Re: DeferredMoves without setting moving flag

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

Hej Lorenz,

>I've been working on an asyn motor controller with DeferredMoves.

good to hear.

>This in principle works, however I noticed that when DeferedMoves is enabled,
>and I change the setpoint of an axis, the moving flag is raised for a short time (i.e. DMOV=0),
>even though the axis is not moving yet.
Hm. There are 2 different instances involved here:

the motorRecord (as a record, doing its statemachine business)
and the (model 3) driver handling defered moves.
The record is educated to aloways have a DMOV == false -> DMOV == true -> DMOV transition,
when you write to the .VAL field of the record.
This is to help scripts relying on a callback.
If an automated script generates a new setpoint, and the setpoint is the same as the old one,
or very close to the old one, the motor will not (need to) move.
however, the script gets a callback, as expected.
The deferred moves are generated in the driver, and you talk to another record, right ?
So that the motorRecord has no idea about the deferred status.

>I would like to get rid of this behavior.
That is understandable.
The only solution I can think of spontaneously would be to move the "deferred feature" into the
motorRecord itself.
Not impossible, but needs some/much thinking and testing.

how big is the pain-level at your side?

Greetings to Berlin
/Torsten

 

 

 

 

From: Tech-talk <tech-talk-bounces at aps.anl.gov> on behalf of Laurenz Rettig via Tech-talk <tech-talk at aps.anl.gov>
Reply-To: Laurenz Rettig <rettig at fhi-berlin.mpg.de>
Date: Friday, 10 March 2023 at 17:17
To: "tech-talk at aps.anl.gov" <tech-talk at aps.anl.gov>
Subject: DeferredMoves without setting moving flag

 

Hi,

I've been working on an asyn motor controller with DeferredMoves. This in principle works, however I noticed that when DeferedMoves is enabled, and I change the setpoint of an axis, the moving flag is raised for a short time (i.e. DMOV=0), even though the axis is not moving yet. I would like to get rid of this behavior.

As far as I understand it, this is probably induced by the calls to "pAxis->setIntegerParam(motorStatusDone_, 0);" here:

https://github.com/epics-modules/motor/blob/34474ed958838ea5083f598fa4bd9f1ca7e1821c/motorApp/MotorSrc/asynMotorController.cpp#L317

and the flag is reset by the next call of the axis poll() function.

Is there a simple way to avoid this, or do I have to rewrite the whole writeFloat64 function in my controller driver, and remove these lines?

Thanks,

Laurenz

-- 

Dr. Laurenz Rettig                  rettig at fhi-berlin.mpg.de

Emmy Noether Research Group Dynamics of Correlated Materials

Fritz Haber Institute of the Max Planck Society

Department of Physical Chemistry

Faradayweg 4-6                         Tel: +49 30 8413 5225

14195 Berlin, Germany                  Fax: +49 30 8413-5387