Re: About motor motion

["Knap, Giles \(DLSLtd,RAL,LSCI\) via Tech-talk" <tech-talk@aps.anl.gov>]

Hi Baeg,

I do not know anything about the maxnet controller.

However, I have developed a support module that drives the Smarct Smarpod using Smaract's own ECM controller. I can recommend this as it implements all of the kinematics for you and we have had two in-vacuum smarpods running on the I21 beamline at DLS for many years now.

The support module is here https://github.com/DiamondLightSource/smaractecm

This is Smaract's ECM https://www.smaract.com/en/control-systems-and-software/product/ecm I think this is a newer model than the one I21 is using.

I've copied Greg who is the current I21 controls engineer for comment.

Regards,

giles

---

From: Tech-talk <tech-talk-bounces@aps.anl.gov> on behalf of 백호령 via Tech-talk <tech-talk@aps.anl.gov>
Sent: 28 August 2025 05:31
To: tech-talk@aps.anl.gov <tech-talk@aps.anl.gov>
Subject: About motor motion

 

Hello, we are trying to implement motion like smarAct's smarpod 0.45 stage (https://www.youtube.com/watch?v=pwJK1UpAXnQ

0:55 seconds in the video).

 First of all, the motor of the stage is a step motor for a two-phase vacuum, and we are planning to control the motor by connecting it to maxv or maxnet controller. There is no need for fast motion like the piezo motor, but the goal we are currently trying to implement is to

1. When motor A (TESTMAX:R) moves in the CW direction, motor B (TESTMAX:L) moves in the CCW direction by the same distance

2. When motor A (TESTMAX:R) moves in the CW direction, motor B (TESTMAX:L) moves in the same CW direction by the same distance

It is.

Create a PV with the EPICS IOC with the MAXNET controller, and then, made soft IOC.

If the switch of SYNC:EN is ON, the motor is driven like number 1, and if the switch of SYNC:EN is OFF, it is driven like number 2.

It worked very well, but I really want to know there's another technology in epics.

Do you happen to have any examples or examples of driving motors in this way?

If there is a better way other than that, please advise.

==========================================

This is my db

sync_fast.db 

record(bo, "SYNC:EN") {

    field(DESC, "0=CoDir 1=Reverse")

    field(ZNAM, "OFF")

    field(ONAM, "ON")

    field(VAL, "1") 

}

record(calcout, "SYNC:AB:CMD") {

    field(DESC, "feedforward")

    field(SCAN, "Passive")

    field(INPA, "TESTMAX:R.VAL CP NMS") 

    field(INPB, "SYNC:EN CP NMS") 

    field(CALC, "B?-A:A") # EN=1: -A, EN=0: +A

    field(OUT, "TESTMAX:L.VAL PP")

    field(OOPT, "On Change")

    field(PREC, "4")

}

and this is my st.cmd

st.cmd 

#!../../bin/linux-x86_64/softmotor

< envPaths

cd "${TOP}"

dbLoadDatabase "dbd/softmotor.dbd"

softmotor_registerRecordDeviceDriver pdbbase

dbLoadRecords("db/sync_fast.db")

cd "${TOP}/iocBoot/${IOC}"

iocInit

Best&Regards,

Baeg

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