Experimental Physics and Industrial Control System
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Subject: |
Re: 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 15:08:26 -0500 |
Correction...
When the application tries to set base velocity at or ABOVE the
slew velocity of the previous move, a command error occurs.
Thanks Kurt
On 8/6/2014 2:59 PM, Ron Sluiter wrote:
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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