Re: Support for piezo controller nanoFAKTUR EBD-060310

[Torsten Bögershausen via Tech-talk <tech-talk at aps.anl.gov>]

Hej LiangChih Chiang,
thanks for asking.

Before going into your questions, please allow one comment:
Using epicsPrintf (or even printf) should be forbidden in
these kind of driver code.
Please consider to us asynPrint instead.
Especially things like
#ifdef DEBUG
          printf("Warning: un-handled param data format:
#endif
Could be better coded as
  asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
      "%s: Warning....\n",
      __FUNCTION__);
  }

(If you write Warning or Err: or something is more a matter of taste)
But in any way you want to know if things go bad much later,
after firmware updates, changes in the IOC, glitches here and the )
Having said that, finishing my review, which may read unintentionally 
hard, lets digg into the questions.
 1.
> In asynMotorController.h, the data type of motorPosition_
> and motorEncoderPosition_ are ints.

A call inside the axis class looks like this:

asynMotorAxis::setDoubleParam(pC_->motorPosition_, motorPosition);

pC_->motorPosition_ is an int,
saying which asynparameter we ar writing to.

motorPosition is a double, saying where the motor should be,
according to the controller.

motorEncoderPosition_ is the value coming from the sensor inside the 
controller.
Example:
the MCS2 from Smaract reads motorPosition like this:
 // Read the target position
  snprintf(pC_->outString_,sizeof(pC_->outString_)-1,
    ":CHAN%d:POS:TARG?", axisNo_);

And encoderPosition like this:
     // read the actual position as measured by the sensor
      snprintf(pC_->outString_,sizeof(pC_->outString_)-1,
      ":CHAN%d:POS?", axisNo_);

3.
> The values of position and voltage from the controller are float values.
> When setting, say 2.1234...
This is depending on MRES in the motorRecord.
If you set it to 1.0 (or not at all, the the fallback is 1.0)
all values are rounded into integer.
The trick is to set MRES to 0.000001 or so and compensate
this in the driver (multipy with 1000000)


For the open-loop-voltage:
You probably want an own asyn-parameter for this.

/BR Torsten



On 2026-02-06 08:48, LiangChih Chiang via Tech-talk wrote:
> Hello, EPICS mates,
>
> I started to implement the “Model 3” driver for nanoFaktur EBD-060310 
> piezo controller.
> The attached files(.cpp and .h) are the work-in-progress source code. 
> Not finished yet.
> I have some questions.
>
> 1.
> In asynMotorController.h, the data type of motorPosition_ 
> and motorEncoderPosition_ are ints.
> But in derived class of asynMotorcontroller(like 
> smarActMCSMotorDriver.cpp and ACRMotorDriver.cpp),
> the function setDoubleParam is used to set the above parameters.
>
> Why is that?
>
> 2.
> I can read the position(unit um, range 0 to 40) and voltage(unit volts, 
> range -30 to 130) from the controller.
> But which one should I set to motorPosition_and motorEncoderPosition_?
> I don't quite understand.
>
> 3.
> The values of position and voltage from the controller are float values.
> When setting, say 2.123456, to motorEncoderPosition, it will become 2 
> (which is an int).
> How to handle this situation?
> Should I do some kind of transformation? For example, multiply by 1000,000?
>
> 4.
> In the member function: asynStatus poll(bool* moving_p),
> I need to set the moving/done status of the stage to moving_p 
> and motorStatusDone_.
> But there is no such exact suitable command provided by thhe controller.
> A possible candidate is "get on-target status" meaning in closed-loop 
> mode(servo ON),
> whether the position(from sensor) approached the set target or not.
>
> 5.
> The controller has two modes:
> closed-loop mode(servo ON), users set the desired potion(unit um).
> open-loop mode(servo OFF), uses set the voltage(unit volts).
>
> What should I set to motorPosition_?
> I think it should be something like "motor pulse".
>
> what should I set to motorEncoderPosition_.?
> I think it should be something like "encoder value".
>
>
> ps
>
> The controller uses binary communication protocol.
> The following example is to read the position(in um) of channel 0:
> hexadecimal bytes in little-endian:
> 10 00 01 20 02 00 20 00 00 ac 01 00 00 00 00 fe
>
> 10 00: total length, 16 bytes
> 01 20: command ID, 0x2001 means "get position"
> 02 00: custom ID, used to distinguish different client programs.
> 20: option, 0x20 means "read"
> 00: sequence number, Used in very long responses. Not used in commands.
> 00: interface id, RS-232 or USB or Ethernet. Not used in commands.
> ac: header checksum
> 01: data format, 01 means 32-bit unsigned int
> 00 00 00 00: data, channel 0
> fe: checksum
>
> The  response:
> 13 00 01 20 02 00 10 00 01 b8 00 00 02 70 74 6a 3e
>
> 13 00: total length, 19 bytes
> 01 20: command ID, 0x2001 means "get position"
> 02 00: custom ID, used to distinguish different client programs.
> 10: option, 0x10 means "final, no more".
> 00: sequence number,
> 01: interface id, 0x01 means RS-232.
> b8: header checksum
> 00: data format, 00 means 8-bit unsigned int
> 00: data, channel 0
> 02: data format, 02 means float
> 70 74 6a 3e: data, 0.228960 (position in um)
> 3e: checksum
>
>
> Any suggestions and responses are appreciated.
> Thank you.
>
>
> On Thu, Apr 24, 2025 at 5:31 AM Mark Rivers <rivers at cars.uchicago.edu 
> <mailto:rivers at cars.uchicago.edu>> wrote:
>       * I think I would need to write the EPICS motor driver module for
>         it.____
>
>     __ __
>
>     That is correct.  You should write a “Model 3” driver, meaning it is
>     a C++ driver derived from the base classes asynMotorController and
>     asynMotorAxis.____
>
>     __ __
>
>     I just looked at the manual for the nanoFAKTUR EBD-060310.  It uses
>     a non-standard binary communications protocol, not ASCII strings. 
>     That is unusual, most controllers use ASCII communication.____
>     __ __
>
>     The driver you suggested as a model, https://urldefense.us/v3/__https://github.com/epics-motor/__;!!G_uCfscf7eWS!YNTu8W7mOOCA7i52E_eC8rbycrSF2Xg4TAoHeHp4o8cW8OxPEK0p3xRGwyU-ieXrfSiPucbZ8i-B99Ma_fI$ 
>     motorPIGCS2 <https://urldefense.us/v3/__https:/github.com/epics-
>     motor/motorPIGCS2__;!!G_uCfscf7eWS!
>     YgABnMrr4ouWf_GcXAuVe7LU-96lfvWFNG96utdBA3mgcrk9dBsWVY7JQtxclFMQQYwD2Zz0RmrbQGad8OJXFPc$>  is fairly complex because of the class hierarchy, so you might want to start with something simpler as your example. ____
>
>     __ __
>
>     https://urldefense.us/v3/__https://github.com/epics-motor/motorSmarAct/blob/master/smarActApp/__;!!G_uCfscf7eWS!YNTu8W7mOOCA7i52E_eC8rbycrSF2Xg4TAoHeHp4o8cW8OxPEK0p3xRGwyU-ieXrfSiPucbZ8i-BJ49xEJ0$ 
>     src/smarActMCSMotorDriver.cpp <https://urldefense.us/v3/__https://
>     github.com/epics-motor/motorSmarAct/blob/master/smarActApp/src/
>     smarActMCSMotorDriver.cpp__;!!G_uCfscf7eWS!YLctRUSDiyz4K-
>     t8_BzT33ew7q6EOnMR2oSaoEqf7fY5hpd5mII4cyq4pP6Gt3vwMPp1s38VSS7kXyY4shD2qrU$>____
>
>     __ __
>
>     That uses ASCII communication, but it should not be too hard to take
>     the concepts and use binary communication.____
>
>     __ __
>
>     Mark____
>
>     __ __
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>     __ __
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>     __ __
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>     __ __
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>     *From:*Tech-talk <tech-talk-bounces at aps.anl.gov <mailto:tech-talk-
>     bounces at aps.anl.gov>> *On Behalf Of *LiangChih Chiang via Tech-talk
>     *Sent:* Wednesday, April 23, 2025 1:41 AM
>     *To:* tech-talk at aps.anl.gov <mailto:tech-talk at aps.anl.gov>
>     *Subject:* Support for piezo controller nanoFAKTUR EBD-060310____
>
>     __ __
>
>     Hello, EPICS mates,____
>
>     __ __
>
>     I need to control a piezo sage with the controller nanoFAKTUR
>     EBD-060310.____
>
>     This is my first time using this controller.____
>
>     I searched and couldn't find the EPICS support module for it.____
>
>     __ __
>
>     I think I would need to write the EPICS motor driver module for it.____
>
>     __ __
>
>     What module code would you recommend me to use as a starter
>     reference?____
>
>     For example, something like ____
>
>     EPICS motor drivers for Physik Instrumente GCS2 (General Command
>     Set) compatible controllers____
>
>     https://urldefense.us/v3/__https://github.com/epics-motor/motorPIGCS2__;!!G_uCfscf7eWS!YNTu8W7mOOCA7i52E_eC8rbycrSF2Xg4TAoHeHp4o8cW8OxPEK0p3xRGwyU-ieXrfSiPucbZ8i-BKUbMHR0$  <https://urldefense.us/ 
>     v3/__https://urldefense.us/v3/__https://github.com/epics-motor/motorPIGCS2__;!!G_uCfscf7eWS!__;!!G_uCfscf7eWS!YNTu8W7mOOCA7i52E_eC8rbycrSF2Xg4TAoHeHp4o8cW8OxPEK0p3xRGwyU-ieXrfSiPucbZ8i-B0-8TfjQ$ 
>     YgABnMrr4ouWf_GcXAuVe7LU-96lfvWFNG96utdBA3mgcrk9dBsWVY7JQtxclFMQQYwD2Zz0RmrbQGad8OJXFPc$> ____
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