forked from epics_driver_modules/motorBase
- Rollback -r16386 changes; cannot always access motor record from driver.
- Poll for controller error code; print error code and set RA_PROBLEM if nonzero.
This commit is contained in:
Ron Sluiter
@@ -18,14 +18,82 @@ Octal I/O manual is jumpered as follows; 1-5, 2-6, 9-13, 10-14.
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The correct jumpering for the ESP300 is; 1-5, 2-6, 9-13, 10-11, 15-16.
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Setting the motor resolution (MRES) field.
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------------------------------------------
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Setting the motor resolution (MRES) and Engineering Units fields to the
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SAME values as the controller's.
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-------------------------------------------------------------------------
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Set the MRES like any other motor; i.e., to the precision of the stage.
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(Prior to motor module R6.8, the driver used the controllers resolution
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to scale the EGUtoRAWbacktoEGU conversion done between motor record and
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device driver support. With R6.8 the driver uses the motor record's MRES
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to scale the conversion).
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For DC motors, set MRES to the ESP300's response to the SU? command.
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If there is no other mechanism (e.g., generic serial record, dumb terminal,
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etc.) to communicate to the ESP300, the response to the SU? command can be
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determined by following this procedure;
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1 - uncomment the "USR_CFLAGS += -DDEBUG" line in the NewportSrc/Makefile.Vx
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file (This selects the diagnostic messages to be compiled).
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2 - "cd <motor>/motorApp/NewportSrc; gnumake clean; gnumake"; this re-compiles
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the device drivers with the diagnostic messages selected.
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3 - Rebuild your IOC; "cd <IOC>; gnumake".
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4 - Add "drvESP300debug = 4" to the IOC's st.cmd file before "iocInit".
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5 - Connect to the VxWorks shell and reboot the IOC.
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The VxWorks shell output should contain lines like the following;
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+++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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Starting iocInit
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send_mess(): message = VE?
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recv_mess(): message = "ESP300 Version 3.08 09/09/02"
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send_mess(): message = ZU
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recv_mess(): message = "0H"
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send_mess(): message = 01ST
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send_mess(): message = 02ST
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send_mess(): message = 03ST
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send_mess(): message = 01SN?
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recv_mess(): message = "2"
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send_mess(): message = 01SU?
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recv_mess(): message = "0.00003539317"
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send_mess(): message = 01MD
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recv_mess(): message = "1"
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send_mess(): message = 01TP
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recv_mess(): message = "0.00000"
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send_mess(): message = 01PH
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recv_mess(): message = "18000606H, 6H"
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send_mess(): message = 01MO?
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recv_mess(): message = "0"
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send_mess(): message = 01TE?
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recv_mess(): message = "0"
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send_mess(): message = 02SN?
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recv_mess(): message = "2"
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send_mess(): message = 02SU?
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recv_mess(): message = "0.00009765625"
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+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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Note the response to the SU? and SN? commands and set MRES to that value.
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All three supported controllers (ESP100/300/301) have the same response
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to the SN? command; 0 to 10 where
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0 = encoder count 6 = micro-inches
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1 = motor step 7 = degree
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2 = millimeter 8 = gradian
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3 = micrometer 9 = radian
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4 = inches 10 = milliradian
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5 = milli-inches 11 = microradian
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5 - Set the motor record's EGU field to "mm" (based on SN-2) and the MRES field
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to 3.539317E-5 (based on SU = 0.00003539317).
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6 - Turn off diagnostic messages. Either set drvESP300debug = 0 in the st.cmd
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file (there is a very small amount of CPU overhead associated with leaving
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the diagnostic messages loaded), or go to step #1, and reverse the steps;
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comment out the "USR_CFLAGS += -DDEBUG" line in the NewportSrc/Makefile.Vx,
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etc., etc.,
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Setting the motor record's Engineering Units field (EGU) to a value DIFFERENT
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from the controller's EGU.
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-------------------------------------------------------------------------------
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In the above example the controller returned SU = "0.00003539317" and SN = "2"
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for axis #1. If the user prefers the motor record EGU to be in inches rather
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than millimeters, then set EGU = "inch" and,
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MRES = (3.539317E-5 mm / 1 encoder tick) X (1 inch / 25.4 mm)
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= 1.39343189E-6 inch / 1 encoder tick
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Newport ESP100
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==============
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@@ -2,9 +2,10 @@
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FILENAME... devESP300.cc
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USAGE... Motor record device level support for Newport ESP300.
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Version: $Revision: 1.4 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2008-03-14 20:17:14 $
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Version: $Revision$
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Modified By: $Author$
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Last Modified: $Date$
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HeadURL: $URL$
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*/
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/*
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@@ -37,7 +38,6 @@ Last Modified: $Date: 2008-03-14 20:17:14 $
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* -----------------
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* .01 05-23-03 rls Converted to R3.14.x.
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* .02 10-28-03 rls User must set MRES to drive resolution.
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* .03 13-22-02 rls Use MRES rather than drive resolution.
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*/
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#include <string.h>
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@@ -188,7 +188,7 @@ static RTN_STATUS ESP300_build_trans(motor_cmnd command, double *parms, struct m
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return(rtnval = ERROR);
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cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
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cntrl_units = dval * mr->mres;
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cntrl_units = dval * cntrl->drive_resolution[axis - 1];
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if (ESP300_table[command] > motor_call->type)
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motor_call->type = ESP300_table[command];
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@@ -53,14 +53,13 @@ HeadURL: $URL$
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* extern "C" linkage.
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* .09 08/07/06 rls - GPIB under ASYN only allows 1 input EOS character.
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* No output EOS. Adjustments accordingly.
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* .10 02/22/13 rls - Scrap driver resolution, use MRES.
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* .10 05/19/14 rls - Print controller's error code and set RA_PROBLEM.
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*/
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#include <string.h>
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#include <epicsThread.h>
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#include <drvSup.h>
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#include "motorRecord.h"
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#include "motor.h"
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#include "NewportRegister.h"
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#include "drvMMCom.h"
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@@ -216,24 +215,15 @@ static int set_status(int card, int signal)
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/* Message parsing variables */
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char *cptr, *tok_save;
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char inbuff[BUFF_SIZE], outbuff[BUFF_SIZE];
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int rtn_state, charcnt;
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int rtn_state, charcnt, errcode;
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long mstatus;
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double motorData, MRES;
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double motorData;
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bool power, plusdir, ls_active = false;
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msta_field status;
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struct motorRecord *mr;
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cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
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motor_info = &(motor_state[card]->motor_info[signal]);
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nodeptr = motor_info->motor_motion;
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if (nodeptr != NULL)
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{
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mr = (struct motorRecord *) nodeptr->mrecord;
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MRES = mr->mres;
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}
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else
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MRES = 1.0;
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status.All = motor_info->status.All;
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sprintf(outbuff, "%.2dMD", signal + 1);
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@@ -270,7 +260,7 @@ static int set_status(int card, int signal)
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send_mess(card, outbuff, (char) NULL);
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charcnt = recv_mess(card, inbuff, 1);
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motorData = atof(inbuff) / MRES;
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motorData = atof(inbuff) / cntrl->drive_resolution[signal];
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if (motorData == motor_info->position)
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{
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@@ -340,7 +330,19 @@ static int set_status(int card, int signal)
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status.Bits.EA_SLIP = 0;
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status.Bits.EA_SLIP_STALL = 0;
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status.Bits.EA_HOME = 0;
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status.Bits.RA_PROBLEM = 0;
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/* Get error code. */
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sprintf(outbuff, "%.2dTE?", signal + 1);
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send_mess(card, outbuff, (char) NULL);
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charcnt = recv_mess(card, inbuff, 1);
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errcode = atoi(inbuff);
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if (errcode != 0)
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{
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status.Bits.RA_PROBLEM = 1;
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printf("ESP300 controller error = %d.\n", errcode);
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}
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else
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status.Bits.RA_PROBLEM = 0;
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/* Parse motor velocity? */
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/* NEEDS WORK */
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@@ -675,6 +677,17 @@ errexit:
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{
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struct mess_info *motor_info = &brdptr->motor_info[motor_index];
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/* Get controller's EGU for the user (see README). */
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sprintf(buff, "%.2dSN?", motor_index + 1);
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send_mess(card_index, buff, 0);
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recv_mess(card_index, buff, 1);
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/* Set axis resolution. */
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sprintf(buff, "%.2dSU?", motor_index + 1);
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send_mess(card_index, buff, 0);
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recv_mess(card_index, buff, 1);
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cntrl->drive_resolution[motor_index] = atof(&buff[0]);
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motor_info->status.All = 0;
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motor_info->no_motion_count = 0;
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motor_info->encoder_position = 0;
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