Experimental Physics and
Industrial Control System

Kevin Peterson via Tech-talk <tech-talk at aps.anl.gov> · Tue, 29 Mar 2022 15:40:43 -0500

A better solution would be to modify the phytron driver to NOT set the

limit bits of the MSTA if a home is in progress, for homing routines

that use the limits:

https://github.com/epics-motor/motorPhytron/blob/9acb974257dc61512017f18f9b823be0495e948d/phytronApp/src/phytronAxisMotor.cpp#L1056-L1057

Those bits are why the motor record believes a limit is hit and the

motion is done:

https://github.com/epics-modules/motor/blob/cc6c6a9b181691e8b04981c64ec99f8a887a937e/motorApp/MotorSrc/motorRecord.cc#L3693-L3694

Kevin

On 3/29/22 13:10, Torsten Bögershausen wrote:

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.

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System