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<== Date ==> <== Thread ==>

Subject: RE: Problems configuring 4 IK320 cards
From: <emma.shepherd@diamond.ac.uk>
To: <sluiter@aps.anl.gov>, <Linda.Pratt@diamond.ac.uk>
Cc: tech-talk@aps.anl.gov
Date: Tue, 22 Jun 2010 17:18:37 +0100
Hi Ron,

Apologies - it seems we are already using the latest driver.  I think we
must have done a patch before the official release.  Actually there
isn't a release 2-5 listed on the synApps vme page as far as I can see?
Anyway the drvIK320.c source file we are using has the latest change
history comment dated 2007/03/02.

Thanks,
Emma

> -----Original Message-----
> From: Ron Sluiter [mailto:sluiter@aps.anl.gov]
> Sent: 22 June 2010 16:20
> To: Pratt, Linda (DLSLtd,RAL,DIA)
> Cc: tech-talk@aps.anl.gov; Shepherd, Emma (DLSLtd,RAL,DIA);
> dkline@aps.anl.gov
> Subject: Re: Problems configuring 4 IK320 cards
> 
> Hello Linda,
> 
> I made several changes to the IK320 driver that were released with VME
> module R2-5.
> I suggest you update to VME module R2-5 or replace the copy of
> drvIK320.c in your
> VME R2-4-4 module with the one from R2-5.  After briefly reviewing the
> changes I
> made to the driver, the 2nd option looks doable, but no guarantees..
> 
> There have been no changes to this driver since the above mentioned
> modifications I made
> in late 2006.  We use the IK320 board here (APS) a fair amount without
> problems, so I am
> hopeful that the updated version will resolve the problems you are
> experiencing.  If not, let me
> know.
> 
> Ron
> 
> Linda.Pratt@diamond.ac.uk wrote:
> > We are having problems configuring 4 IK320 cards to read the 4
> readheads
> > from each of 2 Heidenhain RON905 encoders.
> > We have an existing system which does this successfully but we are
> > having difficulty setting up the second one.
> > We seem to be going backwards and would appreciate help diagnosing
> the
> > problem.
> >
> > We are using EPICS 3.14.8.2.
> > We are using the IK320 driver from the vme module in synapps,
release
> > R2-4-4
> >
> > We have not managed to get 4 IK320 cards into 2 groups of 2 to
> > successfully work together with EPICS.
> > Nor do we have them interrupt with updates to the encoder value
> during
> > motion.
> > The system does not seem to be behaving consistently as we make
> changes.
> >
> > In the first configuration, we used the 4 cards in slots 4&5 and 7&8
> > with the dip switches set as they were supplied.
> > The crate also contains an OMS motion control card in slot 6.
> > The crate also contained a Hytec carrier card with 3 ipacs in slot
9.
> >
> > IK320 settings :
> > 0x81/0x81 0x82/0x82 0x83/0x83 0x84/0x84
> >
> > We had the IK32card templates set up correctly, but the group
> templates
> > were set up incorrectly.
> >
> > In this configuration it was possible to read the card encoder
values
> on
> > all 4 cards, but the cards were not interrupting with updates as the
> > axes moved.  The cards were not set on boot.
> >
> > To get the groups set up and to attempt to get the interrupts
> working,
> > we changed the card settings to match the other system we have which
> is
> > working (and rebuilt the database with the new settings).
> >
> > 0xC1/0xC1 0xC2/0xC2 0xA1/0x80 0xA2/0x81
> >
> > This time the card and group templates we used were consistent.
> >
> > Unfortunately this configuration caused clashes in interrupt vector
> with
> > the Hytec cards.
> > We therefore attempted to make changes to avoid this clash.
> >
> > 0xE1/0x80 0xE2/0x81 0xC1/0x82 0xC2/0x83
> >
> > This caused error messages about uninitialized interrupt vector 255,
> > which wisdom on the internet suggests is caused by something writing
> > to the wrong address.
> >
> > Therefore the Hytec card was removed from slot 9 to try to make
> progress
> > and all setup and records for it scrapped from the IOC build and
> > returned to the configuration for the sister system.
> >
> > With
> > 0xC1/0xC1 0xC2/0xC2 0xA1/0x80 0xA2/0x81
> >
> > We got this:
> >
> > drvIK320 starting irq logger...
> >
> > drvIK320: doing POST on 0xc1/0xc1
> >
> > drvIK320: doing POST on 0xc2/0xc2
> >
> > drvIK320: doing POST on 0xa1/0x80
> >
> > filename="../drvIK320.c" line number=1218
> >
> > Timeout!
> >
> > filename="../drvIK320.c" line number=270
> >
> > IK320 board failure.
> >
> > filename="../drvIK320.c" line number=270
> >
> > IK320 board failure.
> >
> >
> > However, suspecting a faulty bit (the 2s bit) in one of the
> dipswitches
> > on the third board we tried this.
> > 0xC1/0xC1 0xC2/0xC2 0xA3/0x83 0xA2/0x81
> >
> > In this configuration POST was successful and boards 2-4 reported
> their
> > encoder values on boot.
> > However board 1 could not be read.
> > The console gave an error message about the card being busy, however
> > many times you tried to do the read.
> >
> > We also tried
> > 0xC1/0x81 0xC2/0x82 0xA3/0x83 0xA2/0x84
> >
> > Finally, we went back to the original configuration and defined the
> > groups appropriately.
> > 0x81/0x81 0x82/0x82 0x83/0x83 0x84/0x84
> >
> > The POST was OK, but card 3 could not be read, still giving the busy
> > message.
> > We decided to try to set up the groups how they should be.
> > 0x81/0x81 0x82/0x82 0xA3/0x83 0xA4/0x84
> >
> > Again POST was OK but card 3 could not be read.
> >
> > We tried swapping cards 3 and 4 to see if card 3 is faulty in some
> way.
> > Card 3 still
> > cannot be read (was card 4).  Card 4 (was card 3) is the only one
> that
> > sets its value on boot. Cards 1 and 2 can have their encoders read.
> > This is evidence against the stuck 2s bit dipswitch theory.
> >
> > Here is an example of the "busy message"
> >
> > BL10I-MO-IOC-01 -> filename="../devIK320.c" line number=1002
> > ik320ReadAi() entering...
> >
> > filename="../devIK320.c" line number=1037
> > ik320ReadAi() sending request (1st phase) failed...
> >
> > filename="../devIK320.c" line number=1058
> > ik320ReadAi() exit (status 4090001).
> >
> > IK320 card busy PV: BL10I-OP-PGM-01:MIR:ENC1:RAW ik320ReadAi()
> >
> > We're struggling to know what to try next.
> >
> > Thanks very much,
> >
> > Linda Pratt
> > Software Systems Engineer
> > Controls Department
> > linda.pratt@diamond.ac.uk
> > +44 (0)1235 778058
> > www.diamond.ac.uk
> > Diamond Light Source Ltd
> > Diamond House
> > Harwell Science and Innovation Campus
> > DIDCOT
> > Oxfordshire
> > OX11 0DE
> > UK
> >
> >


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References:
Problems configuring 4 IK320 cards Linda.Pratt
Re: Problems configuring 4 IK320 cards Ron Sluiter

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