Experimental Physics and
Industrial Control System

"Rarback, Harvey" <[email protected]> · Mon, 17 Mar 2008 13:19:02 -0700

	Motor record gurus,

This is another one of those difficult-to-reproduce problems I am having with the motor record.

I am using motor driver version 6.22 (with SLAC modifications for RTEMS) on EPICS base 3.14.8.2.  The hardware is an OMS MAXv-8000 motor controller along with Kramert 505F SSI encoder readout.  I have configured the motor record to have backlash correction and multiple retries.  Occasionally when I try to abort a move (sending a 1 to the STOP field), usually near the time of backlash correction or small retry move, the DMOV field does not get set to 1 after the abort.  What I do see is that the ST command gets sent to the motor hardware, the hardware returns status "PDNN", the done bit in the Motor Status (MSTA) field get set and the MOVN field is set to 0.  If the motor status returns "PNNN" it seems to set the DMOV field ok.  The only way I am able to move the motor again is to reboot the IOC to set the DMOV field.

Does anyone know what is happening here?  Is there a less destructive way to recover from this situation (MOVN and DMOV both 0)?

Thanks.

                                 --Harvey Rarback

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System