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<== Date ==> <== Thread ==>
Subject: Re: I implemented the Model 3 of EPICS motor driver support, but the VAL and RBV of motor record are zero after IOC reboot.
From: Torsten Bögershausen via Tech-talk <tech-talk at aps.anl.gov>
To: LiangChih Chiang <yehnan174 at gmail.com>
Cc: "tech-talk at aps.anl.gov" <tech-talk at aps.anl.gov>
Date: Fri, 3 Jan 2025 10:30:45 +0100 


On 2025-01-03 09:29, LiangChih Chiang wrote:

Thank you for replying. Happy New Year.

 >a) The read back position of  "DCM:ThetaM.RBV" is flickering.
 >   You see this already when the IOC is running.
 >   Why is that ?

flickering?

The motor is pretty stable once moving is done.


I think that i a well-tuned system (tm) the .RBV should not change
much after the movement is done and .DMOV is changed back to 1.
Some controllers can be configured to monitor any setling of the axis.
In our case we need to configure the "in target position monitor window"
(or similar) together with the "in target monitor time" to good values.

If needed, the motorRecord has the field .DLY (delay) which may be used
as a simpler option.

Once back to work, could you add a monitor to the .DMOV and the
.RCNT fields ?





For example:
DCM:ThetaM.VAL             2025-01-03 08:54:05.156115 7.51376   <-- different -0.02; set a new VAL DCM:ThetaM.RBV             2025-01-03 08:54:05.156115 7.52741   <-- motor starts to move 
DCM:ThetaM.RBV             2025-01-03 08:54:05.335235 7.52131  <-- moving...
DCM:ThetaM.RBV             2025-01-03 08:54:05.505113 7.51621
DCM:ThetaM.RBV             2025-01-03 08:54:05.675255 7.51376
DCM:ThetaM.RBV             2025-01-03 08:54:05.845205 7.51361
DCM:ThetaM.VAL             2025-01-03 08:54:05.845205 7.51376  <-- motor record is down moving. RBV syncs back to VAL. DCM:ThetaM.RBV             2025-01-03 08:54:05.995251 7.51356  <-- Well, the motor(axis) still moves a little bit due to inertia or other factors. 
DCM:ThetaM.RBV             2025-01-03 08:54:06.495140 7.51371
DCM:ThetaM.RBV             2025-01-03 08:54:06.795186 7.51376
DCM:ThetaM.RBV             2025-01-03 08:54:06.965241 7.51381  <-- However, the movement is very small. 


 >   Mechanical load, high-precision encoder ?
motor resolution is 2.7778e-05 degree / pulse
encoder resolution is 5e-5 degree / count

 >   Is the controller running in closed loop ?
No.
But its RTRY field of motor record is 10.



 >   b1) Increase the sleep() even more, 5.0 seconds ??
I tried 3 and 8 seconds. No success.
I will try again after holidays.

 >   b2) Use the patched version of the motor from ESS,
I'll take a look at it.
But it may not be feasible to change the underlying motor module.
On Fri, Jan 3, 2025 at 4:09 PM Torsten Bögershausen <tboegi at edom.se <mailto:tboegi at edom.se>> wrote: 

    Hej again,
    happy new year !
    Thanks for reporting back and sharing your experiences.

    I think that there are 2 problems/phenomenon :

    a) The read back position of  "DCM:ThetaM.RBV" is flickering.
        You see this already when the IOC is running.
        Why is that ?
        Mechanics are suspected to be a contributer.
        Mechanical load, high-precision encoder ?
        Is the controller running in closed loop ?

    b) The initialisation is still flaky - sometimes RBV has a value of 0.0
        I can see 3 ways to improve it:
        b1) Increase the sleep() even more, 5.0 seconds ??
        b2) Use the patched version of the motor from ESS,
            which has been improved to handle this.
            And comes with log-prints, which allow a better remote-debug
            using this log-prints
    https://urldefense.us/v3/__https://github.com/EuropeanSpallationSource/motor__;!!G_uCfscf7eWS!Zd0AxRi5z2rsiYzHhHdfNSgVIXDCWCW-hTyClaOrFf689NbHRS7TRt4JCWGlWuIvG9olVVItwijyaWJvpPs$  <https://
    github.com/EuropeanSpallationSource/motor>
        b3) I have seen the use of an EPICS (?) hook somewhere in one
           of the motor-drivers. But after searching for hooks I still
           can not find an example here on my disk or in old emails.


    Another question:
    How much is the motor moving ?
    /Torsten


    On 2025-01-03 02:54, LiangChih Chiang wrote:
     >
     > I added epicsThreadSleep(1.0) after creating motor controller and
    axes.
     >
     > I use camonitor to trace the VAL/RBV of motor records of three axes.
     > I rebooted ioc nine times.
     > Please see the following log.
     >
     > I noticed that axes Z1 and Z2 successfully restored the VAL/RBV
    from the
     > controller every time.
     >
     > But the behavior of axis ThetaM is strange.
     > Two out of nine reboots, the VAL field of ThetaM record is
    successfully
     > restored.
     > One out of nine reboots, the VAL field of ThetaM record is set to
    zero.
     > Six out of nine reboots, the VAL field of ThetaM record is set to
     > (previous value - 0.02).
     >
     > Why -0.02?
     >
     >
     > DCM:Z1.VAL                 2025-01-02 16:28:46.483683 -0.04
     > DCM:Z1.RBV                 2025-01-02 16:28:46.483683 -0.0401
     > DCM:Z2.VAL                 2025-01-02 20:41:47.713687 0.0657
     > DCM:Z2.RBV                 2025-01-02 20:41:47.713687 0.0653
     > DCM:ThetaM.VAL             2025-01-02 16:28:50.353358 7.53376  <--
     > DCM:ThetaM.RBV             2025-01-02 16:28:50.353358 7.53376
     >
     > ioc reboot
     >
     > DCM:Z1.VAL                 2025-01-03 08:46:20.410653 -0.0401
     > DCM:Z1.RBV                 2025-01-03 08:46:20.410653 -0.04
     > DCM:Z2.VAL                 2025-01-03 08:46:20.350513 0.0653
     > DCM:Z2.RBV                 2025-01-03 08:46:20.350513 0.0657
> DCM:ThetaM.VAL             2025-01-03 08:46:20.500699 7.53376 <-- same 
     > as previous
     > DCM:ThetaM.RBV             2025-01-03 08:46:20.500699 7.53376
     >
     > ioc reboot
     >
     > DCM:Z1.VAL                 2025-01-03 08:54:04.045355 -0.04
     > DCM:Z1.RBV                 2025-01-03 08:54:04.045355 -0.0401
     > DCM:Z2.VAL                 2025-01-03 08:54:03.985246 0.0657
     > DCM:Z2.RBV                 2025-01-03 08:54:03.985246 0.0653
     > DCM:ThetaM.VAL             2025-01-03 08:54:05.156115 7.51376   <--
     > different -0.02
     > DCM:ThetaM.RBV             2025-01-03 08:54:05.156115 7.52741   <--
     > motor move
     > DCM:ThetaM.RBV             2025-01-03 08:54:05.335235 7.52131
     > DCM:ThetaM.RBV             2025-01-03 08:54:05.505113 7.51621
     > DCM:ThetaM.RBV             2025-01-03 08:54:05.675255 7.51376
     > DCM:ThetaM.RBV             2025-01-03 08:54:05.845205 7.51361
     > DCM:ThetaM.VAL             2025-01-03 08:54:05.845205 7.51376
     > DCM:ThetaM.RBV             2025-01-03 08:54:05.995251 7.51356
     > DCM:ThetaM.RBV             2025-01-03 08:54:06.495140 7.51371
     > DCM:ThetaM.RBV             2025-01-03 08:54:06.795186 7.51376
     > DCM:ThetaM.RBV             2025-01-03 08:54:06.965241 7.51381
     >
     > ioc reboot
     >
     > DCM:Z1.VAL                 2025-01-03 09:00:47.829590 -0.0401
     > DCM:Z1.RBV                 2025-01-03 09:00:47.829590 -0.04
     > DCM:Z2.VAL                 2025-01-03 09:00:47.769508 0.0653
     > DCM:Z2.RBV                 2025-01-03 09:00:47.769508 0.0657
     > DCM:ThetaM.VAL             2025-01-03 09:00:49.279478 7.49377   <--
     > different -0.01999
     > DCM:ThetaM.RBV             2025-01-03 09:00:49.279478 7.49611   <--
     > motor move
     > DCM:ThetaM.RBV             2025-01-03 09:00:49.449660 7.49371
     > DCM:ThetaM.RBV             2025-01-03 09:00:49.619596 7.49351
     > DCM:ThetaM.VAL             2025-01-03 09:00:49.619596 7.49377
     > DCM:ThetaM.RBV             2025-01-03 09:00:49.939543 7.49356
     > DCM:ThetaM.RBV             2025-01-03 09:00:50.269661 7.49376
     >
     >
     > Manually move ThetaM to 7.553761
     >
     > DCM:ThetaM.VAL             2025-01-03 09:04:05.044900 7.55378
     > DCM:ThetaM.VAL             2025-01-03 09:04:05.045646 7.55376
     > DCM:ThetaM.RBV             2025-01-03 09:04:05.371519 7.49566
     > DCM:ThetaM.RBV             2025-01-03 09:04:05.541574 7.50071
     > DCM:ThetaM.RBV             2025-01-03 09:04:05.711567 7.50711
     > DCM:ThetaM.RBV             2025-01-03 09:04:05.881592 7.51536
     > DCM:ThetaM.RBV             2025-01-03 09:04:06.061484 7.52551
     > DCM:ThetaM.RBV             2025-01-03 09:04:06.231575 7.53506
     > DCM:ThetaM.RBV             2025-01-03 09:04:06.402009 7.54296
     > DCM:ThetaM.RBV             2025-01-03 09:04:06.571571 7.54866
     > DCM:ThetaM.RBV             2025-01-03 09:04:06.741529 7.55221
     > DCM:ThetaM.RBV             2025-01-03 09:04:06.911574 7.55296
     > DCM:ThetaM.VAL             2025-01-03 09:04:06.911574 7.55376
     > DCM:ThetaM.RBV             2025-01-03 09:04:07.071671 7.55301
     > DCM:ThetaM.RBV             2025-01-03 09:04:07.241982 7.55326
     > DCM:ThetaM.RBV             2025-01-03 09:04:07.561637 7.55381
     > DCM:ThetaM.RBV             2025-01-03 09:04:07.881647 7.55346
     > DCM:ThetaM.RBV             2025-01-03 09:04:08.211724 7.55356
     > DCM:ThetaM.RBV             2025-01-03 09:04:08.531501 7.55376
     >
     > ioc reboot
     >
     > DCM:Z1.VAL                 2025-01-03 09:05:56.102804 -0.04
     > DCM:Z1.RBV                 2025-01-03 09:05:56.102804 -0.0401
     > DCM:Z2.VAL                 2025-01-03 09:05:56.042681 0.0657
     > DCM:Z2.RBV                 2025-01-03 09:05:56.042681 0.0653
> DCM:ThetaM.VAL             2025-01-03 09:05:56.174482 7.55376 <-- same 
     > as previous
> DCM:ThetaM.RBV             2025-01-03 09:05:56.174482 7.55376 <-- but 
     > motor move
     > DCM:ThetaM.RBV             2025-01-03 09:05:57.012778 7.55206
     > DCM:ThetaM.RBV             2025-01-03 09:05:57.502889 7.54196
     > DCM:ThetaM.RBV             2025-01-03 09:05:57.822823 7.54366
     > DCM:ThetaM.RBV             2025-01-03 09:05:57.992678 7.54791
     > DCM:ThetaM.RBV             2025-01-03 09:05:58.162720 7.55171
     > DCM:ThetaM.RBV             2025-01-03 09:05:58.342759 7.55266
     > DCM:ThetaM.RBV             2025-01-03 09:05:58.492806 7.55271
     > DCM:ThetaM.RBV             2025-01-03 09:05:58.662711 7.55371
     > DCM:ThetaM.RBV             2025-01-03 09:05:58.962828 7.55376
     > DCM:ThetaM.RBV             2025-01-03 09:05:59.132771 7.55381
     > DCM:ThetaM.RBV             2025-01-03 09:06:02.762853 7.55386
     >
     > ioc reboot
     >
     > DCM:Z1.VAL                 2025-01-03 09:09:37.385148 -0.0401
     > DCM:Z1.RBV                 2025-01-03 09:09:37.385148 -0.04
     > DCM:Z2.VAL                 2025-01-03 09:09:37.325204 0.0653
     > DCM:Z2.RBV                 2025-01-03 09:09:37.325204 0.0657
     > DCM:ThetaM.VAL             2025-01-03 09:09:38.354986 0         <--
     > different, zero!
     > DCM:ThetaM.RBV             2025-01-03 09:09:38.354986 7.55181   <--
     > motor move
     > DCM:ThetaM.RBV             2025-01-03 09:09:38.535008 7.54706
     > DCM:ThetaM.RBV             2025-01-03 09:09:38.704917 7.54026
     > DCM:ThetaM.RBV             2025-01-03 09:09:38.875048 7.53131
     > DCM:ThetaM.RBV             2025-01-03 09:09:39.045385 7.52046
     > DCM:ThetaM.RBV             2025-01-03 09:09:39.215134 7.50731
     > DCM:ThetaM.RBV             2025-01-03 09:09:39.385166 7.49361
     > DCM:ThetaM.RBV             2025-01-03 09:09:39.555112 7.48036
     > DCM:ThetaM.RBV             2025-01-03 09:09:39.725153 7.46636
     > DCM:ThetaM.RBV             2025-01-03 09:09:39.894942 7.45281
     > DCM:ThetaM.RBV             2025-01-03 09:09:40.064989 7.43961
     > DCM:ThetaM.RBV             2025-01-03 09:09:40.234971 7.42526
     > DCM:ThetaM.RBV             2025-01-03 09:09:40.405113 7.41221
     > DCM:ThetaM.RBV             2025-01-03 09:09:40.585072 7.39761
     > DCM:ThetaM.RBV             2025-01-03 09:09:40.755044 7.38401
     > DCM:ThetaM.RBV             2025-01-03 09:09:40.925113 7.37066
     > DCM:ThetaM.RBV             2025-01-03 09:09:42.095077 7.31426
     > DCM:ThetaM.VAL             2025-01-03 09:09:42.095077 7.31426  <-- I
     > stop the motor.
     > DCM:ThetaM.RBV             2025-01-03 09:09:46.705116 7.31421
     >
     > ioc reboot
     >
     > DCM:Z1.VAL                 2025-01-03 09:12:18.906995 -0.04
     > DCM:Z1.RBV                 2025-01-03 09:12:18.906995 -0.0401
     > DCM:Z2.VAL                 2025-01-03 09:12:18.846984 0.0657
     > DCM:Z2.RBV                 2025-01-03 09:12:18.846984 0.0653
     > DCM:ThetaM.VAL             2025-01-03 09:12:21.346979 7.29431   <--
     > different −0.01995
     > DCM:ThetaM.RBV             2025-01-03 09:12:21.346979 7.29431   <--
     > motor move
     >
     > ioc reboot
     >
     > DCM:Z1.VAL                 2025-01-03 09:18:20.230656 -0.0401
     > DCM:Z1.RBV                 2025-01-03 09:18:20.230656 -0.04
     > DCM:Z2.VAL                 2025-01-03 09:18:20.170608 0.0653
     > DCM:Z2.RBV                 2025-01-03 09:18:20.170608 0.0657
     > DCM:ThetaM.VAL             2025-01-03 09:18:20.311337 7.27437   <--
     > different −0.01994
     > DCM:ThetaM.RBV             2025-01-03 09:18:20.311337 7.29431   <--
     > motor move
     > DCM:ThetaM.RBV             2025-01-03 09:18:21.150538 7.29231
     > DCM:ThetaM.RBV             2025-01-03 09:18:21.320404 7.28771
     > DCM:ThetaM.RBV             2025-01-03 09:18:21.500407 7.28171
     > DCM:ThetaM.RBV             2025-01-03 09:18:21.670389 7.27681
     > DCM:ThetaM.RBV             2025-01-03 09:18:21.840686 7.27421
     > DCM:ThetaM.RBV             2025-01-03 09:18:22.010457 7.27406
     > DCM:ThetaM.VAL             2025-01-03 09:18:22.010457 7.27437
     > DCM:ThetaM.RBV             2025-01-03 09:18:22.330451 7.27421
     > DCM:ThetaM.RBV             2025-01-03 09:18:22.660350 7.27431
     > DCM:ThetaM.RBV             2025-01-03 09:18:22.960309 7.27436
     > DCM:ThetaM.RBV             2025-01-03 09:18:23.130896 7.27441
     >
     > ioc reboot
     >
     > DCM:Z1.VAL                 2025-01-03 09:22:00.722740 -0.04
     > DCM:Z1.RBV                 2025-01-03 09:22:00.722740 -0.0401
     > DCM:Z2.VAL                 2025-01-03 09:22:00.662695 0.0657
     > DCM:Z2.RBV                 2025-01-03 09:22:00.662695 0.0653
     > DCM:ThetaM.VAL             2025-01-03 09:22:02.912859 7.25442   <--
     > different −0.01995
     > DCM:ThetaM.RBV             2025-01-03 09:22:02.912859 7.25441   <--
     > motor move
     >
     > ioc reboot
     >
     > DCM:Z1.VAL                 2025-01-03 09:33:58.400417 -0.0401
     > DCM:Z1.RBV                 2025-01-03 09:33:58.400417 -0.04
     > DCM:Z2.VAL                 2025-01-03 09:33:58.340350 0.0653
     > DCM:Z2.RBV                 2025-01-03 09:33:58.340350 0.0657
     > DCM:ThetaM.VAL             2025-01-03 09:33:59.330344 7.23447   <--
     > different −0.01995
     > DCM:ThetaM.RBV             2025-01-03 09:33:59.330344 7.25241   <--
     > motor move
     > DCM:ThetaM.RBV             2025-01-03 09:33:59.500272 7.24781
     > DCM:ThetaM.RBV             2025-01-03 09:33:59.680584 7.24186
     > DCM:ThetaM.RBV             2025-01-03 09:33:59.850291 7.23701
     > DCM:ThetaM.RBV             2025-01-03 09:34:00.020355 7.23431
     > DCM:ThetaM.RBV             2025-01-03 09:34:00.190267 7.23416
     > DCM:ThetaM.VAL             2025-01-03 09:34:00.190267 7.23447
     > DCM:ThetaM.RBV             2025-01-03 09:34:00.510337 7.23431
     > DCM:ThetaM.RBV             2025-01-03 09:34:00.840415 7.23441
     > DCM:ThetaM.RBV             2025-01-03 09:34:01.140389 7.23446
     > DCM:ThetaM.RBV             2025-01-03 09:34:01.310255 7.23451
     >
     >
     >
     >
     >
     >
     >
     >
     > On Thu, Jan 2, 2025 at 11:26 AM LiangChih Chiang
    <yehnan174 at gmail.com <mailto:yehnan174 at gmail.com>
     > <mailto:yehnan174 at gmail.com <mailto:yehnan174 at gmail.com>>> wrote:
     >
     >     Hi,
     >
     >      >To explain a little more, it is important that the driver has
     >     completed the first poll cycle for the position and status of
    each
     >     axis before iocInit.
     >      >This is because the motor record looks at those positions
    during
     >     iocInit, and if there are non-zero it uses those values as the
     >     current position.
     >      >You can add the following to your startup script after you
    create
     >     the controller and axes to sleep for 1 second.
     >      >epicsThreadSleep(1.0)
     >
     >     I did add epicsThreadSleep(1.0).
     >
     >     There are 5 motors(axis 1 to 5) connected to the motor
    controller.
     >
     >     After epicsThreadSleep(1.0) added, it seems that the VAL/RBV of
     >     motor records of axis 2 to 5 can be successfully loaded back from
     >     the controller after IOC reboot.
     >     But the behavior of axis 0 (this axis is the most important)
    is strange.
     >
     >     After IOC reboot, the motor record of axis 0 will move.
     >     It seems that the VAL field is set to a new value
     >     and I can't figure out the relationship between the new and
    old values.
     >
     >     The axis 0 is the main axis(Bragg angle) of a double crystal
     >     monochromator,
     >     and it has corresponding pseudo motor to represent the Energy
    of x-
     >     ray beam.
     >
     >
     >
     >
     >
     >
     >
     >
     >
     >     On Wed, Nov 20, 2024 at 11:04 PM Mark Rivers
     >     <rivers at cars.uchicago.edu <mailto:rivers at cars.uchicago.edu>
    <mailto:rivers at cars.uchicago.edu <mailto:rivers at cars.uchicago.edu>>>
    wrote:
     >
     >         To explain a little more, it is important that the driver has
     >         completed the first poll cycle for the position and status of
     >         each axis before iocInit.  This is because the motor record
     >         looks at those positions during iocInit, and if there are
    non-
     >         zero it uses those values as the current position.  You
    can add
     >         the following to your startup script after you create the
     >         controller and axes to sleep for 1 second.
     >
     >         epicsThreadSleep(1.0)
     >
     >         Let us know if this does not fix the problem.
     >
     >         Mark
     >
     >
>  ------------------------------------------------------------------------ 
     >         *From:* Tech-talk <tech-talk-bounces at aps.anl.gov
    <mailto:tech-talk-bounces at aps.anl.gov> <mailto:tech- <mailto:tech->
     > talk-bounces at aps.anl.gov <mailto:talk-bounces at aps.anl.gov>>> on
    behalf of Torsten Bögershausen via
     >         Tech-talk <tech-talk at aps.anl.gov <mailto:tech-
    talk at aps.anl.gov> <mailto:tech-talk at aps.anl.gov <mailto:tech-
    talk at aps.anl.gov>>>
     >         *Sent:* Wednesday, November 20, 2024 5:15 AM
     >         *To:* LiangChih Chiang <yehnan174 at gmail.com
    <mailto:yehnan174 at gmail.com>
     >         <mailto:yehnan174 at gmail.com
    <mailto:yehnan174 at gmail.com>>>; tech-talk at aps.anl.gov <mailto:tech-
    talk at aps.anl.gov>
     >         <mailto:tech-talk at aps.anl.gov <mailto:tech-
    talk at aps.anl.gov>> <tech-talk at aps.anl.gov <mailto:tech-talk at aps.anl.gov>
     >         <mailto:tech-talk at aps.anl.gov <mailto:tech-
    talk at aps.anl.gov>>>
     >         *Subject:* Re: I implemented the Model 3 of EPICS motor
    driver
     >         support, but the VAL and RBV of motor record are zero
    after IOC
     >         reboot.
     >         Hej,
     >
     >         without having seen ypur code, I would speculate that you run
     >         into a not-unknown issue using Model 3 motors, connected via
     >         a serial cable, USB or Ethernet?
     >
     >         The value that the motorRecord needs is read from the driver,
     >         wich must have been able to read it from your hardware.
     >         Here are ESS we have a patched motor, which can handle this.
     >         If you use the upstream version, the easist workaround may be
     >         to add a sleep() after the createController() line in
    your st.cmd
     >
     >         HTH
     >         /Torsten
     >
     >
     >         On 2024-11-20 09:47, LiangChih Chiang via Tech-talk wrote:
     >          > Hello, EPICS mates.
     >          >
     >          > I implemented the Model 3 of EPICS motor driver
    support for
     >         some motor
     >          > controller,
     >          > but the VAL and RBV of the motor record are zero after IOC
     >         reboot.
     >          >
     >          > I think the motor record doesn't restore the values of
    motor
     >         pulse and
     >          > encoder count from the motor controller after IOC reboot.
     >          >
     >          > What member functions of asynMotorController and
     >         asynMotorAxis classes
     >          > should I implement?
     >          >
     >          >
     >          > Best regards.
     >          >
     >
References:
Re: I implemented the Model 3 of EPICS motor driver support, but the VAL and RBV of motor record are zero after IOC reboot. LiangChih Chiang via Tech-talk
Re: I implemented the Model 3 of EPICS motor driver support, but the VAL and RBV of motor record are zero after IOC reboot. LiangChih Chiang via Tech-talk
Re: I implemented the Model 3 of EPICS motor driver support, but the VAL and RBV of motor record are zero after IOC reboot. Torsten Bögershausen via Tech-talk
Re: I implemented the Model 3 of EPICS motor driver support, but the VAL and RBV of motor record are zero after IOC reboot. LiangChih Chiang via Tech-talk
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