Experimental Physics and
Industrial Control System
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| <== Date ==> | <== Thread ==> |
|---|
| Subject: | motor model 3 with binary commands PiCo 33 piezo CN30 controller |
| From: | "Sintschuk, Michael via Tech-talk" <tech-talk at aps.anl.gov> |
| To: | tech-talk <tech-talk at aps.anl.gov> |
| Date: | Wed, 31 Jan 2024 16:29:51 +0000 |
|
Dear all, I’m struggling to write a motor driver for an old piezo controller that goes by the name CN30 or PiCo 33 from Mechonics. I guess my problem is that this controller talks only in command-bytes and I’m trying to use the model 3 driver which is based on ASCII-commands. I attached a pdf with a description of the RS232 command-byte and I also
found a SPEC driver for this controller: BLISS: SPEC Macro documentation / Macrofile: mechonics.mac (esrf.fr) This is my move function from the driver: asynStatus CN30Axis::move(double position, int relative, double baseVelocity, double slewVelocity, double acceleration) { asynStatus status; size_t nwrite; int steps, steps2Go; char nsteps[4]; // static const char *functionName = "CN30Axis::move"; // calculate how many steps to do, ca. 200nm/Step and we drive in mm steps2Go = static_cast<int>(position / 200e-7); while (steps2Go > 0) { if (steps2Go >= 100) strcpy(nsteps, "111"), steps = 100; else if (steps2Go >= 50) strcpy(nsteps, "110"), steps = 50; else if (steps2Go >= 20) strcpy(nsteps, "101"), steps = 20; else if (steps2Go >= 10) strcpy(nsteps, "100"), steps = 10; else if (steps2Go >= 5) strcpy(nsteps, "011"), steps = 5; else if (steps2Go >= 2) strcpy(nsteps, "010"), steps = 2; else if (steps2Go >= 1) strcpy(nsteps, "001"), steps = 1; sprintf(pC_->outString_, "00000%s", nsteps); pC_->writeController(); epicsThreadSleep(0.001); steps2Go = steps2Go - steps; } return status; } Here is the IOC console output with asynTraces turned on when trying to do a 1mm move (I also need to work on the step-resolution but this is not the issue right now): 00000111 2024/01/31 16:44:55.492 CN30Port queueUnlockPort 2024/01/31 16:44:55.492 CN30Port asynManager::queueUnlockPort waiting for event 2024/01/31 16:44:55.492 CN30Port queueUnlockPort unlock mutex 0x7f5098000ee0 complete. 2024/01/31 16:44:55.493 CN30Port asynManager::queueLockPort locking port 2024/01/31 16:44:55.493 CN30Port asynManager::queueLockPort taking mutex 0x7f5098000ee0 2024/01/31 16:44:55.493 CN30Port asynManager::queueLockPort queueing request 2024/01/31 16:44:55.493 CN30Port addr -1 queueRequest priority 0 not lockHolder 2024/01/31 16:44:55.493 CN30Port schedule queueRequest timeout in 2.000000 seconds 2024/01/31 16:44:55.493 CN30Port asynManager::queueLockPort waiting for event 2024/01/31 16:44:55.493 asynManager::portThread port=CN30Port callback 2024/01/31 16:44:55.493 CN30Port asynManager::queueLockPortCallback signaling begin event 2024/01/31 16:44:55.493 CN30Port asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort 2024/01/31 16:44:55.493 CN30Port asynManager::queueLockPort got event from callback 2024/01/31 16:44:55.493 192.168.99.20:4001 write. 2024/01/31 16:44:55.493 192.168.99.20:4001 write 8 00000111 2024/01/31 16:44:55.493 wrote 8 to 192.168.99.20:4001, return asynSuccess. 2024/01/31 16:44:55.493 asynOctetSyncIO wrote: 00000111 2024/01/31 16:44:55.493 CN30Port queueUnlockPort 2024/01/31 16:44:55.493 CN30Port asynManager::queueUnlockPort waiting for event 2024/01/31 16:44:55.493 CN30Port queueUnlockPort unlock mutex 0x7f5098000ee0 complete. 2024/01/31 16:44:55.495 CN30Port asynManager::queueLockPort locking port 2024/01/31 16:44:55.495 CN30Port asynManager::queueLockPort taking mutex 0x7f5098000ee0 2024/01/31 16:44:55.495 CN30Port asynManager::queueLockPort queueing request 2024/01/31 16:44:55.495 CN30Port addr -1 queueRequest priority 0 not lockHolder 2024/01/31 16:44:55.495 CN30Port schedule queueRequest timeout in 2.000000 seconds 2024/01/31 16:44:55.495 CN30Port asynManager::queueLockPort waiting for event 2024/01/31 16:44:55.495 asynManager::portThread port=CN30Port callback 2024/01/31 16:44:55.495 CN30Port asynManager::queueLockPortCallback signaling begin event 2024/01/31 16:44:55.495 CN30Port asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort 2024/01/31 16:44:55.495 CN30Port asynManager::queueLockPort got event from callback 2024/01/31 16:44:55.495 192.168.99.20:4001 write. 2024/01/31 16:44:55.495 192.168.99.20:4001 write 8 00000111 2024/01/31 16:44:55.495 wrote 8 to 192.168.99.20:4001, return asynSuccess. 2024/01/31 16:44:55.495 asynOctetSyncIO wrote: 00000111 2024/01/31 16:44:55.495 CN30Port queueUnlockPort 2024/01/31 16:44:55.495 CN30Port asynManager::queueUnlockPort waiting for event 2024/01/31 16:44:55.495 CN30Port queueUnlockPort unlock mutex 0x7f5098000ee0 complete. 2024/01/31 16:44:55.496 CN30Port asynManager::queueLockPort locking port 2024/01/31 16:44:55.496 CN30Port asynManager::queueLockPort taking mutex 0x7f5098000ee0 2024/01/31 16:44:55.496 CN30Port asynManager::queueLockPort queueing request 2024/01/31 16:44:55.496 CN30Port addr -1 queueRequest priority 0 not lockHolder 2024/01/31 16:44:55.496 CN30Port schedule queueRequest timeout in 2.000000 seconds 2024/01/31 16:44:55.496 CN30Port asynManager::queueLockPort waiting for event 2024/01/31 16:44:55.496 asynManager::portThread port=CN30Port callback 2024/01/31 16:44:55.496 CN30Port asynManager::queueLockPortCallback signaling begin event 2024/01/31 16:44:55.496 CN30Port asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort 2024/01/31 16:44:55.496 CN30Port asynManager::queueLockPort got event from callback 2024/01/31 16:44:55.496 192.168.99.20:4001 write. 2024/01/31 16:44:55.496 192.168.99.20:4001 write 8 00000110 2024/01/31 16:44:55.496 wrote 8 to 192.168.99.20:4001, return asynSuccess. 2024/01/31 16:44:55.496 asynOctetSyncIO wrote: 00000110 2024/01/31 16:44:55.496 CN30Port queueUnlockPort 2024/01/31 16:44:55.496 CN30Port asynManager::queueUnlockPort waiting for event 2024/01/31 16:44:55.496 CN30Port queueUnlockPort unlock mutex 0x7f5098000ee0 complete. 2024/01/31 16:44:55.497 CN30Port asynManager::queueLockPort locking port 2024/01/31 16:44:55.497 CN30Port asynManager::queueLockPort taking mutex 0x7f5098000ee0 2024/01/31 16:44:55.497 CN30Port asynManager::queueLockPort queueing request 2024/01/31 16:44:55.497 CN30Port addr -1 queueRequest priority 0 not lockHolder 2024/01/31 16:44:55.497 CN30Port schedule queueRequest timeout in 2.000000 seconds 2024/01/31 16:44:55.497 CN30Port asynManager::queueLockPort waiting for event 2024/01/31 16:44:55.497 asynManager::portThread port=CN30Port callback 2024/01/31 16:44:55.497 CN30Port asynManager::queueLockPortCallback signaling begin event 2024/01/31 16:44:55.497 CN30Port asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort 2024/01/31 16:44:55.497 CN30Port asynManager::queueLockPort got event from callback 2024/01/31 16:44:55.497 192.168.99.20:4001 write. 2024/01/31 16:44:55.497 192.168.99.20:4001 write 8 00000101 2024/01/31 16:44:55.497 wrote 8 to 192.168.99.20:4001, return asynSuccess. 2024/01/31 16:44:55.497 asynOctetSyncIO wrote: 00000101 2024/01/31 16:44:55.497 CN30Port queueUnlockPort 2024/01/31 16:44:55.497 CN30Port asynManager::queueUnlockPort waiting for event 2024/01/31 16:44:55.497 CN30Port queueUnlockPort unlock mutex 0x7f5098000ee0 complete. 2024/01/31 16:44:55.498 CN30Port asynManager::queueLockPort locking port 2024/01/31 16:44:55.498 CN30Port asynManager::queueLockPort taking mutex 0x7f5098000ee0 2024/01/31 16:44:55.498 CN30Port asynManager::queueLockPort queueing request 2024/01/31 16:44:55.498 CN30Port addr -1 queueRequest priority 0 not lockHolder 2024/01/31 16:44:55.498 CN30Port schedule queueRequest timeout in 2.000000 seconds 2024/01/31 16:44:55.498 CN30Port asynManager::queueLockPort waiting for event 2024/01/31 16:44:55.498 asynManager::portThread port=CN30Port callback 2024/01/31 16:44:55.498 CN30Port asynManager::queueLockPortCallback signaling begin event 2024/01/31 16:44:55.498 CN30Port asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort 2024/01/31 16:44:55.498 CN30Port asynManager::queueLockPort got event from callback 2024/01/31 16:44:55.498 192.168.99.20:4001 write. 2024/01/31 16:44:55.498 192.168.99.20:4001 write 8 00000101 2024/01/31 16:44:55.498 wrote 8 to 192.168.99.20:4001, return asynSuccess. 2024/01/31 16:44:55.498 asynOctetSyncIO wrote: 00000101 2024/01/31 16:44:55.499 CN30Port queueUnlockPort 2024/01/31 16:44:55.499 CN30Port asynManager::queueUnlockPort waiting for event 2024/01/31 16:44:55.499 CN30Port queueUnlockPort unlock mutex 0x7f5098000ee0 complete. 2024/01/31 16:44:55.500 CN30Port asynManager::queueLockPort locking port 2024/01/31 16:44:55.500 CN30Port asynManager::queueLockPort taking mutex 0x7f5098000ee0 2024/01/31 16:44:55.500 CN30Port asynManager::queueLockPort queueing request 2024/01/31 16:44:55.500 CN30Port addr -1 queueRequest priority 0 not lockHolder 2024/01/31 16:44:55.500 CN30Port schedule queueRequest timeout in 2.000000 seconds 2024/01/31 16:44:55.500 CN30Port asynManager::queueLockPort waiting for event 2024/01/31 16:44:55.500 asynManager::portThread port=CN30Port callback 2024/01/31 16:44:55.500 CN30Port asynManager::queueLockPortCallback signaling begin event 2024/01/31 16:44:55.500 CN30Port asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort 2024/01/31 16:44:55.500 CN30Port asynManager::queueLockPort got event from callback 2024/01/31 16:44:55.500 192.168.99.20:4001 write. 2024/01/31 16:44:55.500 192.168.99.20:4001 write 8 00000011 2024/01/31 16:44:55.500 wrote 8 to 192.168.99.20:4001, return asynSuccess. 2024/01/31 16:44:55.500 asynOctetSyncIO wrote: 00000011 2024/01/31 16:44:55.500 CN30Port queueUnlockPort 2024/01/31 16:44:55.500 CN30Port asynManager::queueUnlockPort waiting for event 2024/01/31 16:44:55.500 CN30Port queueUnlockPort unlock mutex 0x7f5098000ee0 complete. 2024/01/31 16:44:55.501 CN30Port asynManager::queueLockPort locking port 2024/01/31 16:44:55.501 CN30Port asynManager::queueLockPort taking mutex 0x7f5098000ee0 2024/01/31 16:44:55.501 CN30Port asynManager::queueLockPort queueing request 2024/01/31 16:44:55.501 CN30Port addr -1 queueRequest priority 0 not lockHolder 2024/01/31 16:44:55.501 CN30Port schedule queueRequest timeout in 2.000000 seconds 2024/01/31 16:44:55.501 CN30Port asynManager::queueLockPort waiting for event 2024/01/31 16:44:55.501 asynManager::portThread port=CN30Port callback 2024/01/31 16:44:55.501 CN30Port asynManager::queueLockPortCallback signaling begin event 2024/01/31 16:44:55.501 CN30Port asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort 2024/01/31 16:44:55.501 CN30Port asynManager::queueLockPort got event from callback 2024/01/31 16:44:55.501 192.168.99.20:4001 write. 2024/01/31 16:44:55.501 192.168.99.20:4001 write 8 00000010 2024/01/31 16:44:55.501 wrote 8 to 192.168.99.20:4001, return asynSuccess. 2024/01/31 16:44:55.501 asynOctetSyncIO wrote: 00000010 2024/01/31 16:44:55.501 CN30Port queueUnlockPort 2024/01/31 16:44:55.501 CN30Port asynManager::queueUnlockPort waiting for event 2024/01/31 16:44:55.501 CN30Port queueUnlockPort unlock mutex 0x7f5098000ee0 complete. 2024/01/31 16:44:55.502 CN30Port asynManager::queueLockPort locking port 2024/01/31 16:44:55.502 CN30Port asynManager::queueLockPort taking mutex 0x7f5098000ee0 2024/01/31 16:44:55.502 CN30Port asynManager::queueLockPort queueing request 2024/01/31 16:44:55.502 CN30Port addr -1 queueRequest priority 0 not lockHolder 2024/01/31 16:44:55.502 CN30Port schedule queueRequest timeout in 2.000000 seconds 2024/01/31 16:44:55.502 CN30Port asynManager::queueLockPort waiting for event 2024/01/31 16:44:55.502 asynManager::portThread port=CN30Port callback 2024/01/31 16:44:55.502 CN30Port asynManager::queueLockPortCallback signaling begin event 2024/01/31 16:44:55.502 CN30Port asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort 2024/01/31 16:44:55.502 CN30Port asynManager::queueLockPort got event from callback 2024/01/31 16:44:55.502 192.168.99.20:4001 write. 2024/01/31 16:44:55.502 192.168.99.20:4001 write 8 00000010 2024/01/31 16:44:55.502 wrote 8 to 192.168.99.20:4001, return asynSuccess. 2024/01/31 16:44:55.502 asynOctetSyncIO wrote: 00000010 2024/01/31 16:44:55.502 CN30Port queueUnlockPort 2024/01/31 16:44:55.502 CN30Port asynManager::queueUnlockPort waiting for event 2024/01/31 16:44:55.502 CN30Port queueUnlockPort unlock mutex 0x7f5098000ee0 complete. epics> I can see the axis moving, but it is the wrong axis because Bit 7 and 6 are actually 0 (see attached pdf). Also, the command 00000111 in the output looks right I’m not sure if the controller understands it. Is it right to use: sprintf(pC_->outString_, "00000%s", nsteps); pC_->writeController(); when I want to send a byte-command? Does it matter? So far, I only have experience in write ASCII-based motor drivers, based on examples of model 3. Can someone help? Thanks, and best regards! Michael Michael Sintschuk
|
Attachment:
Firmware_CN30_1673-11.pdf
Description: Firmware_CN30_1673-11.pdf
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