Experimental Physics and
Industrial Control System

Chiang, Liang-Chih [江良志] via Tech-talk <[email protected]> · Wed, 7 Aug 2019 02:14:47 +0000

Hi Kevin,

> I've emailed Steffen Rau, the author of the PIGCS2 support...
Thanks a lot.

I don't change the terminators set by PIasynController::PIasynController, excerpt:
    status = pasynOctetSyncIO->setInputEos(pAsynCom, "\n", 1);
    status = pasynOctetSyncIO->setOutputEos(pAsynCom, "", 0);

The PIGCSPiezoController.cpp(.h) seems incomplete or only targets a specific model. 
For example, the following method implementations are not suitable for my case.
    getReferencedState  set pAxis->m_homed to 1,
    initAxis  calls setServo(pAxis, 1),
    getStatus  just set homing, negLimit, and posLimit to 0.

I'm modifying PIGCSPiezoController, though the progress is slow because of few experience.

Allow me to provide devices' detailed info:
    PI E-712.1AM  Predefined System Configuration, which contains:
         PI E-712.R4  Chassis
         PI E-712.N1  Digital Processor Module
         PI E-711.AM5A: Amplifier modules for NEXLINE®, -250 V to +250 V, for drives with sensor.
         N-111K077 NEXLINE OEM Piezo Stepping Actuator

The photo: 
https://www.dropbox.com/s/77xhg9x0a9f7y2g/2019-06-26%2014.50.05%20PI%20E-712.jpg?dl=0

Best regards.

LiangChih Chiang
Email：[email protected]
Beamline Group
National Synchrotron Radiation Research Center (NSRRC)

________________________________________
寄件者: Peterson, Kevin M. <[email protected]>
寄件日期: 2019年8月6日 下午 11:56
收件者: Chiang, Liang-Chih [江良志]; [email protected]
主旨: Re: [motorPIGCS2] can't turn on servo state of PI E-712

LiangChih,

Those terminators look correct.  Your observation that the
PIGCSPiezoController class assumes an absolute sensor is likely the
cause of the errors.  I've emailed Steffen Rau, the author of the PIGCS2
support, for guidance on which parts of PIGCSPiezoController and
PIGCSMotorController apply to the E-711.AM5A.

Kevin

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On 8/5/19 8:12 PM, Chiang, Liang-Chih [江良志] via Tech-talk wrote:
> Hi Kevin,
>
> epics> asynOctetGetOutputEos("PIE712")
> ""
> epics> asynOctetGetInputEos("PIE712")
> "\n"
>
>
> Allow me to repeat the devices again:
>      PI E-712.1AM Digital Motion controller.
>      PI E-711.AM5A: Amplifier modules for NEXLINE®, -250 V to +250 V, for drives with sensor.
>
> I found the following comment in motor-R6-11/motorApp/PIGCS2Src/PIGCSPiezoController.h
>      Main difference to motor controllers is the usage of absolute sensors.
>
> But PI E-711.AM5A uses incremental encoder.
>
>
> Best regards.
>
> LiangChih Chiang
> Email：[email protected]
> Beamline Group
> National Synchrotron Radiation Research Center (NSRRC)

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System