diff --git a/documentation/motorRecord.html b/documentation/motorRecord.html index 7758258f..4a26d922 100644 --- a/documentation/motorRecord.html +++ b/documentation/motorRecord.html @@ -40,21 +40,24 @@ Contents

Overview

-This documentation describes version 4.1 of the EPICS motor record, and -related EPICS software required to build and use it.  Version 4.1 -of the motor record is compatible with EPICS baseR3.13.1.1 and above. +This documentation describes version 4.2 of the EPICS motor record, and +related EPICS software required to build and use it.  Version 4.2 +of the motor record is compatible with EPICS baseR3.13.2 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 Channel support):

The record maintains two coordinate systems for motor position ("user" and "dial" coordinates); displays drive and readback values; enforces limits @@ -143,7 +146,7 @@ described below.
- +
- + @@ -1196,7 +1199,7 @@ down to find the actual item. - + @@ -1512,6 +1515,22 @@ record's SCAN field is set to "Passive." + + + + + + + + + + + + + + + +

Alphabetical list of record-specific fields

@@ -1054,7 +1057,7 @@ down to find the actual item.
Step Size (EGU) FLOATDOUBLE
R/W Speed (revs/sec)Speed (RPS) FLOAT  No access allowed
Note: In the Prompt column above:
EGUEngineering Units
RPSRevolutions Per Second
@@ -1814,8 +1833,9 @@ systems can be configured to the opposite polarity of the motor controller's.FLOAT  Encoder resolution: the distance or angle, in engineering units, associated -with a single encoder step. ERES may be positive or negative, but currently -it must have the same sign as MRES.  +with a single encoder step. ERES may be positive or negative; it must have +the same sign as MRES; and it must be nonzero.  If the user sets ERES +to zero, the record will overwrite it with MRES.  @@ -1871,7 +1891,19 @@ MRES.  Switch: nonzero value tells the record to read the encoder (if the hardware indicates an encoder is present) and to ignore the value read -back from the hardware's step-count register.  +back from the hardware's step-count register.  +

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. + +
  2. +if the RES is set to either the feedback (ERES) or the command (MRES) resolution.
    3. + +
  3. +whether absolute or relative position commands are used.
    4. +
+ @@ -1970,6 +2002,11 @@ checking. For example, if the minimum is entered and it exceeds the maximum, then the maximum is set to the new minimum value.  A VMAX value of zero disables maximum velocity range checking. +

At boot-up, if one field of a field pair (i.e., VMAX/SMAX, VBAS/SBAS, +VELO/S, BVEL/SBAK) is zero and the other field is nonzero, the nonzero +field takes precedence.  If both fields of a given field pair are +nonzero, the RPS member of the field pair (i.e., SMAX, SBAS, S, SBAK) takes +precedence.

Slew (VELO/S) and backup (BVEL/SBAK) velocity fields are silently forced by the motor record to be within the range set by VMAX/SMAX and VBAS/SBAS, inclusively. @@ -1999,7 +2036,7 @@ one motor pulse.  R/W -Speed (revs/sec)  +Speed (RPS)  FLOAT  @@ -2571,7 +2608,7 @@ RHLS.  R -At Low Limit Switch  +At Low Limit Switch SHORT @@ -2955,7 +2992,7 @@ Status/readback fields DMOV  -R  +R Done moving to value  @@ -3482,11 +3519,11 @@ by MEDM and other channel-access clients.  For VME based devices (i.e., OMS VME8/44, OMS VME58 and V544) this is the VME card number, derived from the output link. Cards are numbered -from zero according to their VME addresses.  Oregon Microsystems series -VME8 and VME44 cards occur in the same series, since they are handled by -the same driver.  Oregon Microsystems VME58 cards are numbered separately, -as are Highland Technology V540 cards.  This field is set to -1 for -non-VME based device/drivers. +from zero according to their VME addresses.  Oregon Micro Systems +series VME8 and VME44 cards occur in the same series, since they are handled +by the same driver.  Oregon Micro Systems VME58 cards are numbered +separately, as are Highland Technology V540 cards.  This field is +set to -1 for non-VME based device/drivers. @@ -3830,27 +3867,27 @@ device drivers. devOmsCom.c -Device support common to all Oregon Microsystems device drivers. +Device support common to all Oregon Micro Systems device drivers. devOmsCom.h  -Device support header file common to all Oregon Microsystems device +Device support header file common to all Oregon Micro Systems device drivers. drvOmsCom.h -Driver support header file common to all Oregon Microsystems device +Driver support header file common to all Oregon Micro Systems device drivers. -NOTE: The above files are required for any and all Oregon Microsystems +NOTE: The above files are required for any and all Oregon Micro Systems device drivers. @@ -3863,13 +3900,13 @@ device drivers. devOms.c  -Device support for Oregon Microsystems VME8 and VME44 series boards +Device support for Oregon Micro Systems VME8 and VME44 series boards drvOms.c -Driver for Oregon Microsystems VME8 and VME44 series boards +Driver for Oregon Micro Systems VME8 and VME44 series boards @@ -3887,13 +3924,13 @@ device drivers. devOms58.c  -Device support for Oregon Microsystems VME58 series boards +Device support for Oregon Micro Systems VME58 series boards drvOms58.c  -Driver for Oregon Microsystems VME58 series boards +Driver for Oregon Micro Systems VME58 series boards @@ -3938,30 +3975,6 @@ device drivers. Common header included by all Newport Motion Master device drivers. - -gpibIO.h - -GPIB communication include file. - - - -gpibIO.c - -GPIB interface via Hideos. - - - -serialIO.h  - -Serial communication include file. - - - -serialIO.cc - -Serial communication interface via Hideos. - - @@ -3994,9 +4007,15 @@ device drivers. - +devPM500.c - +Device support for Newport PM500. + + + +drvPM500.c + +Driver for Newport PM500. @@ -4032,6 +4051,84 @@ they are record oriented (devSoft.c) or CA oriented (devSoftAux.c). + +gpibIO.h + +GPIB communication include file. + + + +gpibIO.c + +GPIB interface via Hideos. + + + +serialIO.h  + +Serial communication include file. + + + +serialIO.cc + +Serial communication interface via Hideos. + + + +serialIOMPF.cc + +Serial communication interface via MPF. + + + + + + + + + +drvIM483.h + +Common header included by all IMS device drivers. + + + +dev483PL.c + +Device support for IM483 in party line communication mode. + + + +dev483SM.c + +Device support for IM483 in single mode communication mode. + + + +drv483PL.c + +Driver for IM483 in party line communication mode. + + + +drv483SM.c + +Driver for IM483 in single mode communication mode. + + + + + + + + + + + + + + Makefile.Vx @@ -4220,10 +4317,23 @@ intVectBase, intLevel, pollRate) pollRate)
  v544Setup(nCards, nAxes,  baseAddress, intVectBase, intLevel, pollRate) +

MM3000Setup(nCards, Unused,                                     +pollRate) +
MM3000Config(card#, portType, GPIB link or hideos_card#, GPIB address +or hideos_task name)

MM4000Setup(nCards, Unused,                                     pollRate)
MM4000Config(card#, portType, GPIB link or hideos_card#, GPIB address -or hideos_task name) +or hideos_task name) +

IM483SMSetup(nCards, Unused,                                    +pollRate)  +
IM483SMConfig(card#, portType, GPIB link or hideos_card#, GPIB +address or hideos_task name)  +

IM483[PL/SM]Setup(nCommNet, Unused,                             +pollRate)  +
IM483[PL/sm]Config(CommNet#, portType, GPIB link or hideos_card#, +GPIB address or hideos_task name)  +
  @@ -4232,6 +4342,13 @@ or hideos_task name) the actual number of cards may be less, but not greater than this + +nCommNet + +the number of Communication networks  (e.g., the number of RS-422 +networks for a IM483PL device). + + nAxes