From bfda809257e8e9fab492aa6293a1ba94d78e371f Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Wed, 23 Apr 2025 13:46:02 +0200
Subject: [PATCH] Added high default value for RDBD

See docstring: This is to prevent overshoot stop commands.
---
 README.md       | 26 +++++++++++++-------------
 db/sinqMotor.db |  9 ++++++---
 2 files changed, 19 insertions(+), 16 deletions(-)

diff --git a/README.md b/README.md
index e410191..5ae523e 100644
--- a/README.md
+++ b/README.md
@@ -46,11 +46,11 @@ The script for controller 1 ("turboPmac1.cmd") for a Turbo PMAC (see https://git
 
 ```
 # Define the name of the controller and the corresponding port
-epicsEnvSet("NAME","actualDriver1")
-epicsEnvSet("ASYN_PORT","p$(NAME)")
+epicsEnvSet("DRIVER_PORT","actualDriver1")
+epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
 
 # Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
-drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
+drvAsynIPPortConfigure("$(IP_PORT)","172.28.101.24:1025")
 
 # Create the controller object with the defined name and connect it to the socket via the port name.
 # The other parameters are as follows:
@@ -58,25 +58,25 @@ drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
 # 0.05: Busy poll period in seconds
 # 1: Idle poll period in seconds
 # 1: Socket communication timeout in seconds
-actualDriverController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
+actualDriverController("$(DRIVER_PORT)", "$(IP_PORT)", 8, 0.05, 1, 1);
 
 # Define some axes for the specified motor controller at the given slot (1, 2 and 5). No slot may be used twice!
-actualDriverAxis("$(NAME)",1);
-actualDriverAxis("$(NAME)",2);
-actualDriverAxis("$(NAME)",5);
+actualDriverAxis("$(DRIVER_PORT)",1);
+actualDriverAxis("$(DRIVER_PORT)",2);
+actualDriverAxis("$(DRIVER_PORT)",5);
 
 # Set the number of subsequent timeouts 
-setMaxSubsequentTimeouts("$(NAME)", 20);
+setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
 
 # Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
-setThresholdComTimeout("$(NAME)", 300, 10);
+setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
 
 # Parametrize the EPICS record database with the substitution file named after the motor controller.
 epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
-dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
 epicsEnvSet("SINQDBPATH","$(actualDriver_DB)/turboPmac.db")
-dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
-dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
+dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
+dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
 ```
 
 ### Substitution file
@@ -99,7 +99,7 @@ The variable `SINQDBPATH` has been set in "mcu1.cmd" before calling `dbLoadTempl
 #### Mandatory parameters
 
 - `AXIS`: Index of the axis, corresponds to the physical connection of the axis to the MCU.
-- `M`: The full PV name is created by concatenating the variables INSTR, NAME and M. For example, the PV of the first axis would be "SQ:SINQTEST:mcu1:lin1".
+- `M`: The full PV name is created by concatenating the variables INSTR, DRIVER_PORT and M. For example, the PV of the first axis would be "SQ:SINQTEST:mcu1:lin1".
 - `EGU`: Engineering units. For a linear motor, this is mm, for a rotaty motor, this is degree.
 - `DIR`: If set to "Neg", the axis direction is inverted.
 - `MRES`: This is a scaling factor determining the resolution of the position readback value. For example, 0.001 means a precision of 1 um. A detailed description can be found in section [Motor record resolution MRES](#motor-record-resolution-mres).
diff --git a/db/sinqMotor.db b/db/sinqMotor.db
index 6016a27..89c5f12 100755
--- a/db/sinqMotor.db
+++ b/db/sinqMotor.db
@@ -23,7 +23,10 @@
 # greater than RDBD, the motor will try again, as if the user had requested a 
 # move from the now current position to the desired position. Only a limited 
 # number of retries will be performed (see RTRY). If the given value is smaller 
-# than MRES, it is set to MRES.
+# than MRES, it is set to MRES. In this version of the record, we set RDBD to a
+# very high value in order to suppress both retries and the NTM (new target
+# monitor) logic from issuing stop commands during overshoots (see
+# https://epics.anl.gov/bcda/synApps/motor/motorRecord.html#Fields_misc).
 record(motor,"$(INSTR)$(M)")
 {
     field(DESC,"$(DESC=$(M))")
@@ -38,8 +41,8 @@ record(motor,"$(INSTR)$(M)")
     field(DLLM, "$(DLLM=0)")
     field(TWV,"1")
     field(RTRY,"0")
-    field(RDBD,"0") 
-    field(BDST,"0") 
+    field(RDBD, "$(RDBD=10e300)") # Suppress retries and overshoot stop commands
+    field(BDST, "0") 
     field(RMOD,"3") # Retry mode 3 ("In-Position"): This suppresses any retries from the motor record.
 }