Experimental Physics and
Industrial Control System

"Peterson, Kevin M. via Tech-talk" <tech-talk at aps.anl.gov> · Fri, 10 Apr 2020 19:52:57 +0000

I created a github issue for this:

   https://github.com/epics-motor/motorMotorSim/issues/1

Kevin

On 4/10/20 11:44 AM, Mark Rivers via Tech-talk wrote:
> Hi Will,
> 
> 
> I don't know the state of Kunal's repository that you referenced.  I think the more "official" simulated motor repository is this one:
> 
> 
> https://github.com/epics-motor/motorMotorSim
> 
> 
> There are actually 2 drivers in that source code, a "Model 2" driver (drvMotorSim.c) and a new "Model 3" driver (motorSimDriver.cpp).  I recommend only using motorSimDriver.cpp since that is the current standard framework.
> 
> 
> The example IOC loads 8 motors.  The first 4 are the old Model 2 driver, and the last 4 are the new Model 3 driver.
> 
> 
> I just tested homing with both drivers.
> 
> 
> With the Model 2 driver when the homing is complete MSTA is 0xa.  This is bits 1 and 3 which mean
> 
>          unsigned int RA_HOME        :1; /* The home signal is on */
>          unsigned int RA_DONE        :1; /* a motion is complete */
> 
> With the Model 3 driver when the homing is complete the MSTA is 0x82.  This is bits 1 and 7 which mean
>          unsigned int EA_HOME        :1; /* encoder home signal on */
>          unsigned int RA_DONE        :1; /* a motion is complete */
> 
> So one driver sets RA_HOME (not encoder home) while the other set EA_HOME (encoder home).
> 
> Note that neither of them set bit 14 which is
>    unsigned int RA_HOMED       :1; /* Axis has been homed.*/
> 
> This is probably an bug in these drivers, they should be setting that bit as well.
> 
> Mark
> 

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System