Cannot stop multiple motors movement in backlash direction
Created by: cpt-majkel
Hi all,
this week we discovered a problem with stopping motors (with Ctrl + C). Problem occurs while moving multiple motors with applied backlash, in backlash direction.
Door_sar3demo_1 [90]: mot06.backlash=5
Door_sar3demo_1 [91]: mot05.backlash=5
Door_sar3demo_1 [92]: umv mot05 100 mot06 100
mot05 mot06
100.0000 100.0000
Door_sar3demo_1 [93]: umv mot05 10 mot06 10
mot05 mot06
81.7474 81.7442
^C
Ctrl-C received: Stopping...
Stopping Motion(['mot05', 'mot06']) reserved by mv
Motion(['mot05', 'mot06']) stopped
Executing mv.on_stop method...
mot05 mot06
81.7474 81.7442
Executing umv.on_stop method...
Stopping done!
Door_sar3demo_1 [94]: wa
Current positions (user, dial) on 2020-09-23 14:10:16.097051
gap02 ice1 ice2 mot05 mot06 mot07 mot08
User 20.0000 10.0000 20.0000 10.0000 10.0000 0.0000 0.0000
Dial 20.0000 10.0000 2619476.2000 10.0000 10.0000 0.0000 0.0000
offset02
User 0.0000
Dial 0.0000
This happens only with multiple motors movement. When moving one motor in backlash direction or multiple motors in opposite to backlash direction, stopping works fine.
I've done tests on sardana 2.8.3
as well as 3.0.2
using dummy
motors and IcePAP
ones, behaviour is the same. The main movement seems to be interrupted, but the backlash is applied nonetheless.
Cheers, Michal