Hej all.
I think that this behaviour is - what it is.
In theory, the motorRecord could behave as you (and me) whish,
in proactise there are too many applications depending on this frequent
callbacks.
So this commit:
<https://github.com/epics-modules/motor/commit/c970afbfe71521d1587c51b0c7f3a634b03f5833>
Had to be reverted later:
<https://github.com/epics-modules/motor/commit/0ef39053aac72d8718ef99d08164da1be0825370>
For your case, writing to CNEN and wait for the controller to have
the amplifier switched on: Is this what you want ?
On our systems this power-on can take 0.6 seconds (typically)
up to 6 seconds (on a heavy drive, doing a self test after coldstart).
And if the safety relay is off after a power-fail,
it will never turn on.
So yes, in principle we could change the motorRecord to do what we want:
Wait for the driver to report "amplifier on".
In practise we would need a time out.
And a way to configure it.
I am not sure if it ith worth the effort (to change the motorRecord)
or if a simple poller with a timout in python is easier to implement.
HTH
BR
/Torsten
On 1/16/23 22:26, Marco A. Barra Montevechi Filho via Tech-talk wrote:
Good evening all.
Im working with the same IOC i was using here:
https://epics.anl.gov/tech-talk/2023/msg00020.php
<https://epics.anl.gov/tech-talk/2023/msg00020.php>. Now i loaded some
motor records in it and am trying to control the IOC via pyepics.
Something weird is happening.
i made the following python script:
import epics
a = epics.Motor("MGN:B:E873A:DIAG:X:m1")
a.put("CNEN", 1,wait=True)
assert a.get("CNEN")==1
And i frequently get assertion errors. What is happening? Shouldn't
wait=True prevent this? How do i debug this?
Even more weird: i tried debugging this with callbacks:
import epics, time
a = epics.Motor(
"MGN:B:E873A:DIAG:X:m1")
defprintvalue(**kwargs):
print(kwargs["value"])
b = epics.PV("MGN:B:E873A:DIAG:X:m1.CNEN")
b.add_callback(printvalue)
c = 1
whileTrue:
c=1-c
print("#####")
a.put("CNEN",c)
time.sleep(0.1)
And i get prints like:
#####
1
#####
0
#####
1
0
#####
Why do i sometimes get two callbacks and sometimes get only one? Thanks
in advance for any help.
I append the IOC initialization log and the substitutions file it loads:
*INIT LOG:*
#!/usr/local/epics/apps/pigcs2IOC/bin/linux-x86_64/pigcs2
< /usr/local/epics/apps/pigcs2IOC/iocBoot/iocPIGCS2/envPaths
epicsEnvSet("IOC","iocPIGCS2")
epicsEnvSet("TOP","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/modules/motorPIGCS2-R1-1/iocs/pigcs2IOC")
epicsEnvSet("SUPPORT","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support")
epicsEnvSet("ASYN","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/asyn-R4-36")
epicsEnvSet("STREAM","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/StreamDevice-2-8-9")
epicsEnvSet("CALC","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/calc-R3-7-3")
epicsEnvSet("RECCASTER","/usr/local/epics-nfs/apps/recsync/1.4_epics_3.15/client")
epicsEnvSet("SNCSEQ","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/seq-2-2-6")
epicsEnvSet("BUSY","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/busy-R1-7-2")
epicsEnvSet("IPAC","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/ipac-2-15")
epicsEnvSet("MOTOR","/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1")
epicsEnvSet("EPICS_BASE","/usr/local/epics-nfs/base/R3.15.6")
cd
"/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/modules/motorPIGCS2-R1-1/iocs/pigcs2IOC"
## Set up environment
epicsEnvSet("DEV","MGN:B:E873A:DIAG:X:")
epicsEnvSet("BL", "MGN:B:E873A:DIAG:X")
epicsEnvSet("IOCNAME", "MGN-B-E873A-DIAG-X")
epicsEnvSet("EPICS_CA_MAX_ARRAY_BYTES",15728645)
# protocol file paths
epicsEnvSet ("STREAM_PROTOCOL_PATH",
".:/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/db")
## Register all support components
dbLoadDatabase "dbd/pigcs2.dbd"
pigcs2_registerRecordDeviceDriver pdbbase
cd
"/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/modules/motorPIGCS2-R1-1/iocs/pigcs2IOC/iocBoot/iocPIGCS2"
## motorUtil (allstop & alldone)
dbLoadRecords("/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/db/motorUtil.db", "P=MGN:B:E873A:DIAG:X:")
##
# < PI_GCS2.cmd
# PI GCS2 support
dbLoadTemplate("/usr/local/epics/apps/config/PIGCS2/e873aX.substitutions")
drvAsynIPPortConfigure("E873_ETH","CDE5B3D.abtlus.org.br:50000",0,0,0)
# Turn on asyn trace
# asynSetTraceMask("E873_ETH",0,3)
# asynSetTraceIOMask("E873_ETH",0,1)
# PI_GCS2_CreateController(portName, asynPort, numAxes, priority,
stackSize, movingPollingRate, idlePollingRate)
# # this is the final setup
# PI_GCS2_CreateController("E873", "E873_ETH", 1, 0, 0, 100, 1000)
# speedup debug
PI_GCS2_CreateController("E873", "E873_ETH", 1, 0, 0, 50, 1000)
2023/01/16 18:23:03.949 read from E873_ETH: (c)2016-2020 Physik
Instrumente (PI) GmbH & Co. KG, E-873.1AT, 120040762, 03.033
PIasynAxis::PIasynAxis() 0: 1
----------------- axis num: 0 createCLParams() m_szAxisName:
1-------------------
# Turn off asyn trace
# asynSetTraceMask("E873_ETH",0,1)
# asynSetTraceIOMask("E873_ETH",0,0)
# Set end-of-string terminators (port, addr, terminator)
asynOctetSetInputEos("E873_ETH", 0, "\n")
asynOctetSetOutputEos("E873_ETH", 0, "\n")
dbLoadRecords("/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/motor-R7-1/modules/motorPIGCS2-R1-1/iocs/pigcs2IOC/db/PI_Support.db","P=MGN:B:E873A:DIAG:X:,R=m1:,PORT=E873,ADDR=0,TIMEOUT=1")
# asyn record for troubleshooting
dbLoadRecords("/usr/local/epics-nfs/modules/R3.15.6/synApps/R6.1/support/asyn-R4-36/db/asynRecord.db","P=MGN:B:E873A:DIAG:X:,R=asynEth,PORT=E873_ETH,ADDR=0,OMAX=256,IMAX=524288")
# RECSYNC
dbLoadRecords("/usr/local/epics-nfs/apps/recsync/1.4_epics_3.15/client/db/reccaster.db", "P=MGN:B:E873A:DIAG:X:REC:")
# protocol
#dbLoadRecords("$(MOTOR)/db/e873.db", "P=$(DEV),PORT=E873_ETH")
iocInit
Starting iocInit
############################################################################
## EPICS R3.15.6
## EPICS Base built Sep 27 2021
############################################################################
*e873aX.substitutions FILE:*
file "$(MOTOR)/motorApp/Db/asyn_motor.db"
{
pattern
{P, M, DTYP, PORT, ADDR, DESC, EGU, DIR,
VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM,
INIT}
{MGN:B:E873A:DIAG:X:, "m1", "asynMotor", "E873", 0, "Motor 1",
mm, Pos, 1, 0, .1, 0, 0, 0, 0.000001, 7,
5.0, -5.0, ""}
}
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- Replies:
- Re: Weird behaviour in wait=True when using epics.Motor.get(something,something,wait=True) Marco A. Barra Montevechi Filho via Tech-talk
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- Weird behaviour in wait=True when using epics.Motor.get(something,something,wait=True) Marco A. Barra Montevechi Filho via Tech-talk
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