Experimental Physics and
Industrial Control System

Good Afternoon,

I am using EPICS R3.14.12, MOTOR 6-5 and ASYN 4-13 with a Newport XPS-Q8 controller with an XPS-DRV03 card to try and move a RV120HAHL stage.  Because the RV120HAHL stage is not supported by the Newport Controller I have configured the RV120CCHL and adjusted the following parameters and then auto tuned the configuration for the stage.

EncoderResolution = 0.0001 ;--- units

MaximumVelocity = 8 ;--- units / s

MaximumAcceleration = 32 ;--- units / s²

HomeSearchMaximumVelocity = 4 ;--- units / s

HomeSearchMaximumAcceleration = 16 ;--- units / s²

MinimumTargetPosition=1;--- units

MaximumTargetPosition=59;--- units

HomePreset=6;--- units

Here is the information from the .ini file for the stage I have configured.

;RV@RV160CCHL@XPS-DRV03

;--- Unit = deg

;--- Configuration_Comment =

;--- Smart stage name

SmartStageName=

;--- Motor driver model parameters

DriverName=XPS-DRV03

DriverMaximumRMSCurrent=1.98;--- A

DriverRMSIntegrationTime=3;--- s

;--- Driver command interface parameters

MotorDriverInterface=AnalogVoltage

ScalingCurrent=5;--- A

CurrentLimit=3.96;--- A

ScalingVoltage=48;--- V

VoltageLimit=45.56;--- V

;--- Position encoder interface parameters

EncoderType=AquadB

EncoderResolution=0.0001;--- units

LinearEncoderCorrection=0;--- ppm

Backlash=0;--- units

CurrentVelocityCutOffFrequency=100;--- Hz

CurrentAccelerationCutOffFrequency=100;--- Hz

PositionerMappingFileName=

PositionerMappingLineNumber=

PositionerMappingMaxPositionError=;--- units

EncoderIndexOffset=0;--- units

;--- Limit sensor input plug parameters

ServitudesType=StandardEORDriverPlug

MinimumTargetPosition=1;--- units

MaximumTargetPosition=59;--- units

HomePreset=6;--- units

MaximumVelocity=8;--- units / s

MaximumAcceleration=32;--- units / s2

EmergencyDecelerationMultiplier=4

MinimumJerkTime=0.005;--- s

MaximumJerkTime=0.05;--- s

TrackingCutOffFrequency=25;--- Hz

;--- Home search process parameters

HomeSearchSequenceType=MechanicalZeroAndIndexHomeSearch

HomeSearchMaximumVelocity=4;--- units / s

HomeSearchMaximumAcceleration=16;--- units / s2

HomeSearchTimeOut=86;--- s

HomingSensorOffset=0;--- units

;--- Position servo loop type parameters

CorrectorType=PIDDualFFVoltage

ClosedLoopStatus=Closed

FatalFollowingError=1;--- units

KP=36

KI=650

KD=0.279

KS=0.8

GKP=0

GKD=0

GKI=0

KForm=0;--- units

IntegrationTime=1E+99;--- s

DerivativeFilterCutOffFrequency=4000;--- Hz

DeadBandThreshold=0;--- units

KFeedForwardVelocity=1.815

KFeedForwardAcceleration=0.0010378

KFeedForwardVelocityOpenLoop=1.815

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

After rebooting the controller I am able to successfully use the Newport web interface to initialize, home and move the stage.  However when I try and move the stage with the Motor record I am seeing strange behaviour. 

Here is my st.cmd file.

#!./bin/linux-armv5teb/ideasMonoMtr

## You may have to change ideasMonoMtr to something else

## everywhere it appears in this file

#< envPaths

## Register all support components

dbLoadDatabase("./dbd/ideasMonoMtr.dbd",0,0)

ideasMonoMtr_registerRecordDeviceDriver(pdbbase)

## Load record instances

dbLoadRecords("./db/IDEAS_MonoMtr.db")

dbLoadRecords("./db/IDEAS_MonoPseudoMtr.db")

dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=SMTR1608-9-B20-05:")

# cards (total controllers)

XPSSetup(1)

# card, IP, PORT, number of axes, active poll period (ms), idle poll period (ms)

XPSConfig(0, "192.168.0.254", 5001, 1, 10, 5000)

# asyn port, driverType, box number, number of  axes)

drvAsynMotorConfigure("XPS1", "motorXPS", 0, 1)

XPSInterpose("XPS1")

# Turns off the ability of the motor record to change an actuator's position without moving it.

XPSEnableSetPosition(0)

# card,  axis, postioner name, steps per unit

XPSConfigAxis(0,0,"S.Pos",10000)

asynSetTraceMask("XPS1",0,0x9)

#asynSetTraceMask("XPS1",0,255)

asynSetTraceIOMask("XPS1",0,0x2)

#asynSetTraceIOMask("XPS1",0,2)

iocInit()

Here is how my motor record and the XPS_extra records are defined.  In addition I have some additional PV’s defined to calculate the ultimate position of the motor.

record(motor,"SMTR1608-9-B20-05:brag")

{

                field(DESC,"Mono Brag")

                field(DTYP,"asynMotor")

                field(DIR,"Pos")

                field(VELO,"1")

                field(VBAS,".1")

                field(ACCL,".2")

                field(BDST,"0")

                field(BVEL,"1")

                field(BACC,".2")

                field(OUT,"@asyn(XPS1,0)")

                field(MRES,"0.0001")

                field(PREC,"5")

                field(EGU,"degrees")

                field(DHLM,"59")

                field(DLLM,"1")

                field(INIT,"")

                field(RTRY,"0")

                field(TWV,"1")

}

# Database for Newport XPS

grecord(ao,"SMTR1608-9-B20-05:brag:MIN_JERK_TIME") {

    field(DESC,"Min jerk time")

    field(PREC,"3")

    field(VAL,".01")

    field(DTYP, "asynFloat64")

    field(OUT,"@asyn(XPS1,0)MIN_JERK_TIME")

}

grecord(ao,"SMTR1608-9-B20-05:brag:MAX_JERK_TIME") {

    field(DESC,"Max jerk time")

    field(PREC,"3")

    field(VAL,".03")

    field(DTYP, "asynFloat64")

    field(OUT,"@asyn(XPS1,0)MAX_JERK_TIME")

}

grecord(ai,"SMTR1608-9-B20-05:brag:READBACK") {

    field(DESC,"Readback")

    field(PREC,"4")

    field(PINI, "1")

    field(DTYP, "asynFloat64")

    field(SCAN, "I/O Intr")

    field(INP,"@asyn(XPS1,0)MOTOR_POSITION")

}

grecord(ai,"SMTR1608-9-B20-05:brag:XPS_STATUS") {

    field(DESC,"XPS Group Status")

    field(DTYP, "asynInt32")

    field(PINI, "1")

    field(PREC,"0")

    field(SCAN, "I/O Intr")

    field(INP,"@asyn(XPS1,0)XPS_STATUS")

}

I did an asyn trace and after starting up the motor records appears to be passing in the wrong values for the limits.

2013/11/01 14:03:31.880 motorAxisSetDouble[0,0]: error performing PositionerUserTravelLimitsSet for high limit=0.000000, status=-17

2013/11/01 14:03:31.888 drvMotorAsyn::writeFloat64, reason=4, value=0.000000

2013/11/01 14:03:31.895 devMotorAsyn::asynCallback: SMTR1608-9-B20-05:brag pasyn{Float64,Int32}->write returned

2013/11/01 14:03:31.904 motorAxisSetDouble[0,0]: error performing PositionerUserTravelLimitsSet for low limit=0.000000, status=-17

Upon initialization I am pushing in a movement from the home position of 6.000 to 8.54439294393059, however the motor is passing in a value below the low limit for an absolute move and is therefore not moving.

2013/11/01 14:03:36.041 SendAndReceive unexpected response =-17,GroupMoveAbsolute (S.Pos,1.398175069718e-312),EndOfAPI

epics> dbpr SMTR1608-9-B20-05:brag 10

ACCL: 0.2           ACKS: NO_ALARM      ACKT: YES           ADEL: 0

ALST: 0             ASG:                ASP: (nil)          ATHM: 0

BACC: 0.2           BDST: 0             BKPT: 00            BVEL: 1

CARD: -1            CBAK: 0xa0db8       CDIR: 1             CNEN: Disable

DCOF: 0             DESC: Mono Brag     DHLM: 59

DIFF: 2.54329294393059                  DINP:CONSTANT       DIR: Pos

DISA: 0             DISP: 0             DISS: NO_ALARM      DISV: 1

DLLM: 1             DLY: 0              DMOV: 1             DOL:CONSTANT

DPVT: 0xa0dd0       DRBV: 6.0011        DSET: 0x40109680    DTYP: asynMotor

DVAL: 8.54439294393059                  EGU: degrees        ERES: 1.0e-04

EVNT: 0             FLNK:CONSTANT 0     FOF: 0              FOFF: Variable

FRAC: 1             HHSV: NO_ALARM      HIGH: 0             HIHI: 0

HLM: 59             HLS: 0              HLSV: NO_ALARM      HOMF: 0

HOMR: 0             HOPR: 0             HSV: NO_ALARM       HVEL: 0.1

ICOF: 0             INIT:               JAR: 5              JOGF: 0

JOGR: 0             JVEL: 1             LCNT: 0

LDVL: 8.54439294393059                  LLM: 1              LLS: 0

LLSV: NO_ALARM      LOCK: NO            LOLO: 0             LOPR: 0

LOW: 0              LRLV: 0             LRVL: 85444         LSET: 0xa18f8

LSPG: Go            LSV: NO_ALARM       LVAL: 8.54439294393059

LVIO: 0             MDEL: 0             MIP: 0              MISS: 0

MLIS: 00 0d 84 38 00 0d 82 f8 00 00 00 04                   MLOK: 00 09 e1 10

MLST: 0             MMAP: 0             MOVN: 0             MRES: 1.0e-04

MSTA: 2050          NAME: SMTR1608-9-B20-05:brag            NMAP: 0

NSEV: NO_ALARM      NSTA: NO_ALARM      NTM: YES            NTMF: 2

OFF: 0              OMSL: supervisory   OUT:INST_IO @asyn(XPS1,0)

PACT: 0             PCOF: 0             PHAS: 0             PINI: NO

POST:               PP: 0               PPN: (nil)          PPNR: (nil)

PREC: 5             PREM:               PRIO: LOW           PROC: 0

PUTF: 0             RBV: 6.0011         RCNT: 0             RDBD: 1.0e-04

RDBL:CONSTANT       RDES: 0x651d0       RDIF: 25433         REP: 60011

RHLS: 0             RINP:CONSTANT       RLLS: 0             RLNK:CONSTANT

RLV: 0              RMOD: Default       RMP: 60011          RPRO: 0

RRBV: 60011         RRES: 0             RSET: 0x40109488    RTRY: 0

RVAL: 85444         RVEL: 0             S: 50               SBAK: 50

SBAS: 5             SCAN: Passive       SDIS:CONSTANT       SET: Use

SEVR: NO_ALARM      SMAX: 0             SPMG: Go            SPVT: (nil)

SREV: 200           SSET: 0             STAT: NO_ALARM      STOO:CONSTANT

STOP: 0             STUP: OFF           SUSE: 0             SYNC: 0

TDIR: 0             TIME: 2013-11-01 14:04:06.363958000     TPRO: 0

TSE: 0              TSEL:CONSTANT       TWF: 0              TWR: 0

TWV: 1              UDF: 0              UEIP: No            UREV: 0.02

URIP: No            VAL: 8.54439294393059                   VBAS: 0.1

VELO: 1             VERS: 6.5           VMAX: 0             VOF: 0

What is even stranger is that the velocity and acceleration are then set to values much smaller than then should be (e-312)

I am sure I must have something configured incorrectly.  At this point it appears that the problem is associated with something configured incorrectly with the motor record.  I would greatly appreciate any feedback or insight anyone can provide.

Thanks,

Tonia Batten, P.Eng

Control System Analyst

Canadian Light Source

44 Innovation Blvd.

Saskatoon, SK S7N 2V3

Tel:  306-657-3865
Email: [email protected]