lin-epics-modules/sinqMotor
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Added PVs for error reset and status problem reporting and fixed a bug

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mathis_s
2025-03-10 14:28:24 +01:00
parent ca7bede4b7
commit bed245b010
8 changed files with 90 additions and 16 deletions
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22
db/sinqMotor.db
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@ -41,11 +41,29 @@ record(motor,"$(INSTR)$(M)")
field(RMOD,"3") # Retry mode 3 ("In-Position"): This suppresses any retries from the motor record.
}
# This PV reads out the 10th bit of the MSTA field of the motor record, which
# is the "motorStatusProblem_" bit. The 10th bit is adressed by 0x0200. If the
# bit is 0, the .VAL field is 0 as well. If the bit is 1, we need to divide by
# 512 (=2^9) in order to set the .VAL field to 1 (and not to 512).
record(calc, "$(INSTR)$(M):StatusProblem")
{
field(INPA, "$(INSTR)$(M).MSTA CP")
field(CALC, "(A&0x200)/512")
}
# Call the reset function of the corresponding sinqAxis
# This record is coupled to the parameter library via motorReset_ -> MOTOR_RESET.
record(longout, "$(INSTR)$(M):Reset") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_RESET")
field(PINI, "NO")
}
# 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 implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
# This record is coupled to the parameter library via motorForceStop_ -> MOTOR_FORCE_STOP.
record(longin, "$(INSTR)$(M):STOP_RBV")
record(longin, "$(INSTR)$(M):StopRBV")
{
field(DTYP, "asynInt32")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_FORCE_STOP")
@ -53,7 +71,7 @@ record(longin, "$(INSTR)$(M):STOP_RBV")
field(FLNK, "$(INSTR)$(M):Stop2Field")
}
record(longout, "$(INSTR)$(M):Stop2Field") {
field(DOL, "$(INSTR)$(M):STOP_RBV CP")
field(DOL, "$(INSTR)$(M):StopRBV CP")
field(OUT, "$(INSTR)$(M).STOP")
field(OMSL, "closed_loop")
}