Experimental Physics and Industrial Control System
|
Subject: |
Reversing the order of motor record base and slew velocity commands |
From: |
Ron Sluiter <[email protected]> |
To: |
EPICS <[email protected]> |
Date: |
Wed, 6 Aug 2014 14:59:40 -0500 |
I am considering reversing the order in which the motor record
issues base velocity and slew velocity commands to device support.
Currently, whenever the motor record request motor motion it first
issues a command to device support to set the base velocity and then
the slew velocity. I have no record of why that order was chosen.
Unfortunately, command errors are occurring with Pro-Dex MAXv
controllers when a specific application changes the base velocity.
This is because the base velocity is range limited by the slew
velocity value (0 <= base < slew). When the application tries
to set base velocity at or below the slew velocity of the previous
move, a command error occurs.
I made a brief survey the EPICS
motor module supported motor controllers. Most drivers either
do not implement base velocity or use a fixed range. Both New Focus
Model 8753 open-loop controllers and Schneider Electric (IMS)
MDrive/MForce controllers are like the Pro-Dex MAX in that the base
velocity is range limited by the slew velocity value.
I find no motor controllers that would "suffer" from this change, so
please let me know if you know otherwise.
Ron
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ANJ, 17 Dec 2015 |
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