Re: Implementing closed loop on EPICS level

[Guilherme Jovanini Montagner via Tech-talk <tech-talk@aps.anl.gov>]

Hi Kevin
Thank you for your response.
I tried with UEIP = 1, but then it seems to use the motor 1 encoder (which is just the phase value, or open loop value), and not the m11 encoder that I have setup.
Then it disregards the m11 encoder reading

Guilherme Jovanini Montagner 
+55 19 99806.9117 
+55 19 2517.8911 
guilherme@setup.com.br 
	
Labview Certified Developer

----- Mensagem original -----
De: "Peterson, Kevin M." <kmpeters@anl.gov>
Para: "guilherme" <guilherme@setup.com.br>, "tech-talk" <tech-talk@aps.anl.gov>
Enviadas: Terça-feira, 29 de setembro de 2020 10:52:24
Assunto: Re: Implementing closed loop on EPICS level

The motor record issues absolute move command if UEIP and URIP are both 
0.  It issues relative move commands if UEIP or URIP is 1.

Kevin

On 9/29/20 8:04 AM, Guilherme Jovanini Montagner via Tech-talk wrote:
> It seems that EPICS is issuing "absolute" movements, instead of 
> "relative". Commanded position of 3mm shouldn't result in a target of 
> 307200 counts for motor 1, but should issue an incremental movement of 
> 0,7mm (in this situation), or +71680 counts, and after that, the DIFF 
> field should be considered in order to issue further movements
> 
> What can justify this behaviour? Did we implement this technique correctly?
> Thank you for your attention.
> 	
> *Guilherme Jovanini Montagner*
> +55 19 99806.9117
> +55 19 2517.8911
> guilherme@setup.com.br
> 	
> Labview Certified Developer
> 
> ------------------------------------------------------------------------