Re: some motor driver 3 questions

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

1) why command "ID;" did not work? Both "PX;" and "ID;" were in MCB4BAxis::poll function. Obviously, "PX;" was send ,"ID;" didn't.

You see this in the output:

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

So the low-level read returned 1, which is asynTimeout.  This is interpreted as an error condition.  It expects 0, asynSuccess.

The code is here:

 sprintf(pC_->outString_, "PX;");
  comStatus = pC_->writeReadController();
  if (comStatus) goto skip;

So if comStatus is not 0 it jumps to "skip" and does not send the ID command.  

I don't see any \r or \n in the response from the device.  Does it use a semicolon (';') as the terminator?  If so you need to set that with asynOctetSetInputEos in your startup script.

    2) how to achieve it, if I want to send some initialization command ?

You can send an initialization command in the axis or controller constructor code.

 

   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?

I think you need to set the terminator to ;.  Then you need to do 2 reads to read the response.  The first will read px, the second will read the value.

    4)

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

    How to write these code ?

    if (relative) {    sprintf(pC_->outString_, "PR=%d;", NINT(position));   
    sprintf(pC_->outString_, "BG;");                                   // I added a line here. Does it ok?

  } else {

    sprintf(pC_->outString_, "PA=%d;", NINT(position));
    sprintf(pC_->outString_, "BG;");
  
That code is not correct.  You need to change it to this:

   if (relative) {    sprintf(pC_->outString_, "PR=%d;", NINT(position));   

     comStatus = pC_->writeReadController();

     sprintf(pC_->outString_, "BG;");     

     comStatus = pC_->writeReadController();

  } else {

    sprintf(pC_->outString_, "PA=%d;", NINT(position));

    comStatus = pC_->writeReadController();

    sprintf(pC_->outString_, "BG;");

    comStatus = pC_->writeReadController();

Mark

---

From: Tech-talk <tech-talk-bounces at aps.anl.gov> on behalf of lynn via Tech-talk <tech-talk at aps.anl.gov>
Sent: Wednesday, May 24, 2023 7:11 AM
To: tech-talk <tech-talk at aps.anl.gov>
Subject: some motor driver 3 questions

 

 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.

     Another loop begin.

*************   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) {

    sprintf(pC_->outString_, "PR=%d;", NINT(position));   
    sprintf(pC_->outString_, "BG;");                                   // I added a line here. Does it ok?
  } else {
    sprintf(pC_->outString_, "PA=%d;", NINT(position));
    sprintf(pC_->outString_, "BG;");
  

   Any suggestion was appreciate.

   Thanks.

Regards,

Lynn

--

	lynn
邮箱：lynn0703 at yeah.net