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Subject: RE: EPICS IOC asynMotorController error
From: Mark Rivers <rivers@cars.uchicago.edu>
To: 'Marissa Elizabeth Kranz' <kranzm@uw.edu>, "Pearson, Matthew R." <pearsonmr@ornl.gov>
Cc: Matt Dentinger <mdentinger43@gmail.com>, "tech-talk@aps.anl.gov list" <tech-talk@aps.anl.gov>
Date: Wed, 22 Mar 2017 18:58:53 +0000

I think you may be confusing software limits and hardware limits. .LLS is the hardware limit switch, so it does not matter what VAL, LLM, and HLM are.

 

Mark

 

 

From: tech-talk-bounces@aps.anl.gov [mailto:tech-talk-bounces@aps.anl.gov] On Behalf Of Marissa Elizabeth Kranz
Sent: Wednesday, March 22, 2017 1:48 PM
To: Pearson, Matthew R.
Cc: Matt Dentinger; tech-talk@aps.anl.gov list
Subject: Re: EPICS IOC asynMotorController error

 

Hello,

Thanks for all the advice with figuring this out. There is definitely a limit issue as the .LLS is set to one so the motor thinks it is at the low limit switch, but VAL is within both limits set in the record: VAL = 46.665 LLM = -10 and HLM = 200. The dial limits match LLM and HLM and DIR is set to positive. Reading through the motor record documentation, I can't see any other fields that could be triggering this limit switch.

CNEN is set to enable with the record reflecting the correct motor type.

 

Thank you again for the help,

Marissa

 

On Wed, Mar 22, 2017 at 7:18 AM, Ron Sluiter <sluiter@aps.anl.gov> wrote:

Hello Marissa,

It might be something as simple as torque to the motor is not enabled; check the EPICS motor record "Enable control" (CNEN) field. It needs to be 1:"Enable" to move the motor.

As I understand it, Mark Clift's Galil EPICS device/driver sends the "move begin failure axis" message if 2.5 seconds after a motion command is issued, motion has not been detected by the driver. That could be caused by a variety of circumstances. Check the displays Mark provides and if that does not yield the answer, you may have to use Galil Suite to query the controller.

Ron




On 03/22/2017 09:00 AM, Pearson, Matthew R. wrote:

Hi,

I’ve not worked with DC motors with that driver (only steppers). However you could check the motor type setting. The PV name might be DMC01:A:A_MTRTYPE_CMD.

Also check the drive enable signal (DMC01:A:A_ON_CMD) which should be “On”

If there’s an issue with limits then either .HLS or .LLS will be set to 1.

Cheers,
Matt


Data Acquisition and Control Engineer
Spallation Neutron Source
Oak Ridge National Lab

On Mar 21, 2017, at 6:55 PM, Marissa Elizabeth Kranz <kranzm@uw.edu> wrote:

Hello,

I am working on a project involving the control of 40 brushed DC motors by the Galil DMC 4080 controller. We have an IOC shell set up with encoder feedback that the motor is tracking (if we move the motor shaft a bit then it corrects itself to the encoder position), but whenever we try to send the motor to a specified position through the motor record's VAL field we receive the following error:

epics> dbpf DMC01:A.VAL 40
DBR_DOUBLE:         40
epics> move begin failure axis A
2017/03/21 15:46:03.777 asynMotorController:writeFloat64 error, status=3 axis=0, function=1, value=888.888889

Has anyone encountered this same error and knows what causes this output?

Thanks so much,
Marissa Kranz

 

 


References:
EPICS IOC asynMotorController error Marissa Elizabeth Kranz
Re: EPICS IOC asynMotorController error Pearson, Matthew R.
Re: EPICS IOC asynMotorController error Ron Sluiter
Re: EPICS IOC asynMotorController error Marissa Elizabeth Kranz

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