Experimental Physics and
Industrial Control System

Kevin Peterson via Tech-talk <tech-talk at aps.anl.gov> · Mon, 28 Mar 2022 10:31:29 -0500

Bernhard,

The motor record sets the MIP field to indicate homing is in progress:

https://github.com/epics-modules/motor/blob/R7-1/motorApp/MotorSrc/motorRecord.cc#L1944

postProcess(), which is called after the motor stops, clears the

appropriate MIP home bit:

https://github.com/epics-modules/motor/blob/5189abaf68c0449751fdc4d6f50e1c42d000ca2e/motorApp/MotorSrc/motorRecord.cc#L822-L833

The motor record understands the homing to be done when the driver sets

the pC_->motorStatusDone_ (and then calls callParamCallbacks()) in

phytronAxis::poll():

https://github.com/epics-motor/motorPhytron/blob/9acb974257dc61512017f18f9b823be0495e948d/phytronApp/src/phytronAxisMotor.cpp#L1040

The home/homed bits of the MSTA are helpful when set correctly by the

driver, but they are not used by the motor record.

What is the homing type ($(P)$(M)-HOMING_SET) for the motor records for

both I1AM01 and I1EM01 motors?

From the communication history, it looks like the motor record's ACCL

field is set to 0.205 and the moving poll period is set to 0.5 s. Is

this correct?

Kevin

On 3/24/22 05:52, Bernhard Kuner via Tech-talk wrote:

The Question is, how does the motorRecord recognise a finished

reference. In the phytronMotor driver there are following status bits

processed in the ::poll(*moving) function:

- *moving:  phyMotion command "Mn.m==H" response shows halt or move

- Status bits for limit switches to the according axis controller

variables and bit for initialised for motor status home

- INITIALISED -> pC_->motorStatusHomed_

- INITIALISED -> pC_->motorStatusHome_

- setIntegerParam(pC_->axisStatus_, axisStatus);

I suppose INITIALISED is used to flag the record home is done. At last,

the whole axisStatus will be set to the axis controller. This controler

status is not the motorRecord.MSTA What I found in the sources is that

it is there compared to the old status to recognise changes, but not any

processing of single bits. Each controler would have its own bits, so it

wouldn't make sense to process it in the motorRecord.

Relay strange is, that it works with the other module. There are some

other status bits set e.g. the PositioningMode bit, but all these is not

used by the phytronMotor support.

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System