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Document how to do reset when having HW error #1

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soederqvist_a merged 2 commits from fix_hw_error_doc into main 2026-02-03 10:07:57 +01:00
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@@ -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.