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<== Date ==> | <== Thread ==> |
---|
Subject: | Re: Home motorSim Device |
From: | William Cork via Tech-talk <tech-talk at aps.anl.gov> |
To: | "Peterson, Kevin M." <kmpeters at anl.gov> |
Cc: | tech-talk <tech-talk at aps.anl.gov> |
Date: | Fri, 10 Apr 2020 17:00:05 -0700 |
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
>