Re: Understanding Motor Record

[Heinz Junkes via Tech-talk <tech-talk at aps.anl.gov>]

Hello Mark,
yes, I have set UEIP to 0 and everything works with that.
In the motor record I still have to look at it.

At the moment I am happy that the FEL is running again and I went home.
Heinz 


> On 16. Nov 2021, at 21:24, Mark L Rivers <rivers at cars.uchicago.edu> wrote:
> 
> Hi Heinz,
> 
> If you set UEIP=0 does it work OK?
> 
> Did you look for where in the motor record it is testing UEIP without also testing the encoder present bit in MSTA?  Has that logic changed?
> 
> Mark
> 
> 
> -----Original Message-----
> From: Heinz Junkes <junkes at fhi-berlin.mpg.de> 
> Sent: Tuesday, November 16, 2021 2:17 PM
> To: Torsten Bögershausen <torsten.bogershausen at ess.eu>
> Cc: Mark L Rivers <rivers at cars.uchicago.edu>; EPICS Tech Talk <tech-talk at aps.anl.gov>
> Subject: Re: Understanding Motor Record
> 
> Hello Torsten and Mark,
> 
> thank you for your prompt replies.
> 
> In fact I had problems with two motors where UEIP was set to 1(Yes). Has always been like this ;-)
> 
> According to the documentation, this should also work if MSTA indicates that no encoder is present.:
> 
> Switch: nonzero value tells the record to read the encoder (if the hardware indicates an encoder is present) and to ignore the value read back from the hardware's step-count register. 
> The state of the UEIP, together with the MSTA encoder indicator, determine:
> 
> 	• if the RRBV is set to either the feedback (REP) or the command (RMP) position.
> 	• whether absolute or relative position commands are used.
> 
> 
> epics@felgate:~$ caget FHIFEL:M12PH.MSTA
> FHIFEL:M12PH.MSTA              3
> 
> 	• DIRECTION: last raw direction; (0:Negative, 1:Positive)
> 	• DONE: motion is complete.
> 	• PLUS_LS: plus limit switch has been hit.
> 	• HOMELS: state of the home limit switch.
> 	• Unused
> 	• POSITION: closed-loop position control is enabled.
> 	• SLIP_STALL: Slip/Stall detected (eg. fatal following error)
> 	• HOME: if at home position.
> 	• PRESENT: encoder is present.
> 	• PROBLEM: driver stopped polling, or hardware problem
> 	• MOVING: non-zero velocity present.
> 	• GAIN_SUPPORT: motor supports closed-loop position control.
> 	• COMM_ERR: Controller communication error.
> 	• MINUS_LS: minus limit switch has been hit.
> 	• HOMED: the motor has been homed.
> 
> This now seems to be behaving differently.
> 
> Danke,
> Heinz
> 
>> On 16. Nov 2021, at 18:15, Torsten Bögershausen <torsten.bogershausen at ess.eu> wrote:
>> 
>> Hej Mark and Heinz,
>> 
>> If I command the motor to -10 mm,
>> and it runs into the limit switch at -2.970
>> 
>> The we see that .VAL stays at -10 mm, (where the motor should have gone)
>> and .RBV is -2.970 (where the motor is)
>> 
>> So the “correlation” is lost - on purpose.
>> Thats my understanding.
>> 
>> HTH
>> /Torsten
>> 
>> 
>> 
>>> On 16 Nov 2021, at 18:09, Mark L Rivers via Tech-talk <tech-talk at aps.anl.gov> wrote:
>>> 
>>> Hi Heinz,
>>> 
>>> It looks like you are using an encoder (UEIP=Yes), and your encoder readback (REP) is 0.  When the motor record hits a limit switch I believe it sets the DVAL to the readback value.
>>> 
>>> Mark
>>> 
>>> 
>>> From: Tech-talk <tech-talk-bounces at aps.anl.gov> on behalf of Heinz Junkes via Tech-talk <tech-talk at aps.anl.gov>
>>> Sent: Tuesday, November 16, 2021 10:59 AM
>>> To: EPICS Tech Talk <tech-talk at aps.anl.gov>
>>> Subject: Understanding Motor Record
>>> 
>>> I am having problems with Motor-Record right now.
>>> I am using Epics 7 and the latest MotorRecord
>>> (master: https://github.com/epics-modules/motor)
>>> 
>>> When I reach a Limit - Switch, then there is no
>>> correlation between RMP and DVAL/VAL anymore?
>>> 
>>> RMP : 1361 vs. DVAL: 0 and VAL : 0 ??
>>> 
>>> I'm using the same hardware as I have for 10 years (Oms MAXv), only 
>>> now I have Epics7 with the new motor-record in use.
>>> 
>>> I also have the feeling that something with the conversion of the
>>> EGU and the direction etc. does not fit.
>>> But unfortunately can not specify yet because "somehow some is wrong”
>>> 
>>> Danke Heinz
>>> 
>>>> dbpr FHIFEL:M11PH,10
>>> ACCL: 1             ACKS: NO_ALARM      ACKT: YES           ADEL: 0
>>> ALST: 0             ASG :               ASP : PTR 0x0       ATHM: 0
>>> BACC: 1             BDST: 0             BKLNK: ELL 0 [0x0 .. 0x0]
>>> BKPT: 00            BVEL: 4.5           CARD: 0             CBAK: PTR 0x15f9bf8
>>> CDIR: 1             CNEN: Disable       DCOF: 0
>>> DESC: M1 Pinhole OMS_Z                  DHLM: 140           DIFF: 0
>>> DINP: CONSTANT      DIR : Pos           DISA: 0             DISP: 0
>>> DISS: NO_ALARM      DISV: 1             DLLM: -140          DLY : 0
>>> DMOV: 1             DOL : CONSTANT      DPVT: PTR 0x15f9c18 DRBV: 0
>>> DSET: PTR 0x462d34  DTYP: OMS MAXv      DVAL: 0             EGU : mm
>>> ERES: 1.171875e-04  EVNT:               FLNK: CONSTANT      FOF : 0
>>> FOFF: Frozen        FRAC: 1             HHSV: NO_ALARM      HIGH: 0
>>> HIHI: 0             HLM : 140           HLS : 1             HLSV: NO_ALARM
>>> HOMF: 0             HOMR: 0             HOPR: 0             HSV : NO_ALARM
>>> HVEL: 4.5           ICOF: 0             IGSET: 0            INIT:
>>> JAR : 7.5           JOGF: 0             JOGR: 0             JVEL: 4.5
>>> LCNT: 0             LDVL: 0             LLM : -140          LLS : 0
>>> LLSV: NO_ALARM      LOCK: NO            LOLO: 0             LOPR: 0
>>> LOW : 0             LRLV: 0             LRVL: 0             LSET: PTR 0x1548258
>>> LSPG: Go            LSV : NO_ALARM      LVAL: 0             LVIO: 0
>>> MDEL: 0             MIP : 0             MISS: 1
>>> MLIS: ELL 148 [0x2190a58 .. 0x177254c8] MLOK: 01 54 f4 10   MLST: 0
>>> MMAP: 0             MOVN: 0             MRES: 1.171875e-04  MSTA: 7
>>> NAME: FHIFEL:M11PH  NMAP: 0             NSEV: NO_ALARM      NSTA: NO_ALARM
>>> NTM : YES           NTMF: 2             OFF : 0             OMSL: supervisory
>>> OUT : VME_IO #C0 S2 @                   PACT: 0             PCOF: 0
>>> PHAS: 0             PINI: NO            POST:               PP  : 0
>>> PPN : PTR 0x0       PPNR: PTR 0x0       PREC: 3             PREM:
>>> PRIO: LOW           PROC: 0             PUTF: 0             RBV : 0
>>> RCNT: 0             RDBD: 0.1           RDBL: CONSTANT      RDES: PTR 0xcbd400
>>> RDIF: 0             REP : 0             RHLS: 1             RINP: CONSTANT
>>> RLLS: 0             RLNK: CONSTANT      RLV : 0             RMOD: Default
>>> RMP : 1361          RPRO: 0             RRBV: 0             RRES: 999.99
>>> RSET: PTR 0x462f4c  RSTM: NearZero      RTRY: 5             RVAL: 0
>>> RVEL: 0             S   : 5             SBAK: 3             SBAS: 3
>>> SCAN: Passive       SDIS: CONSTANT      SET : Use           SEVR: NO_ALARM
>>> SMAX: 12            SPDB: 0             SPMG: Go            SPVT: PTR 0x0
>>> SREV: 12800         SSET: 0             STAT: NO_ALARM      STOO: CONSTANT
>>> STOP: 0             STUP: OFF           SUSE: 0             SYNC: 0
>>> TDIR: 1             TIME: 2021-11-16 16:45:24.834573822     TPRO: 0
>>> TSE : 0             TSEL: CONSTANT      TWF : 0             TWR : 0
>>> TWV : 1             UDF : 0             UDFS: INVALID       UEIP: Yes
>>> UREV: 1.5           URIP: No            VAL : 0             VBAS: 4.5
>>> VELO: 7.5           VERS: 7.2           VMAX: 18            VOF : 0
>> 
>

Attachment: smime.p7s
Description: S/MIME cryptographic signature