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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
Bundesanstalt für Materialforschung und –prüfung (BAM)
8.5 - X-ray Imaging

Unter den Eichen 87
12205 Berlin
GERMANY

P: +49 30 8062-15063 (BESSY, Adlershof)
michael.sintschuk at bam.de

 

Attachment: Firmware_CN30_1673-11.pdf
Description: Firmware_CN30_1673-11.pdf

Replies:
RE: motor model 3 with binary commands PiCo 33 piezo CN30 controller Mark Rivers via Tech-talk
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