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SANS2D: Galils inside Vacuum tank #6910

Closed RaiBishal closed 2 years ago

RaiBishal commented 2 years ago

Where?

SANS2D.

Description

When testing the new collision avoidance for SANS2D vacuum using GALILMUL with @DominicOram some issues related to galils were discovered. The collision avoidance itself is working fine.

There was CAEN related issue as well which was causing it to inhibit detector motion but I have not included it here.

Following events occurred in particular order

16/11/2021

  1. Front detector and Rear detector motor stalling
  2. We were able to move rear detector without stalling after changing the .VELO speed to homesepeed
  3. Dom discovered that _STEPSMOOTH_MON was not set correctly, so we set it to 16 as it was in SECI
  4. Rear detector was homed and its speed was set to original speed
  5. Rear detector movements seemed to work fine
  6. Front detector moved fine after setting _STEPSMOOTH_MON to correct value

We did not home Front Detector this day, Only the Rear detector was homed.

17/11/2021

  1. Front Detector stalling again
  2. Rear Detector stalling again
  3. Front detector and Rear detector moving towards negative direction when the SP was set to positive
  4. When trying to home Front Detector it started homing multiple times so we restarted the IOC which eventually fixed the (infinite?) homing loop
  5. We homed the Front Detector
  6. Front Detector movements worked fine
  7. We homed the Rear Detector
  8. Rear Detector movements worked fine

How?

when testing Collision Avoidance in SANS2D

Reproducible?

Maybe?

To Reproduce

Not sure, seem to happen ocassionally

Acceptance criteria

FreddieAkeroyd commented 2 years ago

The IT command also needs to be sent, there is not a PV for this

FreddieAkeroyd commented 2 years ago

Remove some duplicated code that is also in incorrect place https://github.com/ISISComputingGroup/EPICS-ioc/commit/914fa9b5d464aa0684195dc6ad19295967a122d1

FreddieAkeroyd commented 2 years ago

See #6919

FreddieAkeroyd commented 2 years ago

@RaiBishal I think this is complete?

RaiBishal commented 2 years ago

@FreddieAkeroyd Yes move it to review now.