diff --git a/documentation/motorRecord.html b/documentation/motorRecord.html index 99df6c5b..a4544608 100644 --- a/documentation/motorRecord.html +++ b/documentation/motorRecord.html @@ -37,9 +37,9 @@ -

Overview

This documentation describes version R6-2 of the EPICS motor +

Overview

This documentation describes version R6-3 of the EPICS motor record, and related EPICS software required to build and use it.  Version -R6-2 of the motor record is compatible with EPICS base R3.14.9 and above. +R6-3 of the motor record is compatible with EPICS base R3.14.9 and above.

The motor record is intended to support motors of all kinds, but currently supports only the following variety of motor controllers (in addition to Soft @@ -213,7 +213,7 @@ below. ACCL R/W Seconds to Velocity - FLOAT + DOUBLE acceleration time @@ -227,21 +227,21 @@ below. BACC R/W BL Seconds to Veloc. - FLOAT + DOUBLE backlash acceleration time BDST R/W BL Distance (EGU) - FLOAT + DOUBLE backlash distance BVEL R/W BL Velocity (EGU/s) - FLOAT + DOUBLE backlash speed @@ -278,7 +278,7 @@ below. DCOF R/W Derivative Gain - FLOAT + DOUBLE
@@ -286,7 +286,7 @@ below. DHLM R/W* Dial High Limit - FLOAT + DOUBLE
@@ -317,7 +317,7 @@ below. DLLM R/W* Dial Low Limit - FLOAT + DOUBLE
@@ -325,7 +325,7 @@ below. DLY R/W Readback settle time (s) - FLOAT + DOUBLE
@@ -371,7 +371,7 @@ below. ERES R/W* Encoder Step Size (EGU) - FLOAT + DOUBLE
@@ -394,7 +394,7 @@ below. FRAC R/W Move Fraction - FLOAT + DOUBLE
@@ -410,7 +410,7 @@ below. HIGH R/W* High Alarm Limit - FLOAT + DOUBLE
@@ -418,7 +418,7 @@ below. HIHI R/W* Hihi Alarm Limit - FLOAT + DOUBLE
@@ -426,7 +426,7 @@ below. HLM R/W* User High Limit - FLOAT + DOUBLE
@@ -466,7 +466,7 @@ below. HOPR R/W High Operating Range - FLOAT + DOUBLE
@@ -482,7 +482,7 @@ below. HVEL R/W* Home Velocity - FLOAT + DOUBLE
@@ -490,7 +490,7 @@ below. ICOF R/W Integral Gain - FLOAT + DOUBLE
@@ -506,7 +506,7 @@ below. JAR R/W Jog Acceleration (EGU/s^2) - FLOAT + DOUBLE
@@ -528,7 +528,7 @@ below. JVEL R/W Jog Velocity - FLOAT + DOUBLE
@@ -544,7 +544,7 @@ below. LLM R/W* User Low Limit - FLOAT + DOUBLE
@@ -575,7 +575,7 @@ below. LOLO R/W* Lolo Alarm Limit - FLOAT + DOUBLE
@@ -583,7 +583,7 @@ below. LOPR R/W Low Operating Range - FLOAT + DOUBLE
@@ -591,7 +591,7 @@ below. LOW R/W* Low Alarm Limit - FLOAT + DOUBLE
@@ -677,7 +677,7 @@ below. MRES R/W* Motor Step Size (EGU) - FLOAT + DOUBLE
@@ -732,7 +732,7 @@ below. PCOF R/W Proportional Gain - FLOAT + DOUBLE
@@ -795,7 +795,7 @@ below. RDBD R/W Retry Deadband (EGU) - FLOAT + DOUBLE
@@ -883,7 +883,7 @@ below. RRES R/W Readback Step Size (EGU) - FLOAT + DOUBLE
@@ -915,7 +915,7 @@ below. S R/W Speed (RPS) - FLOAT + DOUBLE
@@ -923,7 +923,7 @@ below. SBAK R/W BL Speed (RPS) - FLOAT + DOUBLE
@@ -931,7 +931,7 @@ below. SBAS R/W Base Speed (RPS) - FLOAT + DOUBLE
@@ -946,7 +946,7 @@ below. SMAX R/W Max Velocity (RPS) - FLOAT + DOUBLE
@@ -1033,7 +1033,7 @@ below. TWV R/W* Tweak Step Size (EGU) - FLOAT + DOUBLE
@@ -1048,7 +1048,7 @@ below. UREV R/W* EGU's per Revolution - FLOAT + DOUBLE
@@ -1071,7 +1071,7 @@ below. VBAS R/W Base Velocity (EGU/s) - FLOAT + DOUBLE
@@ -1079,7 +1079,7 @@ below. VELO R/W Velocity (EGU/s) - FLOAT + DOUBLE
@@ -1087,14 +1087,14 @@ below. VERS R Code Version - FLOAT + DOUBLE e.g., "1.95" VMAX R/W Max Velocity (EGU/s) - FLOAT + DOUBLE
@@ -1315,7 +1315,7 @@ below. MRES R/W* Motor Step Size (EGU) - FLOAT + DOUBLE May be positive or negative @@ -1329,7 +1329,7 @@ below. UREV R/W* EGU's per Revolution - FLOAT + DOUBLE May be positive or negative @@ -1389,7 +1389,7 @@ below. ERES R/W* Encoder Step Size (EGU) - FLOAT + DOUBLE Encoder resolution: the distance or angle, in engineering units, associated with a single encoder step. ERES may be positive or negative. If the user sets @@ -1400,7 +1400,7 @@ below. RRES R/W Readback Step Size (EGU) - FLOAT + DOUBLE Readback-device resolution: the distance or angle, in engineering units, associated with a unit change of the number retrieved via the readback- location input link (RDBL). RRES may be either positive or negative.  @@ -1476,7 +1476,7 @@ below. VMAX R/W Max Velocity (EGU/s) - FLOAT + DOUBLE Valid range; 0 <= VMAX.  VMAX=0 disables maximum velocity range checking. @@ -1484,21 +1484,21 @@ below. SMAX R/W Max Velocity (RPS) - FLOAT + DOUBLE Valid range; 0 <= SMAX VBAS R/W Base Velocity (EGU/s) - FLOAT + DOUBLE Valid range; 0 <= VBAS SBAS R/W Base Speed (RPS) - FLOAT + DOUBLE Valid range; 0 <= SBAS @@ -1535,14 +1535,14 @@ below. VELO R/W Velocity (EGU/s) - FLOAT + DOUBLE Valid range; VBAS <= VELO <= VMAX S R/W Speed (RPS) - FLOAT + DOUBLE Valid range;  SBAS <=      S      <= SMAX @@ -1556,14 +1556,14 @@ below. HVEL R/W Velocity (EGU/s) - FLOAT + DOUBLE Homing velocity; valid range; VBAS <= HVEL <= VMAX ACCL R/W Seconds to Velocity - FLOAT + DOUBLE The length, in seconds, of the acceleration and deceleration phases of a motor motion. @@ -1577,14 +1577,14 @@ below. JVEL R/W Jog Velocity (EGU/s) - FLOAT + DOUBLE Valid range; VBAS <= VELO <= VMAX JAR R/W Jog Acceleration (EGU/s^2) - FLOAT + DOUBLE Default value: VELO / ACCL @@ -1596,7 +1596,7 @@ below. BDST R/W BL Distance (EGU) - FLOAT + DOUBLE The signed distance, in dial coordinates, used for backlash takeout. @@ -1634,13 +1634,13 @@ below. BVEL R/W BL Velocity (EGU/s) - FLOAT + DOUBLE SBAK R/W BL Speed (RPS) - FLOAT + DOUBLE BVEL is the speed, in engineering units per second, at which the @@ -1664,7 +1664,7 @@ below. BACC R/W BL Seconds to Veloc. - FLOAT + DOUBLE The length, in seconds, of the acceleration and deceleration phases of a backlash-takeout motion. See discussion of the acceleration field ACCL for more specific information. @@ -1685,7 +1685,7 @@ below. FRAC R/W Move Fraction - FLOAT + DOUBLE This field supports closed-loop control of pathological devices @@ -1717,7 +1717,7 @@ below. RDBD R/W Retry Deadband (EGU) - FLOAT + DOUBLE When the motor has finished a complete motion, possibly including backlash takeout, the motor record will compare its current position with the desired position. If the magnitude of the difference is greater than RDBD, the motor @@ -1867,7 +1867,7 @@ below. HLM R/W* User High Limit - FLOAT + DOUBLE The maximum allowed value of the VAL field. If HLM changes so that VAL is no longer less than HLM, then the record will set the field LVIO to 1. If the DIR field has the value "Pos", then HLM will always be consistent with DHLM, @@ -1877,7 +1877,7 @@ below. LLM R/W* User Low Limit - FLOAT + DOUBLE The minimum allowed value of the VAL field. If LLM changes so that VAL is no longer greater than LLM, then the record will set the field LVIO to 1. If the DIR field has the value "Pos", then LLM will always be consistent with DLLM, @@ -1887,7 +1887,7 @@ below. DHLM R/W* Dial High Limit - FLOAT + DOUBLE The maximum allowed value of the DVAL field. If DHLM changes so that DVAL is no longer less than DHLM, then the record will set the field LVIO to 1.. If the DIR field has the value "Pos", then DHLM will always be consistent with HLM, @@ -1897,7 +1897,7 @@ below. DLLM R/W* Dial Low Limit - FLOAT + DOUBLE The minimum allowed value of the DVAL field. If DLLM changes so that DVAL is no longer greater than DLLM, then the record will set the field LVIO to 1. If the DIR field has the value "Pos", then DLLM will always be consistent with LLM, @@ -1929,14 +1929,14 @@ below. HOPR R/W High Operating Range - FLOAT + DOUBLE Not used. See HLM and DHLM. LOPR R/W Low Operating Range - FLOAT + DOUBLE Not used. See LLM and DLLM. @@ -2198,7 +2198,7 @@ below. TWV R/W* Tweak Step Size (EGU) - FLOAT + DOUBLE This field contains the distance the motor is to move in response to the TWF and TWR buttons. @@ -2317,7 +2317,7 @@ below. DLY R/W Readback settle time (s) - FLOAT + DOUBLE Delay (in seconds) the time between motor controller done and motor record done (i.e., DMOV). @@ -2586,21 +2586,21 @@ below. PCOF R/W Proportional Gain - FLOAT + DOUBLE Valid range; 0.0 <= PCOF <= 1.0  ICOF R/W Integral Gain - FLOAT + DOUBLE Valid range; 0.0 <= ICOF <= 1.0  DCOF R/W Derivative Gain - FLOAT + DOUBLE Valid range; 0.0 <= DCOF <= 1.0 @@ -2632,25 +2632,25 @@ below. HIHI R/W* Hihi Alarm Limit - FLOAT + DOUBLE LOLO R/W* Lolo Alarm Limit - FLOAT + DOUBLE HIGH R/W* High Alarm Limit - FLOAT + DOUBLE LOW R/W* Low Alarm Limit - FLOAT + DOUBLE HHSV @@ -2722,7 +2722,7 @@ below. VERS R Code Version - FLOAT + DOUBLE Version number of the recMotor.c code.