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Ron Sluiter
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<!DOCTYPE html PUBLIC "-//w3c//dtd html 4.0 transitional//en">
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<html>
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<head>
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<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
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<meta name="Author" content="sluiter">
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<meta name="GENERATOR" content="Mozilla/4.7 [en] (X11; U; SunOS 5.6 sun4u) [Netscape]">
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<title>Procedure for new motor record device drivers</title>
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<meta name="author" content="Ron Sluiter">
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</head>
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<body>
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<center>
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<h1> Procedures for adding new motor controller support to motor record</h1>
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</center>
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<ol>
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<li> Select a supported controller that most closely matches the characteristics
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of the new controller. If the new controller is simply a different model
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of a supported controller family (e.g. Oregon Micro Systems or Newport's Motion
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Master), then, of course, chose a model from the controller family that most
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closely matches the characteristics of the new controller. Otherwise,
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select a supported controller based on other characteristics, such as; communication
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interface (i.e., VME, RS232, GPIB), controller features (e.g., encoder support,
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DC servo support, etc.), etc. In what follows this will be called the
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<i>source</i> controller or <i>source</i> device driver.</li>
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<ul>
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<li> When I added MM3000 device support I selected the MM4000 because it
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is simply a different Newport model.</li>
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<li> When I added IM483 device support I selected the MM4000 because it
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has a serial communication option.</li>
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</ul>
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<li> Chose an appropriate device name for the new controller. Copy
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the <i>relevant </i>files from the selected source controller, to the new,
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<i>destination,</i> controller, giving the new files appropriate names
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using the new device name. (See motor_files.html for a list of all
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motor record source code files.)</li>
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<ul>
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<li> When I added MM3000 device support I copied the following files:</li>
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<ul>
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<li> devMM4000.c -> devMM3000.c</li>
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<li> drvMM4000.h -> drvMMCom.h</li>
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<li> drvMM4000.c -> drvMM3000.c</li>
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</ul>
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<li> When I added IM483 device support I copied the following files:</li>
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<ul>
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<li> devMM4000.c -> devIM483.c</li>
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<li> drvMMCom.h -> drvIM483.h</li>
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<li> drvMM4000.c -> drvIM483.c</li>
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</ul>
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</ul>
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<li> Modify all the new files by cleaning up the obvious header information
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(e.g. filename, usage, etc.). Delete the old <i>Modification Log </i>
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entries and add a single new entry that notes which source file you copied
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to start this file.</li>
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<li> Modify the new driver include file (e.g., drvOms.h, drvMMCom.h, drvIM483.h,
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etc.) first.</li>
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<ul>
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<li> Fix the multiple inclusion protection; i.e.,</li>
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<ul>
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<li> #ifndef INC<i>filename</i>h</li>
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<li> #define INC<i>filename</i>h 1</li>
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<li> #endif /* INC<i>filename</i>h */</li>
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</ul>
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<li> Delete everything in the driver include file that is specific to the
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old controller. If a device specific data area is needed for this controller,
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then that structure definition should appear in this file (see the MMcontroller
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structure in drvMMCom.h or IM483controller structure in drvIM483.h).</li>
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</ul>
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<li> Modify the device source code file (e.g., devOms.c, devMM4000.c, devIM483.c,
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etc.) next.</li>
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<ul>
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<li> Do a global <i>find and replace</i> on the file; replacing the source
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root name with the destination root name; e.g., MM4000 to IM483.</li>
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<li> Find the <device>_build_trans() function. Unless the source
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controller you chose was from the same family of controllers, the command
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primitives for the new controller will not match those of the source controller.
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Hence, each of the <i>switch case </i>statements in <device>_build_trans()
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will have to be;</li>
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<ol>
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<li> Evaluated, as to be whether or not the new controller can support the
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associated motor command.</li>
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<li> If the new controller supports the motor command, find the command
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primitive for the motor command and modify the <i>switch case </i>code to
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output the correct command primitive.</li>
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</ol>
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<li> Check that the command line terminator function argument located
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in the <device>_end_trans() function is correct.</li>
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<li>Determine whether or not the destination motor controller supports
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multiple commands on the same command line. For example, the Oregon
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Micro Systems (OMS) motor controllers allow the velocity base, slew velocity,
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acceleration and target position all on the same command line (e.g.,
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AX VB200 VL4000 AC4444 MA-38866 GD ID). The Newport Motion Master
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(i.e, MM3000, MM4000, MM4005) and PM500 controllers also support multiple
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commands. On the other hand, multiple commands are not supported by
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the Intelligent Motion Systems (IMS) IM483 motor controller.</li>
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<ol>
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<ul>
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<li>If multiple commands on the same command line <b>is</b> supported,
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then the functions <device>_start_trans(), <device>_end_trans()
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and <device>_build_trans() in the destination device code should look
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like those found in any of the Newport device files; i.e., devPM500.c, devMM4000.c
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or devMM3000.c. In addition, determine the command seperation ASCII
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character for the destination motor controller and append this ASCII character
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to the end of each command primitive.</li>
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<li>If multiple commands on the same command line <b>is</b> <b>not
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</b>supported, then the functions <device>_start_trans(),
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<device>_end_trans() and <device>_build_trans() in the should
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look like those found in any of the IMS device files; i.e., devIM483SM.c
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or devIM483PL.c.</li>
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</ul>
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</ol>
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</ul>
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<li> Modify the driver source code file (e.g., drvOms.c, drvMM4000.c, drvIM483.c,
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etc.) next.</li>
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<ul>
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<li> Do a global <i>find and replace</i> on the file; replacing the source
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root name with the destination root name; e.g., MM4000 to IM483.</li>
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<li> Locate each call to send_mess() that passes a string constant argument,
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either explicitly or through a preprocessor macro name. Modify either
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the string constant or the macro definition for the new controller.</li>
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<li>Determine whether or not the destination motor controller echos commands
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and whether or not this feature can be disabled. If echoing cannot
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be disabled, then set the brdptr->cmnd_response = ON in motor_init().<br>
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</li>
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</ul>
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</ol>
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</body>
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</html>
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NOTES on Motor Record fields
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============================
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Field Function
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----- --------
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REP Raw Encoder Position. Feedback position read from motor controller.
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If the "Encoder Present" status bit is ON in the MSTA, REP is the raw
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encoder value read from the controller; if the status bit is OFF, REP
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is always zero.
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motor_update_values(motordevCom.c): mr->rep = ptrans->encoder_pos
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motor_callback(motordevCom.c):
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ptrans->encoder_pos = motor_return->encoder_position
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set_status(drv[device].c): motor_info->encoder_position = motorData
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RMP Raw Motor Position. Commanded position read from motor controller.
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motor_update_values(motordevCom.c): mr->rmp = ptrans->motor_pos
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motor_callback(motordevCom.c):
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ptrans->motor_pos = motor_return->position
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set_status(drv[device].c): motor_info->position = pos
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RRBV Raw Readback Value.
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process_motor_info(motorRecord.c):
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IF UEIP set to YES, AND, MSTA indicates an encoder is present.
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pmr->rrbv = pmr->rep
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ELSE
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pmr->rrbv = pmr->rmp.
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ENDIF
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DRBV Dial Readback Value.
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process_motor_info(motorRecord.c):
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IF URIP set to YES.
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pmr->drbv *= pmr->rres; /* Set DRBV from RDBL link. */
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ELSE
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IF UEIP set to YES, AND, MSTA indicates an encoder is present.
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pmr->drbv = pmr->rrbv * pmr->eres
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ELSE
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pmr->drbv = pmr->rrbv * pmr->mres
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ENDIF
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RBV User Readback Value. Actual (i.e, feedback) motor position.
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process_motor_info(motorRecord.c):
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pmr->rbv = dir * pmr->drbv + pmr->off
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==============================================================================
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------------------------------------------------------------------------------
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DIR User Direction. Used to convert between dial and user coordinates.
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Valid values are defined by menu(motorDIR);
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0 = "motorDIR_Pos"; user has same sign as dial.
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1 = "motorDIR_Neg"; user has opposite sign of dial.
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OFF User Offset (EGU). User and dial coordinates can differ by a sign
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(the DIR field) and an offset (OFF), according to the following
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equations:
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IF DIR == motorDIR_Pos
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HLM = DHLM + OFF
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LLM = DLLM + OFF
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ELSE
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HLM = -DLLM + OFF
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LLM = -DHLM + OFF
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ENDIF
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RBV = (DRBV * DIR) + OFF
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DVAL = (VAL - OFF) / DIR
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VAL = (DVAL * DIR) + OFF
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userVAL = (DialVAL * DIR) + OFFset
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OFF is set by the motor record under the following conditions.
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do_work(): IF new DVAL, AND, the SET position field is ON, AND,
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the FOFF field is "Variable".
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OFF = VAL - (DVAL * DIR)
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ENDIF
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special(): IF new DIR
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OFF = VAL - (DVAL * DIR)
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ENDIF
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load_pos(): IF FOFF field is "Variable".
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IF DIR == motorDIR_Pos
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OFF = VAL - DVAL
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ELSE
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OFF = VAL + DVAL
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ENDIF
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ENDIF
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SET Set/Use Switch. Used to calibrate the motor's user and dial positions.
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------------------------------------------------------------------------------
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RVAL Raw Desired Value. Target position.
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do_work(): IF new DVAL,
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pmr->rval = NINT(pmr->dval / pmr->res)
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postProcess(): IF OMSL is OFF (i.e., "supervisory")
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pmr->rval = pmr->rrbv ???Reset Target to Actual???
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DVAL Dial Desired Value. Target position.
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do_work(): IF new RVAL,
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pmr->dval = pmr->rval * pmr->res
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postProcess(): IF OMSL is OFF (i.e., "supervisory")????
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pmr->dval = pmr->drbv
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VAL User Desired Value. Target position.
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do_work(): IF (new DVAL, OR, DMOV is FALSE), AND, SET is FALSE.
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pmr->val = pmr->dval * dir + pmr->off
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postProcess(): IF OMSL is OFF (i.e., "supervisory")?????
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pmr->val = pmr->rbv
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------------------------------------------------------------------------------
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ERES Encoder Step Size (EGU)
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do_work(): IF MRES, OR, ERES, OR, UEIP are marked as changed.
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IF MSTA indicates an encoder is present, AND, UEIP
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set to YES.
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if (fabs(pmr->eres) < 1.e-9)
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pmr->eres = pmr->mres;
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ENDIF
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ENDIF
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RRES Readback Step Size (EGU)
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RES Step Size (EGU). With R4.5, RES <=> MRES.
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MRES Motor Step Size (EGU). Motor resolution in EGU/step. MRES=UREV/SREV
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special(motorRecord.c): pmr->mres = pmr->urev / pmr->srev;
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UREV EGU's per Revolution.
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SREV Steps per Revolution. The record never sets this field.
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------------------------------------------------------------------------------
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VBAS Minimum Velocity (EGU/s)
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SBAS Minimum Speed (revolutions/sec)
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special(motorRecord.c): pmr->sbas = pmr->vbas / fabs(pmr->urev);
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pmr->vbas = fabs(pmr->urev) * pmr->sbas;
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VMAX Maximum Velocity (EGU/s)
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SMAX Maximum Speed (revolutions/sec)
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VELO Slew Velocity (EGU/s)
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S Speed (revolutions/sec)
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BVEL Backlash Velocity (EGU/s)
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SBAK Backlash Speed (revolutions/sec)
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UEIP effects
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------------
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The state of the UEIP, together with the MSTA encoder indicator, determine;
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1) if the RRBV is set to either the feedback (REP) or the command (RMP)
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position.
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2) if the RES is set to either the feedback (ERES) or the command (MRES)
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resolution.
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3) whether absolute or relative position commands are used.
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The algorithm used in moves to a (dial-coordinate) position called "TARGET"
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follows:
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1) If the motor is to move a distance greater than the magnitude of BDST, or
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if the motor is to move in a direction opposite to the sign of BDST, then the
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motor will move first to position (TARGET-BDST), at an acceleration specified
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by ACCL and speed VELO, and then to position TARGET, at an acceleration
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specified by BACC and speed BVEL.
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2) If the motor is to move a distance smaller than the magnitude of BDST, and
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if the motor is to move in the same direction as the sign of BDST, then
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backlash is assumed already to have been taken out, and the motor will move to
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position TARGET at an acceleration specified by BACC and speed BVEL.
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#1)
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IF |DIFF| > |BDST|, OR, sign(DIFF) != sign(BDST)
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Move to position (TARGET - BDST) using ACCL and VELO.
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Move to position TARGET using BACC and BVEL.
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ELSE IF |DIFF| <= |BDST|, AND, sign(DIFF) == sign(BDST).
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Move to position TARGET using BACC and BVEL.
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ENDIF
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#3) Backlash correction is disabled if and only if |BDST| < |RES|.
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