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mp49 / parker6k

EPICS support for the Parker 6K controller
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AXSDEF: not available on GT6K #7

Closed mark0n closed 9 years ago

mark0n commented 9 years ago

The GT6K/GV6K controllers do not support the AXSDEF command. They are always stepper/servo controllers. When the device support issues the command during initialization of the axis the following error occurs:

2014/11/12 09:55:27.509 p6kController::lowLevelWriteRead: Error from pasynOctetSyncIO->writeRead. command: 1AXSDEF
2014/11/12 09:55:27.509 p6kController::lowLevelWriteRead: ERROR: Command 1AXSDEF returned an error: NOT VALID FOR GEM6K

2014/11/12 09:55:27.509 p6kAxis::readIntParam ERROR: Failed to read AXSDEF at startup.
2014/11/12 09:55:27.652 p6kAxis::getAxisInitialStatus ERROR: Could not read all axis parameters at startup.
2014/11/12 09:55:27.652 p6kAxis::p6kAxis: getAxisInitialStatus failed to return asynSuccess. Controller: ParkerGT6Krad, Axis: 1.
mark0n commented 9 years ago

This could be fixed by testing for the type of controller first using the TREV command.

mp49 commented 9 years ago

Agreed. This might also fix the issue with polling/setting the OUT bits, if I test TREV first. That's another thing I noticed wasn't working quite right on the GT6K.

Does TREV also tell us the controller type, not just the firmware number?

mark0n commented 9 years ago

Yes, TREV also returns the controller type. Here are some examples:

*TREV92-016740-01-6.5.2  GEM6K GT6K-L5 D2.17 F1.62 // your new controllers, my older ones
*TREV92-016740-02-7.1.4  GEM6K GT6K-L5 D2.17 F2.16 // our most recent ones
*TREV92-016740-02-7.1.3  6K // your 6Ks