Hej Torsten,
I'd gladly test it. Earlier I was thinking about creating a virtual
motor support class and be able to control the MSTA with bo and other
records, but if the MINP solution is implement, I feel it'd be much
simpler. Thank you!
*Pedro Nariyoshi*
Software Controls Engineer
Facility for Rare Isotope Beams
Michigan State University
640 South Shaw Lane
East Lansing, MI 48824, USA
Tel. 517-908-7352
Email: nariyosh at frib.msu.edu <mailto:nariyosh at frib.msu.edu>
1633986722804
------------------------------------------------------------------------
*From:* Torsten Bögershausen <torsten.bogershausen at ess.eu>
*Sent:* Wednesday, December 6, 2023 1:46:55 AM
*To:* Pearson, Matthew; Nariyoshi, Pedro; Mark Rivers; tech-talk at aps.anl.gov
*Subject:* Re: Simulated limit switches on motorSim motor
[EXTERNAL] This email originated from outside of FRIB
Hej Matt, Hej Pedro,
Once I had the similar problem:
The "homed" status could not be set for a soft motor.
Reading the question from below asking for the limit switches,
I am tempted to suggest one additional link for all 3 bits.
A pragmatic way could be to allow MSTA field to be set for a soft motor,
addding one possible link.
In my approach this would be a "MINP" field, where the MSTA field can be
"delivered" from an external record.
There are some comments:
As we already have DINP (for done move), the done bit needs to be
filtered out from MSTA/MINP.
(We may allow a pure MINP including DMOV, but that is probably a later
extension)
For the limit switches we need to have the raw switches, RHLS, RLLS,
to be calculated to the proper bit position by a calc record.
There is no real show-stopper, as far as I can see.
The MSTA field is well-defined and unchanged since a long time.
And any user-application can choose which bits that are needed.
Does this makes sense ?
I am happy to make a prototype, is someone able to test it ?
/Torsten
On 2023-12-01 23:59, Pearson, Matthew wrote:
[snip]
The motor record already contains so many fields, but I wonder if it
would be helpful to have an INLINK to set these limits (whether the
RHLS/RLLS or LLS/HLS, I am not sure).
That’s something I’ve wanted to do in the past as well. For example, if
we have a PLC controlled motor, it would typically be integrated using
separate records for the setpoint, readback, low limit switch, high
limit switch, etc. And it would be nice to just layer a soft motor
record on top and have the limit switch indicators work. The way around
this is to develop a Asyn motor driver that can talk to the PLC directly
(like any other motor controller driver). But having both options
available would be nice. I don’t think there’s a technical reason why we
couldn’t implement this, it’s just an edge case that no one has gotten
round to yet.
An alternative approach (which I’ve implement widely at our site) is to
have a separate motor ‘status’ record and display it on the user level
screen next to the high level gap/center motors. That could combine the
various status fields from the soft motors and the underlying real motors.
Cheers,
Matt
