RE: drvModbusAsynConfigure exception 3 when ASLO and PREC fields of PV are changed

[Mark Rivers via Tech-talk <tech-talk at aps.anl.gov>]

Hi Marco,

 

Ø  Thats what seems weird to me: since the error only happens when we change the precision and ASLO, and since the exception indicates an incorrect command, can i just assume that the equipment is made to only accept commands that write the P parameter with a certain precision? In a way that when the precision is changed the equipment refuses to accept the command?

 

No, it cannot be the precision.  You are not sending ASCII characters with decimal digits over Modbus, you are sending 16-bit binary integers.  So the PREC field should not matter.  However the ASLO field controls the conversion from engineering units to 16-bit integer so it can change the data you are sending.

 

You are getting these errors when you boot:

asynSetTraceIOMask Eurotherm_EMODBUS_1_1_Wr_P -1 HEX

PNR-Eurotherm2408-B-Eurotherm01.cmd line 73: Illegal integer 'HEX'

asynSetTraceMask Eurotherm_EMODBUS_1_1_Wr_P -1 ERROR|DRIVER

PNR-Eurotherm2408-B-Eurotherm01.cmd line 75: Illegal integer 'ERROR|DRIVER'

 

That is because you are running asyn R4-33 and the enhancement to allow symbolic names in the asynSetTrace commands was added in R4-35 in 2019.  With this old version of asyn you need to change these commands to:

 

asynSetTraceIOMask Eurotherm_EMODBUS_1_1_Wr_P -1 4

asynSetTraceMask Eurotherm_EMODBUS_1_1_Wr_P -1 9

 

There is also an error when loading your database:

 

dbLoadRecords("db/dbEurotherm2408.db", "BL=PNR")

Error: syntax error

 at or before "Readback" in file "db/dbEurotherm2408.db" line 423

 

You should fix that.  It could even be the source of your problems, since I don’t know what records are defined after line 423.

 

It appears that the ao record is processing at iocInit, but the record does not have PINI=YES.  I don’t understand that.

 

Mark

 

 

 

From: Marco A. Barra Montevechi Filho <marco.filho at lnls.br>
Sent: Tuesday, April 19, 2022 2:00 PM
To: Mark Rivers <rivers at cars.uchicago.edu>
Cc: Junior Cintra Mauricio <junior.mauricio at lnls.br>; João Pedro Burle Ishida <joao.ishida at lnls.br>; tech-talk at aps.anl.gov
Subject: Re: drvModbusAsynConfigure exception 3 when ASLO and PREC fields of PV are changed

 

Hello, Mark. Thank for the constant help!

Thats what seems weird to me: since the error only happens when we change the precision and ASLO, and since the exception indicates an incorrect command, can i just assume that the equipment is made to only accept commands that write the P parameter with a certain precision? In a way that when the precision is changed the equipment refuses to accept the command?

Im sorry for forgetting the complete message. The error message is:

## Start any sequence programs

#seq sncxxx,"user=gabrielfedelHost"

2022/04/19 15:27:21.537 drvModbusAsyn::doModbusIO port Eurotherm_EMODBUS_1_1_Wr_P Modbus exception=3

2022/04/19 15:27:21.537 PNR:EU2408:P devAsynInt32::processCallbackOutput process error

epics>

I append the complete IOC initialization log in the end of this email. Also, i noticed something else that seems important: in the .db file, there is the following comment right next to the :P variable:
# Proportional gain term: address 351

# Note this must be set to operate engineering units (not %) for the precision to be correct

# otherwise it is a fixed precision of 1 decimal place

However, address 351 is not even mentioned in Eurotherm modbus communication manual and setting

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Wr_P", "EMODBUS", 1, 6, 351, 3, 0, 1000, "");

instead of

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Wr_P", "EMODBUS", 1, 6, 6, 3, 0, 1000, "");

results in

2022/04/19 15:54:43.225 drvModbusAsyn::doModbusIO port Eurotherm_EMODBUS_1_1_Wr_P Modbus exception=2

2022/04/19 15:54:43.226 PNR:EU2408:P devAsynInt32::processCallbackOutput process error

epics>

Which i think means that this address is not supposed to be accessed.

Best regards,

Marco

#!/usr/local/epics-nfs/apps/Eurotherm2408/1.0/bin/linux-x86_64/Eurotherm

< /usr/local/epics-nfs/apps/Eurotherm2408/1.0/iocBoot/iocEurotherm2408/envPaths

epicsEnvSet("IOC","iocEurotherm2408")

epicsEnvSet("TOP","/usr/local/epics-nfs/apps/Eurotherm2408/1.0")

epicsEnvSet("NFS","/usr/local/epics-nfs")

epicsEnvSet("SUPPORT","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support")

epicsEnvSet("ASYN","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/asyn-R4-33")

epicsEnvSet("STREAM","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/stream-R2-7-7c")

epicsEnvSet("MODBUS","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/modbus-R2-11")

epicsEnvSet("EPICS_BASE","/usr/local/epics-nfs/base/R3.15.6")

epicsEnvSet("ALIVE","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/alive-R1-1-0")

epicsEnvSet("AUTOSAVE","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/autosave-R5-9")

epicsEnvSet("BUSY","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/busy-R1-7")

epicsEnvSet("CALC","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/calc-R3-7-1")

epicsEnvSet("CAMAC","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/camac-R2-7-1")

epicsEnvSet("CAPUTRECORDER","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/caputRecorder-R1-7-1")

epicsEnvSet("DAC128V","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/dac128V-R2-9")

epicsEnvSet("DELAYGEN","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/delaygen-R1-2-0")

epicsEnvSet("DXP","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/dxp-R5-0")

epicsEnvSet("DXPSITORO","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/dxpSITORO-R1-1")

epicsEnvSet("DEVIOCSTATS","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/iocStats-3-1-15")

epicsEnvSet("IP","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/ip-R2-19-1")

epicsEnvSet("IPAC","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/ipac-2-15")

epicsEnvSet("IP330","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/ip330-R2-9")

epicsEnvSet("IPUNIDIG","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/ipUnidig-R2-11")

epicsEnvSet("LOVE","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/love-R3-2-6")

epicsEnvSet("LUA","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/lua-R1-2-2")

epicsEnvSet("MCA","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/mca-R7-7")

epicsEnvSet("MEASCOMP","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/measComp-R2-1")

epicsEnvSet("MODBUS_2_10_1","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/modbus-R2-10-1")

epicsEnvSet("MOTOR","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/motor-R6-10-1")

epicsEnvSet("OPTICS","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/optics-R2-13-1")

epicsEnvSet("QUADEM","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/quadEM-R9-1")

epicsEnvSet("SOFTGLUE","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/softGlue-R2-8-1")

epicsEnvSet("SOFTGLUEZYNQ","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/softGlueZynq-R2-0-1")

epicsEnvSet("SSCAN","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/sscan-R2-11-1")

epicsEnvSet("STD","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/std-R3-5")

epicsEnvSet("VAC","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/vac-R1-7")

epicsEnvSet("VME","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/vme-R2-9")

epicsEnvSet("YOKOGAWA_DAS","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/Yokogawa_DAS-R1-0-0")

epicsEnvSet("XXX","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/xxx-R6-0")

epicsEnvSet("AREA_DETECTOR","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/areaDetector-R3-3-1")

epicsEnvSet("ADCORE","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/areaDetector-R3-3-1/ADCore")

epicsEnvSet("ADSUPPORT","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/areaDetector-R3-3-1/ADSupport")

epicsEnvSet("ADSIMDETECTOR","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/areaDetector-R3-3-1/ADSimDetector")

epicsEnvSet("SNCSEQ","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/seq-2-2-5")

epicsEnvSet("ALLEN_BRADLEY","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.0/support/allenBradley-2-3")

epicsEnvSet("BL","PNR")

# Configuração da linha de luz

< /usr/local/epics-nfs/apps/Eurotherm2408/1.0/iocBoot/iocEurotherm2408/Eurotherm.config

epicsEnvSet("SERIAL_PORT","COM10")

epicsEnvSet("E_SHM","eurotherm")

epicsEnvSet("BAUD","9600")

epicsEnvSet("MBUS_SL_ADDR",1)

epicsEnvSet("MBUS_READ",3)

epicsEnvSet("MBUS_WRITE",6)

epicsEnvSet("MBUS_POLL",1000)

epicsEnvSet("STREAM_PROTOCOL_PATH","/usr/local/epics-nfs/apps/Eurotherm2408/1.0/db")

cd /usr/local/epics-nfs/apps/Eurotherm2408/1.0

## Register all support components

dbLoadDatabase "dbd/Eurotherm.dbd"

Eurotherm_registerRecordDeviceDriver pdbbase

## Configured by http://cars9.uchicago.edu/software/epics/modbusDoc.html

## Parameters to ModBus on /dev/ttyUSB0

## used to USB

#drvAsynSerialPortConfigure("EMODBUS","10.20.41.43:4001",0,0,0)

drvAsynIPPortConfigure("EMODBUS","10.20.41.43:4002",0,0,1)

###############################################################################

###############################################################################

# Set up ASYN HYPPIE ports

# pxiCreateSM(asyn, shared memory name)

# drvasynPXIConfig(port, COM port, shared memory name, serial type)

#asynSetOption("EMODBUS", 0, "${BAUD}", "9600")                  

#asynSetOption("EMODBUS", 0, "bits", "8")                      

#asynSetOption("EMODBUS", 0, "parity", "none")                

#asynSetOption("EMODBUS", 0, "stop", "1")                      

## Configure

modbusInterposeConfig("EMODBUS",1,3000,0)

# drvModbusAsynConfigure(portName,      => create a name

#                       tcpPortName,    => defined before

#                       slaveAddress,   => defined on equipament

#                       modbusFunction, => 3 : Read Holding Register (16-bit)

#                       modbusStartAddress, => adress of register

#                       modbusLength,  => the length of data segment

#                       dataType,  => default data type

#                       pollMsec,

#                       plcType);     => Equipament name, not used

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_0_Rd_ATUNE", "EMODBUS", 1,3, 3072, 6,0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_0_Wr_ATUNE", "EMODBUS", 1,6, 3072, 6,0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Rd_PV", "EMODBUS", 1,3, 1, 3,0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Wr_PV", "EMODBUS", 1, 6, 1, 3, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Rd_WSP", "EMODBUS", 1,3, 5, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Rd_RR", "EMODBUS", 1, 3, 35, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Wr_RR", "EMODBUS", 1, 6, 35, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Rd_MAN", "EMODBUS", 1, 3, 273, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Wr_MAN", "EMODBUS", 1, 6, 273, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Rd_PID", "EMODBUS", 1, 3, 351, 3, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Wr_PID", "EMODBUS", 1, 6, 351, 3, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Rd_P", "EMODBUS", 1, 3, 6, 3, 0, 1000, "");

#####ADDED FOR DEBUG. ###

asynSetTraceIOMask Eurotherm_EMODBUS_1_1_Wr_P -1 HEX

PNR-Eurotherm2408-B-Eurotherm01.cmd line 73: Illegal integer 'HEX'

asynSetTraceMask Eurotherm_EMODBUS_1_1_Wr_P -1 ERROR|DRIVER

PNR-Eurotherm2408-B-Eurotherm01.cmd line 75: Illegal integer 'ERROR|DRIVER'

#####################################

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Rd_I", "EMODBUS", 1, 3, 8, 3, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Rd_D", "EMODBUS", 1, 3, 9, 3, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Wr_P", "EMODBUS", 1, 6, 6, 3, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Wr_I", "EMODBUS", 1, 6, 8, 3, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Wr_D", "EMODBUS", 1, 6, 9, 3, 0, 1000, "");

#############################################################################################################################

#Commands added 19/04/2022 by Marco Montevechi, Junior Cintra and Jo  o Pedro Burle Ishida

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_0_Rd_PROG", "EMODBUS", 1, 3, 22, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_0_Wr_PROG", "EMODBUS", 1, 6, 22, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Rd_PSP", "EMODBUS", 1, 3, 163, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Wr_PSP", "EMODBUS", 1, 6, 163, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_0_Rd_CYC", "EMODBUS", 1, 3, 59, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_0_Wr_CYC", "EMODBUS", 1, 6, 59, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_0_Rd_SEG", "EMODBUS", 1, 3, 56, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_0_Wr_SEG", "EMODBUS", 1, 6, 56, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_0_Rd_STYP", "EMODBUS", 1, 3, 29, 1, 0, 1000, "");

drvModbusAsynConfigure("Eurotherm_EMODBUS_1_0_Wr_STYP", "EMODBUS", 1, 6, 29, 1, 0, 1000, "");

#############################################################################################################################

## Load record instances

dbLoadRecords("db/dbEurotherm2408.db", "BL=PNR")

Error: syntax error

 at or before "Readback" in file "db/dbEurotherm2408.db" line 423

## Load record instances

#dbLoadRecords("db/xxx.db","user=gabrielfedelHost")

cd /usr/local/epics-nfs/apps/Eurotherm2408/1.0/iocBoot/iocEurotherm2408

iocInit

Starting iocInit

############################################################################

## EPICS R3.15.6

## EPICS Base built Sep 27 2021

############################################################################

iocRun: All initialization complete

## Start any sequence programs

#seq sncxxx,"user=gabrielfedelHost"

2022/04/19 15:47:39.215 drvModbusAsyn::doModbusIO port Eurotherm_EMODBUS_1_1_Wr_P Modbus exception=3

2022/04/19 15:47:39.215 PNR:EU2408:P devAsynInt32::processCallbackOutput process error

epics>

---

From: Mark Rivers <rivers at cars.uchicago.edu>
Sent: 19 April 2022 15:12
To: Marco A. Barra Montevechi Filho <marco.filho at lnls.br>
Cc: Junior Cintra Mauricio <junior.mauricio at lnls.br>; João Pedro Burle Ishida <joao.ishida at lnls.br>; tech-talk at aps.anl.gov <tech-talk at aps.anl.gov>
Subject: RE: drvModbusAsynConfigure exception 3 when ASLO and PREC fields of PV are changed

 

Hi Marco,

 

This is an ao record and one of the links is P.ASLO.  This means that depending on whether the link is broken the actual integer value being written to the device could change, since ASLO affects that.

 

According to page 48 of the Modbus reference document

https://epics-modbus.readthedocs.io/en/latest/_downloads/c210fb586108fe21da5a09d202ab86d1/Modbus_Application_Protocol_V1_1b.pdf

 

Modbus exception 3 is “ILLEGAL DATA VALUE”.  This means:

A value contained in the query data field is not an allowable value for server (or slave). This indicates a fault in the structure of the remainder of a complex request, such as that the implied length is incorrect. It specifically does NOT mean that a data item submitted for storage in a register has a value outside the expectation of the application program, since the MODBUS protocol is unaware of the significance of any particular value of any particular register.

 

So according to the specification exception 3 should only be returned when the command syntax is wrong, not if the data value is outside the allowed range.  However, it is always possible that Eurotherm has not following the spec, and it is returning exception 3 for a data value outside the allowed range.

 

Please send the complete error message when you get the exception.

 

It may also be helpful to put the following 2 commands in your startup script:

asynSetTraceIOMask Eurotherm_EMODBUS_1_1_Wr_P -1 HEX

asynSetTraceMask Eurotherm_EMODBUS_1_1_Wr_P -1 ERROR|DRIVER

 

That will show the Modbus messages sent to and received from the device.

 

Mark

 

 

From: Tech-talk <tech-talk-bounces at aps.anl.gov> On Behalf Of Marco A. Barra Montevechi Filho via Tech-talk
Sent: Tuesday, April 19, 2022 11:01 AM
To: tech-talk at aps.anl.gov
Cc: Junior Cintra Mauricio <junior.mauricio at lnls.br>; João Pedro Burle Ishida <joao.ishida at lnls.br>
Subject: drvModbusAsynConfigure exception 3 when ASLO and PREC fields of PV are changed

 

Hello all and good evening.

We are working with a modbus IOC, the one i asked about compiling errors here previously and Mark answered about removing modbus.dbd and leaving only modbusSupport.dbd to make it work.
The IOC has several modbus functions defined in its st.cmd file like:
drvModbusAsynConfigure("Eurotherm_EMODBUS_1_1_Wr_P", "EMODBUS", ${MBUS_SL_ADDR}, ${MBUS_WRITE}, 6, 3, 0, ${MBUS_POLL}, "");

where MBUS_SL_ADDR=1, MBUS_WRITE=6 and MODBUS_POLL=1000.
EMODBUS was defined in drvAsynIPPortConfigure("EMODBUS",{EUROTHERM_IP},0,0,1)

The above modbus function is used by a PV:

record(ao, "${BL}:EU2408:P:SOMETHING") {

  field(DESC, "P Param")

  field(DTYP, "asynInt32")

  field(OUT, "@asyn(Eurotherm_EMODBUS_1_1_Wr_P,0,1000)MODBUS_DATA")

}

 and it works fine if the PV name doesnt end stop in ":P". If the PV name is only "${BL}:EU2408:P", then we get modbus exception 3 when initializing the IOC and the PV doesnt work.
I suppose this happens because some other PV has a link to it and the link breaks when the name is changed. I dont know if there could be any cause to this behaviour.

The only PVs we found refering to "${BL}:EU2408:P:SOMETHING" PV are:

record(dfanout, "${BL}:EU2408:SETASLO") {

        field(OMSL, "closed_loop")

        field(DOL, "${BL}:EU2408:CALCASLO PP")

        field(OUTA, "${BL}:EU2408:SP.ASLO")

        field(OUTB, "${BL}:EU2408:SP:RBV.ASLO")

        field(OUTC, "${BL}:EU2408:RR.ASLO")

        field(OUTD, "${BL}:EU2408:RR:RBV.ASLO")

        field(OUTE, "${BL}:EU2408:PV:RBV.ASLO")

        field(OUTF, "${BL}:EU2408:P.ASLO")   #HERE

        field(OUTG, "${BL}:EU2408:P:RBV.ASLO")

        field(FLNK, "${BL}:EU2408:SETPREC")

}
and
record(dfanout, "${BL}:EU2408:SETPREC") {

        field(OMSL, "closed_loop")

        field(DOL, "${BL}:EU2408:PREC.RVAL")

        field(OUTA, "${BL}:EU2408:SP.PREC PP")

        field(OUTB, "${BL}:EU2408:SP:RBV.PREC PP")

        field(OUTC, "${BL}:EU2408:RR.PREC PP")

        field(OUTD, "${BL}:EU2408:RR:RBV.PREC PP")

        field(OUTE, "${BL}:EU2408:PV:RBV.PREC PP")

        field(OUTF, "${BL}:EU2408:P.PREC PP")    ######HERE

        field(OUTG, "${BL}:EU2408:P:RBV.PREC PP")

}
so i suppose altering PVs PREC and ASLO alters the correct modbus function needed to access the parameter, but this makes no sense to me since the parameter stored in the equipment should still be the same.
Does someone know what am i missing?

Thanks in advance 🙂

Marco

 

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