On Tue, Feb 10, 2026 at 4:44 PM Torsten Bögershausen <tboegi at edom.se
<mailto:tboegi at edom.se>> wrote:
On 2026-02-10 08:51, LiangChih Chiang wrote:
> Hello, EPICS mates, thanks for the help.
>
> The Model 3 driver implementation of nanoFaktur EBD-060310 piezo
> controller is kind of working now.
> The attachment files include source code.and IOC startup files.
>
> I still have some questions. Hope you can provide suggestions.
>
>
> 1.
> I thought motorClosedLoop_ is mapped to CNEN, isn't it?
>
Yes, that is what most (all ?) model 3 driver do
> I set motorClosedLoop_ to 1 in code, as following:
> setIntegerParam(c_p_->motorClosedLoop_, 1);
>
> But in the CNEN field of motor record is 0(Disable).
CNEN is updated from the status of the controller.
Does the code in the poll() function update the
"motorClosedLoop_" parameter ?
>
>
> 2.
> Can I set UEIP field of motor record in driver code?
>
> If UEIP is 0, the RRBV won't update even REP is updated continuously.
> > I use the asyn_motor.db in motor-R6-11.
That's pretty old.
> The motor record in this .db doesn't have UEIP field.
> So I set it in a .doAfterIocInit file.
>
>
> 3.
> The MRES field of motor record to 0.000001 in ioc startup file.
>
> When I set VAL of motor record to 1.234,
> I will get "position" value 1234000
> in asynMotorAxis::move(double position, int relative, double
> minVelocity, double maxVelocity, double acceleration);
>
> Then I need the MRES value to do the conversion,
> because I need to send the value "1.234" to the controller.
>
> Why the following code returns the value 0 instead the wanted
0.000001?
> double res = 0.000001; // resolution
> c_p_->getDoubleParam(channel_, c_p_->motorResolution_, &res);
We can call that on ol' bug.
See even
<https://urldefense.us/v3/__https://github.com/epics-modules/motor/blob/master/motorApp/Db/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgqgqZ04o$
asyn_motor.db <https://urldefense.us/v3/__https://github.com/epics-modules/motor/blob/master/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgKR2EBdc$
motorApp/Db/asyn_motor.db>>
.... follow the flow .... and
motorRecResolution_
is your friend. However, since that is processed through records,
be prepared to read 0.0 a couple of times.
myStatus = c_p_->getDoubleParam(channel_, c_p_->motorResolution_, &res);
And see that myStatus is not asynSuccess,right ?
>
>
> 4.
> There is no "home" concept in this piezo controller.
> So I have no way to implement the asynMotorAxis::home function,
am I right?
Is it called reference ?
Then that can be mapped to "home()"
>
>
>
>
>
> On Sat, Feb 7, 2026 at 12:08 AM Torsten Bögershausen
<tboegi at edom.se <mailto:tboegi at edom.se>
> <mailto:tboegi at edom.se <mailto:tboegi at edom.se>>> wrote:
>
> Hej again,
>
> Why are the RMP and REP fields integer ?
> The "real world encoders" typically count in integer,
> and so far the int32 had been enough.
> Even if we today have encoders with more bits,
> these are typically attached to the motor controller
> and handled there.
>
> The RMP field counts steps.
> It was designed for a stepper motor, and even here
> 32 bit where both enough
> (and that is what we have before int64 became available)
> The motorRecord itself uses the step in RMP to prevent
> commanding a motion the will end up on the same step.
> Moving from 0.050 to 0.051 is prevented, when MRES is 0.05
>
> For a piezo (or other modern controllers) we don't need this
> step-size, so that the motorRecord has got the SPDB field,
> Set Point Dead Band.
>
> For the controllers which are in use here, most of them
> communicate in EGU.
>
> For that reason I made a patch, where the value
> "motorPosition_" from the driver is copied into
> the DRBV field without conversion through integers.
>
> The driver needs this patch:
> <https://urldefense.us/v3/__https://github.com/EuropeanSpallationSource/m-epics-__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgORdbH48$
ethercatmc/ <https://urldefense.us/v3/__https://github.com/EuropeanSpallationSource/m-epics-__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgORdbH48$
ethercatmc/>
> blob/master/ethercatmcApp/src/ethercatmcIndexerAxis.cpp#L81..#L83
> <https://urldefense.us/v3/__https://github.com/EuropeanSpallationSource/m-epics-__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgORdbH48$
ethercatmc/ <https://urldefense.us/v3/__https://github.com/EuropeanSpallationSource/m-epics-__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgORdbH48$
ethercatmc/>
> blob/master/ethercatmcApp/src/ethercatmcIndexerAxis.cpp#L81..
%23L83>>
>
>
> The motor package itself is here:
> <https://urldefense.us/v3/__https://github.com/EuropeanSpallationSource/motor/releases/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgSnBLc5Y$
tag/ <https://urldefense.us/v3/__https://github.com/EuropeanSpallationSource/motor/releases/tag/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgqrrHxhg$ >
> v7.2.8.1-ESS <https://urldefense.us/v3/__https://github.com/EuropeanSpallationSource/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgWSOwRoA$
motor/ <https://urldefense.us/v3/__https://github.com/EuropeanSpallationSource/motor/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgxGzPT7k$ >
> releases/tag/v7.2.8.1-ESS>>
>
> BR
> /Torsten
>
>
> On 2026-02-06 14:20, LiangChih Chiang wrote:
> > Hi, Torsten, thanks for replying.
> >
> > >Using epicsPrintf (or even printf) should be forbidden in
> > >these kind of driver code.
> > ok. I'll fix it.
> >
> > >>1.
> > > pC_->motorPosition_ is an int, used as an index
> > > motorPosition is a double
> > You're right. My mistake.
> >
> > Another question follows:
> > "cainfo <motor_record>.REP and .RMP" will get DBF_LONG.
> > Why aren't they DBF_DOUBLE?
> >
> >
> > >>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).
> > >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)
> >
> > Yes. You're right.
> > I'll try.
> >
> >
> > >For the open-loop-voltage:
> > >You probably want an own asyn-parameter for this.
> > I'll consider it.
> > However, the chance of this piezo controller in open-loop
mode is
> > extremely slim.
> >
> > How to support two modes(closed-loop and open-loop) in Model 3
> driver?
> > In closed-loop mode, VAL and RBV mean position(unit um)?
> > In open-loop mode, VAL and RBV mean voltage?
> >
> > On Fri, Feb 6, 2026 at 5:51 PM Torsten Bögershausen
> <tboegi at edom.se <mailto:tboegi at edom.se>
<mailto:tboegi at edom.se <mailto:tboegi at edom.se>>
> > <mailto:tboegi at edom.se <mailto:tboegi at edom.se>
<mailto:tboegi at edom.se <mailto:tboegi at edom.se>>>> wrote:
> >
> > 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> <mailto:rivers at cars.uchicago.edu
<mailto:rivers at cars.uchicago.edu>>
> <mailto:rivers at cars.uchicago.edu
<mailto:rivers at cars.uchicago.edu> <mailto:rivers at cars.uchicago.edu
<mailto:rivers at cars.uchicago.edu>>>
> > > <mailto:rivers at cars.uchicago.edu
<mailto:rivers at cars.uchicago.edu>
> <mailto:rivers at cars.uchicago.edu
<mailto:rivers at cars.uchicago.edu>>
> > <mailto:rivers at cars.uchicago.edu
<mailto:rivers at cars.uchicago.edu>
> <mailto: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://
> github.com/ <https://urldefense.us/v3/__http://github.com/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdgs0SAg30$ > <https://urldefense.us/v3/__https://github.com/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdg9uc3eoI$ <https://
github.com/>>
> > epics-motor/ <https://urldefense.us/v3/__https://github.com/epics-motor/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgKJ74-mM$
<https://urldefense.us/v3/__https://github.com/epics-motor/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgKJ74-mM$ > <https://
> github.com/epics-motor/ <https://urldefense.us/v3/__http://github.com/epics-motor/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgW8buUIA$ >>>
> > > motorPIGCS2 <https://urldefense.us/v3/__https:/
<https://urldefense.us/v3/__https:/>
> github.com/ <https://urldefense.us/v3/__http://github.com/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdgs0SAg30$ > <https://urldefense.us/v3/
__https://urldefense.us/v3/__https://github.com/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdg9uc3eoI$ <https://urldefense.us/v3/__https:/github.com/>>
> > epics- <https://urldefense.us/v3/__https:/github.com/
epics- <https://urldefense.us/v3/__https:/github.com/epics->
> <https://urldefense.us/v3/__https:/github.com/epics-
<https://urldefense.us/v3/__https:/github.com/epics->>>
> > > motor/motorPIGCS2__;!!G_uCfscf7eWS!
> > >
> >
>
YgABnMrr4ouWf_GcXAuVe7LU-96lfvWFNG96utdBA3mgcrk9dBsWVY7JQtxclFMQQYwD2Zz0RmrbQGad8OJXFPc$> is fairly complex because of the class hierarchy, so you might want to start with something simpler as your example. ____
> > >
> > > __ __
> > >
> > > https://urldefense.us/v3/__https://github.com/epics-motor/motorSmarAct/blob/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdgy4UBTHo$
master/ <https://urldefense.us/v3/__https://github.com/epics-motor/motorSmarAct/blob/master/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgubAIgJ8$ >
> <https://urldefense.us/v3/__https://github.com/epics-motor/motorSmarAct/blob/master/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgubAIgJ8$
<https://urldefense.us/v3/__https://github.com/epics-motor/motorSmarAct/blob/master/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgubAIgJ8$ >>
> > smarActApp/ <https://urldefense.us/v3/__https://github.com/epics-motor/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgKJ74-mM$
motorSmarAct/ <https://urldefense.us/v3/__https://github.com/epics-motor/motorSmarAct/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgufVRxJ0$ >
> blob/ <https://urldefense.us/v3/__https://github.com/epics-motor/motorSmarAct/blob/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdgy4UBTHo$
<https://urldefense.us/v3/__https://github.com/epics-motor/motorSmarAct/blob/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdgy4UBTHo$ >>
> > master/smarActApp/>
> > > src/smarActMCSMotorDriver.cpp <https://
urldefense.us/ <https://urldefense.us/ >
> v3/ <https://urldefense.us/v3/ <https://urldefense.us/v3/>>
> > __https:// <https://urldefense.us/v3/__https://
<https://urldefense.us/v3/__https://> <https://
> urldefense.us/v3/__https:// <http://urldefense.us/v3/__https:// >>>
> > > github.com/epics-motor/motorSmarAct/blob/master/
<https://urldefense.us/v3/__http://github.com/epics-motor/motorSmarAct/blob/master/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdg1dDlWsQ$ >
> smarActApp/src/ <https://urldefense.us/v3/__http://github.com/epics-motor/motorSmarAct/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgrcGZI7U$
blob/ <https://urldefense.us/v3/__http://github.com/epics-motor/motorSmarAct/blob/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdg03yqA7g$ >
> master/smarActApp/src/>
> > <https://urldefense.us/v3/__http://github.com/epics-motor/motorSmarAct/blob/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdg03yqA7g$
master/ <https://urldefense.us/v3/__http://github.com/epics-motor/motorSmarAct/blob/master/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdg1dDlWsQ$ >
> smarActApp/src/ <https://urldefense.us/v3/__http://github.com/epics-motor/motorSmarAct/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgrcGZI7U$
blob/ <https://urldefense.us/v3/__http://github.com/epics-motor/motorSmarAct/blob/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdg03yqA7g$ >
> 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____
> > >
> > > __ __
> > >
> > > __ __
> > >
> > > __ __
> > >
> > > __ __
> > >
> > > __ __
> > >
> > > *From:*Tech-talk <tech-talk-bounces at aps.anl.gov
<mailto:tech-talk-bounces at aps.anl.gov>
> <mailto:tech-talk-bounces at aps.anl.gov <mailto:tech-talk-
bounces at aps.anl.gov>> <mailto:tech- <mailto:tech-> <mailto:tech-
<mailto:tech->>
> > talk-bounces at aps.anl.gov <mailto:talk-bounces at aps.anl.gov>
<mailto:talk-bounces at aps.anl.gov <mailto:talk-bounces at aps.anl.gov>>>
> <mailto:tech-talk- <mailto:tech-talk-> <mailto:tech-talk-
<mailto:tech-talk->> <mailto:tech-talk- <mailto:tech-talk->
> <mailto:tech-talk- <mailto:tech-talk->>>
> > > bounces at aps.anl.gov <mailto:bounces at aps.anl.gov>
<mailto:bounces at aps.anl.gov <mailto:bounces at aps.anl.gov>>
> <mailto:bounces at aps.anl.gov <mailto:bounces at aps.anl.gov>
<mailto:bounces at aps.anl.gov <mailto: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> <mailto:tech- <mailto:tech->
> talk at aps.anl.gov <mailto:talk at aps.anl.gov>> <mailto:tech-
talk at aps.anl.gov <mailto:tech-talk at aps.anl.gov> <mailto:tech-
<mailto:tech->
> talk at aps.anl.gov <mailto:talk at aps.anl.gov>>>
> > <mailto:tech-talk at aps.anl.gov <mailto:tech-
talk at aps.anl.gov> <mailto:tech-talk at aps.anl.gov <mailto:tech-
talk at aps.anl.gov>>
> <mailto:tech-talk at aps.anl.gov <mailto:tech-talk at aps.anl.gov>
<mailto: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!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgKa4S0M8$
<https://urldefense.us/v3/__https://github.com/epics-motor/motorPIGCS2__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgKa4S0M8$ > <https://
> github.com/epics-motor/motorPIGCS2 <https://urldefense.us/v3/__http://github.com/epics-__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdg34bxR4w$
motor/motorPIGCS2>> <https://urldefense.us/v3/__https://github.com/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdg9uc3eoI$ <https://urldefense.us/v3/__https://github.com/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdg9uc3eoI$ > <https://
> github.com/ <https://urldefense.us/v3/__http://github.com/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4Bdgs0SAg30$ >>
> > epics-motor/motorPIGCS2> <https://urldefense.us/
<https://urldefense.us/ > <https://
> urldefense.us/ <http://urldefense.us/ >> <https://
> > urldefense.us/ <http://urldefense.us/ > <http://
urldefense.us/ <http://urldefense.us/ >>>
> > > v3/__https://urldefense.us/v3/__https://github.com/epics-motor/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgKJ74-mM$
motorPIGCS2__ <https://urldefense.us/v3/__http://github.com/epics-motor/motorPIGCS2____;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgWHnzubM$ >;
> <https://urldefense.us/v3/__http://github.com/epics-motor/motorPIGCS2____;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgWHnzubM$ <http://
github.com/epics-motor/motorPIGCS2__>;>!!
> > G_uCfscf7eWS <https://urldefense.us/v3/__http://github.com/epics-motor/__;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgW8buUIA$
motorPIGCS2__ <https://urldefense.us/v3/__http://github.com/epics-motor/motorPIGCS2____;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgWHnzubM$ >;
> <https://urldefense.us/v3/__http://github.com/epics-motor/motorPIGCS2____;!!G_uCfscf7eWS!ddeJMAh6QIuY6Ourje478fBBqPTLpOzf0aNkwOs60_qKLTLgIn1QuiQUnEXbBYIBztkZ3UFr4BdgWHnzubM$ <http://
github.com/epics-motor/motorPIGCS2__>;>!!
> > G_uCfscf7eWS>!
> > >
> >
>
YgABnMrr4ouWf_GcXAuVe7LU-96lfvWFNG96utdBA3mgcrk9dBsWVY7JQtxclFMQQYwD2Zz0RmrbQGad8OJXFPc$> ____
> > >
> > > __ __
> > >
> > > __ __
> > >
> >
>
