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SSCAN timing data.

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This commit is contained in:
Ron Sluiter
2005-05-10 18:31:43 +00:00
parent b2e560b298
commit 2c99286eaf
2 changed files with 191 additions and 66 deletions
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motorApp/ImsSrc/README
+42
View File
@@ -98,3 +98,45 @@ control c (^c). Repeat steps 4 through 7 while incrementing the axis name
chassis, configure all of the IM483's for Party Mode by setting J4 to (2-3).
Connect the RS-232 port to the Master IM483 and set all the remaining IM483's
to Slave mode by setting J7 to (2-3).
SSCAN THROUGH-PUT NOTES
-----------------------
The following results where done using the following;
- SSCAN support module R2.5.1, with scan.db configured as follows;
- Read(R1PV) set to "time".
- Drive(P1PV) set to motor record VAL field.
- #PTS(NPTS) set to 1000.
- Step Size(P1SI) set to MRES of the motor record.
- Motor record R5.7; configured as follows;
- Set slew velocity (VELO) 5.0 = (500 * MRES).
- Set base velocity (VBAS) 4.9 = (499 * MRES).
- Acceleration time (ACCL) does not matter.
- EPICS base R3.14.7
- WRS Tornado 2.2.1
- MVME5100
- IM483SM with firmware version; 1342 4038 AMS, INC MAX-2000 v1.15i
Controller | sysClkRate | polling rate | ms/scan pt.
-----------|------------|--------------|------------
IMS483SM | 60 | 1HZ | 121.0
-----------|------------|--------------|------------
IMS483SM | 60 | 1HZ | 834.2 with VBAS/VELO removed
-----------|------------|--------------|------------
IMS483SM | 60 | 10HZ | 121.0
-----------|------------|--------------|------------
IMS483SM | 60 | 10HZ | 154.4 with VBAS/VELO removed
-----------|------------|--------------|------------
IMS483SM | 60 | 60HZ | 121.0
-----------|------------|--------------|------------
IMS483SM | 60 | 60HZ | 102.9 with VBAS/VELO removed
-----------|------------|--------------|------------
IMS483SM | 100 | 1HZ | 121.0
-----------|------------|--------------|------------
IMS483SM | 1000 | 1000HZ | 121.0
-----------|------------|--------------|------------
IMS483SM | 1000 | 1000HZ | 96.0 with VBAS/VELO removed
motorApp/OmsSrc/README
+149 -66
View File
@@ -2,16 +2,6 @@
MAXv
==============================================================================
Synopsis
--------
Since the motor record device driver for the MAXv queries the MAXv for it's
configuration before there is a connection between the record and the device,
IOC's that use MAXv's must be initially booted in order for the MAXv to be
configured, and then rebooted before the motor record can read the correct
configuration.
For all MAXv motors.
--------------------
@@ -23,64 +13,82 @@ limit switch input:
LL - low (default).
LH - high.
In addition, the one of the following MAXv controller commands must appear in
the 2nd argument of MAXvConfig() to configure the type of axis:
In addition, one of the following MAXv controller commands must appear in the
initialization string to configure the type of axis:
PSO - open loop stepper axis.
PSE - stepper axis with encoder.
PSM - servo axis
Note: Separate multiple commands in the initialization string with ";".
Example
-------
config0="AX LH PSM; AY LL PSO; AZ LL PSO; AT LL PSO; AU LH PSO; AV LH PSO; AR LH PSO; AS LH PSO;"
MAXvConfig(0, config0)
Configuring the MAXv for an open loop stepper motor (default).
--------------------------------------------------------------
Set J8 for stepper and add the command "PS0;" to the INIT field.
Set J8 for stepper and add the command "PS0;" to the MAXvConfig()
initialization string.
Configuring the MAXv for a stepper motor with encoder.
------------------------------------------------------
Set J8 for stepper and add the command "PSE;" to the INIT field.
Set J8 for stepper and add the command "PSE;" to the MAXvConfig()
initialization string.
Configuring the MAXv for a servo motor.
---------------------------------------
Set J8 for servo and add the command "PSM;" to the INIT field.
Set J8 for servo and add the command "PSM;" to MAXvConfig() initialization
string.
MAXv array base address
-----------------------
- defined the by 3rd argument to the MAXvSetup() call.
!!WARNING!! READ ALL OF THE FOLLOWING PARAGRAPH!
After all the MAXv controller commands have been configured for all the axes
in one individual MAXv, add the "APP" command to the end of the last axes
INIT field. The "APP" command instructs the MAXv controller to store a set of
the current parameters as the power-up default values in FLASH memory. Repeat
the above for all the MAXv controllers and corresponding records. Boot the
IOC. The limit switch sense and motor type are now stored in the MAXv's flash
memory. REMOVE the "APP" commands from ALL the MAXv motor record INIT fields.
Reboot the IOC. The motor record should now have the correct configuration.
VMEbus addressing
-----------------
MAXv array base address - defined the by 3rd argument to the MAXvSetup() call.
MAXv incremental address - increment each additional MAXv's VMEbus address by
0x1000 from the array base address.
MAXv incremental address
------------------------
- increment each additional MAXv's VMEbus address by 0x1000 from the array's
base address.
NOTES:
- Unlike the other OMS models, the MAXv VME Address Modifiers (AM) do not
respond to both supervisory and non-privileged access. Hence, the MAXv's
AM's must match the CPU board's AM's exactly.
VME8, VME44, VS4, VX2
==============================================================================
OMS array base address - defined the by 3rd argument to the omsSetup() call.
- the VMEbus address of the 1st board in the array of
OMS boards.
OMS incremental address - increment each additional board's VMEbus address by
0x10 from the array base address.
OMS array base address
--------------------------
- defined by the 3rd argument to the omsSetup() call.
- the VMEbus address of the 1st board in the array of OMS VME8, VME44, VS4 and
VX2 boards.
OMS incremental address
---------------------------
- increment each additional OMS board's VMEbus address by 0x10 from the array's
base address.
IMPORTANT NOTES
---------------
VME58
==============================================================================
VME58 array base address
------------------------
- defined the by 2nd argument to the oms58Setup() call.
- the VMEbus address of the 1st board in the array of OMS VME58 boards.
VME58 incremental address
-------------------------
- increment each additional board's VMEbus address by 0x1000 from the array's
base address.
NOTE
----
1. The EPICS motor record does NOT support the encoder mode. The encoder mode
is enabled with the ER#,# and results in all distance, velocity and
acceleration parameters being input in encoder counts.
is enabled with the ER#,# and results in all distance, velocity and
acceleration parameters being input in encoder counts.
SSCAN THROUGH-PUT NOTES
@@ -93,33 +101,108 @@ The following results where done using the following;
- Drive(P1PV) set to motor record VAL field.
- #PTS(NPTS) set to 1000.
- Step Size(P1SI) set to MRES of the motor record.
- Motor record R5.7
- Motor record R5.7; configured as follows;
- Set slew velocity (VELO) = (500,000 * MRES).
- Set base velocity (VBAS) = (499,999 * MRES).
- Acceleration time (ACCL) does not matter.
- EPICS base R3.14.7
- WRS Tornado 2.2.1
- MVME5100
OMS VME44 with firmware version 2.35-4E:
---------------------------------------
- Set slew velocity (VELO) = (500,000 * MRES).
- Set base velocity (VBAS) = (499,999 * MRES).
- Acceleration time (ACCL) does not matter.
- 970.0ms/scan pt.; sysClkRateSet(60), interrupts disabled and 60HZ polling rate.
- 22.2ms/scan pt.; sysClkRateSet(4000), interrupts disabled and 60HZ polling rate.
- 18.4ms/scan pt.; sysClkRateSet(60), interrupts enabled and 1HZ polling rate.
- 18.4ms/scan pt.; sysClkRateSet(4000), interrupts enabled and 1HZ polling rate.
- 18.4ms/scan pt.; sysClkRateSet(4000), interrupts enabled and 60HZ polling rate.
- VME8 with firmware version 1.97-8
- VME44 with firmware version 2.35-4E:
- VME58 with firmware version 2.16-8
- MAXv with firmware version 1.25
OMS MAXv-8000 ver:1.25
----------------------
- Set slew velocity (VELO) = (500,000 * MRES).
- Set base velocity (VBAS) = (499,999 * MRES).
- Acceleration time (ACCL) does not matter.
- 51.6ms/scan pt.; sysClkRateSet(60), interrupts enabled and 1HZ polling rate.
- 11.7ms/scan pt.; sysClkRateSet(4000), interrupts enabled and 1HZ polling rate.
- 11.9ms/scan pt.; sysClkRateSet(4000), interrupts enabled and 60HZ polling rate.
Controller | sysClkRate | interrupts | polling rate | ms/scan pt.
-----------|------------|------------|--------------|------------
VME8 | 60 | disabled | 1HZ | 1076.0
-----------|------------|------------|--------------|------------
VME44 | 60 | disabled | 1HZ | 1267.0
-----------|------------|------------|--------------|------------
VME58 | 60 | disabled | 1HZ | 808.5
-----------|------------|------------|--------------|------------
MAXv | 60 | disabled | 1HZ | 808.5
===========|============|============|==============|============
VME8 | 60 | disabled | 60HZ | 801.8
-----------|------------|------------|--------------|------------
VME44 | 60 | disabled | 60HZ | 990.6
-----------|------------|------------|--------------|------------
VME58 | 60 | disabled | 60HZ | 77.3
-----------|------------|------------|--------------|------------
MAXv | 60 | disabled | 60HZ | 77.4
===========|============|============|==============|============
VME8 | 4000 | disabled | 1HZ | 776.0
-----------|------------|------------|--------------|------------
VME44 | 4000 | disabled | 1HZ | 779.9
-----------|------------|------------|--------------|------------
VME58 | 4000 | disabled | 1HZ | 772.3
-----------|------------|------------|--------------|------------
MAXv | 4000 | disabled | 1HZ | 772.5
===========|============|============|==============|============
VME8 | 4000 | disabled | 60HZ | 18.8
-----------|------------|------------|--------------|------------
VME44 | 4000 | disabled | 60HZ | 22.1
-----------|------------|------------|--------------|------------
VME58 | 4000 | disabled | 60HZ | 14.9
-----------|------------|------------|--------------|------------
MAXv | 4000 | disabled | 60HZ | 15.2
===========|============|============|==============|============
VME8 | 60 | enabled | 1HZ | 38.8
-----------|------------|------------|--------------|------------
VME44 | 60 | enabled | 1HZ | 38.8
-----------|------------|------------|--------------|------------
VME58 | 60 | enabled | 1HZ | 77.5
-----------|------------|------------|--------------|------------
MAXv | 60 | enabled | 1HZ | 77.5
===========|============|============|==============|============
VME8 | 60 | enabled | 1HZ | 75.4 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
VME44 | 60 | enabled | 1HZ | 80.1 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
VME58 | 60 | enabled | 1HZ | 97.9 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
MAXv | 60 | enabled | 1HZ | 84.9 with VBAS/VELO removed
===========|============|============|==============|============
VME8 | 60 | enabled | 60HZ | 38.7
-----------|------------|------------|--------------|------------
VME44 | 60 | enabled | 60HZ | 38.7
-----------|------------|------------|--------------|------------
VME58 | 60 | enabled | 60HZ | 77.5
-----------|------------|------------|--------------|------------
MAXv | 60 | enabled | 60HZ | 77.4
===========|============|============|==============|============
VME8 | 100 | enabled | 1HZ | 15.5
-----------|------------|------------|--------------|------------
VME44 | 100 | enabled | 1HZ | 23.2
-----------|------------|------------|--------------|------------
VME58 | 100 | enabled | 1HZ | 38.7
-----------|------------|------------|--------------|------------
MAXv | 100 | enabled | 1HZ | 38.7
===========|============|============|==============|============
VME8 | 4000 | enabled | 1HZ | 14.4
-----------|------------|------------|--------------|------------
VME44 | 4000 | enabled | 1HZ | 18.2
-----------|------------|------------|--------------|------------
VME58 | 4000 | enabled | 1HZ | 10.4
-----------|------------|------------|--------------|------------
MAXv | 4000 | enabled | 1HZ | 11.6
===========|============|============|==============|============
VME8 | 4000 | enabled | 60HZ | 14.4
-----------|------------|------------|--------------|------------
VME44 | 4000 | enabled | 60HZ | 18.2
-----------|------------|------------|--------------|------------
VME58 | 4000 | enabled | 60HZ | 10.4
-----------|------------|------------|--------------|------------
MAXv | 4000 | enabled | 60HZ | 11.6
===========|============|============|==============|============
VME8 | 4000 | enabled | 60HZ | 12.7 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
VME44 | 4000 | enabled | 60HZ | 15.6 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
VME58 | 4000 | enabled | 60HZ | 9.8 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
MAXv | 4000 | enabled | 60HZ | 9.8 with VBAS/VELO removed
-----------|------------|------------|--------------|------------