Re: read RVB and VAL don't match when moving smarAct motors without encoders

[Juliane Reinhardt via Tech-talk <tech-talk at aps.anl.gov>]

    Hi Mark,
    
    thanks. I added the lines and tried to move the motors. I got the
    following error log:
    
    2020/11/12 11:41:07.542 asynMotorController:writeFloat64 error, status=3 axis=1, function=1, value=100000.000000
2020/11/12 11:41:07.542 devMotorAsyn::asynCallback: cosmic:OSA_Y pasyn{Float64,Int32}->write returned
2020/11/12 11:41:07.542 192.168.168.200:5000 write 5
    I found a similar issue in an older TechTalk request, where you
    explained that: 
This message is printed by the asynMotorController base class when it called the driver with a float64 value and the driver returned an error.

    However, I don't really know how to prevent the driver from
    returning that error. We are already in contact with smarAct but it
    seems like an EPICS related error, isn't it?
    
    Best,
    Juliane

On 11/12/20 11:13, Mark Rivers wrote:

> Hi Juliane,
>
>
> > Is there a  way to get for feedback in EPICS, like a debug mode?
> >       
>
> Yes, you can see the complete communications data stream by enabling asynTraceIODriver for the underlying asyn port in your startup script.
>
>
> You can modify this example startup script:
>
>
> motor/modules/motorSmarAct/iocs/smarActIOC/iocBoot/iocSmarAct/smaractmcs.iocsh
>
> to add these lines:
>
> drvAsynIPPortConfigure("MCS_ETH","192.168.1.17:2102",0,0,0)
> asynSetTraceIOMask("MCS_ETH", 0, "ESCAPE")
> asynSetTraceMask("MCS_ETH", 0, "ERROR|DRIVER")
>
> That will print all of the TCP communication between the IOC and the MCS controller.
>
> Mark
>
>
> ________________________________
> From: Tech-talk <tech-talk-bounces at aps.anl.gov> on behalf of Juliane Reinhardt via Tech-talk <tech-talk at aps.anl.gov>
> Sent: Thursday, November 12, 2020 12:17 PM
> To: Peterson, Kevin M.; tech-talk at aps.anl.gov
> Subject: Re: read RVB and VAL don't match when moving smarAct motors without encoders
>
> Hi Kevin,
>
> thanks for your reply. I'm not sure what you mean by GST, GA or GP
> commands. However, we tried to communicate with the smarAct motors via
> the vendor software and did not get very informative feedback. (Same
> return value no matter what motor/controller we were using) Is there a
> way to get for feedback in EPICS, like a debug mode?
>
> Best,
> Juliane
>
> On 11/11/20 16:05, Peterson, Kevin M. wrote:
> > Juliane,
> >
> > How does the MCS controller respond to the GST, GA and GP commands for
> > an axis without an encoder?  It should be possible to send them using an
> > asyn record or a terminal in the vendor software.
> >
> > The MCS driver assumes every axis will have a sensor and sets the motor
> > record's problem bit if the GST command returns an error.
> >
> > Kevin
> >
> > On 11/11/20 4:14 PM, Juliane Reinhardt via Tech-talk wrote:
> > > Dear EPICS team,
> > >
> > > I have recently been setting up smarAct MCS controllers for a couple of
> > > smarAct motors, some of them have encoders and some don't. The 2 motors
> > > that don't have encoders don't move although they are connected properly
> > > (I assume). When I do "caput motor.VAL 0.5" I get the feedback for old
> > > and new VAL and when I check with "caget motor.VAL" it matches. However,
> > > the actual "caget motor.RBV" does not change accordingly and the motor
> > > did not move.
> > >
> > > What is required to move motors without an encoder in this case?
> > >
> > > Thanks,
> > > Juliane
> > >
> > >         
> >       
> --
> Juliane Reinhardt, PhD
> Project Scientist | ALS Computing Group
> Blg. 15-337E | phone: 510-486-4313
> jreinhardt at lbl.gov
> Lawrence Berkeley National Lab
>
>     
    
-- 
Juliane Reinhardt, PhD
Project Scientist | ALS Computing Group
Blg. 15-337E | phone: 510-486-4313
jreinhardt at lbl.gov
Lawrence Berkeley National Lab