Experimental Physics and Industrial Control System
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Juliane,
Having an open-loop move command is helpful, though I don't know how to
map steps + frequency to EGU, but not sufficient to make open-loop axes
work well with the motor driver. The motor record expects a feedback
position to be updated by the driver.
It would be fairly easy to write streamDevice support to allow sending
the open-loop move command from EPICS. I don't know how well this would
work if some of the axes on the MCS controller needed open-loop moves
and others work correctly with the EPICS motor driver.
Kevin
On 11/13/20 4:03 PM, Juliane Reinhardt wrote:
Hi Kevin,
we found the ASCII command to move a motor that does not have an encoder
in the SmarAct manual, p70:
Example:
MST0,100,4095,100
Performs 100 steps at full amplitude and 100 Hz on channel 0.
Is that information enough to implement that in the MCS driver for
EPICS? Would you be able to modify the driver or can you assist me in
doing that? I have not experience yet in writing the actual EPICS
drivers. I assume, we would add this option to the move command
beginning in line 502 of the current smarActMCSMotorDriver.cpp
Another naive idea would be to move the motor using the hardware's
step-count register? I tried moving using caput $motor.RVAL but that
doesn't work either. Any options to setup an RDBL Link to read positions
from or does that only over complicate things and we should rather have
the driver adapted?
Thanks for your help,
Juliane
- References:
- read RVB and VAL don't match when moving smarAct motors without encoders Juliane Reinhardt via Tech-talk
- Re: read RVB and VAL don't match when moving smarAct motors without encoders Peterson, Kevin M. via Tech-talk
- Re: read RVB and VAL don't match when moving smarAct motors without encoders Juliane Reinhardt via Tech-talk
- Re: read RVB and VAL don't match when moving smarAct motors without encoders Mark Rivers via Tech-talk
- Re: read RVB and VAL don't match when moving smarAct motors without encoders Juliane Reinhardt via Tech-talk
- Re: read RVB and VAL don't match when moving smarAct motors without encoders Mark Rivers via Tech-talk
- Re: read RVB and VAL don't match when moving smarAct motors without encoders Juliane Reinhardt via Tech-talk
- Re: read RVB and VAL don't match when moving smarAct motors without encoders Kevin Peterson via Tech-talk
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ANJ, 15 Nov 2020 |
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