diff --git a/documentation/NewMotor.html b/documentation/NewMotor.html new file mode 100644 index 00000000..d9717219 --- /dev/null +++ b/documentation/NewMotor.html @@ -0,0 +1,152 @@ + + + + + + + + + + Procedure for new motor record device drivers + + + + +
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Procedures for adding  new motor controller support to motor record

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  1. Select a supported controller that most closely matches the characteristics +of the new controller.  If the new controller is simply a different model +of a supported controller family (e.g. Oregon Micro Systems or Newport's Motion +Master), then, of course, chose a model from the controller family that most +closely matches the characteristics of the new controller.  Otherwise, +select a supported controller based on other characteristics, such as; communication +interface (i.e., VME, RS232, GPIB), controller features (e.g., encoder support, +DC servo support, etc.), etc.  In what follows this will be called the + source controller or source device driver.
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  2. Chose an appropriate device name for the new controller.  Copy +the relevant files from the selected source controller, to the new, + destination, controller, giving the new files appropriate names +using the new device name.  (See motor_files.html for a list of all +motor record source code files.)
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  3. Modify all the new files by cleaning up the obvious header information +(e.g. filename, usage, etc.).  Delete the old Modification Log +entries and add a single new entry that notes which source file you copied +to start this file.
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  4. Modify the new driver include file (e.g., drvOms.h, drvMMCom.h, drvIM483.h, +etc.) first.
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  5. Modify the device source code file (e.g., devOms.c, devMM4000.c, devIM483.c, +etc.) next.
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  6. Modify the driver source code file (e.g., drvOms.c, drvMM4000.c, drvIM483.c, +etc.) next.
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+ + + diff --git a/documentation/motor_notes.txt b/documentation/motor_notes.txt new file mode 100644 index 00000000..b27d5a8d --- /dev/null +++ b/documentation/motor_notes.txt @@ -0,0 +1,201 @@ +NOTES on Motor Record fields +============================ + + +Field Function +----- -------- + +REP Raw Encoder Position. Feedback position read from motor controller. + + If the "Encoder Present" status bit is ON in the MSTA, REP is the raw + encoder value read from the controller; if the status bit is OFF, REP + is always zero. + + motor_update_values(motordevCom.c): mr->rep = ptrans->encoder_pos + motor_callback(motordevCom.c): + ptrans->encoder_pos = motor_return->encoder_position + set_status(drv[device].c): motor_info->encoder_position = motorData + + +RMP Raw Motor Position. Commanded position read from motor controller. + + motor_update_values(motordevCom.c): mr->rmp = ptrans->motor_pos + motor_callback(motordevCom.c): + ptrans->motor_pos = motor_return->position + set_status(drv[device].c): motor_info->position = pos + + +RRBV Raw Readback Value. + + process_motor_info(motorRecord.c): + IF UEIP set to YES, AND, MSTA indicates an encoder is present. + pmr->rrbv = pmr->rep + ELSE + pmr->rrbv = pmr->rmp. + ENDIF + + +DRBV Dial Readback Value. + + process_motor_info(motorRecord.c): + IF URIP set to YES. + pmr->drbv *= pmr->rres; /* Set DRBV from RDBL link. */ + ELSE + IF UEIP set to YES, AND, MSTA indicates an encoder is present. + pmr->drbv = pmr->rrbv * pmr->eres + ELSE + pmr->drbv = pmr->rrbv * pmr->mres + ENDIF + +RBV User Readback Value. Actual (i.e, feedback) motor position. + + process_motor_info(motorRecord.c): + pmr->rbv = dir * pmr->drbv + pmr->off + +============================================================================== +------------------------------------------------------------------------------ + +DIR User Direction. Used to convert between dial and user coordinates. + Valid values are defined by menu(motorDIR); + 0 = "motorDIR_Pos"; user has same sign as dial. + 1 = "motorDIR_Neg"; user has opposite sign of dial. + + +OFF User Offset (EGU). User and dial coordinates can differ by a sign + (the DIR field) and an offset (OFF), according to the following + equations: + IF DIR == motorDIR_Pos + HLM = DHLM + OFF + LLM = DLLM + OFF + ELSE + HLM = -DLLM + OFF + LLM = -DHLM + OFF + ENDIF + + RBV = (DRBV * DIR) + OFF + DVAL = (VAL - OFF) / DIR + VAL = (DVAL * DIR) + OFF + userVAL = (DialVAL * DIR) + OFFset + + OFF is set by the motor record under the following conditions. + + do_work(): IF new DVAL, AND, the SET position field is ON, AND, + the FOFF field is "Variable". + OFF = VAL - (DVAL * DIR) + ENDIF + special(): IF new DIR + OFF = VAL - (DVAL * DIR) + ENDIF + load_pos(): IF FOFF field is "Variable". + IF DIR == motorDIR_Pos + OFF = VAL - DVAL + ELSE + OFF = VAL + DVAL + ENDIF + ENDIF + +SET Set/Use Switch. Used to calibrate the motor's user and dial positions. + +------------------------------------------------------------------------------ +RVAL Raw Desired Value. Target position. + + do_work(): IF new DVAL, + pmr->rval = NINT(pmr->dval / pmr->res) + postProcess(): IF OMSL is OFF (i.e., "supervisory") + pmr->rval = pmr->rrbv ???Reset Target to Actual??? + + +DVAL Dial Desired Value. Target position. + + do_work(): IF new RVAL, + pmr->dval = pmr->rval * pmr->res + postProcess(): IF OMSL is OFF (i.e., "supervisory")???? + pmr->dval = pmr->drbv + + +VAL User Desired Value. Target position. + + do_work(): IF (new DVAL, OR, DMOV is FALSE), AND, SET is FALSE. + pmr->val = pmr->dval * dir + pmr->off + postProcess(): IF OMSL is OFF (i.e., "supervisory")????? + pmr->val = pmr->rbv + +------------------------------------------------------------------------------ + +ERES Encoder Step Size (EGU) + do_work(): IF MRES, OR, ERES, OR, UEIP are marked as changed. + IF MSTA indicates an encoder is present, AND, UEIP + set to YES. + if (fabs(pmr->eres) < 1.e-9) + pmr->eres = pmr->mres; + ENDIF + ENDIF + +RRES Readback Step Size (EGU) + +RES Step Size (EGU). With R4.5, RES <=> MRES. + +MRES Motor Step Size (EGU). Motor resolution in EGU/step. MRES=UREV/SREV + + special(motorRecord.c): pmr->mres = pmr->urev / pmr->srev; + +UREV EGU's per Revolution. + +SREV Steps per Revolution. The record never sets this field. + +------------------------------------------------------------------------------ + +VBAS Minimum Velocity (EGU/s) +SBAS Minimum Speed (revolutions/sec) + + special(motorRecord.c): pmr->sbas = pmr->vbas / fabs(pmr->urev); + pmr->vbas = fabs(pmr->urev) * pmr->sbas; + +VMAX Maximum Velocity (EGU/s) +SMAX Maximum Speed (revolutions/sec) + +VELO Slew Velocity (EGU/s) +S Speed (revolutions/sec) + +BVEL Backlash Velocity (EGU/s) +SBAK Backlash Speed (revolutions/sec) + + +UEIP effects +------------ + +The state of the UEIP, together with the MSTA encoder indicator, determine; + +1) if the RRBV is set to either the feedback (REP) or the command (RMP) +position. +2) if the RES is set to either the feedback (ERES) or the command (MRES) +resolution. +3) whether absolute or relative position commands are used. + + +The algorithm used in moves to a (dial-coordinate) position called "TARGET" +follows: + +1) If the motor is to move a distance greater than the magnitude of BDST, or +if the motor is to move in a direction opposite to the sign of BDST, then the +motor will move first to position (TARGET-BDST), at an acceleration specified +by ACCL and speed VELO, and then to position TARGET, at an acceleration +specified by BACC and speed BVEL. + +2) If the motor is to move a distance smaller than the magnitude of BDST, and +if the motor is to move in the same direction as the sign of BDST, then +backlash is assumed already to have been taken out, and the motor will move to +position TARGET at an acceleration specified by BACC and speed BVEL. + + +#1) +IF |DIFF| > |BDST|, OR, sign(DIFF) != sign(BDST) + Move to position (TARGET - BDST) using ACCL and VELO. + Move to position TARGET using BACC and BVEL. +ELSE IF |DIFF| <= |BDST|, AND, sign(DIFF) == sign(BDST). + Move to position TARGET using BACC and BVEL. +ENDIF + + +#3) Backlash correction is disabled if and only if |BDST| < |RES|. +