Experimental Physics and
Industrial Control System

Mark Rivers <[email protected]> · Thu, 9 Feb 2017 17:22:32 +0000

Hi Caleb,

I understand one point of confusion.  The motor/motorApp/AcsSrc contains files for 2 different drivers:

These files are for the old model 1 driver.
-rw-rw-r-- 1 epics domain users   669 Oct 16  2015 drvMCB4B.h
-rw-rw-r-- 1 epics domain users  9427 Oct 16  2015 devMCB4B.cc
-rw-r--r-- 1 epics domain users 16068 Jan 21 18:27 drvMCB4B.cc

These files are for the new model 3 driver.
-rw-rw-r-- 1 epics domain users  1611 Oct 16  2015 MCB4BDriver.h
-rw-rw-r-- 1 epics domain users 11797 Oct 16  2015 MCB4BDriver.cpp

Your startup script contains these 2 commands:

MCB4BCreateController("MCB4B1", "L0", 4, 100, 5000)
MCB4BSetup(1, 10)
MCB4BConfig(0, "L0")

The first command is OK, that configures the new model 3 controller with 4 axes.

The next 2 commands should be removed from your startup script, they are for the old model 1 driver.

> epics> asynReport 10 L0

That is not the output I wanted to see,  That is a report on the underlying drvAsynSerial port, not the MCB4B motor controller port.  Please send the output of this command:

asynReport 10 MCB4B1

Also send the output of

dbpr Enge:m1 10

and the contents of motor.substitutions.mcb4b

Mark

________________________________
From: Caleb Marshall [[email protected]]
Sent: Thursday, February 09, 2017 8:55 AM
To: Mark Rivers
Cc: [email protected]
Subject: Re: MCB-4B Motor WriteInt32 Errors

Here is the ioc boot:

#!../../bin/linux-x86_64/WithAsyn
#errlogInit(5000)
< envPaths
epicsEnvSet("ARCH","linux-x86_64")
epicsEnvSet("IOC","iocWithAsyn")
epicsEnvSet("TOP","/home/caleb/engemotor")
epicsEnvSet("SUPPORT","/home/caleb/epics/synApps/support")
epicsEnvSet("ASYN","/home/caleb/epics/synApps/support/asyn-4-26")
epicsEnvSet("SNCSEQ","/home/caleb/epics/synApps/support/seq-2-2-1")
epicsEnvSet("BUSY","/home/caleb/epics/synApps/support/busy-1-6-1")
epicsEnvSet("EPICS_BASE","/home/caleb/epics/base")
epicsEnvSet("IPAC","/home/caleb/epics/synApps/support/ipac-2-13")
epicsEnvSet("MOTOR","/home/caleb/engemotor")
# Tell EPICS all about the record types, device-support modules, drivers,
# etc. in this build from CARS
dbLoadDatabase("../../dbd/WithAsyn.dbd")
dbLoadDatabase("../../dbd/devAcsMotor.dbd")
WithAsyn_registerRecordDeviceDriver(pdbbase)
drvAsynSerialPortConfigure("L0", "/dev/ttyUSB0",0,0,0)
asynOctetSetInputEos("L0",0,"\r")
asynOctetSetOutputEos("L0",0,"\r")
asynSetOption("L0",0,"baud","9600")
asynSetOption("L0",0,"bits","8")
asynSetOption("L0",0,"parity","none")
asynSetOption("L0",0,"stop","1")
asynSetOption("L0",0,"clocal","Y")
asynSetOption("L0",0,"crtscts","N")
# asynSetTraceIOMask("L0", 0, 0x2)
# asynSetTraceMask("L0", 0, 0x9)
### Motors
dbLoadTemplate "motor.substitutions.mcb4b"
dbLoadRecords("/home/caleb/epics/synApps/support/asyn-4-26/db/asynRecord.db","P=Enge:,R=L0,PORT=L0,ADDR=0,OMAX=100,IMAX=100")
#Our Control System
MCB4BCreateController("MCB4B1", "L0", 4, 100, 5000)
MCB4BSetup(1, 10)
MCB4BConfig(0, "L0")
iocInit
Starting iocInit
############################################################################
## EPICS R3.15.2 $Date: Thu 2015-05-14 14:09:28 +0200$
## EPICS Base built Sep 11 2015
############################################################################

iocRun: All initialization complete
# This IOC does not use save/restore, so set values of some PVs
dbpf("Enge:m1.TWV", "0.1")
DBR_DOUBLE:         0.1
dbpf("Enge:m2.RTRY", "0")
DBR_SHORT:          0         0x0
dbpf("Enge:m2.TWV", "0.1")
DBR_DOUBLE:         0.1
dbpf("Enge:m3.RTRY", "0")
DBR_SHORT:          0         0x0
dbpf("Enge:m3.TWV", "0.1")
DBR_DOUBLE:         0.1
dbpf("Enge:m4.RTRY", "0")
DBR_SHORT:          0         0x0
dbpf("Enge:m4.TWV", "0.1")
DBR_DOUBLE:         0.1

And here is the command output:

epics> asynReport 10 L0
L0 multiDevice:No canBlock:Yes autoConnect:Yes
    enabled:Yes connected:Yes numberConnects 1
    nDevices 0 nQueued 0 blocked:No
    asynManagerLock:No synchronousLock:Yes
    exceptionActive:No exceptionUsers 2 exceptionNotifys 0
    traceMask:0x1 traceIOMask:0x0 traceInfoMask:0x1
    interposeInterfaceList
        asynOctet pinterface 0x7f3a55f83560 drvPvt 0x1e8dde0
    interfaceList
        asynCommon pinterface 0x7f3a55f807d0 drvPvt 0x1e8ae70
        asynOption pinterface 0x7f3a55f807f0 drvPvt 0x1e8ae70
        asynOctet pinterface 0x7f3a55f82d00 drvPvt 0x1e8ae70
Serial line /dev/ttyUSB0: Connected
                    fd: 4
    Characters written: 585
       Characters read: 195

-Caleb

On Wed, Feb 8, 2017 at 12:38 PM, Mark Rivers <[email protected]<mailto:[email protected]>> wrote:
Please send the following:

- Complete output when the IOC boots and runs for 10 seconds or so after iocInit.

- Output of the command
  asynReport 10 myPort
where myPort is the name you assigned to the motor controller port you created.

Mark

Sent from my iPhone

> On Feb 8, 2017, at 7:28 AM, Caleb Marshall <[email protected]<mailto:[email protected]>> wrote:
>
> Hello all,
>
> I have been trying to develop a stepper motor control system using the Base release R3.15.2 and SynApps_5_8. I have followed the documentation in the motor record to setup the IOC for the MCB-4B controller board. Using the IO traces I can tell that communication with the board is happening (there is a constant polling of position and responses from the board, etc.), but whenever I try to change a value for a motion field I get the following:
>
> 2017/02/08 10:53:40.203 devMotorAsyn::asynCallback: Enge:m1 pasyn{Float64,Int32}->write returned
> 2017/02/08 10:53:40.203 asynMotorController:writeInt32 error, status=3 axis=0, function=4, value=0
> 2017/02/08 10:53:40.203 devMotorAsyn::asynCallback: Enge:m1 pasyn{Float64,Int32}->write returned
>
> And the move command is never sent. I can update fields that do not require communication with the board however.
>
> Any ideas what could be going wrong?
>
> -Caleb Marshall
> NCSU/TUNL
>

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System