Mark,
Thanks for the tips. I agree that RTRY = 0 is a sensible setting and
I'll see to the other issues.
John
On 6/28/2011 10:46 AM, Mark Rivers wrote:
Hi John,
I'm glad to hear that setting RTRY=0 makes it work. Since these are all DC servo motors and the XPS is closing the loop, RTRY=0 really is the correct setting.
I see a couple of other problems with your settings. You have the base velocity, VBAS=0.1. The XPS does not support the concept of a base velocity, and using a non-zero value can cause problems.
This because the ACC field in the motor record has units of time. But the value
that gets passed to the driver is in steps/sec/sec calculated as follows:
double vbase = pmr->vbas / fabs(pmr->mres); /* base speed */
double vel = pmr->velo / fabs(pmr->mres); /* normal speed */
double acc = (vel - vbase) / pmr->accl; /* normal accel. */
Thus, the acceleration is affected by VBAS.
In your case pmr->vbas=0.1, pmr->velo=0.3, pmr->mres=4.8828e-05, pmr=>accl=0.2 Thus vbas=2048, vel=6145, and acc = (6145-2048)/.2 = 20485. The units are steps/sec and steps/sec/sec. The driver then converts these back to engineering units (because that's what the XPS understands), by dividing by your scale factor, 20480. Thus, the velocity will be 0.3, and the acceleration will be 1.0 mm/sec/sec. That is probably NOT what you intended, since you set VELO=0.3 and ACCL=0.2, you would have expected 0.3/0.2 = 1.5 mm/sec/sec.
Also, you have NTM=YES. This can lead to problems. If this is YES, and if the motor record detects the motor moving in the "wrong" direction, it will tell the motor to stop. For a stepper motor without encoders this may make sense. But for a DC servo motor it can lead to real problems. If your servo loop is not perfectly tuned the motor may overshoot its destination by a small amount. This should not be a problem, the XPS will quickly correct it back to the desired destination. But if the motor status is updated when the motor is moving in the "wrong" direction, (i.e. correcting the overshoot), the motor record will tell the motor to stop. This prevents the XPS from moving the motor to its final desired position! Thus, you should set the NTM field to NO for DC servo motors like this.
Mark
-----Original Message-----
From: John Dobbins [mailto:[email protected]]
Sent: Tuesday, June 28, 2011 7:38 AM
To: Mark Rivers
Cc: [email protected]
Subject: Re: Newport XPS and Motor record
Mark,
Retry happens to be set to 1 on this stage. Stage info and record info
below.
John
########### From stages.ini ###########
;--- Unit = mm
;--- Configuration_Comment =
;--- Smart stage name
SmartStageName=CMA-25CCCL
;--- Motor driver model parameters
DriverName=XPS-DRV01
DriverPWMFrequency=200;--- kHz
;--- Driver command interface parameters
MotorDriverInterface=AnalogVoltage
ScalingCurrent=3;--- A
CurrentLimit=0.1;--- A
ScalingVoltage=48;--- V
VoltageLimit=48;--- V
;--- Position encoder interface parameters
EncoderType=AquadB
EncoderResolution=0.000048828;--- units
LinearEncoderCorrection=0;--- ppm
Backlash=0;--- units
CurrentVelocityCutOffFrequency=100;--- Hz
CurrentAccelerationCutOffFrequency=100;--- Hz
PositionerMappingFileName=
PositionerMappingLineNumber=
PositionerMappingMaxPositionError=;--- units
;--- Limit sensor input plug parameters
ServitudesType=StandardEORDriverPlug
MinimumTargetPosition=-0.0001;--- units
MaximumTargetPosition=25;--- units
HomePreset=0;--- units
MaximumVelocity=0.4;--- units / s
MaximumAcceleration=1.6;--- units / s²
EmergencyDecelerationMultiplier=4
MinimumJerkTime=0.005;--- s
MaximumJerkTime=0.05;--- s
TrackingCutOffFrequency=25;--- Hz
;--- Home search process parameters
HomeSearchSequenceType=MinusEndOfRunHomeSearch
HomeSearchMaximumVelocity=0.2;--- units / s
HomeSearchMaximumAcceleration=0.8;--- units / s²
HomeSearchTimeOut=253;--- s
;--- Position servo loop type parameters
CorrectorType=PIDDualFFVoltage
ClosedLoopStatus=Closed
FatalFollowingError=1;--- units
KP=5440
KI=130000
KD=41.5
KS=0.8
GKP=0
GKD=0
GKI=0
KForm=0;--- units
IntegrationTime=1E+99;--- s
DerivativeFilterCutOffFrequency=5000;--- Hz
DeadBandThreshold=0;--- units
KFeedForwardVelocity=60
KFeedForwardAcceleration=0.3
KFeedForwardVelocityOpenLoop=60
Friction=0;--- V
NotchFrequency1=0;--- Hz
NotchBandwidth1=0;--- Hz
NotchGain1=0
NotchFrequency2=0;--- Hz
NotchBandwidth2=0;--- Hz
NotchGain2=0
;--- Motion done condition mode parameters
MotionDoneMode=Theoretical
epics> dbpr LGTLTS01_expander 10
ACCL: 0.2 ACKS: NO_ALARM ACKT: YES ASG:
ASP: 0x00000000 ATHM: 0 BACC: 0.2 BDST: 0
BKPT: 0x00 BVEL: 0.1 CARD: -1 CBAK: 0xc0b48c08
CDIR: 0 CNEN: Disable DCOF: 0 DESC: Expander
DHLM: 24.9 DIFF: 1.95311999999668e-04 DINP:CONSTANT
DIR: Pos DISA: 0 DISP: 0 DISS: NO_ALARM
DISV: 1 DLLM: 0 DLY: 0 DMOV: 1
DOL:CONSTANT DPVT: 0xd8b48c08 DRBV: 11.099873928 DSET: 0x40593800
DTYP: asynMotor DVAL: 11.10006924 EGU: mm ERES: 4.8828e-05
EVNT: 0 FLNK:CONSTANT 0 FOF: 0 FOFF: Variable
FRAC: 1 HHSV: NO_ALARM HIGH: 0 HIHI: 0
HLM: 24.9 HLS: 0 HLSV: NO_ALARM HOMF: 0
HOMR: 0 HOPR: 0 HSV: NO_ALARM HVEL: 0.1
ICOF: 0 INIT: JAR: 1.5 JOGF: 0
JOGR: 0 JVEL: 0.3 LCNT: 0 LDVL:
11.10006924
LLM: 0 LLS: 0 LLSV: NO_ALARM LOCK: NO
LOLO: 0 LOPR: 0 LOW: 0 LRLV: 0
LRVL: 227330 LSET: 0x182bb0b7 LSPG: Go LSV: NO_ALARM
LVAL: 11.10006924 LVIO: 0 MIP: 0 MISS: 0
MLIS: 0x68a5940858a6940803000000 MLOK: 0xd0a78608 MMAP: 0
MOVN: 0 MRES: 4.8828e-05 MSTA: 2050
NAME: LGTLTS01_expander NMAP: 0 NSEV: NO_ALARM
NSTA: NO_ALARM NTM: YES NTMF: 2 OFF: 0
OMSL: supervisory OUT:INST_IO @asyn(XPS1,1) PACT: 0
PCOF: 0 PHAS: 0 PINI: NO POST:
PP: 0 PPN: 0x00000000 PPNR: 0x00000000 PREC: 5
PREM: PRIO: LOW PROC: 0 PUTF: 0
RBV: 11.099873928 RCNT: 2 RDBD: 2.0e-04 RDBL:CONSTANT
RDES: 0x10f67b08 RDIF: 4 REP: 227326 RES: 4.8828e-05
RHLS: 0 RINP:CONSTANT RLLS: 0 RLNK:CONSTANT
RLV: 0 RMOD: Default RMP: 227326 RPRO: 0
RRBV: 227326 RRES: 0 RSET: 0x20573800 RTRY: 1
RVAL: 227330 RVEL: 0 S: 30.7200786434013
SBAK: 10.2400262144671 SBAS: 10.2400262144671
SCAN: Passive SDIS:CONSTANT SET: Use SEVR: NO_ALARM
SMAX: 40.9601048578684 SPMG: Go SPVT: 0x00000000
SREV: 200 SSET: 0 STAT: NO_ALARM STOO:CONSTANT
STOP: 0 STUP: OFF SUSE: 0 TDIR: 0
TIME: 2011-06-27 16:30:11.109673000 TPRO: 0 TSE: 0
TSEL:CONSTANT TWF: 0 TWR: 0 TWV: 1
UDF: 0 UEIP: No UREV: 0.0097656 URIP: No
VAL: 11.10006924 VBAS: 0.1 VELO: 0.3 VERS: 6.44
VMAX: 0.4 VOF: 0
On 6/27/2011 6:58 PM, Mark Rivers wrote:
Hi John,
Yes, you are reading that correctly.
The first time the command is sent it times out waiting for a response.
That timeout is normal, because the XPS does not send a response on that
socket until the move completes, and the driver does not wait for that,
it uses a short timeout.
The second time it sends the command it gets a -1 error response. This
error translates as:
Error -1 : Busy socket : previous command not yet finished
The third time it sends the command it get a -22 error response, which
translates as:
Error -22 : Not allowed action
Something is not right!
Here is what I see on my XPS IOC when I turn on the same asynTrace:
ioc13bmd> 2011/06/27 17:48:24.701 164.54.160.83:5001 TCP write 44
GroupMoveAbsolute (GROUP1.POSITIONER,2.1269)
2011/06/27 17:48:24.801 SendAndReceive, sent: 'GroupMoveAbsolute
(GROUP1.POSITIONER,2.1269)'
2011/06/27 17:48:24.801 SendAndReceive, timeout on read
I only see a single GroupMoveAbsolute command sent, not 3.
Do you have a non-zero number of retries (.RTRY) set on the motor? I
wonder if those could be retry attempts, though that does not make
sense, since a retry should not happen until the move completes.
Can you send the output of
dbpr "mymotor",10
Mark
-----Original Message-----
From: John Dobbins [mailto:[email protected]]
Sent: Monday, June 27, 2011 3:40 PM
To: Mark Rivers
Cc: [email protected]
Subject: Re: Newport XPS and Motor record
Mark,
Thanks for the specific suggestions.
The asyTrace output seems to show the move command is sent three times!?
Am I reading this right?
John
epics> 2011/06/27 16:26:49.689 erpxps01:5001 TCP write 52
GroupMoveAbsolute (GROUP2.POSITIONER,11.20009791225)
2011/06/27 16:26:49.790 SendAndReceive, sent: 'GroupMoveAbsolute
(GROUP2.POSITIONER,11.20009791225)'
2011/06/27 16:26:49.790 SendAndReceive, timeout on read
2011/06/27 16:26:49.791 erpxps01:5001 TCP write 52
GroupMoveAbsolute (GROUP2.POSITIONER,11.20009791225)
2011/06/27 16:26:49.791 erpxps01:5001 TCP read 64
-1,GroupMoveAbsolute (GROUP2.POSITIONER,11.20009791225),EndOfAPI
2011/06/27 16:26:49.791 SendAndReceive, sent: 'GroupMoveAbsolute
(GROUP2.POSITIONER,11.20009791225)'
2011/06/27 16:26:49.791 SendAndReceive, read: '-1,GroupMoveAbsolute
(GROUP2.POSITIONER,11.20009791225),EndOfAPI'
2011/06/27 16:26:49.791 erpxps01:5001 TCP write 52
GroupMoveAbsolute (GROUP2.POSITIONER,11.20009791225)
2011/06/27 16:26:49.792 erpxps01:5001 TCP read 65
-22,GroupMoveAbsolute (GROUP2.POSITIONER,11.20009791225),EndOfAPI
2011/06/27 16:26:49.792 SendAndReceive, sent: 'GroupMoveAbsolute
(GROUP2.POSITIONER,11.20009791225)'
2011/06/27 16:26:49.792 SendAndReceive, read: '-22,GroupMoveAbsolute
(GROUP2.POSITIONER,11.20009791225),EndOfAPI'
2011/06/27 16:26:49.792 SendAndReceive unexpected response
=-22,GroupMoveAbsolute (GROUP2.POSITIONER,11.20009791225),EndOfAPI
On 6/27/2011 2:50 PM, Mark Rivers wrote:
Hi John,
If I look in the XPS web interface I don't see any errors reported
there. Should I expect to see them there?
No, you would not see them there. You can use the terminal interface
in
the Web page to translate error numbers into messages, but you won't
see
messages as errors occur.
If the motor is moving normally, but is reporting that error, then I
wonder if perhaps it is being told to move a second time while it is
already moving, for example?
You can do
asynReport
to see the names of all of the asyn IP port drivers connected to this
XPS. There will be several. One is used for status on all axes, and
there is 1 per axis for issuing "move" commands. You can enable trace
debugging on these ports with
asynSetTraceIOMask "port",0,2
asynSetTraceMask "port",0,9
That sets asynTraceIOEscape (to see ASCII messages with escape
sequences) and asynTraceIODriver, to see messages from the asyn IP
driver.
With that level of debugging you should be able to see what commands
are
being sent to the XPS, and which ones are working, and which are
resulting in the error you see.
Send the output of "dbpr myMotor 10" (which will print all the motor
record fields) and the contents of the stage definition file for those
motors, so we can compare maximum velocity, acceleration, limits, etc.
Mark
-----Original Message-----
From: [email protected]
[mailto:[email protected]] On Behalf Of John Dobbins
Sent: Monday, June 27, 2011 1:29 PM
To: [email protected]
Subject: Re: Newport XPS and Motor record
All,
Thanks for the various replies.
If I look in the XPS web interface I don't see any errors reported
there. Should I expect to see them there?
The stages actually move normally. And report statuses that would be
expected, "Ready from Homing", "Reading from Moving", ...
Also I have two different stage types connected and both types produce
this error.
The XPS configuration was generated by the XPS using that option as
available in the web interface. Limits, velocities, ... appear to be
set
correctly. So I can't tell what the XPS is complaining about.
John
On 6/27/2011 11:57 AM, John Hammonds wrote:
I once had a problem that the configured velocity (in the motor
record)
was not allowed by the XPS. It returned the same error code. This
was
a manually configured motor. We had to play around a bit to get the
XPS configuration correct.
John
On 6/27/2011 10:52 AM, Pete Jemian wrote:
John:
What is your configuration in the XPS controller?
Can that have some influence?
Pete
On 06/27/2011 09:51 AM, [email protected] wrote:
Hi,
It could also be that the XPS axis is in the wrong 'state'. I think
it needs to be in 'ready state' (states 10 to 13) to receive move
commands.
I updated the XPS driver recently. So in the next release of the
motor support module the driver should indicate if there is a
problem
(via the motor record MSTA field). So if the axis is in a state
which
means you can't move it then you will be notified by the record
going
into alarm state.
Cheers,
Matthew
-----Original Message-----
From: [email protected] [mailto:tech-talk-
[email protected]] On Behalf Of Mark Rivers
Sent: 27 June 2011 15:17
To: John Dobbins; EPICS Tech-Talk
Subject: RE: Newport XPS and Motor record
Hi John,
If you translate that error code, -22, using ErrorStringGet in the
XPS
Web terminal interface you will get:
0,Error -22 : Not allowed action
So there is something illegal about the request you are making.
Is
it
possible that you are exceeding a soft limit, etc.?
Mark
-----Original Message-----
From: [email protected]
[mailto:[email protected]] On Behalf Of John Dobbins
Sent: Monday, June 27, 2011 8:38 AM
To: EPICS Tech-Talk
Subject: Newport XPS and Motor record
All,
I am using Motor Record R6-4-4 , EPICS R3.14.9, ASYN 4-9 with a
Newport
XPS controller.
When I send a new position to an actuator I get a messages in the
IOC
like this:
epics> 2011/06/24 12:35:35.552 SendAndReceive unexpected
response
=-22,GroupMoveAbsolute (GROUP2.POSITIONER,12.00003072008),EndOfAPI
otherwise everything seems to be working, i.e. motor responds
properly.
Does someone know what this means? The XPS set-up portion of my
st.cmd
script is below.
Regards and Thanks,
John Dobbins
Cornell University
The XPS set-up portion of my st.cmd script:
# cards (total controllers)
XPSSetup(1)
# card, IP, PORT, number of axes, active poll period (ms), idle
poll
period (ms)
XPSConfig(0, "erpxps01", 5001, 3, 10, 500)
# asyn port, driver name, controller index, max. axes)
drvAsynMotorConfigure("XPS1", "motorXPS", 0, 3)
# card, axis, groupName.positionerName, stepsPerUserUnit
# PR50CC rotational stage
XPSConfigAxis(0,0,"GROUP1.POSITIONER",100)
# CMA-12CCCL linear stage
XPSConfigAxis(0,1,"GROUP2.POSITIONER",20480)
# CMA-12CCCL linear stage
XPSConfigAxis(0,2,"GROUP3.POSITIONER",20480)
- References:
- Newport XPS and Motor record John Dobbins
- RE: Newport XPS and Motor record Mark Rivers
- RE: Newport XPS and Motor record matthew.pearson
- Re: Newport XPS and Motor record Pete Jemian
- Re: Newport XPS and Motor record John Hammonds
- Re: Newport XPS and Motor record John Dobbins
- RE: Newport XPS and Motor record Mark Rivers
- Re: Newport XPS and Motor record John Dobbins
- RE: Newport XPS and Motor record Mark Rivers
- Re: Newport XPS and Motor record John Dobbins
- RE: Newport XPS and Motor record Mark Rivers
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