Experimental Physics and
Industrial Control System

Jörn Dreyer <[email protected]> · Mon, 23 Jul 2018 15:50:15 +0200

Hello,

I'm currently developing a driver for a in house build MotorControler based on 
a microcontroller. This can be accessed via ethernet using a dedicate 
protocol. The controller is housed in a 19" rack together with up to six 
driver cards each capable of driving 6 motors. Some of the driver cards can be 
replaced by encoder input cards. To make the system even more complex, there 
are two types of driver cards. One which drives stepper motors and one which 
drives piezo motors. These cards can not be mixed within the same crate, but 
can both be mixed with encoder input cards. 
Thus an axis (motor) can either have an encoder connected or not and you can 
have both combinations in the same crate. 

I started out with a driver based on asynMotorController. But the type of axis 
is hardcoded in this class, so I would need to code each possible combination 
in a separate class. This would make the code very complex and hard to 
maintain.

What I would like to have is a motor controller class where an axis can be 
registered during startup of the IOC from the st.cmd file.

Did somebody face a similar situation before? If so, how did you solve this?
Any idea is welcome!

Regards,

Jörn

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System