Hi,
I'm using two hard motor records and two soft motor records in a
multi-axis configuration with some nasty non-linear coordinate transform
in between. From time to time my soft motor records get stuck in a weird
state:
-The record, the DINP fields of the soft records point to, has VAL=1.
-The MSTA field says the soft motor is done (MSTA=2).
-Nevertheless DMOV is off for both soft records.
-Neither sending a new position nor STOPing the soft motor works. The
only way I'm able to move the motor again is to restart the IOC to set
the DMOV field.
As far as I understand the Motor Record documentation DMOV should be the
same as the "done" bit in MSTA.
It somehow sounds similar to this issue:
http://www.aps.anl.gov/epics/tech-talk/2008/msg00238.php Unfortunately
it seems to be difficult to reproduce this issue :-(
Any ideas how this can happen?
Martin
P.S.: I'm using MotorRecord R6-8. See the attached file for the complete
output of dbpr. The full sources of the IOC can be found here:
https://github.com/mark0n/stripperFoilPlatterTestbed
ACCL: 0.2 ACKS: NO_ALARM ACKT: YES ADEL: 0
ALST: 0 ASG: ASP: (nil) ATHM: 0
BACC: 0.5 BDST: 0 BKPT: 00 BVEL: 0
CARD: -1 CBAK: 0x6e1ea0 CDIR: 0 CNEN: Disable
DCOF: 0 DESC: DHLM: 0
DIFF: -0.43561908350066 DINP:DB_LINK test:doneMoving_ NPP NMS
DIR: Pos DISA: 0 DISP: 0 DISS: NO_ALARM
DISV: 1 DLLM: 0 DLY: 0 DMOV: 0
DOL:CONSTANT DPVT: 0x6df9f0 DRBV: 13.076 DSET: 0x7ffff7310e40
DTYP: Soft Channel DVAL: 13.076 EGU: in ERES: 1.0e-03
EVNT: 0 FLNK:CONSTANT 0 FOF: 0 FOFF: Variable
FRAC: 1 HHSV: NO_ALARM HIGH: 0 HIHI: 0
HLM: 0 HLS: 0 HLSV: NO_ALARM HOMF: 0
HOMR: 0 HOPR: 0 HSV: NO_ALARM HVEL: 0
ICOF: 0 INIT: JAR: 0 JOGF: 0
JOGR: 0 JVEL: 0 LCNT: 0 LDVL: 13.076
LLM: 0 LLS: 0 LLSV: NO_ALARM LOCK: YES
LOLO: 0 LOPR: 0 LOW: 0 LRLV: 0
LRVL: 13076 LSET: 0x6e03c0 LSPG: Go LSV: NO_ALARM
LVAL: 13.076 LVIO: 0 MDEL: 0 MIP: 512
MISS: 0
MLIS: 20 23 03 d0 ff 7f 00 00 e0 1c 03 d0 ff 7f 00 00 03 00 00 00
MLOK: f0 b0 6d 00 00 00 00 00 MLST: 0 MMAP: 0
MOVN: 0 MRES: 1.0e-03 MSTA: 2 NAME: test:motorRad
NMAP: 0 NSEV: NO_ALARM NSTA: NO_ALARM NTM: NO
NTMF: 2 OFF: 0 OMSL: supervisory
OUT:DB_LINK test:fwdRad_ PP NMS PACT: 0 PCOF: 0
PHAS: 0 PINI: NO POST: PP: 0
PPN: (nil) PPNR: 0x7fff94034550 PREC: 2
PREM: PRIO: LOW PROC: 0 PUTF: 1
RBV: 13.076 RCNT: 0 RDBD: 0.01
RDBL:DB_LINK test:rdPosPolar_.VALA NPP MS RDES: 0x69c270
RDIF: -436 REP: 0 RHLS: 0 RINP:CONSTANT
RLLS: 0 RLNK:CONSTANT RLV: 0 RMOD: Default
RMP: 13076 RPRO: 1 RRBV: 13076 RRES: 1
RSET: 0x7ffff7bd2380 RTRY: 0 RVAL: 13076
RVEL: 0 S: 0 SBAK: 0 SBAS: 0
SCAN: Passive SDIS:CONSTANT SET: Use SEVR: NO_ALARM
SMAX: 0 SPMG: Go SPVT: (nil) SREV: 200
SSET: 0 STAT: NO_ALARM
STOO:DB_LINK test:stopPistonMotors_.PROC NPP NMS STOP: 0
STUP: OFF SUSE: 0 SYNC: 0 TDIR: 0
TIME: 2013-08-27 15:40:35.867431154 TPRO: 0 TSE: 0
TSEL:CONSTANT TWF: 0 TWR: 0 TWV: 0.1
UDF: 0 UEIP: No UREV: 0.2 URIP: Yes
VAL: 12.64 VBAS: 0 VELO: 0 VERS: 6.8
VMAX: 0 VOF: 0
record(motor, "$(PREFIX):motorRad") {
field(DTYP, "Soft Channel")
field(OUT, "$(PREFIX):fwdRad_ PP")
field(RDBL, "$(PREFIX):rdPosPolar_.VALA NPP MS")
field(RRES, "1")
field(URIP, "Yes")
field(PREC, "2")
field(EGU, "in")
field(RDBD, "0.01")
field(TWV, "0.1")
field(STOO, "$(PREFIX):stopPistonMotors_.PROC")
field(MRES, "0.001")
field(RTRY, "0")
field(DINP, "$(PREFIX):doneMoving_")
field(LOCK, "YES")
field(NTM, "NO")
}
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