cbcd98c10c
This directory was accidentally omitted from the merge-release branch during the PSI code merge.
139 lines
8.9 KiB
XML
139 lines
8.9 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<?oxygen RNGSchema="http://www.oasis-open.org/docbook/xml/5.0/rng/docbook.rng" type="xml"?>
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<chapter xmlns="http://docbook.org/ns/docbook" xmlns:xlink="http://www.w3.org/1999/xlink"
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version="5.0">
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<info><title>Motor Troubleshooting</title><author>
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<personname>Ferdi Franceschini</personname>
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</author>
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<date>2006-09-04 15:50</date>
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</info>
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<para>You can check for problems between SICS and the instrument by running the troubleshoot.tcl
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application in the /usr/local/sics/server/common directory.The trouble-shooter constructs a
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control panel from information in the SICS configuration file and from information in the
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troubleshoot_setup.tcl file. The trouble-shooter setup file specifies the expected
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configuration for the motor controllers, this file should be updated whenever the motor
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controller configuration is changed.</para>
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<sect1>
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<title>A Troubleshooting Session</title>
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<warning>
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<para>This chapter requires testing. nha. 1 May 2009</para>
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</warning>
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<para>If you have a computer with an X server then you can troubleshoot your instrument via
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remote terminal session. If you are running linux on your computer then the following
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will just work. If you are using an Apple computer you should have the X11 support
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installed. If you are running windows you will need to have something like X-Win32 or
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or Cygwin (with X11) installed. Otherwise you will have to run this on the instrument
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control computer locally.</para>
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</sect1>
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<sect1>
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<title>Starting the troubleshooter</title>
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<para>First log on to the instrument control computer by entering the following in a
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terminal (linux or cygwin) </para>
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<programlisting>ssh -Y uname@ic-instname.nbi.ansto.gov.au</programlisting>
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<para>Where uname is your ANSTO user id and instname is the name of your instrument (eg
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echidna, wombat).</para>
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<para>Once you have logged in, go to the sics server directory,</para>
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<programlisting>cd /usr/local/sics/server</programlisting>
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<para>There should be a troubleshoot.tcl script and troubleshoot_setup.tcl file in this
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directory, check this by listing the directory contents with the 'ls' command.</para>
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</sect1>
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<sect1>
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<title>An example showing failures</title>
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<para>This example uses the following troubleshoot_setup.tcl file for Echidna. </para>
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<programlisting># ECHIDNA setupset configFileName "hrpd_configuration.tcl"# These subroutines should be installed on the controllersset contSubs(dmc2280_controller1) "#AUTO #ABC #LIMSWI #SOLCTRL #TCPERR"set contSubs(dmc2280_controller2) "#AUTO #LIMSWI #SOLCTRL #TCPERR"set contSubs(dmc2280_controller3) "#AUTO #HOME #LOOPER #RES #TCPERR"set contSubs(dmc2280_controller4) "#AUTO #HOME #LIMSWI #LOOPER #TCPERR"# These threads should be running on the controllers.set contThreads(dmc2280_controller1) "0"set contThreads(dmc2280_controller2) "0"set contThreads(dmc2280_controller3) "0"set contThreads(dmc2280_controller4) "0"</programlisting>
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<para>Two simulated failures and one real failure are demonstrated in what follows. I have
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simulated a missing subroutine error by adding a dummy subroutine name "#ABC" to
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controller one in the setup file above. A network failure is simulated by simply
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unplugging the ethernet cable from controller two. There is a real failure on
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controller three, a necessary thread was not running on that controller because a
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command failed in the auto start subroutine.</para>
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<para>Start the troubleshooter with the following command</para>
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<programlisting>common/troubleshoot.tcl</programlisting>
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<para>You will see this dialog box which lets you specify the name of your instrument's
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configuration file.</para>
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<para><inlinemediaobject><imageobject><imagedata fileref="troubleshoot1.jpeg"
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/></imageobject></inlinemediaobject>
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</para>
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<para>Note: The default file name can be set in the "troubleshoot_setup.tcl" script.</para>
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<para>When you press the "Load config" button a control window will be constructed from the
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information in the instrument configuration file and the "troubleshoot_setup.tcl" file.</para>
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<para>
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<inlinemediaobject><imageobject><imagedata fileref="troubleshoot2.jpeg" width="150mm"
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/></imageobject></inlinemediaobject>
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</para>
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<para>There is a column for each of the motion controllers specified in the instrument
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configuration file (hrpd_configuration.tcl in this example). The control buttons allow
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you to test the connection to each controller and then perform some tests on the
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controllers.</para>
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<para>To test the communications and motor controller status just click on the buttons in
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each column from top to bottom. If the test succeeds the button lights up green, if it
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fails a message box describing the failure will pop-up. Following are some examples of
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the failure messages.</para>
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</sect1>
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<sect1>
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<title>Motor Controller Communications Failure Example</title>
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<para>When you press the connect button it should light up green if everything is OK,
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otherwise you will see the following message.</para>
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<para>
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<inlinemediaobject><imageobject><imagedata fileref="troubleshoot3.jpeg" width="150mm"
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/></imageobject></inlinemediaobject>
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</para>
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</sect1>
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<sect1>
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<title>Missing motor controller subroutine example</title>
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<para>Assuming that the connection has succeeded (ie the "connect" button is now green) then
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you can click on the "Check subs" button. If the check succeeds the button will light
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up green, if not you will see the following message.</para>
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<para>
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<inlinemediaobject><imageobject><imagedata fileref="troubleshoot4.jpeg" width="150mm"
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/></imageobject></inlinemediaobject>
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</para>
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<para>This means the a required subroutine named "#ABC" was not found on controller
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one.</para>
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</sect1>
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<sect1>
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<title>Motor controller thread not running example</title>
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<para>You can if necessary threads are running on the motor controller by clicking on the
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"Check threads" button. If the check succeeds then the button should now be green. On
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failure you will see the following message.</para>
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<para>
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<inlinemediaobject><imageobject><imagedata fileref="troubleshoot5.jpeg" width="150mm"
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/></imageobject></inlinemediaobject>
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</para>
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<para>This means that something should be running in thread zero but it's not. Typically
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the #AUTO subroutine will be running an empty loop in thread zero to trigger trip points
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in the controller software. </para>
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</sect1>
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<sect1>
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<title>Final status display</title>
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<para>After completing all the tests for this example you will see the following display.
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This means that controller one is missing one or more subroutines, the connection failed
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on controller two, one or more required threads are not running on controller three, and
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all the tests succeeded on controller four.</para>
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<para>
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<inlinemediaobject><imageobject><imagedata fileref="troubleshoot6.jpeg"
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/></imageobject></inlinemediaobject>
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</para>
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</sect1>
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<sect1>
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<title>Using sicsclient for troubleshoot</title>
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<para>The <command>sicsclient</command> command line can be used for troubleshooting motors.</para>
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<para> There can be circumstances when a third party, such as the handle-held wireless Galil
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controller, or a terminal client is used to control motors. In these cases, the values
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in SICS can be out of sync with those on the controller. The Galil controller can be
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interrogated using <command>send</command>. </para>
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<para>
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<replaceable>mot1</replaceable>
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<command>send </command>
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<replaceable>"MG _SP`"</replaceable>
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</para>
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<para>In this example, the controller and axis of motor <replaceable>mot1</replaceable> will
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the sent a command which will return the speed <replaceable>_SP</replaceable> of the
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motor. Note that a substitution is made in SICS of the controller and axis using the
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backtick character `</para>
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<para>The values from the controller can be compared manually with the values from SICS </para>
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<para><replaceable>mot1</replaceable>
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<command>list</command></para>
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</sect1>
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</chapter>
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