Experimental Physics and
Industrial Control System

Mark Rivers via Tech-talk <tech-talk at aps.anl.gov> · Fri, 13 Aug 2021 03:38:53 +0000

Hi,

I suspect the problem is that you must tell the motor record that your axis has “gain support” in order for it to call setClosedLoop.

This is where that is done in the Newport XPS driver.

https://github.com/epics-motor/motorNewport/blob/63b90d2f652437eb23e59bd2779f7455bc973e52/newportApp/src/XPSAxis.cpp#L158

Mark

Sent from my iPhone

On Aug 12, 2021, at 8:32 PM, yue zongyang <yuezy at ihep.ac.cn> wrote:

Hellow Mark，

I’m so sorry, this is my fault. I’m so tired yesterday that there were several mistakes in my email.

The version of motor is R7-1.

The name of field is CNEN, which is used to enable/disable closed-loop position control.

When I change the state of CNEN field , just the motorUpdateStatus_ function that is called

and the motorClosedLoop_ function cann’t be called. This make me confused.

To explain my questions explicitly, I copy part of code from asynMotorController.cpp
-----------------------
asynStatus asynMotorController::writeInt32(asynUser *pasynUser, epicsInt32 value)
{
  int function = pasynUser->reason;
  asynStatus status=asynSuccess;
  asynMotorAxis *pAxis;
  int axis;
  static const char *functionName = "writeInt32";

  pAxis = getAxis(pasynUser);
  if (!pAxis) return asynError;
  axis = pAxis->axisNo_;

  /* Set the parameter and readback in the parameter library. */
  pAxis->setIntegerParam(function, value);

  if (function == motorStop_) {
    double accel;
    getDoubleParam(axis, motorAccel_, &accel);
    status = pAxis->stop(accel);

  } else if (function == motorDeferMoves_) {
    status = setDeferredMoves(value);

  } else if (function == motorClosedLoop_) {
    status = pAxis->setClosedLoop(value);

  } else if (function == motorUpdateStatus_) {
    bool moving;
    /* Do a poll, and then force a callback */
    poll();
    status = pAxis->poll(&moving);
    pAxis->statusChanged_ = 1;
  }
…
…
…
  return status;
}
----------------------

Best regards!

Zongyang yue

发件人: Mark Rivers<mailto:rivers at cars.uchicago.edu>
发送时间: 2021年8月12日 19:40
收件人: yue zongyang<mailto:yuezy at ihep.ac.cn>
抄送: tech-talk at aps.anl.gov<mailto:tech-talk at aps.anl.gov>
主题: Re:

Hi Zongyang,

What version of the motor record are you using?  The current master branch of the motor record does not contain a field called CENE.

https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/motorRecord.dbd

Is this something that was locally added to the motor record?

Mark

________________________________
From: Tech-talk <tech-talk-bounces at aps.anl.gov> on behalf of yue zongyang via Tech-talk <tech-talk at aps.anl.gov>
Sent: Thursday, August 12, 2021 4:03 AM
To: tech-talk at aps.anl.gov
Subject:

Hi,

I is writing motor device driver based on Model 3.

But I meet some problem which about rewriting WriteInt32 (asynUser *pasynUser, epicsInt32 value) function.

However, I changed the value of $(motor).CENE field in motor OPI, my WriteInt32()  function cann’t be called.

And the value of other fields changed can call this function.

My WriteInt32() function is  as follow:

------------------------------------------

asynStatus PDICLController::writeInt32(asynUser* pasynUser, epicsInt32 value)

{

       int function = pasynUser->reason;

       int status = asynSuccess;

       PDICLAxis* pAxis;

       static const char* functionName = "writeInt32";

       pAxis = this->getAxis(pasynUser);

       if (!pAxis) return asynError;

       status = pAxis->setIntegerParam(function, value);

       epicsPrintf("test :104 line :The function name:%d and the value :%d\n",function,value);

       if (function == PDICLJoggingPosMethod_)

       {

              if(value!=0)

              {

                     status = pAxis->Jogging_move_pos();

              }

       }

       if (function == PDICLJoggingNegMethod_)

       {

              if(value!=0)

              {

                 status = pAxis->Jogging_move_neg();

              }

       }

       else {

              // Call base class method

              status = asynMotorController::writeInt32(pasynUser, value);

       }

       pAxis->callParamCallbacks();

       return (asynStatus)status;

}

-------------------------

When I change the state of $(motor).CENE field , just the motorUpdateStatus_ function that is called which mark is 26

and the motorClosedLoop_ function cann’t be called which mark is 19.

Mennwhile I test the motorStop_ function which mark is 4.

The test result of the shell of ioc is as follow

-------------------------

epics> test :104 line :The function name:26 and the value :0

test :104 line :The function name:4 and the value :0

test :104 line :The function name:26 and the value :0

test :104 line :The function name:26 and the value :0

-------------------------

I see other motor module’s device driver have done as same.

What’s going wrong about my code?

Any suggestions or comments would be appreciated.

Best regards!

Zongyang yue

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System