Okay so in the original poll function the readback is set before the
status. So I changed the order. Unfortunately this did not produce
better results. I then placed in a delay before the readback when the
DMOV goes from 0 to 1. The behavior persists.
SMOTOR:AXIS:1 2016-06-29 17:04:30.658694 30
SMOTOR:AXIS:1.DMOV 2016-06-29 17:04:30.658894 1
SMOTOR:AXIS:1.RBV 2016-06-29 17:04:31.135564 25.0821
SMOTOR:AXIS:1.DMOV 2016-06-29 17:04:31.135564 0
SMOTOR:AXIS:1.RBV 2016-06-29 17:04:33.578796 26.3076
SMOTOR:AXIS:1.RBV 2016-06-29 17:04:36.021029 27.529
SMOTOR:AXIS:1.RBV 2016-06-29 17:04:38.463166 28.7494
SMOTOR:AXIS:1.RBV 2016-06-29 17:04:40.903696 29.9656
SMOTOR:AXIS:1 2016-06-29 17:04:43.142160 29.9656
SMOTOR:AXIS:1.DMOV 2016-06-29 17:04:43.142160 1
SMOTOR:AXIS:1.RBV 2016-06-29 17:04:45.823197 29.9996
You can see that the last readback updates a few seconds after the DMOV
goes high, but the setpoint still is changed to the readback. This
happened under single motion with 0 retries.
The delay works as follows, prevDone is a field of the axis class, done
is a local variable
if(done && !prevDone_ ){
prevDone_ = done;
goto skip;
}
prevDone_ = done;
pollPosition();
....
skip:
callParamCallbacks()
Jacob
On 6/29/2016 2:21 PM, Mark Rivers wrote:
So this problem really has nothing to do with deferred moves. The same undesired behavior is seen when using a normal move if retries is 0.
Does the controller ever report that the position is equal to the requested position, or is it always off by that small amount, i.e. after a move is complete and the motor is reporting its position at the slow poll rate?
In your poller are you reading the position before or after you read the done moving status? If you are reading it before then perhaps that is the problem? What if you read the position after the done moving status? Perhaps even add a small delay when you detect that a move has just completed before reading the position. I have done that in some of my drivers in the past.
Mark
-----Original Message-----
From: Jacob DeFilippis [mailto:[email protected]]
Sent: Wednesday, June 29, 2016 3:15 PM
To: Mark Rivers; 'Ron Sluiter'
Cc: [email protected]
Subject: Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion
@Ron
Version 6.9
@Mark
This is not necessarily the case for example, this is a single move with
a non-zero number of retries
SMOTOR:AXIS:1.DMOV 2016-06-29 13:10:48.487763 1
SMOTOR:AXIS:1.VAL 2016-06-29 13:10:48.487763 19.9926
SMOTOR:AXIS:1.RBV 2016-06-29 13:10:48.487763 19.9936
SMOTOR:AXIS:1.DMOV 2016-06-29 13:10:48.487763 0
SMOTOR:AXIS:1.VAL 2016-06-29 13:10:55.927566 25
SMOTOR:AXIS:1.RBV 2016-06-29 13:10:57.765592 20.0858
SMOTOR:AXIS:1.RBV 2016-06-29 13:10:59.962699 21.1839
SMOTOR:AXIS:1.RBV 2016-06-29 13:11:02.159951 22.283
SMOTOR:AXIS:1.RBV 2016-06-29 13:11:04.357444 23.382
SMOTOR:AXIS:1.RBV 2016-06-29 13:11:06.555026 24.4807
SMOTOR:AXIS:1.RBV 2016-06-29 13:11:08.753050 24.9996
SMOTOR:AXIS:1.RBV 2016-06-29 13:11:13.147318 24.9993
SMOTOR:AXIS:1.DMOV 2016-06-29 13:11:23.890093 1
/*no setpoint change*/
But a single move with a zero number of retries
SMOTOR:AXIS:1.DMOV 2016-06-29 13:11:24.378107 1
SMOTOR:AXIS:1.VAL 2016-06-29 13:11:24.378107 25
SMOTOR:AXIS:1.RBV 2016-06-29 13:11:24.378107 24.9993
SMOTOR:AXIS:1.DMOV 2016-06-29 13:11:24.378107 0
SMOTOR:AXIS:1.VAL 2016-06-29 13:12:26.321196 30
SMOTOR:AXIS:1.DMOV 2016-06-29 13:12:26.321564 1
SMOTOR:AXIS:1.RBV 2016-06-29 13:12:26.795562 25.0862
SMOTOR:AXIS:1.DMOV 2016-06-29 13:12:26.795562 0
SMOTOR:AXIS:1.RBV 2016-06-29 13:12:28.992570 26.1841
SMOTOR:AXIS:1.RBV 2016-06-29 13:12:31.190003 27.2832
SMOTOR:AXIS:1.RBV 2016-06-29 13:12:33.387377 28.3824
SMOTOR:AXIS:1.RBV 2016-06-29 13:12:35.584989 29.4812
SMOTOR:AXIS:1.RBV 2016-06-29 13:12:37.782270 29.9996
SMOTOR:AXIS:1.VAL 2016-06-29 13:12:37.782270 29.9996 <-
setpoint change
SMOTOR:AXIS:1.DMOV 2016-06-29 13:12:37.782270 1
Unfortunately setting a non-zero retry does not help when it comes to
deferred motion. I should mention at this point I have been using a work
around which stops this behavior. If the OMSL field is set to
closed_loop this behavior does not show. This field is unrelated to
motion,but it will avoid the branch of logic that is executed in the
motor record.
I am not using an encoder the controller reports back step counts, those
are then translated via MRES (UEIP = No). I think the controller is
moving to the correct position and the setpoint is within the resolution
of the motor. Ultimately the EPICs side should trust the controller
with is special synchronized motion algorithm.
On 6/29/2016 12:39 PM, Mark Rivers wrote:
I think the motor record does always sets the VAL field to match the RBV field when motion completes. This is true regardless of whether you are using deferred moves or not.
What happens if you do the same camonitor on a normal move of this axis, not a deferred move?
Why your controller is saying that the position is 3.993 and that the move is complete, when it was told to go to 4.000? Does this motor have an encoder? Are you using the encoder for readback, i.e. what is the value of the UEIP field?
Mark
-----Original Message-----
From: [email protected] [mailto:[email protected]] On Behalf Of Ron Sluiter
Sent: Wednesday, June 29, 2016 2:23 PM
To: Jacob DeFilippis
Cc: [email protected]
Subject: Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion
Hello Jacob,
What version (VERS field) of the motor record are you using?
The folks at Diamond are the experts in the use of the motor record
deferred move function. I defer to them on this topic.
Ron
On 6/29/2016 1:32 PM, Jacob DeFilippis wrote:
Hello,
I am working on implementing a multiple axis synchronized motion
using the motor module's asynController base class (model 3). The move
function is set up such that it stores the .VAL to variables inside
the physical controller when the deferredMove flag is 1, and when
there is a transition from 1-> 0 on the flag I issue the controller
command that moves the motors synchronously to the commanded target.
My problem is when the move completes the .VAL field is set to the
.RBV field. This happens when the .DMOV is returned to 1. I tracked
down the cause, which is found in motorRecord.cc in function
postProcess(motorRecord * pmr) line 762 (In the github repo). It
executes "pmr->val = pmr->rbv" . I am unsure why this postprocess is
occurring. Is there anything extra I should implement in my function
that issues synchronized motion? or possibly something extra in the
polling function. Is this because the RTRY field is set to 0?
An example of the bad behavior:
SMOTOR:AXIS:1.VAL 2016-06-29 11:05:24.259733 4
SMOTOR:AXIS:1.DMOV 2016-06-29 11:05:24.474977 1
SMOTOR:AXIS:1.RBV 2016-06-29 11:05:27.892752 3.0181
SMOTOR:AXIS:1.DMOV 2016-06-29 11:05:27.892752 0
SMOTOR:AXIS:1.RBV 2016-06-29 11:05:30.090092 3.4665
SMOTOR:AXIS:1.RBV 2016-06-29 11:05:32.287451 3.9155
SMOTOR:AXIS:1.RBV 2016-06-29 11:05:34.484984 3.9993
SMOTOR:AXIS:1.VAL 2016-06-29 11:05:34.484984 3.9993
<--My problem
SMOTOR:AXIS:1.DMOV 2016-06-29 11:05:34.484984 1
My motor record
record(motor, "$(P):$(M):$(ADDR)") {
field(SCAN, "Passive")
field(DTYP, "asynMotor")
field(DISS, "NO_ALARM")
field(DIR, "$(DIR)")
field(VELO, "$(VELO)")
field(VBAS, "$(VBAS)")
field(VMAX, "$(VMAX)")
field(URIP, "No")
field(PREC, "4")
field(EGU, "mm")
field(MRES, "$(MRES)")
field(OUT, "@asyn($(PORT),$(ADDR))")
field(TWV, ".1")
field(ASG, "MC_MAINT")
field(FOFF, "Frozen")
field(PRIO, "HIGH")
field(OMSL, "closed_loop")
field(RTRY, "0")
}
My function that triggers synchronized motion
asynStatus Axis::processDeferredMoves()
{
asynStatus status;
/*resets controller flag*/
status = resetFlags();
if(status) goto skip;
/*sends command to start synchronized motion*/
sprintf(pC_->outString_,GOSYNC);
status = pC_->writeController();
skip:
setIntegerParam(pC_->motorStatusDone_, 0);
setIntegerParam(pC_->motorStatusCommsError_, status ? 1:0);
callParamCallbacks();
pC_->wakeupPoller();
return asynSuccess;
}
Thanks in advance,
Jacob
- Replies:
- Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Torsten Bögershausen
- RE: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Mark Rivers
- References:
- Motor Module, Deferred Movement, .VAL field set to .RBV after motion Jacob DeFilippis
- Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Ron Sluiter
- RE: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Mark Rivers
- Re: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Jacob DeFilippis
- RE: Motor Module, Deferred Movement, .VAL field set to .RBV after motion Mark Rivers
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