Re: Re: Question Regarding HLS/LLS Settings and DIR Values

[Zhibang Shen via Tech-talk <tech-talk at aps.anl.gov>]

Hi,

Thank you for your information.

The reason I raise this question is that I would like to use this motor in SPEC. 

If I set the DIR positive, SPEC will throw out a notification that the motor hits the limit switch. But if the DIR is set negative, no warning will be given.

I asked the developer of SPEC, about which kind of limit switch is used for showing the hard limit notification. He mentioned that the limits are related to the dial position. However, according to the available PVs of standard EPICS motor, shown at

https://urldefense.us/v3/__https://certif.com/spec_help/epics.html__;!!G_uCfscf7eWS!eO1OIlekREazv9thMyWvKAYqxPOELmJSbhzvO7JWRlBzBdKyOBaLLoUOwe7aOx1_NDqWoEsaL3KTrYGpnSudWg$ 

, and also your information about the limits. It seems that the raw limit RHLS and RLLS should be used to determine which limit switch has been hit.


Maybe I should ask more about the details from SPEC developer. But I still have one question, could you please tell me whether should I set the RHLS and RLLS by myself in the code or all these have been done automatically by EPICS motor?


Best regards,
Zhibang


> -----原始邮件-----
> 发件人: "Torsten Bögershausen" <tboegi at edom.se>
> 发送时间:2025-01-20 21:40:50 (星期一)
> 收件人: shenzb at ihep.ac.cn, "tech-talk at aps.anl.gov" <tech-talk at aps.anl.gov>
> 主题: [SPAM] Re: Question Regarding HLS/LLS Settings and DIR Values
> 
> 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
> >