Experimental Physics and
Industrial Control System

"Williams Jr., Ernest L." <[email protected]> · Thu, 8 Aug 2013 16:19:54 -0700

Hi,

Have these changes been applied to SVN repository for the motor module?
I was hoping that we could pull your bug fixes from SVN HEAD

Cheers,
Ernest

-----Original Message-----
From: [email protected] [mailto:[email protected]] On Behalf Of Konrad, Martin
Sent: Thursday, August 08, 2013 7:55 AM
To: [email protected]; [email protected]; [email protected]
Cc: [email protected]
Subject: Re: motor record: continuously update limit switches

Dear MotorRecord maintainers,
you can find my fix for the issue here:

https://github.com/mark0n/motorRecord

The repository also includes patches to eliminate some compiler warnings. Feel free to cherry pick.

Please let me know if you have any concerns regarding the changes I made.

Thanks,

Martin

On 07/29/2013 03:18 PM, Konrad, Martin wrote:
> Hi,
>> I tested the OMS-58 and MSTA does update if the limit is disconnected 
>> and STUP is set to 1.
> Mark, thanks for providing these details. With your information I was 
> able to track the issue further down:
> Even with the "sendMsg = false;" line commented out in the device 
> support, the MSTA field does not show a change in the limit-switch 
> status while the motor is stopped (as far as I can see commenting out 
> this line has no effect on the behavior at all).
>
> Sniffing the TCP connection between the IOC and the motor controller I 
> learned that the issue is caused by the behavior of the motor 
> controller which only transmits some sort of a "limit switch hit while moving"
> status as a response to the TAS (transmit axis data) command. In other
> words: The limit status in this message is not updated while the motor 
> is stopped and triggering STUP is pretty useless (at least regarding 
> the limit switches)...
>
> Nevertheless it is possible to read out the state of the limit inputs 
> with the TLIM (transmit limits) or LIMFNC (input function for limit
> inputs) commands. Here is an example:
> # all limit switches in "ok" position:
>> TAS
> *TAS0000_0100_0000_0001_0000_0000_0000_0000
>>
>> TLIM
> *TLIM110
>>
>> LIMFNC
> *LIMFNC1-R POS LIMIT INPUT       - STATUS ON
> *LIMFNC2-S NEG LIMIT INPUT       - STATUS ON
> *LIMFNC3-T HOME LIMIT INPUT      - STATUS OFF
>
> # negative limit switch pressed (while motor stopped):
>> TAS
> *TAS0000_0100_0000_0001_0000_0000_0000_0000
>>
>> TLIM
> *TLIM100
>>
>> LIMFNC
> *LIMFNC1-R POS LIMIT INPUT       - STATUS ON
> *LIMFNC2-S NEG LIMIT INPUT       - STATUS OFF
> *LIMFNC3-T HOME LIMIT INPUT      - STATUS OFF
>
> As far as I can see the PC6K device support should use one of TLIM or 
> LIMFNC to determine the status of the limit switches. Can anyone of 
> the maintainers confirm that? - I don't want to make changes to the 
> code that do not have a chance to be included into the next version of 
> motor record...
>
> Thanks for your help,
>
> Martin
>
>
>

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System