Experimental Physics and
Industrial Control System

"Pearson, Matthew R." <[email protected]> · Wed, 11 Nov 2015 16:14:38 +0000

Hi Torsten,

It should work with any motor record. Here’s a bash script that should do it:

#/bin/bash
# Assume we are starting from 0 position
PV=BL99:Mot:Sim1
caput -c ${PV}.DLY 5
caput -c ${PV}.VELO 1
caput -c ${PV}.ACCL 1
sleep 1
# Do a move that lasts about 2 seconds
caput ${PV} 1
# Wait for the move to finish so we are in DLY wait
sleep 4
caput ${PV}.STOP 1

The main thing is to wait for MOVN to go to 0, then do a STOP before DMOV goes to 1. Although, you may have problems reproducing it if you have noisy encoders, or the settling time of the motor is long. Try the simulation driver in that case. Here is how I set the simulation driver up in the IOC startup script:

motorSimCreateController("sim1", 6, 0, 0)
motorSimConfigAxis("sim1", 0, 10000000, -10000000, 0, 0)

and here’s the record:

record(motor,"BL99:Mot:Sim1")
{
        field(DESC,"sim")
        field(DTYP,"asynMotor")
        field(DIR,"0")
        field(VELO,"1")
        field(VBAS,"0")
        field(ACCL,"0.1")
        field(BDST,"0")
        field(BVEL,"0")
        field(BACC,"0")
        field(OUT,"@asyn(sim1,0)")
        field(MRES,"0.001")
        field(PREC,"3")
        field(EGU,"mm")
        field(DHLM,"50000")
        field(DLLM,"-50000")
        field(INIT,"")
        field(RTRY,"0")
        field(DLY,"0")   
        field(HVEL,"1")
        field(SREV, "200")
        field(RRES, "0")
        field(TWV, "1.0")
        field(ERES, "0")
        field(JAR, "0")
        field(UEIP, "0")
        field(URIP, "0")        
        field(RDBL, "")         
        field(VMAX, "5")
        field(OFF, "0")
        field(RDBD, "0")
        field(FOFF, "0")
        field(ADEL, "0.5")
        field(MDEL, "0")
        field(NTM, "YES")
        field(HLSV, "MINOR")
        field(SDIS, "BL99:Mot:Sim1:SDIS.VAL") 
        info(autosaveFields_pass0, "DVAL OFF MRES ERES")
        info(autosaveFields, "DIR DHLM DLLM TWV VBAS VELO ACCL BDST BVEL BACC RDBD EGU RTRY UEIP URIP DLY PREC DISA DISP FOFF OFF FRAC OMSL JVEL JAR ADEL MDEL HVEL DESC")
        info(archive, "Monitor, 00:00:01, VAL OFF RBV DMOV MISS MSTA STAT LVIO HLS LLS")
}

Cheers,
Matt

> On Nov 11, 2015, at 10:28 AM, Torsten bögershaus <[email protected]> wrote:
> 
> Hej Matt,
> you say, that the problem could be easy re-produced.
> Is there any chance to send a recipt here ?
> 
> A database ?
> And a shell script which sets all the values...
> (At least DLY is used, what more ?)
> A shell script, or similar, to reproduce ?
> 
> BR
> /Torsten
> 
> 
> Am 11.11.2015 um 16:18 schrieb Pearson, Matthew R. <[email protected]>:
> 
>> 
>> Hi,
>> 
>> There seems to be a problem with issuing a motor record STOP while we are waiting for a DLY settling time to expire. I can lock up the motor record if I issue a STOP after MOVN has gone to zero and before DMOV goes to 1. This only seems to be a problem if there are no further updates from the driver (so we have already stopped moving). It’s easy to reproduce using a simulation driver.
>> 
>> The problem can be cleared by either doing a SPMG cycle (stop, then go), or by setting any field that would cause a driver callback, which causes record processing, like changing CNEN. At the moment, the DLY seems to be repeated after the problem is cleared. So if I have a 5s DLY, I issue a STOP 4s into it, then I clear it by changing CNEN, then DMOV goes to 1 after a further 5s.
>> 
>> I suspect the desired behavior would be to cancel the delayed callbackRequest that implements the DLY, and not wait for it to expire, at least in this case, since we have already stopped moving then the DLY is probably too long anyway. And probably in other cases I suspect we want a put_callback to complete as soon as we issue a STOP, which is what happens when a STOP is done during a normal move. I can have a go at fixing this if that sounds like reasonable behaviour.
>> 
>> This is motor record version 6-8-1.
>> 
>> Cheers,
>> Matt
>> 
>> 
>> Data Acquisition and Control Engineer
>> Spallation Neutron Source
>> Oak Ridge National Lab
>> 
>> 
>> 
>> 
>> 
>> 
> 
> 

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System