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+# AMCI ANF2 
+
+Asyn model 3 driver support for the AMCI ANF2 stepper motor controller
+
+Modbus/TCP communication, using Mark Rivers' modbus module
+
+## Supported Controller Models
+
+The following ANF controller versions are supported:
+
+ANF1E: 1-axis stepper controller, modbus tcp/ip
+ANF1:  1-axis stepper controller, no network interface
+ANF2E: 2-axis stepper controller, modbus tcp/ip
+ANF2:  2-axis stepper controller, no network interface
+
+A stack of controller can contain up to 6 modules, one of
+which needs to have the ethernet option.  A single-channel
+implementation would need the module with ethernet.
+
+## Vendor Software
+
+ANF2 configuration software is available from AMCI's website:
+
+www.amci.com/product-software.asp
+
+Note: The AMCI Net Configurator only works (allows a motor to be moved) if
+the controller is configured for  EtherNet/IP, however, the EPICS support 
+requires the device to be configured for Modbus-TCP.
+
+## Controller Quirks
+
+* The controller doesn't allow absolute moves when a limit is active; 
+The only way to move a motor off of a limit is by jogging.
+
+* The base speed is set when an axis is configured.  This driver corrects 
+the acceleration sent by the motor record (VBAS isn't guaranteed to match
+the base speed) and sends the acceleration necessary to achieve the desired
+acceleration time.
+
+* The controller doesn't remember its configuration after it is power-cycled.
+
+* Sending the configuration to the controller invalidates the position
+requiring either a home search or the redefinition of the current position.
+
+* The configuration can't be read after a configuration is accepted by the
+controller, after which it automatically switches into command mode.
+
+* The command to stop an abosolute move generates an error if a jog is in 
+progress.  The command to stop a jog doesn't stop an absolute move.
+
+## Controller Configuration
+
+The AMCI Net Configurator can be used to:
+
+* Change the ip address from the default (192.168.0.50)
+
+* Change the protocol to Modbus-TCP
+
+* Determine hex config strings for each axis
+
+### Example hex configurations
+
+The AMCI Net Configurator can be used to generate hex configurations.  Here are some example:
+```
+0x86000000 - Step & Direction pulses, Diagnostic Feedback, No home switch, No limits
+0x86280000 - Step & Direction pulses, Diagnostic Feedback, No home switch, Active-low CW/CCW limits
+0x84000000 - Step & Direction pulses, No Feedback, No home switch, No Limits
+0x84280000 - Step & Direction pulses, No Feedback, No home switch, Active-low CW/CCW limits
+0x842C0004 - Step & Direction pulses, No Feedback, Active-high home switch, Active-low CW/CCW limits
+0x85280000 - Step & Direction pulses, Quadrature Feedback, No home switch, Active-low CW/CCW limits
+```