lin-epics-modules/sinqMotor
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Added motor target position record which allows to read out the motor

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target position from within a driver.
This commit is contained in:
mathis_s
2025-02-25 08:51:44 +01:00
parent f134a61649
commit 5854d2c9d0
2 changed files with 11 additions and 0 deletions
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10
db/sinqMotor.db
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@ -41,6 +41,16 @@ record(motor,"$(INSTR)$(M)")
field(RMOD,"3") # Retry mode 3 ("In-Position"): This suppresses any retries from the motor record. field(RMOD,"3") # Retry mode 3 ("In-Position"): This suppresses any retries from the motor record.
} }
# This record holds a copy of the motor record target position field (.VAL) and allows to access
# the value from within the driver via the index motorTargetPosition_.
# This record is coupled to the parameter library via motorTargetPosition_ -> MOTOR_TARGET_POSITION.
record(ao,"$(INSTR)$(M):TargetPosition") {
field(DOL, "$(INSTR)$(M).VAL CP MS")
field(OMSL, "closed_loop")
field(DTYP, "asynFloat64")
field(OUT, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_TARGET_POSITION")
}
# This PV allows force-stopping the motor record from within the driver by setting # This PV allows force-stopping the motor record from within the driver by setting
# the motorForceStop_ value in the parameter library to 1. It should be reset to 0 by the driver afterwards. # the motorForceStop_ value in the parameter library to 1. It should be reset to 0 by the driver afterwards.
# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php. # The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.

1
src/sinqController.h
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@ -235,6 +235,7 @@ class epicsShareClass sinqController : public asynMotorController {
#define FIRST_SINQMOTOR_PARAM motorMessageText_ #define FIRST_SINQMOTOR_PARAM motorMessageText_
int motorMessageText_; int motorMessageText_;
int motorTargetPosition_;
int motorEnable_; int motorEnable_;
int motorEnableRBV_; int motorEnableRBV_;
int motorCanDisable_; int motorCanDisable_;