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Fixed pmacV3 axis codes

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This commit is contained in:
koennecke
2023-01-12 15:16:09 +01:00
parent a899a28182
commit 3b2a21094c
1 changed files with 39 additions and 32 deletions
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71
sinqEPICSApp/src/pmacAxis.cpp
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@ -16,7 +16,7 @@
* when the motor is hung, it wont start. I check for this and cause an alarm. * when the motor is hung, it wont start. I check for this and cause an alarm.
* *
* Another mode where the motor is in trouble is if it stays too long in status * Another mode where the motor is in trouble is if it stays too long in status
*5 or 6. I check and cause an alarm in this state too. * 5 or 6. I check and cause an alarm in this state too.
* *
* Mark Koennecke, February 2013 * Mark Koennecke, February 2013
* *
@ -339,7 +339,7 @@ static char *translateAxisError(int axErr) {
return strdup("command not allowed"); return strdup("command not allowed");
break; break;
case 6: case 6:
return strdup("watchdog triggere"); return strdup("watchdog triggered");
break; break;
case 7: case 7:
return strdup("current limit reached"); return strdup("current limit reached");
@ -985,24 +985,6 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
done = 0; done = 0;
} }
// if (starting && time(NULL) > startTime + 10) {
// /*
// did not start in 10 seconds: messed up: cause an alarm
// */
// done = 1;
// *moving = false;
// st = setIntegerParam(pC_->motorStatusMoving_, false);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
// st = setIntegerParam(pC_->motorStatusDone_, true);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
// st = setIntegerParam(pC_->motorStatusProblem_, true);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
// errlogPrintf("Axis %d did not start within 10 seconds!! BROKEN\n", axisNo_);
// updateMsgTxtFromDriver("Axis did not start within 10 seconds");
// starting = 0;
// return st;
// }
// /* // /*
// code to test against too long status 5 or 6 // code to test against too long status 5 or 6
// */ // */
@ -1014,20 +996,11 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
EstimatedTimeOfArrival = EstimatedTimeOfArrival =
std::ceil(2 * std::fabs(setpointPosition_ - position) / Speed); std::ceil(2 * std::fabs(setpointPosition_ - position) / Speed);
} } else {
else {
if (time(NULL) > status6Time + EstimatedTimeOfArrival) { if (time(NULL) > status6Time + EstimatedTimeOfArrival) {
/* trigger error only when not moving */ /* trigger error only when not moving */
if (abs(position - statusPos) < .1) { if (abs(position - statusPos) < .1) {
// done = 1; done = 1;
// *moving = false;
// st = setIntegerParam(pC_->motorStatusMoving_, false);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
// st = setIntegerParam(pC_->motorStatusDone_, true);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
// st = setIntegerParam(pC_->motorStatusProblem_, true);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
errlogPrintf( errlogPrintf(
"Axis %d stayed in 5,6 for more than %d seconds BROKEN\n", "Axis %d stayed in 5,6 for more than %d seconds BROKEN\n",
axisNo_, EstimatedTimeOfArrival); axisNo_, EstimatedTimeOfArrival);
@ -1148,6 +1121,40 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
axisProblemFlag = 0; axisProblemFlag = 0;
axisErrorCount = 0; axisErrorCount = 0;
} }
// test for more error conditions encoded in axStat
switch(axStat) {
case -4:
snprintf(message, sizeof(message), "PMAC: %s on %d",
"Emergency stop activated", axisNo_);
updateMsgTxtFromDriver(message);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
axisProblemFlag = 1;
break;
case -5:
snprintf(message, sizeof(message), "PMAC: %s on %d",
"Motor is not installed", axisNo_);
updateMsgTxtFromDriver(message);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
axisProblemFlag = 1;
break;
case -3:
snprintf(message, sizeof(message), "PMAC: %s on %d",
"Axis disabled", axisNo_);
updateMsgTxtFromDriver(message);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
axisProblemFlag = 1;
break;
case -2:
case -1:
snprintf(message, sizeof(message), "PMAC: %s on %d",
"Axis locked", axisNo_);
updateMsgTxtFromDriver(message);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s\n", message);
axisProblemFlag = 1;
break;
}
st = setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag); st = setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag);
cmdStatus = cmdStatus > st ? cmdStatus : st; cmdStatus = cmdStatus > st ? cmdStatus : st;
@ -1163,4 +1170,4 @@ asynStatus pmacV3Axis::move(double position, int relative, double min_velocity,
} }
updateMsgTxtFromDriver(""); updateMsgTxtFromDriver("");
return pmacAxis::move(position, relative, min_velocity, max_velocity, acceleration); return pmacAxis::move(position, relative, min_velocity, max_velocity, acceleration);
} }