blsw/13a/software/epics/3.14.12.5/support/motor-6-9/db/PI_Support.db","P=13a:,R=PIE712-1P:,PORT=PIE712-1P,ADDR=0,TIMEOUT=1")
# asyn record
dbLoadRecords("/blsw/13a/software/epics/3.14.12.5/support/asyn-4-26/db/asynRecord.db", "P=13a:,R=PIE712-1P:Asyn,PORT=PIE712,ADDR=0,OMAX=256,IMAX=256")

After iocInit, there are extra error messages:

2019/07/31 10:41:59.478 PIGCSController::getGCSError() GCS error code = 5
2019/07/31 10:41:59.478 PIGCSController::getGCSError() GCS error, Unallowable move attempted on unreferenced axis, or move attempted with servo off
2019/07/31 10:41:59.478 Could not set servo state!
2019/07/31 10:41:59.479 PIasynDriver:writeInt32: error, status=3 function=19, value=1
2019/07/31 10:41:59.479 devMotorAsyn::asynCallback: 13a:PIE712-1:A pasyn{Float64,Int32}->write returned

Would you please provide some help?

Thanks

LiangChih Chiang

National Synchrotron Radiation Research Center (NSRRC)
email：chiang.lc@nsrrc.org.tw