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- UEIP can only be set true if the device/driver has set the MSTA EA_PRESENT indicator true.

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- UEIP and URIP are mutually exclusive.
- RDBL sets RRBV rather than DRBV.
This commit is contained in:
Ron Sluiter
2015-03-13 20:29:07 +00:00
parent fc2b02582e
commit 30d47b772d
4 changed files with 91 additions and 52 deletions
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README
+27 -3
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@@ -144,12 +144,36 @@ Known Problems
- Tapping the Jog button can cause the motor to move past the
soft-travel limit when backlash is nonzero.
Modification Log for R6-9
=========================
Modification Log for R6-10
==========================
1) Alexander Aulin Söderqvist (Cosylab) reported illogical motor record FLNK
processing. Corrected FLNK processing so that recGblFwdLink() is only
called on a False to True transition of DMOV.
called on a False to True transition of DMOV. Added "Last Done Moving
Value" field (LDMV) to the database definition.
Files modified: motorApp/MotorSrc/motorRecord.cc
motorApp/MotorSrc/motorRecord.dbd
2) Fix for OMS controllers not have the correct deceleration rate at the end
of a JOG. Bug introduced with item #9 under R6-6.
File modified: OmsSrc/devOmsCom.cc
3) - If the user request UEIP be set true and the MSTA's EA_PRESENT indicator
is off, then special() denies the request and sets UEIP false. In other
words, UEIP can only be set true if the device/driver has set the
"Encoder is Present" MSTA indicator true. Replaced six occurrences of
logic that tested both UEIP and EA_PRESENT with just UEIP.
- UEIP and URIP are mutually exclusive. For example, if the user request
UEIP be set true when URIP is also true, then the special() function
will set URIP off and vice versa. Added the special attribute to URIP.
- If URIP is true and the RDBL link points to a valid DBR_DOUBLE, then the
value pointed to by RDBL will be multiplied by RRES, divided by MRES
and stored in RRBV. This fixes a problem with all previous releases
where RRBV was inconsistent with DRBV when URIP was true.
Files modified: motorApp/MotorSrc/motorRecord.cc
motorApp/MotorSrc/motorRecord.dbd
documentation/MotorRec2015.pptx
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motorApp/MotorSrc/motorRecord.cc
+63 -49
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@@ -185,6 +185,8 @@ HeadURL: $URL$
* command errors.
* .71 02-25-15 rls - Fix for excessive motor record forward link processing.
*
* .72 03-13-15 rls - Changed RDBL to set RRBV rather than DRBV.
*
*/
#define VERSION 6.10
@@ -706,8 +708,7 @@ LOGIC:
...
ELSE IF done stopping after jog, OR, done with move.
IF |backlash distance| > |motor resolution|.
IF Retry enabled, AND, [(encoder present, AND, use encoder true),
OR, use readback link true]
IF Retry enabled, AND, [use encoder true, OR, use readback link true]
Set relative positioning indicator true.
ELSE
Set relative positioning indicator false.
@@ -723,8 +724,7 @@ LOGIC:
...
ELSE IF done with 1st phase take out backlash after jog.
Calculate backlash velocity, base velocity, backlash accel. and backlash position.
IF Retry enabled, AND, [(encoder present, AND, use encoder true),
OR, use readback link true]
IF Retry enabled, AND, [use encoder true, OR, use readback link true]
Set relative positioning indicator true.
ELSE
Set relative positioning indicator false.
@@ -847,7 +847,7 @@ static long postProcess(motorRecord * pmr)
/* Use if encoder or ReadbackLink is in use. */
msta.All = pmr->msta;
bool use_rel = (pmr->rtry != 0 && pmr->rmod != motorRMOD_I && ((msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip));
bool use_rel = (pmr->rtry != 0 && pmr->rmod != motorRMOD_I && (pmr->ueip || pmr->urip));
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
@@ -917,7 +917,7 @@ static long postProcess(motorRecord * pmr)
/* Use if encoder or ReadbackLink is in use. */
msta.All = pmr->msta;
bool use_rel = (pmr->rtry != 0 && pmr->rmod != motorRMOD_I && ((msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip));
bool use_rel = (pmr->rtry != 0 && pmr->rmod != motorRMOD_I && (pmr->ueip || pmr->urip));
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
@@ -1120,7 +1120,9 @@ LOGIC:
Call postProcess().
ENDIF
ENDIF
IF the Done Moving field (DMOV) is TRUE.
IF a limit switch is activated, OR, a load-position command is in progress (MIP = MIP_LOAD_P)
Set MIP to DONE and MARK it.
ELSE
Initialize delay ticks.
IF process delay acknowledged is true, OR, ticks <= 0.
Clear process delay request and ack. indicators in MIP field.
@@ -1306,8 +1308,12 @@ static long process(dbCommon *arg)
status = postProcess(pmr);
}
/* Are we "close enough" to desired position? */
if (pmr->dmov == TRUE && !(pmr->rhls || pmr->rlls))
if ((pmr->rhls || pmr->rlls) || (pmr->mip == MIP_LOAD_P)) /* Should we test for a retry? */
{
pmr->mip = MIP_DONE;
MARK(M_MIP);
}
else
{
mmap_bits.All = pmr->mmap; /* Initialize for MARKED. */
@@ -1594,7 +1600,7 @@ LOGIC:
ELSE
Calculate....
IF Retry enabled, AND, Retry mode is Not "In-Position", AND, [(encoder present, AND, use encoder true), OR, use readback link true]
IF Retry enabled, AND, Retry mode is Not "In-Position", AND, [use encoder true, OR, use readback link true]
Set relative positioning indicator true.
ELSE
Set relative positioning indicator false.
@@ -2161,7 +2167,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
msta.All = pmr->msta;
/*** Use if encoder or ReadbackLink is in use. ***/
if (pmr->rtry != 0 && pmr->rmod != motorRMOD_I && ((msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip))
if (pmr->rtry != 0 && pmr->rmod != motorRMOD_I && (pmr->ueip || pmr->urip))
use_rel = true;
else
use_rel = false;
@@ -2828,10 +2834,32 @@ velcheckB:
/* new ueip flag */
case motorRecordUEIP:
MARK(M_UEIP);
/* Ideally, we should be recalculating speeds, but at the moment */
/* we don't know whether hardware even has an encoder. */
break;
if (pmr->ueip == motorUEIP_Yes)
{
if (msta.Bits.EA_PRESENT)
{
if (pmr->urip == motorUEIP_Yes)
{
pmr->urip = motorUEIP_No; /* Set URIP = No, if UEIP = Yes. */
db_post_events(pmr, &pmr->urip, DBE_VAL_LOG);
}
}
else
{
pmr->ueip = motorUEIP_No; /* Override UEIP = Yes if EA_PRESENT is false. */
MARK(M_UEIP);
}
}
break;
/* new urip flag */
case motorRecordURIP:
if ((pmr->urip == motorUEIP_Yes) && (pmr->ueip == motorUEIP_Yes))
{
pmr->ueip = motorUEIP_No; /* Set UEIP = No, if URIP = Yes. */
MARK(M_UEIP);
}
break;
/* Set to SET mode */
case motorRecordSSET:
@@ -3518,8 +3546,7 @@ static void monitor(motorRecord * pmr)
/******************************************************************************
process_motor_info()
*******************************************************************************/
static void
process_motor_info(motorRecord * pmr, bool initcall)
static void process_motor_info(motorRecord * pmr, bool initcall)
{
double old_drbv = pmr->drbv;
double old_rbv = pmr->rbv;
@@ -3537,17 +3564,30 @@ static void
/* Calculate raw and dial readback values. */
msta.All = pmr->msta;
if (msta.Bits.EA_PRESENT && pmr->ueip)
if (pmr->ueip == motorUEIP_Yes)
{
/* An encoder is present and the user wants us to use it. */
pmr->rrbv = pmr->rep;
pmr->drbv = pmr->rrbv * pmr->eres;
}
else
else if (pmr->urip == motorUEIP_Yes && initcall == false)
{
double rdblvalue;
long rtnstat;
rtnstat = dbGetLink(&(pmr->rdbl), DBR_DOUBLE, &rdblvalue, 0, 0 );
if (!RTN_SUCCESS(rtnstat))
Debug(3, "process_motor_info: error reading RDBL link.\n");
else
{
pmr->rrbv = NINT((rdblvalue * pmr->rres) / pmr->mres);
pmr->drbv = pmr->rrbv * pmr->mres;
}
}
else /* UEIP = URIP = No */
{
pmr->rrbv = pmr->rmp;
if (pmr->urip == motorUEIP_No || initcall == true)
pmr->drbv = pmr->rrbv * pmr->mres;
pmr->drbv = pmr->rrbv * pmr->mres;
}
if (pmr->rrbv != old_rrbv)
@@ -3599,7 +3639,7 @@ static void
MARK(M_MOVN);
/* Get state of motor's or encoder's home switch. */
if (msta.Bits.EA_PRESENT && pmr->ueip)
if (pmr->ueip)
pmr->athm = (msta.Bits.EA_HOME) ? 1 : 0;
else
pmr->athm = (msta.Bits.RA_HOME) ? 1 : 0;
@@ -3607,32 +3647,6 @@ static void
if (pmr->athm != old_athm)
MARK(M_ATHM);
/*
* If we've got an external readback device, get Dial readback from it, and
* propagate to User readback. We do this after motor and encoder readbacks
* have been read and propagated to .rbv in case .rdbl is a link involving
* that field.
*/
if (pmr->urip && initcall == false)
{
long rtnstat;
old_drbv = pmr->drbv;
rtnstat = dbGetLink(&(pmr->rdbl), DBR_DOUBLE, &(pmr->drbv), 0, 0 );
if (!RTN_SUCCESS(rtnstat))
pmr->drbv = old_drbv;
else
{
pmr->drbv *= pmr->rres;
pmr->rbv = pmr->drbv * dir + pmr->off;
if (pmr->drbv != old_drbv)
{
MARK(M_DRBV);
MARK(M_RBV);
}
}
}
pmr->diff = pmr->dval - pmr->drbv;
MARK(M_DIFF);
pmr->rdif = NINT(pmr->diff / pmr->mres);
@@ -4036,7 +4050,7 @@ static void syncTargetPosition(motorRecord *pmr)
msta.All = pmr->msta;
if (msta.Bits.EA_PRESENT && pmr->ueip)
if (pmr->ueip)
{
/* An encoder is present and the user wants us to use it. */
pmr->rrbv = pmr->rep;
motorApp/MotorSrc/motorRecord.dbd
+1
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@@ -290,6 +290,7 @@ recordtype(motor) {
field(URIP,DBF_MENU) {
prompt("Use RDBL Link If Presen")
promptgroup(GUI_COMMON)
special(SPC_MOD)
pp(TRUE)
interest(1)
menu(motorUEIP)