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nmarks99 merged 2 commits into from
Jul 10, 2026
Merged

Rm automove #21

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569b104
replace AutoMoveJ/L logic with separate records
nmarks99 Jul 10, 2026
98d5ee9
update docs for new *CmdU stuff
nmarks99 Jul 10, 2026
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86 changes: 48 additions & 38 deletions docs/pv_reference_guide.md
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Expand Up @@ -157,61 +157,71 @@ robot controller, `caput Dashboard:Play 1` and `caput Dashboard:Play.PROC 1` (an
| Control:JointAcceleration | ao | Acceleration for moveJ (deg/s/s) |
| Control:JointBlend | ao | Blend radius for moveJ (mm) |
| Control:stopJ | bo | Stops an in-progress asynchronous moveJ |
| Control:AutoMoveJ | bo | If 1, moveJ runs automatically when any JxCmd changes |
| Control:J1Cmd | ao | Commanded angle for joint 1 (deg) |
| Control:J1Cmd | ao | Commanded angle for joint 1 (deg). Does not trigger motion. |
| Control:J1CmdU | ao | Sets J1 target and executes moveJ |
| Control:J1TweakVal | ao | Joint 1 tweak step size |
| Control:J1TweakFwd | bo | Tweak joint 1 forward by J1TweakVal |
| Control:J1TweakRev | bo | Tweak joint 1 backward by J1TweakVal |
| Control:J2Cmd | ao | Commanded angle for joint 2 (deg) |
| Control:J1TweakFwd | calcout | Tweak joint 1 forward by J1TweakVal (writes to J1CmdU) |
| Control:J1TweakRev | calcout | Tweak joint 1 backward by J1TweakVal (writes to J1CmdU) |
| Control:J2Cmd | ao | Commanded angle for joint 2 (deg). Does not trigger motion. |
| Control:J2CmdU | ao | Sets J2 target and executes moveJ |
| Control:J2TweakVal | ao | Joint 2 tweak step size |
| Control:J2TweakFwd | bo | Tweak joint 2 forward by J2TweakVal |
| Control:J2TweakRev | bo | Tweak joint 2 backward by J2TweakVal |
| Control:J3Cmd | ao | Commanded angle for joint 3 (deg) |
| Control:J2TweakFwd | calcout | Tweak joint 2 forward by J2TweakVal (writes to J2CmdU) |
| Control:J2TweakRev | calcout | Tweak joint 2 backward by J2TweakVal (writes to J2CmdU) |
| Control:J3Cmd | ao | Commanded angle for joint 3 (deg). Does not trigger motion. |
| Control:J3CmdU | ao | Sets J3 target and executes moveJ |
| Control:J3TweakVal | ao | Joint 3 tweak step size |
| Control:J3TweakFwd | bo | Tweak joint 3 forward by J3TweakVal |
| Control:J3TweakRev | bo | Tweak joint 3 backward by J3TweakVal |
| Control:J4Cmd | ao | Commanded angle for joint 4 (deg) |
| Control:J3TweakFwd | calcout | Tweak joint 3 forward by J3TweakVal (writes to J3CmdU) |
| Control:J3TweakRev | calcout | Tweak joint 3 backward by J3TweakVal (writes to J3CmdU) |
| Control:J4Cmd | ao | Commanded angle for joint 4 (deg). Does not trigger motion. |
| Control:J4CmdU | ao | Sets J4 target and executes moveJ |
| Control:J4TweakVal | ao | Joint 4 tweak step size |
| Control:J4TweakFwd | bo | Tweak joint 4 forward by J4TweakVal |
| Control:J4TweakRev | bo | Tweak joint 4 backward by J4TweakVal |
| Control:J5Cmd | ao | Commanded angle for joint 5 (deg) |
| Control:J4TweakFwd | calcout | Tweak joint 4 forward by J4TweakVal (writes to J4CmdU) |
| Control:J4TweakRev | calcout | Tweak joint 4 backward by J4TweakVal (writes to J4CmdU) |
| Control:J5Cmd | ao | Commanded angle for joint 5 (deg). Does not trigger motion. |
| Control:J5CmdU | ao | Sets J5 target and executes moveJ |
| Control:J5TweakVal | ao | Joint 5 tweak step size |
| Control:J5TweakFwd | bo | Tweak joint 5 forward by J5TweakVal |
| Control:J5TweakRev | bo | Tweak joint 5 backward by J5TweakVal |
| Control:J6Cmd | ao | Commanded angle for joint 6 (deg) |
| Control:J5TweakFwd | calcout | Tweak joint 5 forward by J5TweakVal (writes to J5CmdU) |
| Control:J5TweakRev | calcout | Tweak joint 5 backward by J5TweakVal (writes to J5CmdU) |
| Control:J6Cmd | ao | Commanded angle for joint 6 (deg). Does not trigger motion. |
| Control:J6CmdU | ao | Sets J6 target and executes moveJ |
| Control:J6TweakVal | ao | Joint 6 tweak step size |
| Control:J6TweakFwd | bo | Tweak joint 6 forward by J6TweakVal |
| Control:J6TweakRev | bo | Tweak joint 6 backward by J6TweakVal |
| Control:J6TweakFwd | calcout | Tweak joint 6 forward by J6TweakVal (writes to J6CmdU) |
| Control:J6TweakRev | calcout | Tweak joint 6 backward by J6TweakVal (writes to J6CmdU) |
| Control:moveL | bo | Executes moveL to the commanded TCP pose |
| Control:LinearSpeed | ao | Speed for moveL (mm/s) |
| Control:LinearAcceleration | ao | Acceleration for moveL (mm/s/s) |
| Control:LinearBlend | ao | Blend radius for moveL (mm) |
| Control:stopL | bo | Stops an in-progress asynchronous moveL |
| Control:AutoMoveL | bo | If 1, moveL runs automatically when any PoseCmd changes |
| Control:PoseXCmd | ao | Commanded TCP X (mm) |
| Control:PoseXCmd | ao | Commanded TCP X (mm). Does not trigger motion. |
| Control:PoseXCmdU | ao | Sets X target and executes moveL |
| Control:PoseXTweakVal | ao | X tweak step size |
| Control:PoseXTweakFwd | bo | Tweak TCP X forward |
| Control:PoseXTweakRev | bo | Tweak TCP X backward |
| Control:PoseYCmd | ao | Commanded TCP Y (mm) |
| Control:PoseXTweakFwd | calcout | Tweak TCP X forward (writes to PoseXCmdU) |
| Control:PoseXTweakRev | calcout | Tweak TCP X backward (writes to PoseXCmdU) |
| Control:PoseYCmd | ao | Commanded TCP Y (mm). Does not trigger motion. |
| Control:PoseYCmdU | ao | Sets Y target and executes moveL |
| Control:PoseYTweakVal | ao | Y tweak step size |
| Control:PoseYTweakFwd | bo | Tweak TCP Y forward |
| Control:PoseYTweakRev | bo | Tweak TCP Y backward |
| Control:PoseZCmd | ao | Commanded TCP Z (mm) |
| Control:PoseYTweakFwd | calcout | Tweak TCP Y forward (writes to PoseYCmdU) |
| Control:PoseYTweakRev | calcout | Tweak TCP Y backward (writes to PoseYCmdU) |
| Control:PoseZCmd | ao | Commanded TCP Z (mm). Does not trigger motion. |
| Control:PoseZCmdU | ao | Sets Z target and executes moveL |
| Control:PoseZTweakVal | ao | Z tweak step size |
| Control:PoseZTweakFwd | bo | Tweak TCP Z forward |
| Control:PoseZTweakRev | bo | Tweak TCP Z backward |
| Control:PoseRollCmd | ao | Commanded TCP roll (deg) |
| Control:PoseZTweakFwd | calcout | Tweak TCP Z forward (writes to PoseZCmdU) |
| Control:PoseZTweakRev | calcout | Tweak TCP Z backward (writes to PoseZCmdU) |
| Control:PoseRollCmd | ao | Commanded TCP roll (deg). Does not trigger motion. |
| Control:PoseRollCmdU | ao | Sets roll target and executes moveL |
| Control:PoseRollTweakVal | ao | Roll tweak step size |
| Control:PoseRollTweakFwd | bo | Tweak TCP roll forward |
| Control:PoseRollTweakRev | bo | Tweak TCP roll backward |
| Control:PosePitchCmd | ao | Commanded TCP pitch (deg) |
| Control:PoseRollTweakFwd | calcout | Tweak TCP roll forward (writes to PoseRollCmdU) |
| Control:PoseRollTweakRev | calcout | Tweak TCP roll backward (writes to PoseRollCmdU) |
| Control:PosePitchCmd | ao | Commanded TCP pitch (deg). Does not trigger motion. |
| Control:PosePitchCmdU | ao | Sets pitch target and executes moveL |
| Control:PosePitchTweakVal | ao | Pitch tweak step size |
| Control:PosePitchTweakFwd | bo | Tweak TCP pitch forward |
| Control:PosePitchTweakRev | bo | Tweak TCP pitch backward |
| Control:PoseYawCmd | ao | Commanded TCP yaw (deg) |
| Control:PosePitchTweakFwd | calcout | Tweak TCP pitch forward (writes to PosePitchCmdU) |
| Control:PosePitchTweakRev | calcout | Tweak TCP pitch backward (writes to PosePitchCmdU) |
| Control:PoseYawCmd | ao | Commanded TCP yaw (deg). Does not trigger motion. |
| Control:PoseYawCmdU | ao | Sets yaw target and executes moveL |
| Control:PoseYawTweakVal | ao | Yaw tweak step size |
| Control:PoseYawTweakFwd | bo | Tweak TCP yaw forward |
| Control:PoseYawTweakRev | bo | Tweak TCP yaw backward |
| Control:PoseYawTweakFwd | calcout | Tweak TCP yaw forward (writes to PoseYawCmdU) |
| Control:PoseYawTweakRev | calcout | Tweak TCP yaw backward (writes to PoseYawCmdU) |
| Control:TCPOffset_X | ao | TCP offset X (mm) |
| Control:TCPOffset_Y | ao | TCP offset Y (mm) |
| Control:TCPOffset_Z | ao | TCP offset Z (mm) |
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34 changes: 21 additions & 13 deletions docs/usage.md
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Expand Up @@ -69,17 +69,28 @@ It also has a button to enable/disable teach (freedrive) mode.

<img src="./assets/GUIs/ui/urRobot_control.png" alt="ui-control" width="600">

Although the default control GUI may look similar to typical EPICS motor screens, the robot's joint are *not* true EPICS motors.
Although the default control GUI may look similar to typical EPICS motor screens, the robot's joints are *not* true EPICS motors.
The x, y, z, roll, pitch, and yaw motors are virtual axes and moving them will move one or more joint motors. The joint motors
themselves are independent of each other, however motion of any joint motor will affect the position of the tool. To reconcile
this and reduce the likelyhood of accidentally commanding motion you didn't indend, every time motion completes, the command values
this and reduce the likelihood of accidentally commanding motion you didn't intend, every time motion completes, the command values
are automatically set to the current readback values, similar to an EPICS motor record.
The "Go" toggles (which write to the `$(P)Control:AutoMoveJ` or `$(P)Control:AutoMoveL` PVs) are similar to the Go/Move
options in the EPICS motor record. For example, to move Joint 1 to -75deg, if "Go" is set to "No" (`$(P)Control:AutoMoveJ`=0),
then you must set Joint 1 to -75deg and click "Move" (`$(P)Control:moveJ`). If "Go" is set to "Yes" (`$(P)Control:AutoMoveJ`=1),
the robot will begin moving as soon as the commanded values change, so typing -75 in the box for Joint 1 and clicking enter will
start the robot moving. The same goes for the Cartesian moves. Note that the "Move" buttons tell the robot to move to the current
joint or cartesian configuration defined by all 6 of the respective target values (J1Cmd, J2cmd... or PoseXCmd, PoseYCmd...).

There are two sets of command PVs for each axis:

- **`J*Cmd` / `Pose*Cmd`** (e.g. `$(P)Control:J1Cmd`, `$(P)Control:PoseXCmd`) are target-only setpoints.
Writing to these records updates the target position in the driver but does *not* trigger motion.
To actually move the robot, you must separately process `$(P)Control:moveJ` (for joints) or
`$(P)Control:moveL` (for Cartesian). This is the intended workflow for scripts, where you want to
set all target values first and then trigger a single coordinated move.

- **`J*CmdU` / `Pose*CmdU`** (e.g. `$(P)Control:J1CmdU`, `$(P)Control:PoseXCmdU`) are convenience
records intended for GUI use. Writing to a `*CmdU` record sets the corresponding `*Cmd` target
*and* automatically triggers `moveJ` or `moveL`. The tweak buttons (forward/reverse) on the GUI
also operate through the `*CmdU` records, so tweaking from the GUI triggers motion immediately.

Note that the "Move" buttons tell the robot to move to the current
joint or Cartesian configuration defined by all 6 of the respective target values (J1Cmd, J2Cmd, ...
or PoseXCmd, PoseYCmd, ...).


### Safety Event Handling
Expand Down Expand Up @@ -413,14 +424,11 @@ from epics import caget, caput
# IOC prefix
PREFIX = "MyIOC:"

# disable AutoMoveJ so we need to trigger move PV to start the move
caput(f"{PREFIX}Control:AutoMoveJ.VAL", 0)

# Get the current joint angles
angles = caget(f"{PREFIX}Receive:ActualJointPositions.VAL")

# Move all joints +1.0deg
angles += 1.0;
# Set all joint targets to current + 1.0 deg
angles += 1.0
for i in range(len(angles)):
caput(f"{PREFIX}Control:J{i+1}Cmd.VAL", angles[i])

Expand Down
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