Re: motorRecord with phytron support: record send goto 0 command before reference is done

[Torsten Bögershausen via Tech-talk <tech-talk@aps.anl.gov>]

> On 29 Mar 2022, at 16:06, Bernhard.Kuner via Tech-talk <tech-talk@aps.anl.gov> wrote:
> 
> Hallo Kevin,
> 
> thank You for the help to understand what happens in the motorRecord,
> nasty  beast this record!
> 
> The homing type is here on the positive end-switch "Mn.m+". Poll period
> 0.5s but ACCL=2.0
> 
> There was a bug in the phyMotion software if you use the positive
> end-switch, but there is an update from phytron and now it works if you
> give this command by the phyLogic software.
> 
> Ok, You say the record recognises a motor action to be done by
> pC_->motorStatusDone_  This is set in the poll routine by the command
> "Mn.m==H". In the log you can see that there is no "M1.1==H" with the
> answer "E" for done after hitting the end-switch and before the new move
> comand occurs. So we suppose a problem in the record.

I think that there may be a potential problem in the motorRecord itself.
The first one is that the record assumes that a motor is “done”,
when a limit switch is hit:
<https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/motorRecord.cc#L3707>

While this may be true for some controllers, it is not, especially for modern controllers
that have a “homing sequence” which looks like
“hit the limit switch, once activated, revert and drive slowly until the switch is released”

I don’t have a Phytron to test this.
If you have time to modify the motorRecord itself and test, you can modify line 3707
from above.


> 
> By the way, we have a support for the phytron IO modules. There I
> introduced support for stringout -in Record to communicate with the
> motor controller. If you send a home command this way, it works as expected.
> 
> Bernhard
> 
> 
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