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

Subject: Re: AW: Correct Settings for PIE816 Controller
From: Torsten Bögershausen via Tech-talk <tech-talk@aps.anl.gov>
To: "Sintschuk, Michael" <michael.sintschuk@bam.de>, "tech-talk@aps.anl.gov" <tech-talk@aps.anl.gov>
Date: Wed, 18 Sep 2019 18:19:17 +0200
Hej all,

The warning(s) are actually fixed here:

<https://github.com/epics-modules/motor/pull/128/commits/13a8649abbb80c884d55169aa99647c76bb4b04d>

So I hope that someone finds time to merge/apply
those fixes into the code base.

On 18/09/19 16:44, Sintschuk, Michael wrote:

Thanks Torsten, this helped with the ATHM field which is 0 now. So the MSTA bits are now 2338 that corresponds to this status.

After commenting out the line "status.Bits.RA_HOME = status.Bits.RA_DONE;" in "drvPIE816.cc" i recompiled the motor-module and encountered this problem:


make[3]: Entering directory '/soft/epics/modules/motor-R6-10-1/motorApp/PiSrc/O.linux-x86_64'
/usr/bin/g++  -D_GNU_SOURCE -D_DEFAULT_SOURCE            -D_X86_64_  -DUNIX  -Dlinux     -O3 -g   -Wall      -mtune=generic     -m64 -fPIC -I. -I../O.Common -I. -I. -I.. -I../../../include/compiler/gcc -I../../../include/os/Linux -I../../../include      -I/usr/local/epics/base/../modules/asyn/include -I/usr/local/epics/base/include/compiler/gcc -I/usr/local/epics/base/include/os/Linux -I/usr/local/epics/base/include        -MM -MF drvPIE816.d  ../drvPIE816.cc
/usr/bin/g++  -D_GNU_SOURCE -D_DEFAULT_SOURCE            -D_X86_64_  -DUNIX  -Dlinux     -O3 -g   -Wall      -mtune=generic     -m64 -fPIC -I. -I../O.Common -I. -I. -I.. -I../../../include/compiler/gcc -I../../../include/os/Linux -I../../../include      -I/usr/local/epics/base/../modules/asyn/include -I/usr/local/epics/base/include/compiler/gcc -I/usr/local/epics/base/include/os/Linux -I/usr/local/epics/base/include        -c ../drvPIE816.cc
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
                                 "K","L"};
                                        ^
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
../drvPIE816.cc:94:39: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
../drvPIE816.cc: In function ‘int set_status(int, int)’:
../drvPIE816.cc:233:25: warning: variable ‘mr’ set but not used [-Wunused-but-set-variable]
      struct motorRecord *mr;
                          ^~
../drvPIE816.cc:237:66: warning: unused variable ‘online_status’ [-Wunused-variable]
      unsigned int overflow_status, ontarget_status, servo_status, online_status;
                                                                   ^~~~~~~~~~~~~
../drvPIE816.cc: In function ‘int motor_init()’:
../drvPIE816.cc:584:10: warning: unused variable ‘retry’ [-Wunused-variable]
       int retry = 0;
           ^~~~~
/usr/bin/ar -rc    libPI.a         devPIC844.o drvPIC844.o PiRegister.o devPIC630.o drvPIC630.o PIC630Register.o devPIC848.o drvPIC848.o PIC848Register.o devPIC662.o drvPIC662.o PIC662Register.o devPIC862.o drvPIC862.o PIC862Register.o devPIC663.o drvPIC663.o PIC663Register.o devPIE710.o drvPIE710.o PIE710Register.o devPIE516.o drvPIE516.o PIE516Register.o devPIE517.o drvPIE517.o PIE517Register.o devPIE816.o drvPIE816.o PIE816Register.o
/usr/bin/ranlib libPI.a
/usr/bin/g++ -o libPI.so -shared -fPIC -Wl,-hlibPI.so -L/soft/epics/modules/motor-R6-10-1/lib/linux-x86_64 -L/soft/epics/modules/asyn4-32/lib/linux-x86_64 -L/soft/epics/base-3.15.5/lib/linux-x86_64 -Wl,-rpath,/soft/epics/modules/motor-R6-10-1/lib/linux-x86_64 -Wl,-rpath,/soft/epics/modules/asyn4-32/lib/linux-x86_64 -Wl,-rpath,/soft/epics/base-3.15.5/lib/linux-x86_64           -rdynamic -m64             devPIC844.o drvPIC844.o PiRegister.o devPIC630.o drvPIC630.o PIC630Register.o devPIC848.o drvPIC848.o PIC848Register.o devPIC662.o drvPIC662.o PIC662Register.o devPIC862.o drvPIC862.o PIC862Register.o devPIC663.o drvPIC663.o PIC663Register.o devPIE710.o drvPIE710.o PIE710Register.o devPIE516.o drvPIE516.o PIE516Register.o devPIE517.o drvPIE517.o PIE517Register.o devPIE816.o drvPIE816.o PIE816Register.o   -lmotor -lasyn -ldbRecStd -ldbCore -lca -lCom   -lpthread   -lreadline -lm -lrt -ldl -lgcc
Installing shared library ../../../lib/linux-x86_64/libPI.so
Installing library ../../../lib/linux-x86_64/libPI.a
make[3]: Leaving directory '/soft/epics/modules/motor-R6-10-1/motorApp/PiSrc/O.linux-x86_64'

I think this has nothing to do with removing of the upper line because it is located in line 313.
My C / C++ knowledge is poor, so i don't know if my drvPIE816.cc is corrupted... I always compile the whole motor-package and this is the only file causing errors.
Maybe its because of my Linux-System, some missing package? Can someone tell?


________________________________
Von: Torsten Bögershausen <torsten.bogershausen@esss.se>
Gesendet: Mittwoch, 18. September 2019 14:44:54
An: Sintschuk, Michael; tech-talk@aps.anl.gov
Betreff: Re: Correct Settings for PIE816 Controller

I don't have this controller, but what happens if you remove
this line in drvPIE816.cc
      status.Bits.RA_HOME = status.Bits.RA_DONE;



On 18/09/19 11:21, Sintschuk, Michael via Tech-talk wrote:
Hello,


I'm using a one-axis piezo which is controller via the PIE816 Controller. I managed to set up an IOC which is communicating with the PIE816 and i also can drive the piezo axis. My problem is, that the motor is always in the "at HOME" status. The startup of my IOC is as follows:


~/expIOC/iocBoot/iocexpIOC> ./st.cmd
#!../../bin/linux-x86_64/expIOC
## You may have to change expIOC to something else
## everywhere it appears in this file
##cd /home/ptb/expIOC/iocBoot/iocexpIOC/
< envPaths
epicsEnvSet("IOC","iocexpIOC")
epicsEnvSet("TOP","/home/ptb/expIOC")
epicsEnvSet("MODULES","/soft/epics/modules/")
epicsEnvSet("ASYN","/soft/epics/modules/asyn")
epicsEnvSet("MOTOR","/soft/epics/modules/motor-R6-10-1")
epicsEnvSet("PSEUDOMOTORS","/soft/epics/modules/pseudoMotors-1-1")
epicsEnvSet("CALC","/soft/epics/modules/calc-R3-7")
epicsEnvSet("EPICS_BASE","/usr/local/epics/base")
cd /home/ptb/expIOC
## Register all support components
dbLoadDatabase "dbd/expIOC.dbd"
expIOC_registerRecordDeviceDriver pdbbase
# over TCP/IP
#drvAsynIPPortConfigure("PIE816", "193.149.13.40:10001",0,0,0)
# over Serial
drvAsynSerialPortConfigure("PIE816","/dev/ttyS0",0,0,0)
asynSetOption("PIE816",-1,"baud","115200")
asynSetOption("PIE816",-1,"bits","8")
asynSetOption("PIE816",-1,"parity","none")
asynSetOption("PIE816",-1,"stop","1")
asynSetOption("PIE816",-1,"clocal","Y")
asynSetOption("PIE816",-1,"crtscts","Y")
#asynSetTraceIOMask("PIE816",0,2)
#asynSetTraceMask("PIE816",0,255)
#asynOctetSetInputEos("PIE816", 0, "\r\n")
#asynOctetSetOutputEos("PIE816", 0, "\r")
PIE816Setup(1, 60)
PIE816Config(0, "PIE816", 1)
## Load record instances
dbLoadRecords("db/expIOC.db", "PORT='PIE816'")
#dbLoadRecords("db/beer.db")
cd "/home/ptb/expIOC/iocBoot/iocexpIOC"
iocInit
Starting iocInit
############################################################################
## EPICS R3.15.5
## EPICS Base built Jul  2 2019
############################################################################
iocRun: All initialization complete
epics>

the complete dadabase for my motor-record is:

epics> dbtr PIE665:Piezo1
ACCL: 0.5           ACKS: NO_ALARM      ACKT: YES           ADEL: 0
ALST: 0             ASG:                ATHM: 1             BACC: 0.2
BDST: 0             BKPT: 00            BVEL: 0.1           CARD: 0
CDIR: 0             CNEN: Enable        DCOF: 0             DESC: motor 1
DHLM: 1000          DIFF: 0             DINP:CONSTANT       DIR: Pos
DISA: 0             DISP: 0             DISS: NO_ALARM      DISV: 1
DLLM: 0             DLY: 0              DMOV: 1             DOL:CONSTANT
DRBV: -0.00434      DTYP: PIE816        DVAL: -0.00434      EGU: um
ERES: 1.0e-06       EVNT:               FLNK:CONSTANT 0     FOF: 0
FOFF: Variable      FRAC: 1             HHSV: NO_ALARM      HIGH: 0
HIHI: 0             HLM: 1000           HLS: 0              HLSV: NO_ALARM
HOMF: 0             HOMR: 0             HOPR: 0             HSV: NO_ALARM
HVEL: 0.1           ICOF: 0             IGSET: 0            INIT:
JAR: 4              JOGF: 0             JOGR: 0             JVEL: 2
LCNT: 0             LDVL: -0.00434      LLM: 0              LLS: 0
LLSV: NO_ALARM      LOCK: NO            LOLO: 0             LOPR: 0
LOW: 0              LRLV: 0             LRVL: -4340         LSPG: Go
LSV: NO_ALARM       LVAL: -0.00434      LVIO: 1             MDEL: 0
MIP: 0              MISS: 0             MLST: 0             MMAP: 0
MOVN: 0             MRES: 1.0e-06       MSTA: 2347          NAME: PIE665:Piezo1
NMAP: 0             NSEV: NO_ALARM      NSTA: NO_ALARM      NTM: NO
NTMF: 2             OFF: 0              OMSL: supervisory   OUT:VME_IO #C0 S0 @
PACT: 0             PCOF: 0             PHAS: 0             PINI: NO
POST:               PP: 0               PREC: 5             PREM:
PRIO: LOW           PROC: 0             PUTF: 0             RBV: -0.00434
RCNT: 0             RDBD: 1.0e-06       RDBL:CONSTANT       RDIF: 0
REP: -4340          RHLS: 0             RINP:CONSTANT       RLLS: 0
RLNK:CONSTANT       RLV: 0              RMOD: Default       RMP: -4340
RPRO: 0             RRBV: -4340         RRES: 0             RTRY: 10
RVAL: -4340         RVEL: 0             S: 10000            SBAK: 500
SBAS: 500           SCAN: Passive       SDIS:CONSTANT       SET: Use
SEVR: NO_ALARM      SMAX: 0             SPMG: Go            SREV: 200
SSET: 0             STAT: NO_ALARM      STOO:CONSTANT       STOP: 0
STUP: BUSY          SUSE: 0             SYNC: 0             TDIR: 1
TIME: 2019-09-18 11:11:49.238256323     TPRO: 0             TSE: 0
TSEL:CONSTANT       TWF: 0              TWR: 0              TWV: 1
UDF: 0              UDFS: INVALID       UEIP: No            UREV: 2.0e-04
URIP: No            VAL: -0.00434       VBAS: 0.1           VELO: 2
VERS: 6.1           VMAX: 0             VOF: 0
epics>

With this settings i can move the motor but for example you see that the ATHM field is 1, so at home. And the MSTA bits tell me that the home-limit-switch is hit and that the motor is not homed. How is a movement in both directions possible if the Status is "at home"?
Is there a way to home the motor properly via EPICS? I tried to set the HOMF / HOMR fields but nothing happens, they go back to 0 and the motor isn't moving.

My substitution file looks like this:

file "$(MOTOR)/db/basic_motor.db"
{
pattern
{P,     N,  M,        DTYP,      C,  S,  DESC,          EGU,      DIR,  VELO,  VBAS,  ACCL,  BDST,  BVEL,  BACC,  MRES, RDBD,  PREC,  DHLM,  DLLM,  INIT}
{PIE665:,  1,  "Piezo$(N)",  "PIE816",  0,  0,  "motor $(N)",  um,        0,     2.,   0.1,    .5,    0,    0.1,    .2,  1e-6, 0.001,   5,   1000,   0,  ""}
}

Maybe i took the wrong one, can someone help?

Thanks in advance!
Best Regards
Michael






Replies:
Re: AW: Correct Settings for PIE816 Controller Peterson, Kevin M. via Tech-talk
References:
Correct Settings for PIE816 Controller Sintschuk, Michael via Tech-talk
Re: Correct Settings for PIE816 Controller Torsten Bögershausen via Tech-talk
AW: Correct Settings for PIE816 Controller Sintschuk, Michael via Tech-talk

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