Basic documentation

motorApp/FaulhaberSrc/README

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+This driver supports the Faulhaber MCDC2805 servo controller.
+
+It assumes the following wiring:
+   Analog input = Input 1 = Home input
+   Fault pin =    Input 2 = CW limit
+   Input 3        Input 3 = CCW limit
+
+There is a currently a problem with the Home input, and its status cannot be read.  The reason for this
+is being investigated, but until it is resolved the home functions in the motor record do not work.
+
+The following commands are send to the MCDC2805 when the EPICS software initializes:
+
+/* Set the velocity control to be RS-232 */
+SOR 0
+
+/* Program fault pin as limit switch input */
+REFIN
+
+/* Program limit polarity for rising edge and high level */
+HP7
+
+/* Program the motor to hard block on the the limit switch inputs */
+HB6
+           
+/* Program the limit switch directions to block
+ * + direction on input 2, - direction on input 3 */
+HD2
+           
+/* Program homing sequence on input 1*/
+HL1
+HA1
+CAHOSEQ
+
+It is a good idea to set the power-up behavior of the device to be "disabled" by sending the following
+commands once:
+DI
+EEPSAV
+
+It is also necessary to change the address of the board from the default address of 0 if daisy chaining 
+multiple modules.  To change to address 1, send the following commands once:
+
+NODEADR 1
+EEPSAV
+
+
+
+
+