Experimental Physics and
Industrial Control System

Chiang, Liang-Chih [江良志] via Tech-talk <[email protected]> · Tue, 6 Aug 2019 01:12:41 +0000

Hi Kevin,

epics> asynOctetGetOutputEos("PIE712")
""
epics> asynOctetGetInputEos("PIE712")
"\n"

Allow me to repeat the devices again:
    PI E-712.1AM Digital Motion controller.
    PI E-711.AM5A: Amplifier modules for NEXLINE®, -250 V to +250 V, for drives with sensor.

I found the following comment in motor-R6-11/motorApp/PIGCS2Src/PIGCSPiezoController.h
    Main difference to motor controllers is the usage of absolute sensors.

But PI E-711.AM5A uses incremental encoder.

Best regards.

LiangChih Chiang
Email：[email protected]
Beamline Group
National Synchrotron Radiation Research Center (NSRRC)

________________________________________
寄件者: Peterson, Kevin M. <[email protected]>
寄件日期: 2019年8月6日 上午 12:29
收件者: Chiang, Liang-Chih [江良志]; [email protected]
主旨: Re: [motorPIGCS2] can't turn on servo state of PI E-712

LiangChih,

What are the input and output terminators for the asyn port that is used
to communicate with the moxa?  You can run these commands on the ioc shell:

   asynOctetGetOutputEos("PIE712")
   asynOctetGetInputEos("PIE712")

The output terminator needs to be '\n' when manually sending commands to
the controller, but the output terminator needs to be empty for the
driver to successfully communicate with the controller.  The driver
appends the terminator to the commands that require it and omits it from
the single-character commands, which don't use terminators.

Kevin

On 8/4/19 10:14 PM, Chiang, Liang-Chih [江良志] via Tech-talk wrote:
> Hi, Allan,
>
>
> I used motor module(version 6.9) with the content of motorApp/PIGCS2Src
> replaced by motorPIGCS2 (https://github.com/epics-motor/motorPIGCS2).
>
>
> After changed to motor module version 6.11, the error message "GCS
> error, Controller was stopped by command" disappeared. However, I still
> can't control PI E-712.
>
>
> If I use motor module version 6.11, there will be error message about
> GCS error code 5:
>
>
> 2019/08/05 10:52:37.836 PIGCSController::getGCSError() GCS error code = 5
> 2019/08/05 10:52:37.836 PIGCSController::getGCSError() GCS error,
> Unallowable move attempted on unreferenced axis, or move attempted with
> servo off
> 2019/08/05 10:52:37.836 Could not set servo state!
>
> If I use motor module version 6.11 with patch from Allan, there will be
> error mesaage about GCS error code 5 and 17:
>
> 2019/08/05 10:39:47.253 PIGCSController::getGCSError() GCS error code = 5
> 2019/08/05 10:39:47.253 PIGCSController::getGCSError() GCS error,
> Unallowable move attempted on unreferenced axis, or move attempted with
> servo off
> 2019/08/05 10:39:47.253 Could not set servo state!
> 2019/08/05 10:39:47.261 PIGCSController::setAxisPosition() sent "RON 1 0"
> 2019/08/05 10:39:47.261 PIGCSController::setAxisPosition() sent "POS 1
> 1937869.000000"
> 2019/08/05 10:39:47.261 PIGCSController::setAxisPosition() sent "RON 1 1"
> 2019/08/05 10:39:47.267 PIGCSController::getGCSError() GCS error code = 17
> 2019/08/05 10:39:47.267 PIGCSController::getGCSError() GCS error,
> Parameter out of range
> 2019/08/05 10:39:47.267 PIGCSController::setAxisPosition() failed, GCS
> error 17
>
>
> If I issue GCS commands "FRF" and "SVO 1 1" before starting IOC, the
> CSS(Control-System Studio) interface of motor record will show:
>
>
> https://www.dropbox.com/s/yrx7sikta3cqwzy/controller_error_PIE712.png?dl=0
>
>
>
>
> Still fighting againt PI E-712, any suggestions are welcome.
>
>
>
> Best regards.
>
> LiangChih Chiang
>
> National Synchrotron Radiation Research Center (NSRRC)
> email：[email protected] <mailto:[email protected]>
>

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Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System