Experimental Physics and Industrial Control System
I'm experiencing some strange effects when I have the ACCL field set to
say around 6 seconds, though 3 seconds also exhibts the effect. If I
request a small move the motor moves but the MPOS field doesn't update.
If I asked it to go to the same position the motor moves a bit more and
MPOS updates. If I ask a 3rd time the motor doesn't move but MPOS updates
to 2x the original distance. If I ask a 4th time the motor moves back to
where it should be and MPOS is continuously updated. ie:
Demand Position Position MPOS
92000 92000 92000 1st (long) move, ok
92050 92050 92000 move ok, frozen MPOS
92050 92100 92050 unexpect 2nd move
92050 92100 92100 no move, MPOS updates
92050 92050 92050 motor moves back,
MPOS continuously updates
If I set the ACCL parameter to 1 second then everything behaves as one
would expect. The other parameters are:
OMSL supervisory VELO 1.5 MRES 1000 RTRY 0
Any ideas before I dive into the code? The problem could of course be in
the OMS firmware.
Ian A Smith Telephone: +44 (0) 131 668 8257
Royal Observatory Fax: +44 (0) 131 668 1130
Blackford Hill Web: http://www.roe.ac.uk/
Edinburgh
UK
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