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Motor now ignores limit switch hit errors when homing
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See comment in src/masterMacsAxis.cpp, line 640ff.
This commit is contained in:
mathis_s
2026-02-11 10:38:22 +01:00
parent 4e3694977d d24d2da50a
commit 41c1dad208
2 changed files with 75 additions and 32 deletions
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2
Makefile
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@@ -9,6 +9,8 @@ ARCH_FILTER=RHEL%
# Specify the version of asynMotor we want to build against # Specify the version of asynMotor we want to build against
motorBase_VERSION=7.2.2 motorBase_VERSION=7.2.2
LIBVERSION=homeerror
# These headers allow to depend on this library for derived drivers. # These headers allow to depend on this library for derived drivers.
HEADERS += src/masterMacsAxis.h HEADERS += src/masterMacsAxis.h
HEADERS += src/masterMacsController.h HEADERS += src/masterMacsController.h

105
src/masterMacsAxis.cpp
View File

@@ -629,42 +629,83 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
} }
/* /*
Either the software limits or the end switches of the controller If the motor is homing or has been homed, ignore limit switch errors.
have been hit. Since the EPICS limits are derived from the software */
limits and are a little bit smaller, these error cases can only int homing = 0;
happen if either the axis has an incremental encoder which is not int homed = 0;
properly homed or if a bug occured. getAxisParamChecked(this, motorStatusHome, &homing);
getAxisParamChecked(this, motorStatusHomed, &homed);
/*
Ignore limit switch errors when homing / motor has been homed or when
the motor is moving.
Background:
MasterMACS controllers move the motor outside the allowed range defined
by the "software limits" defined within the controllers because they
need to hit the physical end switch to determine the motor position. The
motor then rests close to the end switch, which might be outside the
controller-side software limits. This leads to this error, which is then
forwarded to the user even though nothing went wrong. The three checks
are here to prevent this:
- "homing": Is set at the start of a homing maneuver and removed once
the motor does not move anymore => Prevents the error from showing up
during the homing procedure
- "homed": Is set after a homing maneuver has been finished => Prevents
the error from showing up while the motor is resting idle outside the
software limits.
- "moving": Prevents the error from showing up when moving out of the
homing position.
If the motor hits the limits during normal operation, it is stopped by
the controller. Once stopped, moving is false and then the error is
shown to the user (because "homed" is not set).
Note: strictly speaking, it is not necessary to check homing because
moving would be set to true anyway. The check is here for clarity /
being explicit.
*/ */
if (positiveLimitSwitch() || negativeLimitSwitch() || if (!homing && !homed && !(*moving)) {
positiveSoftwareLimit() || negativeSoftwareLimit()) { /*
Either the software limits or the end switches of the controller
have been hit. Since the EPICS limits are derived from the software
limits and are a little bit smaller, these error cases can only
happen if either the axis has an incremental encoder which is not
properly homed or if the motor moved outside the limits while homing
(but in that case, the error is not shown, see previous
if-statement).
*/
if (positiveLimitSwitch() || negativeLimitSwitch() ||
positiveSoftwareLimit() || negativeSoftwareLimit()) {
// Distinction for developers // Distinction for developers
if (positiveLimitSwitch()) { if (positiveLimitSwitch()) {
appendErrorMessage(shellMessage, sizeof(shellMessage), appendErrorMessage(shellMessage, sizeof(shellMessage),
"Positive limit switch."); "Positive limit switch.");
} }
if (negativeLimitSwitch()) { if (negativeLimitSwitch()) {
appendErrorMessage(shellMessage, sizeof(shellMessage), appendErrorMessage(shellMessage, sizeof(shellMessage),
"Negative limit switch."); "Negative limit switch.");
} }
if (positiveSoftwareLimit()) { if (positiveSoftwareLimit()) {
appendErrorMessage(shellMessage, sizeof(shellMessage), appendErrorMessage(shellMessage, sizeof(shellMessage),
"Positive software limit."); "Positive software limit.");
} }
if (negativeSoftwareLimit()) { if (negativeSoftwareLimit()) {
appendErrorMessage(shellMessage, sizeof(shellMessage), appendErrorMessage(shellMessage, sizeof(shellMessage),
"Negative software limit."); "Negative software limit.");
} }
// Generic error message for user // Generic error message for user
appendErrorMessage( appendErrorMessage(
errorMessage, sizeof(errorMessage), errorMessage, sizeof(errorMessage),
"Software limits or end switch hit. Try homing the motor, " "Software limits or end switch hit. Try homing the motor, "
"moving in the opposite direction or check the SPS for " "moving in the opposite direction or check the SPS for "
"errors (if available). Otherwise please call the " "errors (if available). Otherwise please call the "
"support."); "support.");
poll_status = asynError; poll_status = asynError;
}
} }
if (overCurrent()) { if (overCurrent()) {