Experimental Physics and
Industrial Control System

 Hi all,

    Nowadayas i was writing elmo motor driver.
    i modified from MCB4BDriver.cpp (model 3 example).

    I found it was in a loop from AsynTrace message, after starting st.cmd.

********************* AsynTrace out, Begin*************************

2023/05/24 18:30:14.347 wrote 3 to 192.168.1.5:5001 udp, return asynSuccess.
2023/05/24 18:30:14.347 asynOctetSyncIO wrote:
PX;
2023/05/24 18:30:14.347 192.168.1.5:5001 udp read.
2023/05/24 18:30:14.350 192.168.1.5:5001 udp (from 192.168.1.5:5001) read 11
PX;-106202;
2023/05/24 18:30:14.350 serial1 read 11 bytes eom=0
PX;-106202;
2023/05/24 18:30:14.350 192.168.1.5:5001 udp read.
2023/05/24 18:30:16.352 serial1 read from low-level driver returned 1
2023/05/24 18:30:16.352 serial1 queueUnlockPort
2023/05/24 18:30:16.352 serial1 asynManager::queueUnlockPort waiting for event
2023/05/24 18:30:16.352 serial1 queueUnlockPort unlock mutex 0x7f605c000e90 complete.
2023/05/24 18:30:16.452 serial1 asynManager::queueLockPort locking port
2023/05/24 18:30:16.452 serial1 asynManager::queueLockPort taking mutex 0x7f605c000e90
2023/05/24 18:30:16.452 serial1 asynManager::queueLockPort queueing request
2023/05/24 18:30:16.452 serial1 addr -1 queueRequest priority 0 not lockHolder
2023/05/24 18:30:16.452 serial1 schedule queueRequest timeout in 2.000000 seconds
2023/05/24 18:30:16.452 serial1 asynManager::queueLockPort waiting for event
2023/05/24 18:30:16.452 asynManager::portThread port=serial1 callback
2023/05/24 18:30:16.452 serial1 asynManager::queueLockPortCallback signaling begin event
2023/05/24 18:30:16.452 serial1 asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort
2023/05/24 18:30:16.452 serial1 asynManager::queueLockPort got event from callback
2023/05/24 18:30:16.452 serial1 flush
2023/05/24 18:30:16.452 192.168.1.5:5001 udp flush
2023/05/24 18:30:16.452 192.168.1.5:5001 udp write.
2023/05/24 18:30:16.452 192.168.1.5:5001 udp write 3
PX;

2023/05/24 18:30:16.452 wrote 3 to 192.168.1.5:5001 udp, return asynSuccess.

*************   AsynTrace out, End ******************


    Since loop was about "px;", I checked driver.cpp, found that "PX" only came out in MCB4BAxis::poll function.
    Here is the code of MCB4BAxis::Poll.
********************* MCB4BAxis::poll Begin *************************
asynStatus MCB4BAxis::poll(bool *moving)
{
  int done;
  int driveOn;
  int limit;
  double position;
  asynStatus comStatus;

  sprintf(pC_->outString_, "PX;");
  comStatus = pC_->writeReadController();
  if (comStatus) goto skip;
  position = atof(&pC_->inString_[3]);
  setDoubleParam(pC_->motorPosition_, position);

  // Read the moving status of this motor
  sprintf(pC_->outString_, "ID;");
  comStatus = pC_->writeReadController();
  if (comStatus) goto skip;

  done = (float(pC_->inString_[3]) > 0.009) ? 1:0;
  setIntegerParam(pC_->motorStatusDone_, done);
  *moving = done ? false:true;
********************* MCB4BAxis::poll End *************************

   

    Could someone help me with these questions:
    1) why command "ID;" did not work? Both "PX;" and "ID;" were in MCB4BAxis::poll function. Obviously, "PX;" was send ,"ID;" didn't.
    2) how to achieve it, if I want to send some initialization command ?
    3) 
    When I send "px;". Device would not send "PX=15926;" back.
    It would send "px;" first,then "15268;". I means, they are not send together.
    Does I need to change some in my code?

    4)

    Device required command "PR=1000;", then  send "BG;". it would not work if send together.

    How to write these code ?

    if (relative) {

   Any suggestion was appreciate.

   Thanks.

Regards,

Lynn

--

	lynn
邮箱：lynn0703 at yeah.net