Hej again,
I need to admit that the first version had a bug/typo; LONG was used
instead of SHORT.
That is fixed now.
The first testing went well - limit switches, homed, power on bits can
be fiddled into a soft motor.
And because of that, I made it a PR:
https://github.com/epics-modules/motor/pull/211
Feedback is welcome.
/Torsten
On 2023-12-06 18:42, Torsten Bögershausen via Tech-talk wrote:
Hej all,
I have done a first trial here:
<https://github.com/EuropeanSpallationSource/motor/pull/new/torsten/231206-add-MINP-for-softmotor>
I am working to set up a test environment, but that is not finished yet.
IOW: The patch is fully untested yet.
Any feedback is welcome.
BR
/Torsten
On 2023-12-06 16:27, Nariyoshi, Pedro wrote:
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
- Replies:
- Re: Simulated limit switches on motorSim motor Nariyoshi, Pedro via Tech-talk
- References:
- Simulated limit switches on motorSim motor Nariyoshi, Pedro via Tech-talk
- Re: Simulated limit switches on motorSim motor Torsten Bögershausen via Tech-talk
- RE: Simulated limit switches on motorSim motor Mark Rivers via Tech-talk
- Re: Simulated limit switches on motorSim motor Nariyoshi, Pedro via Tech-talk
- RE: Simulated limit switches on motorSim motor Pearson, Matthew via Tech-talk
- Re: Simulated limit switches on motorSim motor Torsten Bögershausen via Tech-talk
- Re: Simulated limit switches on motorSim motor Nariyoshi, Pedro via Tech-talk
- Re: Simulated limit switches on motorSim motor Torsten Bögershausen via Tech-talk
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