Experimental Physics and
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Thank you, Torsten, it is working well in my test setup. Much better than my hackish calcout approach removing the SPC_NOMOD tags.
From: Torsten Bögershausen <torsten.bogershausen at ess.eu>
Sent: Friday, December 8, 2023 4:10:02 AM To: Nariyoshi, Pedro; Pearson, Matthew; 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 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
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ANJ, 12 Dec 2023 |
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