Check motion complete on motor move

[arrellc]

Calibration routine can fail as motor may not move for different reasons

Can the following be included in a motor move function (would likely also be needed for future apps)

• Check motion compete i.e check readback position has changed as expected
• Check motion is possible before attempt by checking motor soft limits

And and error displayed is a move is not possible or not completed

Motor soft limits are given by the PVs: SAROP21-PBPS103:MOTOR_X1.HLM SAROP21-PBPS103:MOTOR_X1.LLM

[ivan-usov]

Hi @arrellc , is there a separate readback position PV? Otherwise, I believe that pv.put(..., wait=True) already solves the first point.

[arrellc]

A readback PV is: SARFE10-PBPS053:MOTOR_X1.RBV

and a motion complete flag is:

SARFE10-PBPS053:MOTOR_X1.MSTA

but I don't think the flag changes when soft limits are violated