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

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<== Date ==>		<== Thread ==>

2019/08/01 10:21:19.114 PIGCSController::getGCSError() GCS error code = 10
2019/08/01 10:21:19.114 PIGCSController::getGCSError() GCS error, Controller was stopped by command

寄件者: Allan Serra Braga Bugyi <[email protected]>
寄件日期: 2019年8月1日下午 08:43
收件者: [email protected]; Chiang, Liang-Chih [江良志]
主旨: RE: [motorPIGCS2] can't turn on servo state of PI E-712

Hi LiangChih,

In this line: https://github.com/epics-motor/motorPIGCS2/blob/3aaf5ed20938181420edbf296a4044f57d3811b7/iocs/pigcsWithoutDevSup/pigcsWithoutDevSupApp/src/PIasynAxis.cpp#L93

So it calls the 'setAxisPosition' method from 'PIGCSController' class, passing the parameter 'm_positionCts' (the current position), which holds the result of POS? command. The 'PIGCSController::setAxisPosition' sends RON command with parameter 0 (to set closed loop off), then POS command with the current position, then RON command with parameter 1 (to set closed loop on).

There are some controllers that doesn't recognize RON command, which is not a problem.

Best regards,
Allan S. B. Bugyi
Technology Development Analyst
[email protected]
(+55 19) 3512-3520

SOL/Beamline Software Group
Brazilian Synchrotron Light Laboratory (LNLS)
Center of Research in Energy and Materials (CNPEM)
http://lnls.cnpem.br

De: [email protected] <[email protected]> em nome de Chiang, Liang-Chih [江良志] via Tech-talk <[email protected]>
Enviado: quarta-feira, 31 de julho de 2019 23:36
Para: [email protected] <[email protected]>
Assunto: RE: [motorPIGCS2] can't turn on servo state of PI E-712

Hi Allan,

> I used to do the referencing through the manufacturer IDE and then ran the IOC.

After performing a reference move (command FRF) and turning servo on (command SVO), I can move the axis successfully (via direct commands). However, if I run the EPICS IOC after that, the following error messages will occur repeatedly:

2019/08/01 10:21:19.114 PIGCSController::getGCSError() GCS error code = 10
2019/08/01 10:21:19.114 PIGCSController::getGCSError() GCS error, Controller was stopped by command

> suggests (among other things) referencing the axis right in the initialization method of the PIasynAxis

I checked the files committed by you, but couldn't figure out what part is for doing reference move in PIasynAxis initialization. Would you please point it out?

Best regards.

LiangChih Chiang

National Synchrotron Radiation Research Center (NSRRC)
email：[email protected]

寄件者: Allan Serra Braga Bugyi <[email protected]>
寄件日期: 2019年7月31日下午 10:53
收件者: [email protected]; Chiang, Liang-Chih [江良志]
主旨: RE: [motorPIGCS2] can't turn on servo state of PI E-712

Hi LiangChih,

I also worked with PI controllers E-727 and C-867 using motorPIGCS2. Indeed, there is no referencing during the initialization of a PIasynAxis. I used to do the referencing through the manufacturer IDE and then ran the IOC.

I opened a pull request to the module's project, which suggests (among other things) referencing the axis right in the initialization method of the PIasynAxis. You can find the specific commit here: https://github.com/epics-motor/motorPIGCS2/pull/1/commits/3aaf5ed20938181420edbf296a4044f57d3811b7

De: [email protected] <[email protected]> em nome de Chiang, Liang-Chih [江良志] via Tech-talk <[email protected]>
Enviado: quarta-feira, 31 de julho de 2019 00:16
Para: [email protected] <[email protected]>
Assunto: [motorPIGCS2] can't turn on servo state of PI E-712

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：[email protected]

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Subject:	RE: [motorPIGCS2] can't turn on servo state of PI E-712
From:	Chiang, Liang-Chih [江良志] via Tech-talk <[email protected]>
To:	"[email protected]" <[email protected]>
Date:	Fri, 2 Aug 2019 01:12:18 +0000

Experimental Physics and Industrial Control System