Argonne National Laboratory

Experimental Physics and
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<== Date ==> <== Thread ==>

Subject: RE: Coordinated motion with EPICS motor record
From: Mark Rivers <rivers@cars.uchicago.edu>
To: Mark Clift <Mark.Clift@synchrotron.org.au>, "tech-talk@aps.anl.gov" <tech-talk@aps.anl.gov>
Date: Sun, 24 Sep 2017 13:25:02 +0000
Hi Mark,

Thanks for the quick and helpful reply.

Hope things are going well for you.

Mark

________________________________________
From: tech-talk-bounces@aps.anl.gov [tech-talk-bounces@aps.anl.gov] on behalf of Mark Clift [Mark.Clift@synchrotron.org.au]
Sent: Sunday, September 24, 2017 4:28 AM
To: tech-talk@aps.anl.gov
Subject: Coordinated motion with EPICS motor record

Hi Mark,

I hope you are well?

I implemented this API for the Galil 3-0 driver on git.  The structure of the API worked well for the Galil machine too.

We have a Newport XPS controlling the DCM on XAS beamline here.  This project was delivered around April this year.  You kindly provided Pier Valitutti support for this endeavour at the time.

Have a good time at the conference.

Best wishes,

Mark

Dr. Mark Clift
Senior Controls Engineer
Australian Synchrotron
800 Blackburn Road
Clayton 3168
Ph: +613 8540 4264
Fax: +613 8540 4200
Mail: Mark.Clift@Synchrotron.org.au
________________________________________
From: tech-talk-bounces@aps.anl.gov [tech-talk-bounces@aps.anl.gov] on behalf of tech-talk-request@aps.anl.gov [tech-talk-request@aps.anl.gov]
Sent: Sunday, 24 September 2017 03:00
To: tech-talk@aps.anl.gov
Subject: Tech-talk Digest, Vol 11, Issue 347

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Today's Topics:

   1. Control System Engineer Opening at Lawrence Berkeley
      Laboratory (Robert Gunion)
   2. Spurious "Channel write request failed" messages (Michael Ritzert)
   3. Re: Spurious "Channel write request failed" messages (Ralph Lange)
   4. Coordinated motion with EPICS motor record (Mark Rivers)


----------------------------------------------------------------------

Message: 1
Date: Sat, 23 Sep 2017 00:05:24 +0000
From: Robert Gunion <rfgunion@lbl.gov>
To: EPICS mailing list <tech-talk@aps.anl.gov>
Subject: Control System Engineer Opening at Lawrence Berkeley
        Laboratory
Message-ID:
        <CA+EA2h4xjXCXjjztocFHRzrc-9hReHgy55xnY4Pbysd7tD1Jow@mail.gmail.com>
Content-Type: text/plain; charset="utf-8"

Hi all,
We have an opening for a relatively early-career control system engineer at
the Advanced Light Source in Berkeley, California.  Please see
https://lbl.taleo.net/careersection/engineer/jobdetail.ftl?job=83809

Though this is initially a 2-year term appointment, the intent is to roll
it into a career position.

We have lots to do at the ALS, plus we're in the planning stages for ALS-U,
a major upgrade.  Note that ALS-U will also enable additional hiring in the
next several years, including more experienced engineers who may be
overqualified for this particular posting.

If interested parties are at the EPICS/ICALEPCS meeting in Barcelona, look
for me and we'll chat.

Cheers,
Bob Gunion
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Message: 2
Date: Sat, 23 Sep 2017 10:47:20 +0100
From: Michael Ritzert <michael.ritzert@ziti.uni-heidelberg.de>
To: tech-talk@aps.anl.gov
Subject: Spurious "Channel write request failed" messages
Message-ID:
        <735f653b-a514-957b-51a0-23254abdd5f2@ziti.uni-heidelberg.de>
Content-Type: text/plain; charset="utf-8"

Hi all,

since upgrading from 3.14 to 3.16.1, I see the following messages on the console of an IOC:
DB CA Link Exception: channel "dest1"
DB CA Link Exception:  native  T=DBR_DOUBLE, request T=DBR_DOUBLE, native N=1, request N=1,  access rights {RW}
DB CA Link Exception: "Channel write request failed", context "dest1"

This is from a dfanout record that simply pushes a value to another IOC.

However, the write succeeds.

It's totally reproducible with these two DBs run in softIOCs:

sender.db:
record(calc, "count") {
        field(SCAN, "1 second")
        field(VAL, "0")
        field(PINI, "YES")
        field(INPA, "count")
        field(CALC, "A+1")
}

record(dfanout, "send1") {
        field(DOL,  "count CPP")
        field(OMSL, "closed_loop")
        field(OUTA, "dest1")
}

record(dfanout, "send2") {
        field(OMSL, "supervisory")
        field(OUTA, "dest2")
}

receiver.db:
record(ao, "dest1") {
}

record(ao, "dest2") {
}

There's one messages every second about dest1, and one on every write to send2.

Cheers,
Michael
--
Dr. Michael Ritzert                     Tel: +49 621 181 2883
Schaltungstechnik und Simulation        Fax: +49 621 181 2734
Technische Informatik, Uni Heidelberg   michael.ritzert@ziti.uni-heidelberg.de
68131 Mannheim, Germany                 http://sus.ziti.uni-heidelberg.de

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Message: 3
Date: Sat, 23 Sep 2017 13:15:34 +0200
From: Ralph Lange <ralph.lange@gmx.de>
To: EPICS Tech Talk <tech-talk@aps.anl.gov>
Cc: Michael Ritzert <michael.ritzert@ziti.uni-heidelberg.de>
Subject: Re: Spurious "Channel write request failed" messages
Message-ID:
        <CAGJXJ2F7sFMCmTdLMzku5NQzZ6u9orRbx+4E1oRXX51M1n0UHw@mail.gmail.com>
Content-Type: text/plain; charset="utf-8"

Hi Michael,

That erroneous behavior was described in
http://www.aps.anl.gov/epics/core-talk/2017/msg00503.php, and has been
fixed on the 3.16 branch.
Alas, there's no bug in the issue tracker for it, and it is not mentioned
on the "Known Issues" page. We should probably add the latter at least.

Thanks for pointing this out!
~Ralph



On Sat, Sep 23, 2017 at 11:47 AM, Michael Ritzert <
michael.ritzert@ziti.uni-heidelberg.de> wrote:

> Hi all,
>
> since upgrading from 3.14 to 3.16.1, I see the following messages on the
> console of an IOC:
> DB CA Link Exception: channel "dest1"
> DB CA Link Exception:  native  T=DBR_DOUBLE, request T=DBR_DOUBLE, native
> N=1, request N=1,  access rights {RW}
> DB CA Link Exception: "Channel write request failed", context "dest1"
>
> This is from a dfanout record that simply pushes a value to another IOC.
>
> However, the write succeeds.
>
> It's totally reproducible with these two DBs run in softIOCs:
>
> sender.db:
> record(calc, "count") {
>         field(SCAN, "1 second")
>         field(VAL, "0")
>         field(PINI, "YES")
>         field(INPA, "count")
>         field(CALC, "A+1")
> }
>
> record(dfanout, "send1") {
>         field(DOL,  "count CPP")
>         field(OMSL, "closed_loop")
>         field(OUTA, "dest1")
> }
>
> record(dfanout, "send2") {
>         field(OMSL, "supervisory")
>         field(OUTA, "dest2")
> }
>
> receiver.db:
> record(ao, "dest1") {
> }
>
> record(ao, "dest2") {
> }
>
> There's one messages every second about dest1, and one on every write to
> send2.
>
> Cheers,
> Michael
> --
> Dr. Michael Ritzert                     Tel: +49 621 181 2883
> Schaltungstechnik und Simulation        Fax: +49 621 181 2734
> Technische Informatik, Uni Heidelberg   michael.ritzert@ziti.uni-
> heidelberg.de
> 68131 Mannheim, Germany                 http://sus.ziti.uni-heidelberg.de
>
>
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Message: 4
Date: Sat, 23 Sep 2017 14:13:42 +0000
From: Mark Rivers <rivers@cars.uchicago.edu>
To: tech-talk <tech-talk@aps.anl.gov>
Subject: Coordinated motion with EPICS motor record
Message-ID:
        <70AE7462E7AD054C89DCBA45343D499A660BECF9@CARSMAIL2.CARS.APS.ANL.GOV>
Content-Type: text/plain; charset="us-ascii"

Folks,

I am giving a talk at the motion control workshop at ICALEPCS in two weeks titled "Complex coordinated motion in EPICS".  This is about using the ProfileMove API that is supported in the Model 3 motor API in asynMotorController and asynMotorAxis.  This API allows defining complex trajectories in N-space and then executing them.

>From asynMotorController.h
  /* These are the functions for profile moves */
  virtual asynStatus initializeProfile(size_t maxPoints);
  virtual asynStatus buildProfile();
  virtual asynStatus executeProfile();
  virtual asynStatus abortProfile();
  virtual asynStatus readbackProfile();

>From asynMotorAxis.h
  virtual asynStatus initializeProfile(size_t maxPoints);
  virtual asynStatus defineProfile(double *positions, size_t numPoints);
  virtual asynStatus buildProfile();
  virtual asynStatus executeProfile();
  virtual asynStatus abortProfile();
  virtual asynStatus readbackProfile();

I have implemented this API on the Newport XPS controller.  What I would like to know is if other sites have implemented this API for other controllers, and/or if they are using it on the Newport XPS.

Thanks,
Mark


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Coordinated motion with EPICS motor record Mark Clift

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