Re: Question Regarding HLS/LLS Settings and DIR Values

[Torsten Bögershausen via Tech-talk <tech-talk at aps.anl.gov>]

Hej Zhibang Shen,

everything is working as it should, I think.
There is HLS and LLs, which are in the "User" coordinate system.

See motorRecord.dbd:
        field(HLS,DBF_SHORT) {
                prompt("User High Limit Switch")
                special(SPC_NOMOD)
        }
        field(LLS,DBF_SHORT) {
                prompt("User Low Limit Switch")
                special(SPC_NOMOD)
        }
        field(RHLS,DBF_SHORT) {
                prompt("Raw High Limit Switch")
                special(SPC_NOMOD)
        }
        field(RLLS,DBF_SHORT) {
                prompt("Raw Low Limit Switch")
                special(SPC_NOMOD)
        }


The ones that are not swapped by DIR are RLLS and RHLS
Please let us know, if there are more questions.
/Torsten




On 2025-01-20 14:09, Zhibang Shen via Tech-talk wrote:
> Hi,
>
>
> I am using motor-R7-1.
>
>
> In the motor submodule developed by myself, I check the status of the 
> hard limit switch and directly set motorStatusHighLimit_ and 
> motorStatusLowLimit_.
>
>
>
> // Read the limit status
>
>
> //
>
>
> status = pC_->readReg16(axisNo_+1, LIMIT, &read_val, 
> DEFAULT_CONTROLLER_TIMEOUT);
>
>
> //low limit
>
>
> limit = (read_val & 0x2);
>
>
> setIntegerParam(pC_->motorStatusLowLimit_, limit);
>
>
> //high limit
>
>
> limit = (read_val & 0x1);
>
> setIntegerParam(pC_->motorStatusHighLimit_, limit);
>
>
>
>
> And I find something interesting that when the motor hits the high limit 
> switch, and the DIR is set to Positive, the HLS will be illuminated. And 
> if I switch the DIR to Neg, without moving the motor, the LLS will 
> become 1 and the HLS will be 0.
>
>
> Is the logic intentionally designed this way, or is it because my code 
> is not good enough?
>
>
>
>
>
>
> ------------------------------------------------------------------------
>
> Zhibang Shen
>
> Institute of High Energy Physics, Chinese Academy of Sciences
>
> 19B Yuquan Road, Shijingshan District, Beijing, China
>
> 100049