Re: EPICS VAL/DVAL garbage value

[Mark Rivers via Tech-talk <tech-talk at aps.anl.gov>]

Hi Baeg,

Your startup script contains this:

TechSetup(1,8,10)

TechConfig(0,"SERIALPORT")

That looks to me like you are writing a "Model 1" driver.  That is an old architecture with many limitations.  I suggest you write a Model 3 driver that derives from asynMotorController and asynMotorAxis.

Mark

---

From: Tech-talk <tech-talk-bounces at aps.anl.gov> on behalf of 백호령 via Tech-talk <tech-talk at aps.anl.gov>
Sent: Thursday, April 24, 2025 12:05 AM
To: tech-talk at aps.anl.gov <tech-talk at aps.anl.gov>
Subject: EPICS VAL/DVAL garbage value

 

Hello, we are currently working on developing a new controller.

We are developing a controller with an integrated controller+driver for simple motor control.

Raspberry Pi, Panasonic PLC, and Autonics' MD5-HD14 drives were connected, and EPICS 3.15.6 and Synaps were installed to create a motor control module.

One problem is that we have to set offset values because DVAL, VAL values are executed with strange non-zero values.

ex)

Name: IOC:m1.RMP

State: Connected Running

Value: VInt[-939441500, 202

Name: IOC:m1.REP

State: Connected Running

Value: VInt[424962560, 2025/04/24 13:51:26.222]

The motor runs well, but I'd like to ask for advice because it's inconvenient to use it this way.

I'm attaching the results of the st.cmd file execution as well. (I don't think there's anything wrong with executing it.)

====================================

 ./st.cmd 

#!../../bin/linux-arm/Tech

cd "/usr/local/epics/iocs/Tech/iocBoot/iocTech"

< envPaths

epicsEnvSet("IOC","iocTech")

epicsEnvSet("TOP","/usr/local/epics/iocs/Tech")

epicsEnvSet("MODULES","/usr/local/epics/modules")

epicsEnvSet("MOTOR","/usr/local/epics/modules/motor")

epicsEnvSet("ASYN","/usr/local/epics/modules/asyn")

epicsEnvSet("CALC","/usr/local/epics/modules/calc")

epicsEnvSet("AUTOSAVE","/usr/local/epics/modules/autosave")

epicsEnvSet("SNCSEQ","/usr/local/epics/modules/seq")

epicsEnvSet("SSCAN","/usr/local/epics/modules/sscan")

epicsEnvSet("IPAC","/usr/local/epics/modules/ipac")

epicsEnvSet("BUSY","/usr/local/epics/modules/busy")

epicsEnvSet("EPICS_BASE","/usr/local/epics/base")

< pvSettings

epicsEnvSet("P","IOC:")

epicsEnvSet("M1","m1")

epicsEnvSet("M2","m2")

epicsEnvSet("M3","m3")

epicsEnvSet("M4","m4")

epicsEnvSet("M5","m5")

epicsEnvSet("M6","m6")

epicsEnvSet("M7","m7")

epicsEnvSet("M8","m8")

cd "/usr/local/epics/iocs/Tech"

## Register all support components

dbLoadDatabase("dbd/Tech.dbd")

Tech_registerRecordDeviceDriver(pdbbase) 

## Serial Configuration

drvAsynSerialPortConfigure("SERIALPORT","/dev/ttyAMA0",0,0,0)

asynSetOption("SERIALPORT",-1,"baud","19200")

asynSetOption("SERIALPORT",-1,"bits","8")

asynSetOption("SERIALPORT",-1,"parity","odd")

asynSetOption("SERIALPORT",-1,"stop","1")

asynSetOption("SERIALPORT",-1,"clocal","Y")

asynSetOption("SERIALPORT",-1,"crtscts","N")

asynOctetSetInputEos("SERIALPORT",0,"\r")

asynOctetSetOutputEos("SERIALPORT",0,"\r")

#asynSetTraceIOMask("SERIALPORT", 0, 2)

#asynSetTraceMask("SERIALPORT", 0, 255)

TechSetup(1,8,10)

TechConfig(0,"SERIALPORT")

## Load record instances

dbLoadRecords "db/motor_record.db","P=IOC:,M=m1,S=0"

dbLoadRecords "db/motor_record.db","P=IOC:,M=m2,S=1"

dbLoadRecords "db/motor_record.db","P=IOC:,M=m3,S=2"

dbLoadRecords "db/motor_record.db","P=IOC:,M=m4,S=3"

dbLoadRecords "db/motor_record.db","P=IOC:,M=m5,S=4"

dbLoadRecords "db/motor_record.db","P=IOC:,M=m6,S=5"

dbLoadRecords "db/motor_record.db","P=IOC:,M=m7,S=6"

dbLoadRecords "db/motor_record.db","P=IOC:,M=m8,S=7"

#dbLoadRecords "db/motorUtil.db","P=$(P)"

# =====================================================================

## Begin: Setup autosave/restore

# =====================================================================

# ============================================================

# If all PVs don't connect continue anyway

# ============================================================

save_restoreSet_IncompleteSetsOk(1)

# ============================================================

# created save/restore backup files with date string

# useful for recovery.

# ============================================================

save_restoreSet_DatedBackupFiles(0)

# ============================================================

# Where to find the list of PVs to save

# ============================================================

set_requestfile_path("./")

# ============================================================

# Where to write the save files that will be used to restore

# ============================================================

set_savefile_path("./", "autosave")

# ============================================================

# Prefix that is use to update save/restore status database

# records

# ============================================================

#save_restoreSet_status_prefix("$(LOCA):$(DEV):")

#save_restoreSet_status_prefix("$(P)")

## Restore datasets

set_pass0_restoreFile("auto_settings.sav")

set_pass1_restoreFile("auto_settings.sav")

# =====================================================================

# End: Setup autosave/restore

# =====================================================================

## Set this to see messages from mySub

#var mySubDebug 1

## Run this to trace the stages of iocInit

#traceIocInit

cd "/usr/local/epics/iocs/Tech/iocBoot/iocTech"

iocInit

Starting iocInit

############################################################################

## EPICS R3.15.6

## EPICS Base built Dec 3 2018

############################################################################

reboot_restore: entry for file 'auto_settings.sav'

reboot_restore: Found filename 'auto_settings.sav' in restoreFileList.

*** restoring from './autosave/auto_settings.sav' at initHookState 6 (before record/device init) ***

reboot_restore: done with file 'auto_settings.sav'

reboot_restore: entry for file 'auto_settings.sav'

reboot_restore: Found filename 'auto_settings.sav' in restoreFileList.

*** restoring from './autosave/auto_settings.sav' at initHookState 7 (after record/device init) ***

reboot_restore: done with file 'auto_settings.sav'

iocRun: All initialization complete

#motorUtilInit("$(P)")

create_monitor_set("auto_settings.req", 30, "P=IOC:,M1=m1,M2=m2,M3=m3,M4=m4,M5=m5,M6=m6,M7=m7,M8=m8")

## Start any sequence programs

#seq sncTech,"user=root"

epics> auto_settings.sav: 304 of 304 PV's connected

epics> 

epics> dbl

IOC:m1_able

IOC:m2_able

IOC:m3_able

IOC:m4_able

IOC:m5_able

IOC:m6_able

IOC:m7_able

IOC:m8_able

IOC:m1_ableput

IOC:m2_ableput

IOC:m3_ableput

IOC:m4_ableput

IOC:m5_ableput

IOC:m6_ableput

IOC:m7_ableput

IOC:m8_ableput

IOC:m1

IOC:m2

IOC:m3

IOC:m4

IOC:m5

IOC:m6

IOC:m7

IOC:m8

IOC:m1_vCh

IOC:m1_twCh

IOC:m2_vCh

IOC:m2_twCh

IOC:m3_vCh

IOC:m3_twCh

IOC:m4_vCh

IOC:m4_twCh

IOC:m5_vCh

IOC:m5_twCh

IOC:m6_vCh

IOC:m6_twCh

IOC:m7_vCh

IOC:m7_twCh

IOC:m8_vCh

IOC:m8_twCh

======================================

Can you guys give me some advice please?

Always Appreciate your helps and advices.

Best and Regards.

Baeg