Experimental Physics and
Industrial Control System

Kevin Peterson via Tech-talk <tech-talk at aps.anl.gov> · Thu, 29 Sep 2022 09:19:59 -0500

The motor record sets the DMOV to 0 when the soft motor's target

position changes. After that it looks at the PV specified in the DINP

field and expects the value to be 0 until motion is done. If there is a

delay in updating the DINP PV, the unwanted extra DMOV transition occurs.

I believe you can work around the problem by doing the following to

ensure the DINP PV is moving *before* the move is initiated:

record(motor, "$(P):$(AXIS)") {
  field(DESC, "$(AXIS) soft motor")
  field(DTYP, "Soft Channel")
  field(OUT,  "$(P):$(AXIS)_SETANDGO PP")
  field(RDBL, "$(P):$(AXIS)_RBVCALC NPP")
  field(MRES, "1")
  field(RRES, "1")
  field(URIP, "Yes")
  field(PREC, "2")
  field(EGU,  "mm")
  field(TWV,  "1")
  field(DINP, "$(P):$(AXIS)_DMOV NPP")
  field(RTRY, "0")
  field(NTM,  "NO")
}

record(seq, "$(P):$(AXIS)_SETANDGO") {
  field(DOL1, "1")
  field(LNK1, "$(P):$(AXIS)_MOVING PP")
  field(DOL2, "$(P):$(AXIS).DVAL")
  field(LNK2, "$(P):$(AXIS)_SETPOS PP")
  field(DOL3, "1")
  field(LNK3, "$(P):$(AXIS)_EXECUTE PP")
}

record(bo, "$(P):$(AXIS)_MOVING") {
  field(ONAM, "Done")
  field(ZNAM, "Moving")
}

record(calcout, "$(P):$(AXIS)_DMOV") {
  field(INPA, "$(P):$(AXIS)_MOVING CP")
  field(CALC, "!A")
}

record(calcout, "$(P):$(AXIS)_RESET") {
  field(INPA, "$(P):$(AXIS)_DONE CP")
  field(CALC, "A")
  field(OOPT, "Transition to Non-zero")
  field(DOPT, "Use OCAL")
  field(OCAL, "!A")
  field(OUT, "$(P):$(AXIS)_MOVING")
}

I haven't tested it, though, so it might not work as advertised.

Kevin

On 9/28/22 10:17, Torsten Bögershausen via Tech-talk wrote:

this smells a little bit like the
"done before even started" phenomenon.

The controller is commanded to move, execute is set, but it hasn't
started yet.

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System