Updated sinqMotor

Reviewed-on: #1

Makefile

@@ -10,7 +10,7 @@ ARCH_FILTER=RHEL%
 REQUIRED+=motorBase
 
 # Specify the version of motorBase we want to build against
-motorBase_VERSION=7.2.2
+motorBase_VERSION=7.3.2
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/pmacAsynIPPort.h

README.md

@@ -94,3 +94,39 @@ repository is checked out AND the change is commited (`git status` shows no
 non-committed changes). Please see the section "Usage as static dependency" in
 https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md for
 more details.
+
+## FAQ
+### Axis hardware error at startup
+
+If at IOC startup you are met with the following errors:
+```
+2026/02/02 16:56:49.470 Controller "turboPmac1", axis 3  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+2026/02/02 16:56:49.485 Controller "turboPmac1", axis 7  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+2026/02/02 16:56:49.492 Controller "turboPmac1", axis 8  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+```
+You may need to reset to do a axis reset. This can be done with 
+`utils/writeRead.py`. The following example does so for axis 3.
+
+Confirm the hardware error:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301 # 03 specifies axis 3, 01 is the command to read out the error.
+# If it returns 13 it's a hardware error.
+# For the full list of errors see TurboPMAC_manual.pdf or src/turboPmacAxis.cpp, function "handleError".
+```
+Reset the axis:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301=0
+```
+Check if the error has appeared again:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301
+```
+If the console output is not 0, the error has been deleted, but appeared
+immediately again. In this case, the error cannot be reset remotely.
+If it is an error such as 10 (limit switches hit), the motor needs to be
+moved away from the limits, this resets the error automatically.
+Other errors like 13 represent an actual issue on the hardware which
+needs to be resolved by the electronics motion engineers.

src/turboPmacAxis.cpp

@@ -91,9 +91,9 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
     }
 
     // Even though this happens already in sinqAxis, a default value for
-    // motorMessageText is set here again, because apparently the sinqAxis
+    // motorErrorMessage is set here again, because apparently the sinqAxis
     // constructor is not run before the string is accessed?
-    status = setStringParam(pC_->motorMessageText(), "");
+    status = setStringParam(pC_->motorErrorMessage(), "");
     if (status != asynSuccess) {
         asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
@@ -140,6 +140,9 @@ asynStatus turboPmacAxis::init() {
     // Deadband in counts. Can be a fraction of a count, hence double.
     double deadband_counts = 0.0;
 
+    // Read from the controller if the motor has been homed before
+    int hasBeenHomed = 0;
+
     // Offset time for the movement watchdog caused by the air cushions in
     // milliseconds.
     int acoDelay = 0.0;
@@ -176,9 +179,11 @@ asynStatus turboPmacAxis::init() {
     Ixx65.
     */
     snprintf(command, sizeof(command),
-             "Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22 Q%2.2d00 I%2.2d65",
-             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
-    status = pC_->writeRead(axisNo_, command, response, 7);
+             "Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22 Q%2.2d00 I%2.2d65 "
+             "M%2.2d45",
+             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_,
+             axisNo_);
+    status = pC_->writeRead(axisNo_, command, response, 8);
 
     msgPrintControlKey keyDisconnected = msgPrintControlKey(
         pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, 1);
@@ -205,9 +210,14 @@ asynStatus turboPmacAxis::init() {
         pC_->getMsgPrintControl().resetCount(keyDisconnected, pC_->pasynUser());
     }
 
-    nvals = sscanf(response, "%lf %lf %lf %lf %d %lf %lf", &motorPos,
+    nvals = sscanf(response, "%lf %lf %lf %lf %d %lf %lf %d", &motorPos,
                    &motorVmax, &motorVelocity, &motorAccel, &acoDelay,
-                   &counts_to_eu, &deadband_counts);
+                   &counts_to_eu, &deadband_counts, &hasBeenHomed);
+
+    if (nvals != 8) {
+        return pC_->couldNotParseResponse(command, response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
+    }
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded
     // up
@@ -218,11 +228,6 @@ asynStatus turboPmacAxis::init() {
     // here to mm/s^2.
     motorAccel = motorAccel * 1000;
 
-    if (nvals != 8) {
-        return pC_->couldNotParseResponse(command, response, axisNo_,
-                                          __PRETTY_FUNCTION__, __LINE__);
-    }
-
     // Store these values in the parameter library
     status = setMotorPosition(motorPos);
     if (status != asynSuccess) {
@@ -282,6 +287,9 @@ asynStatus turboPmacAxis::init() {
         pTurboPmacA_->needInit = false;
     }
 
+    // Use the homing status reported by the controller
+    setAxisParamChecked(this, motorStatusHomed, hasBeenHomed);
+
     return status;
 }
 
@@ -339,7 +347,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
 
         if (timedOut) {
-            setAxisParamChecked(this, motorMessageText,
+            setAxisParamChecked(this, motorErrorMessage,
                                 "Timed out while waiting for a handshake");
             pTurboPmacA_->waitForHandshake = false;
         }
@@ -459,7 +467,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                       pC_->getMsgPrintControl().getSuffix());
         }
         resetCountStatus = false;
-        setAxisParamChecked(this, motorMessageText, "Emergency stop");
+        setAxisParamChecked(this, motorErrorMessage, "Emergency stop");
         break;
     case -3:
         // Disabled
@@ -552,7 +560,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
             userMessage, sizeof(userMessage),
             "Reached unknown state P%2.2d00 = %d. Please call the support.",
             axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
     }
 
     if (resetCountStatus) {
@@ -582,8 +590,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     getAxisParamChecked(this, limFromHardware, &limFromHardware);
 
     if (limFromHardware != 0) {
-        setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
-        setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
+        status = setLimits(highLimit, lowLimit);
+        if (status != asynSuccess) {
+            return status;
+        }
     }
 
     status = setMotorPosition(currentPosition);
@@ -614,7 +624,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       pC_->getMsgPrintControl().getSuffix());
         }
-        setAxisParamChecked(this, motorMessageText,
+        setAxisParamChecked(this, motorErrorMessage,
                             "Target position would exceed software limits");
         break;
     case 5:
@@ -630,7 +640,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       pC_->getMsgPrintControl().getSuffix());
         }
-        setAxisParamChecked(this, motorMessageText,
+        setAxisParamChecked(this, motorErrorMessage,
                             "Axis received move command while it is still "
                             "moving. Please call the support.");
         break;
@@ -651,7 +661,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                  "(P%2.2d01 = "
                  "%d). Please call the support.",
                  axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
     case 9:
         if (pC_->getMsgPrintControl().shouldBePrinted(
@@ -670,7 +680,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
             "No feedback from auxiliary device before movement (P%2.2d01 = "
             "%d). Please call the support.",
             axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
     case 10:
         /*
@@ -696,7 +706,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                  "the SPS for errors (if available). "
                  "Otherwise please call the support.",
                  axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
     case 11:
         // Following error
@@ -716,7 +726,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                  "Check if movement range is blocked. "
                  "Otherwise please call the support.",
                  axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
 
     case 12:
@@ -734,7 +744,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                  "for errors (if available). Otherwise please call "
                  "the support.",
                  axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
 
     case 13:
@@ -753,7 +763,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                  "Driver hardware error (P%2.2d01 = 13). Please call the "
                  "support.",
                  axisNo_);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
     case 14:
         // EPICS should already prevent this issue in the first place,
@@ -771,7 +781,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                  "Move command exceeds hardware limits (P%2.2d01 = %d). Please "
                  "call the support.",
                  axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
     default:
 
@@ -785,7 +795,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
                 error, pC_->getMsgPrintControl().getSuffix());
         }
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
     }
     return status;
@@ -1102,7 +1112,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
                   "disabled before rereading the encoder.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         setAxisParamChecked(
-            this, motorMessageText,
+            this, motorErrorMessage,
             "Axis must be disabled before rereading the encoder.");
         return asynError;
     } else {
@@ -1165,7 +1175,7 @@ asynStatus turboPmacAxis::enable(bool on) {
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                   axStatus);
 
-        setAxisParamChecked(this, motorMessageText,
+        setAxisParamChecked(this, motorErrorMessage,
                             "Axis cannot be disabled while it is moving.");
         pTurboPmacA_->enableDisable = false;
         return asynError;
@@ -1235,7 +1245,9 @@ asynStatus turboPmacAxis::enable(bool on) {
 
             // Enabling / disabling procedure is completed (successfully)
             pTurboPmacA_->enableDisable = false;
-            return asynSuccess;
+
+            // Reinitialize the motor
+            return init();
         }
     }
 
@@ -1250,7 +1262,7 @@ asynStatus turboPmacAxis::enable(bool on) {
     // Output message to user
     snprintf(command, sizeof(command), "Failed to %s within %d seconds",
              on ? "enable" : "disable", timeout_enable_disable);
-    setAxisParamChecked(this, motorMessageText, command);
+    setAxisParamChecked(this, motorErrorMessage, command);
 
     // Enabling / disabling procedure failed
     pTurboPmacA_->enableDisable = false;

src/turboPmacController.cpp

@@ -445,7 +445,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
 
         if (motorStatusProblem == 0) {
-            setAxisParamChecked(axis, motorMessageText, drvMessageText);
+            setAxisParamChecked(axis, motorErrorMessage, drvMessageText);
             setAxisParamChecked(axis, motorStatusProblem, true);
             setAxisParamChecked(axis, motorStatusCommsError, true);
         }

utils/writeRead.py

@@ -9,45 +9,55 @@ Stefan Mathis, December 2024
 import struct
 import socket
 import curses
+import time
+
 
 def packPmacCommand(command):
-    # 0x40 = VR_DOWNLOAD 
+    # 0x40 = VR_DOWNLOAD
     # 0xBF = VR_PMAC_GETRESPONSE
-    buf = struct.pack('BBHHH',0x40,0xBF,0,0,socket.htons(len(command)))
-    buf = buf + bytes(command,'utf-8')
+    buf = struct.pack('BBHHH', 0x40, 0xBF, 0, 0, socket.htons(len(command)))
+    buf = buf + command.encode('utf-8')
     return buf
 
-def readPmacReply(input):
+
+def readPmacReply(sock):
     msg = bytearray()
     expectAck = True
+    sock.settimeout(2.0)
     while True:
-        b = input.recv(1)
-        bint = int.from_bytes(b,byteorder='little')
-        if bint == 2 or bint == 7: #STX or BELL
+        try:
+            b = sock.recv(1)
+        except socket.timeout:
+            print('Timed out')
+            return None
+        bint = int.from_bytes(b, byteorder='little')
+        if bint == 2 or bint == 7:  # STX or BELL
             expectAck = False
             continue
-        if expectAck and bint == 6: # ACK
+        if expectAck and bint == 6:  # ACK
             return bytes(msg)
         else:
-            if bint == 13 and not expectAck: # CR
+            if bint == 13 and not expectAck:  # CR
                 return bytes(msg)
             else:
                 msg.append(bint)
 
+
 if __name__ == "__main__":
     from sys import argv
 
     try:
 
         addr = argv[1].split(':')
-        s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
-        s.connect((addr[0],int(addr[1])))
+        s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        s.connect((addr[0], int(addr[1])))
 
         if len(argv) == 3:
             buf = packPmacCommand(argv[2])
             s.send(buf)
             reply = readPmacReply(s)
-            print(reply.decode('utf-8') + '\n')
+            if reply:
+                print(reply.decode('utf-8') + '\n')
 
         else:
 
@@ -81,13 +91,13 @@ if __name__ == "__main__":
                         if ptr > 0:
                             ptr -= 1
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                     elif c == curses.KEY_DOWN:
                         if ptr < len(history) - 1:
                             ptr += 1
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                     elif c == curses.KEY_ENTER or c == ord('\n') or c == ord('\r'):
                         if history[ptr] == 'quit':
@@ -113,7 +123,7 @@ if __name__ == "__main__":
                         stdscr.refresh()
 
                     else:
-                        if ptr < len(history) - 1: # Modifying previous input
+                        if ptr < len(history) - 1:  # Modifying previous input
                             if len(history[-1]) == 0:
                                 history[-1] = history[ptr]
                                 ptr = len(history) - 1
@@ -126,18 +136,20 @@ if __name__ == "__main__":
                             if len(history[ptr]) == 0:
                                 continue
                             (y, x) = stdscr.getyx()
-                            history[ptr] = history[ptr][0:x-4] + history[ptr][x-3:]
+                            history[ptr] = history[ptr][0:x-4] + \
+                                history[ptr][x-3:]
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                             stdscr.move(y, x-1)
                             stdscr.refresh()
 
                         else:
                             (y, x) = stdscr.getyx()
-                            history[ptr] = history[ptr][0:x-3] + chr(c) + history[ptr][x-3:]
+                            history[ptr] = history[ptr][0:x-3] + \
+                                chr(c) + history[ptr][x-3:]
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                             stdscr.move(y, x+1)
                             stdscr.refresh()
@@ -169,4 +181,3 @@ if __name__ == "__main__":
         the reponse, before being prompted to again enter a command. Type
         'quit' to close prompt.
         """)
-