diff --git a/documentation/motorRecord.html b/documentation/motorRecord.html index a56bb35b..8eca1097 100644 --- a/documentation/motorRecord.html +++ b/documentation/motorRecord.html @@ -1,3556 +1,3861 @@ - - Motor Record and related software - - -

Motor Record and related software

- -
Tim Mooney, Joe Sullivan, Ron Sluiter
-
- -
-

Contents

- + + + +

Motor Record and related software

+ +
Tim Mooney, Joe Sullivan, Ron Sluiter

+ +
+

Contents

+ - - -

Overview

- This documentation describes version 4.5 of the EPICS motor record, and -related EPICS software required to build and use it.  Version 4.5 of -the motor record is compatible with EPICS base R3.13.6 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):

- + + +

Overview

This documentation describes version 5.1 of the EPICS motor +record, and related EPICS software required to build and use it.  Version +5.1 of the motor record is compatible with EPICS base R3.14.2 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 -to motor motion and maintains those limits in both coordinate systems; displays -the states of limit switches; can use a home switch; optionally takes out -backlash in a user-defined direction; and provides a mechanism by which the -user and other EPICS records can recalibrate the motor position in either -coordinate system. The record also supports "tweak", "jog", and "home" motions, -and supports both absolute and relative motions in user coordinates. Two "stop" -switches are provided: a simple one for use by other records and by channel-access -clients, and a more versatile one for interactive use. -

Except where specified otherwise, fields associated with the motor position - and its derivatives take values in user-specified "engineering units", such -as degrees; the engineering unit name is contained in the field EGU. Thus, -generally, speeds are expressed in EGU's per second. Accelerations, however, -are expressed as the number of seconds taken to accelerate to full speed. -However, additional fields are provided so that the motor position can be -specified in steps and the speed in revolutions per second, and so that the -step size can be set by specifying the number of steps per revolution and -the number of EGU's per revolution.

- -

The motor record can read motor position from the controller's readback - register or encoder register, or from any other EPICS record, via an EPICS - input link. While the motor is moving, the record can trigger an output -link periodically, to send readback information to other EPICS records. When -a complete motion (possibly including backlash takeout) is finished, the -record can trigger a forward link to process other EPICS records.

- -

The motor record can force its drive fields to agree with its readback - fields, and it does so in a variety of circumstances (e.g., when the user - tells a motor to stop, and when a limit switch is hit). Therefore, if you - are driving the motor record's VAL or DVAL field with the output of another - record, and you want that record always to contain the same value as the -motor record, you must handle this behavior in the database. One way to do -this is to forward link the motor record to a soft analog output record, -and to cause that AO record to grab the motor record's VAL or DVAL field -and poke it into your record.

- -

The motor record is unlike most other EPICS records in that its processing - is neither "synchronous" nor "asynchronous", as these terms are used in -the EPICS Record Reference Manual. Currently, the PACT field is always FALSE -after record processing has completed, even though a motor motion may be in -progress. This means the record always responds to channel-access puts, and -can be stopped or retargeted at any time. The record's forward link is not -executed until the motor has stopped and no motion requests are pending.  -

- -

Field Descriptions

- In addition to fields common to all record types (see the - EPICS Record Reference Manual - for these) the motor record has the fields described below. +The record maintains two coordinate systems for motor position ("user" and "dial +" coordinates); displays drive and readback values; enforces limits to motor +motion and maintains those limits in both coordinate systems; displays the +states of limit switches; can use a home switch; optionally takes out backlash +in a user-defined direction; and provides a mechanism by which the user and +other EPICS records can recalibrate the motor position in either coordinate +system. The record also supports "tweak", "jog", and "home" motions, and +supports both absolute and relative motions in user coordinates. Two "stop" +switches are provided: a simple one for use by other records and by channel-access +clients, and a more versatile one for interactive use. +

+Except where specified otherwise, fields associated with the motor position and +its derivatives take values in user-specified "engineering units", such as +degrees; the engineering unit name is contained in the field EGU. Thus, +generally, speeds are expressed in EGU's per second. Accelerations, however, are +expressed as the number of seconds taken to accelerate to full speed. However, +additional fields are provided so that the motor position can be specified in +steps and the speed in revolutions per second, and so that the step size can be +set by specifying the number of steps per revolution and the number of EGU's per +revolution. +

+ +

+The motor record can read motor position from the controller's readback register +or encoder register, or from any other EPICS record, via an EPICS input link. +While the motor is moving, the record can trigger an output link periodically, +to send readback information to other EPICS records. When a complete motion (possibly +including backlash takeout) is finished, the record can trigger a forward link +to process other EPICS records. +

+ +

+The motor record can force its drive fields to agree with its readback fields, +and it does so in a variety of circumstances (e.g., when the user tells a motor +to stop, and when a limit switch is hit). Therefore, if you are driving the +motor record's VAL or DVAL field with the output of another record, and you want +that record always to contain the same value as the motor record, you must +handle this behavior in the database. One way to do this is to forward link the +motor record to a soft analog output record, and to cause that AO record to grab +the motor record's VAL or DVAL field and poke it into your record. +

+ +

+The motor record is unlike most other EPICS records in that its processing is +neither "synchronous" nor "asynchronous", as these terms are used in the EPICS +Record Reference Manual. Currently, the PACT field is always FALSE after record +processing has completed, even though a motor motion may be in progress. This +means the record always responds to channel-access puts, and can be stopped or +retargeted at any time. The record's forward link is not executed until the +motor has stopped and no motion requests are pending.  +

+ +

Field Descriptions

In addition to fields common to all record types (see +the EPICS +Record Reference Manual for these) the motor record has the fields described +below. - -
+ +
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - + +
- -

Alphabetical list of record-specific fields

- NOTE: Hot links in this table take you only to the section in which - the linked item is described in detail. You'll probably have to scroll down -to find the actual item.
Name Access Prompt Data type Comment
ACCL - R/W Seconds to Velocity FLOAT acceleration time
ATHM - R At HOME SHORT uses the HOME switch
BACC - R/W BL Seconds to Veloc. FLOAT backlash acceleration time
BDST - R/W BL Distance (EGU) FLOAT backlash distance
BVEL - R/W BL Velocity (EGU/s) FLOAT backlash speed
CARD - R Card Number SHORT EPICS card #
CBAK - NoneCallback structureNOACCESS
-
CDIR -
- 		R
- 		Command direction
- 		SHORT
-
-
CNEN - R/WEnable controlRECCHOICE(0:"Disable", 1:"Enable")
DCOF - R/WDerivative GainFLOAT
-
DHLM - R/W* Dial High Limit FLOAT 
-
DIFF - R Difference dval-drbv DOUBLE 
-
DINP - R/WDMOV Input LinkINLINK
-
DIR - R/W* User Direction RECCHOICE (0:"Pos", 1:"Neg")
DLLM - R/W* Dial Low Limit FLOAT 
-
DLY - R/WReadback settle time (s)FLOAT
-
DMOV - R Done moving to value SHORT The "done" flag
DOL - R Desired Output LocINLINK only for closed-loop mode
DRBV - R Dial Readback Value DOUBLE 
-
DVAL - R/W* Dial Desired Value DOUBLE 
-
EGU - R/W Engineering Units STRING 
-
ERES - R/W* Encoder Step Size (EGU) FLOAT 
-
FOF - R/W Freeze Offset SHORT 
-
FOFF - R/W Offset-Freeze Switch RECCHOICE (0:"Variable", 1:"Frozen")
FRAC - R/W Move Fraction FLOAT 
-
HHSV - R/W* Hihi Severity GBLCHOICE
HIGH - R/W* High Alarm Limit FLOAT 
-
HIHI - R/W* Hihi Alarm Limit FLOAT 
-
HLM - R/W* User High Limit FLOAT 
-
HLS - R At High Limit Switch SHORT 
-
HLSV - R/W* HW Lim. Violation Svr GBLCHOICE 
-
HOMF - R/W* Home Forward SHORT 
-
HOMR - R/W* Home Reverse SHORT 
-
HOPR - R/W High Operating Range FLOAT 
-
HSV - R/W* High Severity GBLCHOICE 
-
ICOF - R/WIntegral GainFLOAT
-
INIT - R/WStartup commandsSTRING
-
JAR - R/WJog Acceleration (EGU/s^2)FLOAT
-
JOGF - R/W* Jog motor Forward SHORT careful!
JOGR - R/W* Jog motor Reverse SHORT careful!
JVEL - R/WJog VelocityFLOAT
-
LDVL - R Last Dial Des Val DOUBLE 
-
LLM - R/W* User Low Limit FLOAT 
-
LLS - R At Low Limit Switch SHORT 
-
LLSV - R/W* Lolo Severity GBLCHOICE 
-
LOLO - R/W* Lolo Alarm Limit FLOAT 
-
LOPR - R/W Low Operating Range FLOAT 
-
LOW - R/W* Low Alarm Limit FLOAT 
-
LRLV - R Last Rel Value DOUBLE 
-
LRVL - R Last Raw Des Val DOUBLE 
-
LSPG - RLast SPMG RECCHOICE (See SPMG)
LSV - R/W* Low Severity GBLCHOICE 
-
LVAL - R Last User Des Val DOUBLE 
-
LVIO - R Limit violation SHORT 
-
MIP - R Motion In Progress SHORT 
-
MISS - R Ran out of retries SHORT 
-
MMAP - R Monitor Mask ULONG 
-
MOVN - R Motor is moving SHORT Don't confuse with DMOV
MRES - R/W* Motor Step Size (EGU) FLOAT 
-
MSTA - R Motor Status ULONG 
-
NMAP - R Monitor Mask ULONG 
-
OFF - R/W User Offset (EGU) DOUBLE 
-
OMSL - R/W Output Mode Select GBLCHOICE 
-
OUT - R/WOutput Specification OUTLINK 
-
PCOF - R/WProportional GainFLOAT
-
PERL - R/W Periodic Limits RECCHOICE (0:"No", 1:"Yes")
POST - R/WPost-move commandsSTRING
-
PP - R Post process command SHORT 
-
PREC - R/W Display Precision SHORT 
-
PREM - R/WPre-move commandsSTRING
-
RBV - R User Readback Value DOUBLE 
-
RCNT - R Retry count SHORT 
-
RDBD - R/W Retry Deadband (EGU) FLOAT 
-
RDBL - R Readback Location INLINK 
-
RDIF - R Difference rval-rrbv LONG 
-
REP - R Raw Encoder Position DOUBLE 
-
RHLS - R Raw High Limit Switch SHORT 
-
RINP - R/WRMP Input LinkINLINK
-
RLLS - R Raw Low Limit Switch SHORT 
-
RLNK - R Readback OutLink OUTLINK 
-
RLV - R/W* Relative ValueDOUBLE 
-
RMP - R Raw Motor Position DOUBLE 
-
RRBV - R Raw Readback Value DOUBLE 
-
RRES - R/W Readback Step Size (EGU)FLOAT 
-
RTRY - R/W Max retry count SHORT 
-
RVAL - R/W* Raw Desired Value DOUBLE 
-
RVEL - RRaw Velocity LONG 
-
S - R/W Speed (RPS)FLOAT 
-
SBAK - R/W BL Speed (RPS) FLOAT 
-
SBAS - R/W Base Speed (RPS) FLOAT 
-
SET - R/W Set/Use Switch RECCHOICE (0:"Use", 1:"Set")
SMAX - R/WMax Velocity (RPS)FLOAT
-
SPMG - R/W* Stop/Pause/Move/Go RECCHOICE (0:"Stop", 1:"Pause", 2:"Move", 3:"Go")
SREV - R/W* Steps per Revolution LONG 
-
SSET - R/W Set SET Mode SHORT 
-
STOO - R/WSTOP OutLinkOUTLINK
-
STOP - R/W* Stop SHORT 
-
SUSE - R/W Set USE Mode SHORT 
-
TDIR - R Direction of Travel SHORT 
-
TWF - R/W* Tweak motor Forward SHORT 
-
TWR - R/W* Tweak motor Reverse SHORT 
-
TWV - R/W* Tweak Step Size (EGU) FLOAT 
-
UEIP - R/W*Use Encoder If Present RECCHOICE (0:"No", 1:"Yes")
UREV - R/W* EGU's per Revolution FLOAT 
-
URIP - R/W* Use RDBL Link If PresentRECCHOICE (0:"No", 1:"Yes")
VAL - R/W* User Desired ValueDOUBLE 
-
VBAS - R/W Base Velocity (EGU/s) FLOAT 
-
VELO - R/W Velocity (EGU/s) FLOAT 
-
VERS - R Code Version FLOAT e.g., "1.95"
VMAX - R/WMax Velocity (EGU/s)FLOAT
-
VOF - R/W Variable Offset SHORT 
-
+
+ + +

Alphabetical list of record-specific fields

NOTE: Hot links in this + table take you only to the section in which the linked item is described + in detail. You'll probably have to scroll down to find the actual item. +
NameAccessPromptData typeComment
ACCLR/WSeconds to VelocityFLOATacceleration time
ATHMRAt HOMESHORTuses the HOME switch
BACCR/WBL Seconds to Veloc.FLOATbacklash acceleration time
BDSTR/WBL Distance (EGU)FLOATbacklash distance
BVELR/WBL Velocity (EGU/s)FLOATbacklash speed
CARDRCard NumberSHORTEPICS card #
CBAKNoneCallback structureNOACCESS
+
CDIRRCommand directionSHORT
+
CNENR/WEnable controlRECCHOICE(0:"Disable", 1:"Enable")
DCOFR/WDerivative GainFLOAT
+
DHLMR/W*Dial High LimitFLOAT
+
DIFFRDifference dval-drbvDOUBLE
+
DINPR/WDMOV Input LinkINLINK
+
DIRR/W*User DirectionRECCHOICE(0:"Pos", 1:"Neg")
DLLMR/W*Dial Low LimitFLOAT
+
DLYR/WReadback settle time (s)FLOAT
+
DMOVRDone moving to valueSHORTThe "done" flag
DOLRDesired Output LocINLINKonly for closed-loop mode
DRBVRDial Readback ValueDOUBLE
+
DVALR/W*Dial Desired ValueDOUBLE
+
EGUR/WEngineering UnitsSTRING
+
ERESR/W*Encoder Step Size (EGU)FLOAT
+
FOFR/WFreeze OffsetSHORT
+
FOFFR/WOffset-Freeze SwitchRECCHOICE(0:"Variable", 1:"Frozen")
FRACR/WMove FractionFLOAT
+
HHSVR/W*Hihi SeverityGBLCHOICE
+
HIGHR/W*High Alarm LimitFLOAT
+
HIHIR/W*Hihi Alarm LimitFLOAT
+
HLMR/W*User High LimitFLOAT
+
HLSRAt High Limit SwitchSHORT
+
HLSVR/W*HW Lim. Violation SvrGBLCHOICE
+
HOMFR/W*Home ForwardSHORT
+
HOMRR/W*Home ReverseSHORT
+
HOPRR/WHigh Operating RangeFLOAT
+
HSVR/W*High SeverityGBLCHOICE
+
HVELR/W*Home VelocityFLOAT
+
ICOFR/WIntegral GainFLOAT
+
INITR/WStartup commandsSTRING
+
JARR/WJog Acceleration (EGU/s^2)FLOAT
+
JOGFR/W*Jog motor ForwardSHORTcareful!
JOGRR/W*Jog motor ReverseSHORTcareful!
JVELR/WJog VelocityFLOAT
+
LDVLRLast Dial Des ValDOUBLE
+
LLMR/W*User Low LimitFLOAT
+
LLSRAt Low Limit SwitchSHORT
+
LLSVR/W*Lolo SeverityGBLCHOICE
+
LOCKR/W*Soft Channel Position LockRECCHOICE(0:"No", 1:"Yes")
LOLOR/W*Lolo Alarm LimitFLOAT
+
LOPRR/WLow Operating RangeFLOAT
+
LOWR/W*Low Alarm LimitFLOAT
+
LRLVRLast Rel ValueDOUBLE
+
LRVLRLast Raw Des ValDOUBLE
+
LSPGRLast SPMGRECCHOICE(See SPMG)
LSVR/W*Low SeverityGBLCHOICE
+
LVALRLast User Des ValDOUBLE
+
LVIORLimit violationSHORT
+
MIPRMotion In ProgressSHORT
+
MISSRRan out of retriesSHORT
+
MMAPRMonitor MaskULONG
+
MOVNRMotor is movingSHORTDon't confuse with DMOV
MRESR/W*Motor Step Size (EGU)FLOAT
+
MSTARMotor StatusULONG
+
NMAPRMonitor MaskULONG
+
NTMR/W*New Target MonitorRECCHOICE(0:"No", 1:"Yes")
OFFR/WUser Offset (EGU)DOUBLE
+
OMSLR/WOutput Mode SelectGBLCHOICE
+
OUTR/WOutput SpecificationOUTLINK
+
PCOFR/WProportional GainFLOAT
+
PERLR/WPeriodic LimitsRECCHOICE(0:"No", 1:"Yes")
POSTR/WPost-move commandsSTRING
+
PPRPost process commandSHORT
+
PRECR/WDisplay PrecisionSHORT
+
PREMR/WPre-move commandsSTRING
+
RBVRUser Readback ValueDOUBLE
+
RCNTRRetry countSHORT
+
RDBDR/WRetry Deadband (EGU)FLOAT
+
RDBLRReadback LocationINLINK
+
RDIFRDifference rval-rrbvLONG
+
REPRRaw Encoder PositionDOUBLE
+
RHLSRRaw High Limit SwitchSHORT
+
RINPR/WRMP Input LinkINLINK
+
RLLSRRaw Low Limit SwitchSHORT
+
RLNKRReadback OutLinkOUTLINK
+
RLVR/W*Relative ValueDOUBLE
+
RMPRRaw Motor PositionDOUBLE
+
RRBVRRaw Readback ValueDOUBLE
+
RRESR/WReadback Step Size (EGU)FLOAT
+
RTRYR/WMax retry countSHORT
+
RVALR/W*Raw Desired ValueDOUBLE
+
RVELRRaw VelocityLONG
+
SR/WSpeed (RPS)FLOAT
+
SBAKR/WBL Speed (RPS)FLOAT
+
SBASR/WBase Speed (RPS)FLOAT
+
SETR/WSet/Use SwitchRECCHOICE(0:"Use", 1:"Set")
SMAXR/WMax Velocity (RPS)FLOAT
+
SPMGR/W*Stop/Pause/Move/GoRECCHOICE(0:"Stop", 1:"Pause", 2:"Move", 3:"Go")
SREVR/W*Steps per RevolutionLONG
+
SSETR/WSet SET ModeSHORT
+
STOOR/WSTOP OutLinkOUTLINK
+
STOPR/W*StopSHORT
+
SUSER/WSet USE ModeSHORT
+
TDIRRDirection of TravelSHORT
+
TWFR/W*Tweak motor ForwardSHORT
+
TWRR/W*Tweak motor ReverseSHORT
+
TWVR/W*Tweak Step Size (EGU)FLOAT
+
UEIPR/W*Use Encoder If PresentRECCHOICE(0:"No", 1:"Yes")
UREVR/W*EGU's per RevolutionFLOAT
+
URIPR/W*Use RDBL Link If PresentRECCHOICE(0:"No", 1:"Yes")
VALR/W*User Desired ValueDOUBLE
+
VBASR/WBase Velocity (EGU/s)FLOAT
+
VELOR/WVelocity (EGU/s)FLOAT
+
VERSRCode VersionFLOATe.g., "1.95"
VMAXR/WMax Velocity (EGU/s)FLOAT
+
VOFR/WVariable OffsetSHORT
+
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Note: In the Access column above: 
RRead only
-
R/WRead and write are allowed
R/W*Read and write are allowed; write triggers record processing if the - record's SCAN field is set to "Passive."
NNo access allowed
Note: In the Prompt column above:
EGUEngineering Units
RPSRevolutions Per Second
Note: In the Access column above: 
RRead only
+
R/WRead and write are allowed
R/W*Read and write are allowed; write triggers record processing if the record's + SCAN field is set to "Passive."
NNo access allowed
Note: In the Prompt column above:
EGUEngineering Units
RPSRevolutions Per Second
-
- -
+ +
- - - - - - - + + + + + + + + - - - - - - + + + + + + - - + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - + + - - - - - - + + + + + + - - + +
- -

Calibration-related fields

-
Name Access Prompt Data type Comments 
 + + +

Calibration-related fields

+
NameAccessPromptData typeComments
DIR R/W* User Direction RECCHOICE (0:"Pos", 1:"Neg") 
DIRR/W*User DirectionRECCHOICE(0:"Pos", 1:"Neg")
User and dial values are related by the equation  -
- userVAL = DialVAL * DIR + OFFset
- This field is the "DIR" in the above equation. 
User and dial values are related by the equation 
+ userVAL = DialVAL * DIR + OFFset
+ This field is the "DIR" in the above equation. 

-
-
-
-
-

+
+
+
+
+
OFF R/W User Offset (EGU) DOUBLE User and dial coordinates can differ by a sign (the DIR field) and -an offset (OFF), according to the following equation: 
- userVAL = DialVAL * DIR + OFFset
- This field is "OFFset" in the above equation. It is not normally written -to directly by the user. 
OFFR/WUser Offset (EGU)DOUBLEUser and dial coordinates can differ by a sign (the DIR field) and an offset + (OFF), according to the following equation: 
+ userVAL = DialVAL * DIR + OFFset
+ This field is "OFFset" in the above equation. It is not normally written to + directly by the user. 
FOFF R/W Offset-Freeze Switch RECCHOICE (0:"Variable", 1:"Frozen")
FOFFR/WOffset-Freeze SwitchRECCHOICE(0:"Variable", 1:"Frozen")
VOF R/W Variable Offset SHORT Set Offset switch (FOFF) to "Variable".
VOFR/WVariable OffsetSHORTSet Offset switch (FOFF) to "Variable".
FOF R/W Freeze Offset SHORT Set Offset switch (FOFF) to "Frozen".
FOFR/WFreeze OffsetSHORTSet Offset switch (FOFF) to "Frozen".
The user can cause the difference between user and dial -coordinates to remain fixed (i.e., the record will not change it, although -the user may) by setting FOFF to "Frozen." The fields VOF and FOF are intended -for use in backup/restore operations; any write to them will drive the FOFF -field to "Variable" (VOF) or "Frozen" (FOF). 
The user can cause the difference between user and dial + coordinates to remain fixed (i.e., the record will not change it, although the + user may) by setting FOFF to "Frozen." The fields VOF and FOF are intended for + use in backup/restore operations; any write to them will drive the FOFF field to + "Variable" (VOF) or "Frozen" (FOF). 

-
-
-
-
-

+
+
+
+
+
SET R/W Set/Use SwitchRECCHOICE(0:"Use", 1:"Set")
SETR/WSet/Use SwitchRECCHOICE(0:"Use", 1:"Set")
SSET R/W Set SET Mode SHORT Set Set/Use switch to "Set".
SSETR/WSet SET ModeSHORTSet Set/Use switch to "Set".
SUSE R/W Set USE Mode SHORT Set Set/Use switch to "Use".
SUSER/WSet USE ModeSHORTSet Set/Use switch to "Use".
SET is a toggle switch used in calibrating the motor's -user and dial positions:  -

When SET = 0 ("Use"), writes to the user-coordinate drive field (VAL) -cause the dial-coordinate drive field (DVAL) to change, and the motor to -move. Writes to the dial-coordinate drive field (DVAL) cause the user-coordinate - drive field (VAL) to change, and the motor to move.

- -

When SET = 1 ("Set"), writes to the dial-coordinate drive field (DVAL) -and to the raw drive field (RVAL) cause a new raw motor position to be loaded -into the hardware without any change to the user-coordinate drive field -(VAL). Writes to other fields that would normally move the motor, change the -user-coordinate drive field (VAL), and the offset between user and dial coordinates -(the OFF field), with corresponding changes in the user-coordinate limit -fields (HLM and LLM). When the offset is frozen (FOFF=1), writes to any drive -field affect both user and dial values, and also load the hardware position -register.

-
SET is a toggle switch used in calibrating the motor's user and + dial positions:  +

+ When SET = 0 ("Use"), writes to the user-coordinate drive field (VAL) cause the + dial-coordinate drive field (DVAL) to change, and the motor to move. Writes to + the dial-coordinate drive field (DVAL) cause the user-coordinate drive field (VAL) + to change, and the motor to move. +

+ +

+ When SET = 1 ("Set"), writes to the dial-coordinate drive field (DVAL) and to + the raw drive field (RVAL) cause a new raw motor position to be loaded into the + hardware without any change to the user-coordinate drive field (VAL). Writes to + other fields that would normally move the motor, change the user-coordinate + drive field (VAL), and the offset between user and dial coordinates (the OFF + field), with corresponding changes in the user-coordinate limit fields (HLM and + LLM). When the offset is frozen (FOFF=1), writes to any drive field affect both + user and dial values, and also load the hardware position register. +

+

-
-
-
-
-

+
+
+
+
+
- -
+ +
- - - - - - - + + + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - + + - - + +
- -

Motor-resolution fields

-
Name Access Prompt Data type Comments 
 + + +

Motor-resolution fields

+
NameAccessPromptData typeComments
MRES R/W* Motor Step Size (EGU) FLOAT May be positive or negative
MRESR/W*Motor Step Size (EGU)FLOATMay be positive or negative
SREV R/W* Steps per Revolution LONG Must be strictly positive
SREVR/W*Steps per RevolutionLONGMust be strictly positive
UREV R/W* EGU's per Revolution FLOAT May be positive or negative 
UREVR/W*EGU's per RevolutionFLOATMay be positive or negative
MRES, and (SREV,UREV) represent two ways of specifying -the motor resolution--the distance or angle, in engineering units (EGU's), -associated with a single motor step. The equation relating these quantities -is "MRES = UREV/SREV". Initially, SREV has the value 200, the number of full -steps per revolution for most stepper motors, and the record never changes -this field. Only the user can change it.  -

When MRES is changed, the motor record sets UREV = MRES*SREV. When -UREV or SREV is changed, the motor sets MRES = UREV/SREV. In all cases, the - effect of a motor resolution change on the reported motor position depends - in a simple way on the value of the SET field:
- If (SET = 1), new user and dial values (VAL, DVAL) are calculated from the -existing raw value (RVAL).
- If (SET = 0), a new raw value is calculated from the existing dial value. -
- The motor doesn't move in either case; neither does the actual motor speed -(in revolutions per second) change. 

- -

If either MRES or UREV is changed, motor speeds that are expressed -in engineering units per second (i.e., those whose names contain the letter - 'V': VELO, BVEL, VMAX and VBAS) are automatically adjusted by the motor -record according to the following equations: VELO = UREV * S; BVEL = UREV -* SBAK; VMAX = UREV * SMAX; VBAS = UREV * SBAS.  Motor speeds that are -expressed in revolutions per second (S, SBAK, and SBAS) are independent of -changes to MRES or UREV.  In contrast, when SREV is changed, only MRES -is adjusted by the motor record, thus allowing all other fields to remain -unaffected.

- -

Currently, changes to motor-resolution fields have no effect on the -values of limit fields (although they should). 

- -

MRES or UREV allow negative values so that the user/dial coordinate - systems can be configured to the opposite polarity of the motor controller's.

-
MRES, and (SREV,UREV) represent two ways of specifying the motor + resolution--the distance or angle, in engineering units (EGU's), associated with + a single motor step. The equation relating these quantities is "MRES = UREV/SREV + ". Initially, SREV has the value 200, the number of full steps per revolution + for most stepper motors, and the record never changes this field. Only the user + can change it.  +

+ When MRES is changed, the motor record sets UREV = MRES*SREV. When UREV or SREV + is changed, the motor sets MRES = UREV/SREV. In all cases, the effect of a motor + resolution change on the reported motor position depends in a simple way on the + value of the SET field:
+ If (SET = 1), new user and dial values (VAL, DVAL) are calculated from the + existing raw value (RVAL).
+ If (SET = 0), a new raw value is calculated from the existing dial value.
+ The motor doesn't move in either case; neither does the actual motor speed (in + revolutions per second) change.  +

+ +

+ If either MRES or UREV is changed, motor speeds that are expressed in + engineering units per second (i.e., those whose names contain the letter 'V': + VELO, BVEL, VMAX and VBAS) are automatically adjusted by the motor record + according to the following equations: VELO = UREV * S; BVEL = UREV * SBAK; VMAX + = UREV * SMAX; VBAS = UREV * SBAS.  Motor speeds that are expressed in + revolutions per second (S, SBAK, and SBAS) are independent of changes to MRES or + UREV.  In contrast, when SREV is changed, only MRES is adjusted by the + motor record, thus allowing all other fields to remain unaffected. +

+ +

+ Currently, changes to motor-resolution fields have no effect on the values of + limit fields (although they should).  +

+ +

+ MRES or UREV allow negative values so that the user/dial coordinate systems can + be configured to the opposite polarity of the motor controller's. +

+

-
-
-
-
-

+
+
+
+
+
ERES R/W* Encoder Step Size (EGU) FLOAT Encoder resolution: the distance or angle, in engineering units, associated - 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. 
ERESR/W*Encoder Step Size (EGU)FLOATEncoder resolution: the distance or angle, in engineering units, associated + 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. 
RRES R/W Readback Step Size (EGU) FLOAT 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. 
RRESR/WReadback Step Size (EGU)FLOATReadback-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. 

-
-
-
-
-

+
+
+
+
+
UEIP R/W* Use Encoder If Present RECCHOICE (0:"No", 1:"Yes") 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.  -

The state of the UEIP, together with the MSTA encoder indicator, -determine:

- +
UEIPR/W*Use Encoder If PresentRECCHOICE (0:"No", 1:"Yes")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.  +

+ 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. whether absolute or relative position commands are used.
    3. - +
  3. + if the RRBV is set to either the feedback (REP) or the command (RMP) position. +
    4. +
  4. + whether absolute or relative position commands are used. +
    5. +
-
URIP R/W* Use RDBL Link If Present RECCHOICE (0:"No", 1:"Yes") Switch: nonzero value tells the record to get the motor position from - the readback-location link (RDBL) (if it contains valid EPICS link information, - and if no error occurs in the attempt to read from the link) and to ignore - values read back from the hardware's step-count and encoder registers.
URIPR/W*Use RDBL Link If PresentRECCHOICE (0:"No", 1:"Yes")Switch: nonzero value tells the record to get the motor position from the + readback-location link (RDBL) (if it contains valid EPICS link information, and + if no error occurs in the attempt to read from the link) and to ignore values + read back from the hardware's step-count and encoder registers.
These switches also direct the record to calculate destinations - in relative, rather than absolute, terms, since the ratio of encoder and -readback units to motor steps may not actually be constant.
These switches also direct the record to calculate destinations + in relative, rather than absolute, terms, since the ratio of encoder and + readback units to motor steps may not actually be constant.
- -
+ +
- - - - - - - + + + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - + + - - - - - - + + + + + + - - - - - - + + + + + + - - + + - - - - - - + + + + + + + - - + + + + + + + - - - - - - + + - - - - - - + + + + + + - - + + + + + + - - - - - - + + - - + + + + + + - - - - - - + + - - - - - + + + + + + - - - - - + + + + + - - + + + + + - - - - - - + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - + + + + + + - - + + + + + - - - - - - + + - - - - - - + + + + + + - - - - - - + + + + + + - - + + + + + + + + +
- -

Motion-related fields

-
Name Access Prompt Data type Comments 
 + + +

Motion-related fields

+
NameAccessPromptData typeComments
VMAXR/WMax Velocity (EGU/s)FLOATValid range; 0 <= VMAX.  VMAX=0 disables maximum velocity -range checking.
VMAXR/WMax Velocity (EGU/s)FLOATValid range; 0 <= VMAX.  VMAX=0 disables maximum velocity range + checking.
SMAXR/WMax Velocity (RPS)FLOATValid range; 0 <= SMAX
SMAXR/WMax Velocity (RPS)FLOATValid range; 0 <= SMAX
VBASR/WBase Velocity (EGU/s) FLOATValid range; 0 <= VBAS
VBASR/WBase Velocity (EGU/s)FLOATValid range; 0 <= VBAS
SBASR/WBase Speed (RPS) FLOATValid range; 0 <= SBAS
SBASR/WBase Speed (RPS)FLOATValid range; 0 <= SBAS
Range checking is done in such a way that any -minimum (i.e., VBAS/SBAS) or maximum (i.e., VMAX/SMAX) value entered is valid.  - 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.

- -

Those who use both BURT and VMAX (i.e., nonzero VMAX) should insure - that VMAX and VBAS are placed before VELO and BVEL in their BURT request -files.

- -

The intent of VBAS/SBAS is to prevent the motor from moving at speeds - slow enough to excite its resonance, which can cause the motor to miss steps. -The motor is expected to accelerate from a stand-still to VBAS in one motor -pulse. 

-
Range checking is done in such a way that any minimum + (i.e., VBAS/SBAS) or maximum (i.e., VMAX/SMAX) value entered is valid.  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. +

+ +

+ Those who use both BURT and VMAX (i.e., nonzero VMAX) should insure that VMAX + and VBAS are placed before VELO and BVEL in their BURT request files. +

+ +

+ The intent of VBAS/SBAS is to prevent the motor from moving at speeds slow + enough to excite its resonance, which can cause the motor to miss steps. The + motor is expected to accelerate from a stand-still to VBAS in one motor pulse.  +

+
VELO R/W Velocity (EGU/s) FLOATValid range; VBAS <= VELO <= VMAX
VELOR/WVelocity (EGU/s)FLOATValid range; VBAS <= VELO <= VMAX
S R/WSpeed (RPS) FLOAT Valid range;  SBAS <=      S      - <= SMAX
SR/WSpeed (RPS)FLOATValid range;  SBAS <=      S      + <= SMAX
VELO is the speed, in engineering units per second, at -which the motor is move after the acceleration phase of a motion is finished. -S is the same speed expressed in revolutions per second. The record makes -sure that VELO and S are consistent, using the equation S = VELO/UREV.
VELO is the speed, in engineering units per second, at which the + motor is move after the acceleration phase of a motion is finished. S is the + same speed expressed in revolutions per second. The record makes sure that VELO + and S are consistent, using the equation S = VELO/UREV.
ACCL R/W Seconds to Velocity FLOAT The length, in seconds, of the acceleration and deceleration phases - of a motor motion. 
HVELR/WVelocity (EGU/s)FLOATHoming velocity; valid range; VBAS <= HVEL <= VMAX
The motor record expects the hardware to produce a trapezoidal - speed profile. That is, the motor speed is expected to increase linearly -with time from the base speed, VBAS, to the full speed, VELO, in ACCL seconds. - At the end of a motion, the speed is expected to decrease similarly to VBAS. 
ACCLR/WSeconds to VelocityFLOATThe length, in seconds, of the acceleration and deceleration phases of a + motor motion.
JVELR/WJog Velocity (EGU/s)FLOATValid range; VBAS <= VELO <= VMAX
The motor record expects the hardware to produce a trapezoidal + speed profile. That is, the motor speed is expected to increase linearly with + time from the base speed, VBAS, to the full speed, VELO, in ACCL seconds. At the + end of a motion, the speed is expected to decrease similarly to VBAS. 
JARR/WJog  Acceleraton (EGU/s^2)FLOATDefault value: VELO / ACCL
JVELR/WJog Velocity (EGU/s)FLOATValid range; VBAS <= VELO <= VMAX
With the OMS and IMS device drivers, jog velocity - can be changed on-the-fly.  The velocity will accelerate to the new -velocity based on the JAR field.
JARR/WJog Acceleraton (EGU/s^2)FLOATDefault value: VELO / ACCL
BDST R/W BL Distance (EGU) FLOATThe signed distance, in dial coordinates, used for backlash takeout. 
With the OMS and IMS device drivers, jog velocity can + be changed on-the-fly.  The velocity will accelerate to the new velocity + based on the JAR field.
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. 

-
BDSTR/WBL Distance (EGU)FLOATThe signed distance, in dial coordinates, used for backlash takeout.

-
-
-
-
-
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.  +

+
BVEL R/WBL Velocity (EGU/s) FLOAT

+
+
+
+
+
SBAK R/W BL Speed (RPS) FLOAT 
BVELR/WBL Velocity (EGU/s)FLOAT
BVEL is the speed, in engineering units per second, at -which the motor is move after the acceleration phase of a backlash-takeout -motion is finished. SBAK is the same speed expressed in revolutions per second. -Neither BVEL nor SBAK may be negative or zero. 
SBAKR/WBL Speed (RPS)FLOAT

-
-
-
-
-
BVEL is the speed, in engineering units per second, at which the + motor is move after the acceleration phase of a backlash-takeout motion is + finished. SBAK is the same speed expressed in revolutions per second. Neither + BVEL nor SBAK may be negative or zero. 
BACC R/W BL Seconds to Veloc. FLOAT 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. 

+
+
+
+
+

-
-
-
-
-
BACCR/WBL Seconds to Veloc.FLOATThe 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.
FRACR/W Move Fraction FLOAT 

+
+
+
+
+
This field supports closed-loop control of pathological -devices for which drive values are not expected to compare reproducibly with -readback values. (Inchworms and other friction-driven devices are good examples: -the number of steps taken by an inchworm motor is a very poor indicator of -the distance it has traveled.)  -

In a move from position CURRENT to position TARGET, the motor record - will ask hardware to move a distance FRAC*(TARGET-CURRENT). When that motion - is complete, the record will request a motion of FRAC*(remaining distance), - and so on until the target position has been reached. 

-
FRACR/WMove FractionFLOAT

-
-
-
-
-
This field supports closed-loop control of pathological devices + for which drive values are not expected to compare reproducibly with readback + values. (Inchworms and other friction-driven devices are good examples: the + number of steps taken by an inchworm motor is a very poor indicator of the + distance it has traveled.)  +

+ In a move from position CURRENT to position TARGET, the motor record will ask + hardware to move a distance FRAC*(TARGET-CURRENT). When that motion is complete, + the record will request a motion of FRAC*(remaining distance), and so on until + the target position has been reached.  +

+
RDBD R/W Retry Deadband (EGU) FLOAT 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 will try again, as if the user had requested a move from -the now current position to the desired position. Only a limited number of -retries will be performed (see RTRY). 

+
+
+
+
+
RTRY R/W Max retry count SHORT The maximum number of times the motor record will try again to move - to the desired position. When the retry limit is reached, the motor record - will declare the motion finished. If the desired position was not reached, - the field MISS will be set to 1.
RDBDR/WRetry Deadband (EGU)FLOATWhen 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 + will try again, as if the user had requested a move from the now current + position to the desired position. Only a limited number of retries will be + performed (see RTRY). 
RTRYR/WMax retry countSHORTThe maximum number of times the motor record will try again to move to the + desired position. When the retry limit is reached, the motor record will declare + the motion finished. If the desired position was not reached, the field MISS + will be set to 1.
- -
+ +
- - - - - - - + + + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - + + - - + +
- -

Link-related fields

-
Name Access Prompt Data type Comments 
 + + +

Link-related fields

+
NameAccessPromptData typeComments
OUT R/W Output Specification OUTLINK If Soft Channel device support is specified, this field is an EPICS - link; each time DVAL is changed, device support puts DVAL to this link.  - Otherwise, this field specifies the hardware to be controlled.
OUTR/WOutput SpecificationOUTLINKIf Soft Channel device support is specified, this field is an EPICS link; + each time DVAL is changed, device support puts DVAL to this link.  + Otherwise, this field specifies the hardware to be controlled.
RDBL R Readback Location INLINK This field specifies the field (of this or any other EPICS record) -from which the motor's current position is to be read when the field URIP -(Use Readback If Present) has the value "Yes" (1). If this field does not -contain a valid EPICS link, the URIP may as well have the value "No" (0).  -If Soft Channel device support is specified, this field is monitored for -value changes by a CA event task. 
RDBLRReadback LocationINLINKThis field specifies the field (of this or any other EPICS record) from + which the motor's current position is to be read when the field URIP (Use + Readback If Present) has the value "Yes" (1). If this field does not contain a + valid EPICS link, the URIP may as well have the value "No" (0).  If Soft + Channel device support is specified, this field is monitored for value changes + by a CA event task. 
DOL R Desired Output Loc INLINK If this field contains a valid EPICS link, and the OMSL field has -the value "closed_loop" (1), then every time the the motor record is processed, - it will get a value for the VAL field from the link and move to that location, - ignoring all other drive fields. Closed-loop mode has not been tested extensively. 
DOLRDesired Output LocINLINKIf this field contains a valid EPICS link, and the OMSL field has the value + "closed_loop" (1), then every time the the motor record is processed, it will + get a value for the VAL field from the link and move to that location, ignoring + all other drive fields. Closed-loop mode has not been tested extensively. 
OMSL R/W Output Mode Select GBLCHOICE (0:"supervisory", 1:"closed_loop") 
- If this field has the value "closed_loop" (1), and the field DOL contains - a valid EPICS link, then every time the the motor record is processed, it -will get a value for the VAL field from the link and move to that location, - ignoring all other drive fields. Closed-loop mode has not been tested extensively. 
OMSLR/WOutput Mode SelectGBLCHOICE(0:"supervisory", 1:"closed_loop") 
+ If this field has the value "closed_loop" (1), and the field DOL contains a + valid EPICS link, then every time the the motor record is processed, it will get + a value for the VAL field from the link and move to that location, ignoring all + other drive fields. Closed-loop mode has not been tested extensively. 
RLNK R Readback OutLink OUTLINK If this field contains a valid EPICS link, then every time the motor - record is processed, it will put the (engineering-unit) readback value RBV -to that link. 
RLNKRReadback OutLinkOUTLINKIf this field contains a valid EPICS link, then every time the motor record + is processed, it will put the (engineering-unit) readback value RBV to that link. 
DINPR/WDMOV Input LinkINLINKIf Soft Channel device support is specified, the value specified by - this link is used to set the DONE bit in the MSTA field; which in turn sets -the DMOV field.
DINPR/WDMOV Input LinkINLINKIf Soft Channel device support is specified, the value specified by this + link is used to set the DONE bit in the MSTA field; which in turn sets the DMOV + field.
RINPR/WRMP Input LinkINLINKIf Soft Channel device support is specified, the value specified by - this link is used to set the RMP field.
RINPR/WRMP Input LinkINLINKIf Soft Channel device support is specified, the value specified by this + link is used to set the RMP field.
STOOR/WSTOP OutLinkOUTLINKIf Soft Channel device support is specified, a one is written to the  - specified link each time the STOP_AXIS motor command is issued.
STOOR/WSTOP OutLinkOUTLINKIf Soft Channel device support is specified, a one is written to the  + specified link each time the STOP_AXIS motor command is issued.
-

Soft Channel Device Driver

- The Soft Channel database links (i.e., DINP, RINP and STOO) are only processed - when the Soft Channel device driver is selected.  These links are ignored -when using any other Motor Record device driver.
- The input links (i.e., DINP, RDBL and RINP) are monitored for value changes -by a CA event task.  Users must choose either a dial input link (RDBL) -or a raw input link (RINP), but not both. At this time, the above links are - not dynamically retargetable. 
- Note that JOG[F/R] does not work with the Soft Channel device driver.

Soft Channel Device Driver

The Soft Channel + database links (i.e., DINP, RINP and STOO) are only processed when the Soft + Channel device driver is selected.  These links are ignored when using any + other Motor Record device driver.
+ The input links (i.e., DINP, RDBL and RINP) are monitored for value changes by a + CA event task.  Users must choose either a dial input link (RDBL) or a raw + input link (RINP), but not both. At this time, the above links are not + dynamically retargetable. 
+ Note that JOG[F/R] does not work with the Soft Channel device driver.
- -
+ +
- - - - - - - + + + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - + + + + + - - - - - + + + + + - - + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - + + + + + - - - - - + + + + + - - + + - - - - - - + + + + + + - - + +
- -

Limit-related fields

-
Name AccessPrompt Data type Comments
 + + +

Limit-related fields

+
NameAccessPromptData typeComments
HLM R/W* User High LimitFLOAT 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, otherwise HLM will always be consistent with DLLM.
HLMR/W*User High LimitFLOATThe 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, + otherwise HLM will always be consistent with DLLM.
LLM R/W* User Low Limit FLOAT 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, otherwise LLM will always be consistent with DHLM. 
LLMR/W*User Low LimitFLOATThe 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, + otherwise LLM will always be consistent with DHLM. 
DHLM R/W* Dial High Limit FLOAT 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, otherwise DHLM will always be consistent with LLM. 
DHLMR/W*Dial High LimitFLOATThe 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, + otherwise DHLM will always be consistent with LLM. 
DLLM R/W* Dial Low Limit FLOAT 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, otherwise DLLM will always be consistent with HLM. 
DLLMR/W*Dial Low LimitFLOATThe 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, + otherwise DLLM will always be consistent with HLM. 
LVIO R Limit violation SHORT A value of 1 indicates that the dial-value drive field, DVAL, or the - dial-value readback field, DRBV, is outside of the limits (DHLM, DLLM), -and this prevents the motor from moving. If the backlash distance, BDST, -is non-zero, it further restricts the allowable range of DVAL. When a JOG -button is hit, LVIO goes to 1 and stops the motor if/when DVAL gets to within -one second's travel time of either limit. 
LVIORLimit violationSHORTA value of 1 indicates that the dial-value drive field, DVAL, or the dial-value + readback field, DRBV, is outside of the limits (DHLM, DLLM), and this prevents + the motor from moving. If the backlash distance, BDST, is non-zero, it further + restricts the allowable range of DVAL. When a JOG button is hit, LVIO goes to 1 + and stops the motor if/when DVAL gets to within one second's travel time of + either limit. 
PERL R/W Periodic Limits RECCHOICE (0:"No", 1:"Yes") 
- Not implemented. Originally intended to support periodic "limits" on the -VAL field (such as those associated with a rotation stage--e.g., [0...360] - or [-180...180]) independently of the actual soft limits HLM and LLM. 
PERLR/WPeriodic LimitsRECCHOICE(0:"No", 1:"Yes") 
+ Not implemented. Originally intended to support periodic "limits" on the VAL + field (such as those associated with a rotation stage--e.g., [0...360] or [-180...180]) + independently of the actual soft limits HLM and LLM. 
HOPR R/W High Operating Range FLOAT Not used. See HLM and DHLM. 
HOPRR/WHigh Operating RangeFLOATNot used. See HLM and DHLM.
LOPR R/W Low Operating Range FLOAT Not used. See LLM and DLLM. 
LOPRR/WLow Operating RangeFLOATNot used. See LLM and DLLM.

-
-
-
-
-

+
+
+
+
+
HLS R At High Limit Switch SHORT
HLSRAt High Limit SwitchSHORT
RHLS R Raw High Limit SwitchSHORT 
RHLSRRaw High Limit SwitchSHORT
If either of these fields is nonzero, then the motor is -at the positive-limit switch, where the positive sense is that of the user-coordinate - system for HLS, and that of the raw (step-number) coordinate system for -RHLS. 
If either of these fields is nonzero, then the motor is at the + positive-limit switch, where the positive sense is that of the user-coordinate + system for HLS, and that of the raw (step-number) coordinate system for RHLS. 

-
-
-
-
-

+
+
+
+
+

-
-
-
-
-

+
+
+
+
+
LLS RAt Low Limit SwitchSHORT
LLSRAt Low Limit SwitchSHORT
RLLS R Raw Low Limit SwitchSHORT 
RLLSRRaw Low Limit SwitchSHORT
If either of these fields is nonzero, then the motor is -at the negative-limit switch, where the positive sense is that of the user-coordinate - system for LLS, and that of the raw (step-number) coordinate system for -RLLS.
If either of these fields is nonzero, then the motor is at the + negative-limit switch, where the positive sense is that of the user-coordinate + system for LLS, and that of the raw (step-number) coordinate system for RLLS.

-
-
-
-
-

+
+
+
+
+
- -
+ +
- - - - - - - + + + + + + + + - - - - - - + + + + + + - - + + - - - - - - + + + + + + - - - - - + + + + + - - + + - - - - - - + + + + + + - - - - - + + + + + - - - - - + + + + + - - + + - - - - - - + + + + + + - - - - - + + + + + - - - - - + + + + + - - + + - - - - - - + + + + + + - - - - - + + + + + - - - - - + + + + + - - + + - - - - - - + + + + + + - - + +
- -

Command-button fields

-
Name Access PromptData type Comments 
 + + +

Command-button fields

+
NameAccessPromptData typeComments
SPMG R/W* Stop/Pause/Move/Go RECCHOICE (0:"Stop", 1:"Pause", 2:"Move", 3:"Go") 
SPMGR/W*Stop/Pause/Move/GoRECCHOICE(0:"Stop", 1:"Pause", 2:"Move", 3:"Go")
This field is intended primarily for interactive use, and - normally has the value "Go."  -

If the user sets this field to "Stop," the motor will decelerate -to a stop, the VAL field will be set equal to the RBV field, and the DVAL - field will be set equal to the DRBV field. (These actions ensure that the - motor will not start moving again until a drive field is changed.) In any - case, the motor will not move while SPMG has the value "Stop" or "Pause."  -

- -

If "SPMG" has the value "Move," the motor record will reset SPMG -to "Pause" when a motion completes. This behavior supports users who want - a motor to sit still until they say "Move", no matter what changes occur -in the drive fields. 

-
This field is intended primarily for interactive use, and + normally has the value "Go."  +

+ If the user sets this field to "Stop," the motor will decelerate to a stop, the + VAL field will be set equal to the RBV field, and the DVAL field will be set + equal to the DRBV field. (These actions ensure that the motor will not start + moving again until a drive field is changed.) In any case, the motor will not + move while SPMG has the value "Stop" or "Pause."  +

+ +

+ If "SPMG" has the value "Move," the motor record will reset SPMG to "Pause" when + a motion completes. This behavior supports users who want a motor to sit still + until they say "Move", no matter what changes occur in the drive fields.  +

+

-
-
-
-
-

+
+
+
+
+
STOP R/W* Stop SHORT 
STOPR/W*StopSHORT
When this field is set to 1, the record will immediately - reset it to 0, and the motor will decelerate to a stop. When the motor has -stopped, VAL will be set equal to RBV, and DVAL will be set equal to DRBV. -(This ensures that the motor will not start moving the next time the record -is processed, unless a drive field is explicitly changed. If you want the -motor to pause, use the SPMG field.) 
When this field is set to 1, the record will immediately reset + it to 0, and the motor will decelerate to a stop. When the motor has stopped, + VAL will be set equal to RBV, and DVAL will be set equal to DRBV. (This ensures + that the motor will not start moving the next time the record is processed, + unless a drive field is explicitly changed. If you want the motor to pause, use + the SPMG field.) 

-
-
-
-
-

+
+
+
+
+
HOMF R/W* Home Forward SHORT
HOMFR/W*Home ForwardSHORT
HOMR R/W* Home Reverse SHORT 
HOMRR/W*Home ReverseSHORT
When one of these fields is set to 1, the motor will decelerate - to a stop if already moving, move in the indicated direction (in dial - coordinates) at the acceleration specified by ACCL and a speed of 1000 -motor pulses per second, until the hardware detects the "home" switch has -become active. Then the hardware will do something hardware dependent in -response to its "home" command, if any. (The OMS hardware causes the motor -to decelerate to a stop.) When the motor stops, the VAL field will be set -equal to the RBV field, and the DVAL field will be set equal to the DRBV -field.  These fields can be set to 1, but setting either field to 0 -results in an error.  The record sets HOM[F/R] to zero when the homing -procedure is either completed or aborted.
When one of these fields is set to 1, the motor will decelerate + to a stop if already moving, move in the indicated direction (in dial + coordinates) at the acceleration specified by ACCL and a speed spedified by HVEL, + until the hardware detects the "home" switch has become active. Then the + hardware will do something hardware dependent in response to its "home" command, + if any. (The OMS hardware causes the motor to decelerate to a stop.) When the + motor stops, the VAL field will be set equal to the RBV field, and the DVAL + field will be set equal to the DRBV field.  These fields can be set to 1, + but setting either field to 0 results in an error.  The record sets HOM[F/R] + to zero when the homing procedure is either completed or aborted.

-
-
-
-
-

+
+
+
+
+
JOGF R/W* Jog motor Forward SHORT
JOGFR/W*Jog motor ForwardSHORT
JOGR R/W* Jog motor Reverse SHORT 
JOGRR/W*Jog motor ReverseSHORT
When one of these fields is set to 1, the motor will decelerate - to a stop if already moving, and move in the indicated direction (in user - coordinates) at an acceleration specified by ACCL and speed VELO, until -the field goes to 0. Then the motor will set VAL to RBV and DVAL to DRBV, -decelerate to a stop, and execute a (backlash-corrected, if BDST is nonzero) -move to the position at which the field went to 0.  -

These fields are dangerous when used over channel access, because -the motor does not stop moving until a second message is received. If a very - busy network should cause that second message to be lost, the motor will -travel to its limit switch or hard stop. 

-
When one of these fields is set to 1, the motor will decelerate + to a stop if already moving, and move in the indicated direction (in user + coordinates) at an acceleration specified by ACCL and speed VELO, until the + field goes to 0. Then the motor will set VAL to RBV and DVAL to DRBV, decelerate + to a stop, and execute a (backlash-corrected, if BDST is nonzero) move to the + position at which the field went to 0.  +

+ These fields are dangerous when used over channel access, because the motor does + not stop moving until a second message is received. If a very busy network + should cause that second message to be lost, the motor will travel to its limit + switch or hard stop.  +

+

-
-
-
-
-

+
+
+
+
+
TWF R/W* Tweak motor Forward SHORT
TWFR/W*Tweak motor ForwardSHORT
TWR R/W* Tweak motor Reverse SHORT 
TWRR/W*Tweak motor ReverseSHORT
When one of these fields is set to 1, the record will immediately - reset it to 0, and the motor will move (with backlash takeout if BDST is -nonzero) by a distance TWV (in user coordinates) at the acceleration specified -by ACCL and at speed VELO.
When one of these fields is set to 1, the record will + immediately reset it to 0, and the motor will move (with backlash takeout if + BDST is nonzero) by a distance TWV (in user coordinates) at the acceleration + specified by ACCL and at speed VELO.
TWV R/W* Tweak Step Size (EGU) FLOAT This field contains the distance the motor is to move in response -to the TWF and TWR buttons. 
TWVR/W*Tweak Step Size (EGU)FLOATThis field contains the distance the motor is to move in response to the + TWF and TWR buttons.
- -
+ +
- - - - - - - + + + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - - - - - + + + + + + - - + +
- -

Drive fields

-
Name Access Prompt Data type Comments
 + + +

Drive fields

+
NameAccessPromptData typeComments
VAL R/W*User Desired Value DOUBLEThis is the desired position in user coordinates. When this field -is written to, DVAL and RVAL will be changed correspondingly, and the motor -will move (with backlash takeout if BDST is nonzero) to the newly written -position. 
VALR/W*User Desired ValueDOUBLEThis is the desired position in user coordinates. When this field is written + to, DVAL and RVAL will be changed correspondingly, and the motor will move (with + backlash takeout if BDST is nonzero) to the newly written position. 
DVAL R/W* Dial Desired Value DOUBLE This is the desired position in dial coordinates. When this field -is written to, VAL and RVAL will be changed correspondingly, and the motor -will move (with backlash takeout if BDST is nonzero) to the newly written -position. 
DVALR/W*Dial Desired ValueDOUBLEThis is the desired position in dial coordinates. When this field is written + to, VAL and RVAL will be changed correspondingly, and the motor will move (with + backlash takeout if BDST is nonzero) to the newly written position. 
RVAL R/W* Raw Desired Value DOUBLE This is the desired position in raw coordinates. When this field is - written to, VAL and DVAL will be changed correspondingly, and the motor -will move (with backlash takeout if BDST is nonzero) to the newly written -position. 
RVALR/W*Raw Desired ValueDOUBLEThis is the desired position in raw coordinates. When this field is written + to, VAL and DVAL will be changed correspondingly, and the motor will move (with + backlash takeout if BDST is nonzero) to the newly written position. 
RLV R/W* Relative Value DOUBLEWhen this field is changed, its value will be added to VAL, the field - itself will immediately be reset to 0, and the motor record will behave -as though the VAL field had been changed directly. 
RLVR/W* Relative ValueDOUBLEWhen this field is changed, its value will be added to VAL, the field itself + will immediately be reset to 0, and the motor record will behave as though the + VAL field had been changed directly. 
- -
+ +
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- -

Status/readback fields

-
Name Access Prompt Data type Comments 
RBV R User Readback Value DOUBLEThe current motor position, in user coordinates, from the motor hardware - (default), or from the encoder supported by the motor-controller hardware - (if UEIP is nonzero), or from the readback link RDBL (if URIP is nonzero). 
DRBV R Dial Readback Value DOUBLE The current motor position, in dial coordinates, from the motor hardware - (default), or from the encoder supported by the motor-controller hardware - (if UEIP is nonzero), or from the readback link RDBL (if URIP is nonzero). 
DMOV RDone moving to value SHORT 
This field is set to 0 when the motor record begins a motion, - and remains 0 through any retries and backlash corrections that may be required -until the motor record has completely finished that motion, whereupon the -field is set to 1. DMOV is guaranteed to execute and post a 1/0/1 pulse when -the motor is commanded to move--even if no motion actually occurs because -the motor was commanded to move to its current position. 
MOVN R Motor is moving SHORT This field is set to 1 while the record believes that the motor actually - is moving. This field is not the inverse of DMOV, since it may go to zero - during a complex motion, if that motion includes a momentary stop. 
DLYR/WReadback settle time (s)FLOATDelay (in seconds) the time between motor controller done and motor - record done (i.e., DMOV).
DIFF R Difference dval-drbv DOUBLE DIFF is the difference, in engineering units, between -the desired motor position, and the readback device's report of the current -position. RDIF is the same difference in "raw" units (normally, steps). 
RDIF R Difference rval-rrbv LONG 
RRBV R Raw Readback Value DOUBLE The current position of the motor, encoder, or readback link, as received - from whatever source has been selected to provide position information. -The units associated with this field depend on the source. 
RMP R Raw Motor Position DOUBLE The contents of the hardware's step-count register. This field contains - the same information as the dial value, but in steps, rather than in engineering - units. 
REP R Raw Encoder Position DOUBLE The contents of the hardware's encoder-count register. Ideally, this - field contains the same information as the dial value, but in encoder counts, - rather than in engineering units. 
MSTA R Motor Status ULONG The motor status as received from the hardware.  The MSTA bits - are defined as follows: -
-
    -
  1. DIRECTION: (0:Negative, 1:Positive)
    2. -
  2. DONE: motion is complete.
    3. -
  3. PLUS_LS: plus limit switch has been hit.
    4. -
  4. HOMELS: state of the home limit switch.
    5. -
  5. Unused
    6. -
  6. POSITION: closed-loop position control is enabled.
    7. -
  7. Unused
    8. -
  8. HOME: if at home position.
    9. -
  9. PRESENT: encoder is present.
    10. -
  10. PROBLEM: driver stopped polling.
    11. -
  11. MOVING: non-zero velocity present.
    12. -
  12. GAIN_SUPPORT: motor supports closed-loop position control.
    13. -
  13. COMM_ERR: Controller communication error.
    14. -
  14. MINUS_LS: minus limit switch has been hit.
    -
    15. - -
-
-
TDIR R Direction of Travel SHORT The direction in which the motor is currently traveling (or was most - recently traveling), as received from the hardware. If 0, the raw readback - value should be decreasing. 
ATHM R At HOME SHORT The state of the hardware's "home" switch. If 1, the motor has hit -the switch. 
RCNT R Retry count SHORT The number of times the motor record has detected failure of the motor - to land within the retry-deadband distance of the desired position. 
MISS R Ran out of retries SHORT If 1, the motor has failed to land on the desired position more than - the allowed number of times. This field will be reset the next time the -motor succeeds in reaching the desired position. 
RVEL R Raw Velocity LONG Speed in steps per second that the motor actually is moving. 
- -
-
-
- -
-

Servo fields

-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
PID related record fields accept only normalized - values (i.e., 0.0 <= value <= 1.0).  Before sending them to the -motor controller, device support scales the record fields to valid motor controller -parameters,.  Let the motor controller PID parameters be represented -by CKP, CKI and CKD; then the PID coefficients are converted from motor record -fields to controller parameters as follows: -

For the MM4000;  CKP = PCOF, CKI = ICOF and CKD = DCOF.
- For all OMS controllers;  CKP = 1999.9 * PCOF, CKI = 1999.9 * ICOF, -CKD = 1999.9 * DCOF.

- -

Note the following:

- -
    -
  • When commanded to move the OMS control law is a PD loop, when it is -holding a position it is a PID loop.
    • -
  • The Proportional Gain cannot be turned off (i.e., set to zero) in -an OMS controller.  The minimum value is PCOF = 0.00005 (CKP = 0.1).  - If the user sets PCOF < 0.00005 for an OMS controller, device support -silently resets it to it's minimum value of 0.00005.
    • - -
-
-
Name
- 		-
Access
- 		-
Prompt
- 		-
Data type
- 		-
Comments
-
CNENR/WEnable controlRECCHOICE (0:"Disable", 1:"Enable")  Enable/Disable closed-loop position - control.  This field is active only if the GAIN_SUPPORT bit in the -MSTA is true.  This field is set by both the user and device support.  - CNEN is set to Disable by device support when it detects a motion -controller error; e.g. maximum following error exceeded.
PCOFR/WProportional GainFLOATValid range; 0.0 <= PCOF <= 1.0
 ICOFR/WIntegral GainFLOATValid range; 0.0 <= ICOF <= 1.0
 DCOFR/WDerivative GainFLOATValid range; 0.0 <= DCOF <= 1.0
-
-   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-
-
- -
-

Alarm fields

-
-
Name Access Prompt Data typeComments 
HIHI R/W* Hihi Alarm Limit FLOAT
LOLO R/W* Lolo Alarm Limit FLOAT
HIGH R/W* High Alarm Limit FLOAT
LOW R/W* Low Alarm Limit FLOAT
HHSV R/W* Hihi Severity GBLCHOICENot used.
LLSV R/W* Lolo Severity GBLCHOICENot used.
HSV R/W* High Severity GBLCHOICENot used.
LSV R/W* Low Severity GBLCHOICENot used.
HLSV R/W* HW Limit Switch Violation SeverityGBLCHOICE 
- -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- -

Miscellaneous fields

-
Name Access Prompt Data type Comments 
PREC R/WDisplay Precision SHORT The number of digits to the right of the decimal that are to be displayed - by MEDM and other channel-access clients. 
EGU R/W Engineering Units STRINGString sent to channel-access clients who ask for engineering units. 
VERS R Code Version FLOAT Version number of the recMotor.c code. 
CARD R Card Number SHORT 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 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.
-

Command Primitives

- The following three fields comprise the Command Primitives feature.  - The command primitive record fields are available to the user to send ASCII - command primitives to the motor control board at fixed, predefined, times.  - Each of the fields is defined as a character string.  Consult the motor -controller manual for command protocols.  No error checking is done by -the motor record or the device driver to insure that the command strings are -valid.  Each field is terminated by the device driver according -to the command protocol.  Command primitives that result in a response -from the motion control board are valid, but the response is not processed.  -This feature is currently only available with OMS VME8/44/58 or Newport MM4000 -device support. -

Device Directives

- -
    -
  • Valid only in the INIT field.
    • -
  • Must be identified by the following;
    • - -
  • First character of INIT string must be a '@'.
    • -
  • One or more characters followed by a terminating '@'; i.e., device -directives must have nonzero length.
    • -
  • A valid device directive; currently, only "DPM_ON".
    • -
    -
  • INIT strings are stripped of valid device directives (including @'s) -and tested for nonzero length before being sent to the controller.  For -example, given the INIT string, "@DPM_ON@HE", the device directive @DPM_ON@ - is stripped out before HE is sent to the controller.
    • - -
- Driver Power Monitoring -
    -
  • This feature is only available with the OMS VME58 device support.
    • -
  • The 8 User I/O signals are assigned to the 8 possible VME58 axes -as follows:
    • - -
      - User I/O #0 <> X axis -
      -  "   "    -1 <> Y  "
      - ........................................ -
      - "    "    -7 <> S  " -
    -
  • Drive-power monitoring defaults to disabled at boot-up.  Request -enabling drive-power monitoring by entering the device directive "@DPM_ON@" -command into the motor record initialization field (i.e., INIT).  The -INIT field is processed at record initialization (i.e., bootup), hence if -there are no errors, drive-power monitoring will be enabled after the next -bootup.
    • -
  • Whenever a request is made to enable drive-power status monitoring, -an error check is made (using the VME58 "RB" command) to verify that the User -I/O has been configured as an input.  The following message will appear -in the error log if a configuration error is detected; "Invalid VME58 configuration; -RB = 0x####", where "####" is the VME58's response to the RB command.
    • -
  • When drive-power status monitoring is enabled and a power failure -is detected, the device driver will respond by activating the the RA_OVERTRAVEL -bit in the MSTA.  This results in either HLS or LLS being activated depending -on the DIR field. In addition, the following message will appear in the error -log; "Drive power failure at VME58 card#?? motor#??".
    • - -
-
INITR/WStartup commandsSTRINGSent at record initialization.
PREMR/WPre-move commandsSTRINGSent before every command string that causes motion.
POSTR/WPost-move commandsSTRINGSent after a complete motion is finished or when an overtravel limit - switch is detected.
- -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- -

Private fields

-
Name Access Prompt Data type Comments 
CBAKNoneCallback structureNOACCESS 
-
LVAL R Last User Des Val DOUBLE
LDVL R Last Dial Des Val DOUBLE
LRVL R Last Raw Des Val DOUBLE
LRLV R Last Rel Value DOUBLE
CDIR
- 		RCommand direction
- 		SHORT
-
PP R Post process command SHORT
MIP R Motion In Progress SHORT
MMAP R Monitor Mask ULONG
NMAP R Monitor Mask ULONG
LSPG R Last SPMG RECCHOICE (see SPMG)
- -
-

-

- -

Files, device support

- The following table briefly describes all of the files required to implement - and use the motor record. The reader is assumed to be familiar with the - - EPICS Application Source/Release Control document - which describes how to build an EPICS application tree into which these -files are to be placed, and how to run "makesdr" and "gnumake" to build the -record support. These files can all be obtained from the - EPICS Software Distribution - (in the - custom-software section - ). - + - - + + + + + + - - - + + + + + + - - - + + + + + + - - - + + + + + - - - + + - - - + + + + + + - - - + + + + + + - - - + + + + + + - - - + + + + + - - - + + + + + + - - - + + + + + + - - - + + + + + + - - - + + + + + + - - - + + + + + + - - - + + + + + + - - - + + + + + + - - - + + + + + + - - - + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+ + +

Status/readback fields

+
SOURCE CODE
- files to be placed in &lttop>/&ltapp&gtApp/src/
NameAccessPromptData typeComments
motorRecord.dbdDatabase Definition file for motor record.
RBVRUser Readback ValueDOUBLEThe current motor position, in user coordinates, from the motor hardware (default), + or from the encoder supported by the motor-controller hardware (if UEIP is + nonzero), or from the readback link RDBL (if URIP is nonzero). 
motorRecord.c Record support for the motor record
DRBVRDial Readback ValueDOUBLEThe current motor position, in dial coordinates, from the motor hardware (default), + or from the encoder supported by the motor-controller hardware (if UEIP is + nonzero), or from the readback link RDBL (if URIP is nonzero). 
motor.h Header included by all .c files
DMOVRDone moving to valueSHORT

-
-
This field is set to 0 when the motor record begins a motion, + and remains 0 through any retries and backlash corrections that may be required + until the motor record has completely finished that motion, whereupon the field + is set to 1. DMOV is guaranteed to execute and post a 1/0/1 pulse when the motor + is commanded to move--even if no motion actually occurs because the motor was + commanded to move to its current position. 
motordevCom.cDevice support common to all motor Record device drivers.
MOVNRMotor is movingSHORTThis field is set to 1 while the record believes that the motor actually is + moving. This field is not the inverse of DMOV, since it may go to zero during a + complex motion, if that motion includes a momentary stop. 
motordevCom.hDevice support header file.
DLYR/WReadback settle time (s)FLOATDelay (in seconds) the time between motor controller done and motor record + done (i.e., DMOV).
motordrvCom.cDriver support common to all motor Record device drivers.
DIFFRDifference dval-drbvDOUBLEDIFF is the difference, in engineering units, between the + desired motor position, and the readback device's report of the current position. + RDIF is the same difference in "raw" units (normally, steps). 
motordrvCom.hDriver support header file.
RDIFRDifference rval-rrbv LONG
motordrvComCode.hLocal variables common to all motor Record drivers.
RRBVRRaw Readback ValueDOUBLEThe current position of the motor, encoder, or readback link, as received + from whatever source has been selected to provide position information. The + units associated with this field depend on the source. 

- 		NOTE: All of the above files are required for any and all motor Record - device drivers.
RMPRRaw Motor Position DOUBLEThe contents of the hardware's step-count register. This field contains the + same information as the dial value, but in steps, rather than in engineering + units. 

-
-
REPRRaw Encoder PositionDOUBLEThe contents of the hardware's encoder-count register. Ideally, this field + contains the same information as the dial value, but in encoder counts, rather + than in engineering units. 
devOmsCom.cDevice support common to all Oregon Micro Systems device drivers.
MSTARMotor StatusULONGThe motor status as received from the hardware.  The MSTA bits are + defined as follows: +
+
    +
  1. + DIRECTION: (0:Negative, 1:Positive) +
    2. +
  2. + DONE: motion is complete. +
    3. +
  3. + PLUS_LS: plus limit switch has been hit. +
    4. +
  4. + HOMELS: state of the home limit switch. +
    5. +
  5. + Unused +
    6. +
  6. + POSITION: closed-loop position control is enabled. +
    7. +
  7. + Unused +
    8. +
  8. + HOME: if at home position. +
    9. +
  9. + PRESENT: encoder is present. +
    10. +
  10. + PROBLEM: driver stopped polling. +
    11. +
  11. + MOVING: non-zero velocity present. +
    12. +
  12. + GAIN_SUPPORT: motor supports closed-loop position control. +
    13. +
  13. + COMM_ERR: Controller communication error. +
    14. +
  14. + MINUS_LS: minus limit switch has been hit.
    +
    15. + +
+
+
devOmsCom.h Device support header file common to all Oregon Micro Systems device - drivers.
TDIRRDirection of TravelSHORTThe direction in which the motor is currently traveling (or was most + recently traveling), as received from the hardware. If 0, the raw readback value + should be decreasing. 
drvOmsCom.hDriver support header file common to all Oregon Micro Systems device - drivers.
ATHMRAt HOMESHORTThe state of the hardware's "home" switch. If 1, the motor has hit the + switch. 

- 		NOTE: The above files are required for any and all Oregon Micro Systems - device drivers.
RCNTRRetry countSHORTThe number of times the motor record has detected failure of the motor to + land within the retry-deadband distance of the desired position. 

-
-
MISSRRan out of retriesSHORTIf 1, the motor has failed to land on the desired position more than the + allowed number of times. This field will be reset the next time the motor + succeeds in reaching the desired position. 
devOms.c Device support for Oregon Micro Systems VME8 and VME44 series boards
RVELRRaw VelocityLONGSpeed in steps per second that the motor actually is moving. 
drvOms.cDriver for Oregon Micro Systems VME8 and VME44 series boards
drvOms.h Header included by devOms.c and drvOms.c

-
-
devOms58.c Device support for Oregon Micro Systems VME58 series boards
drvOms58.c Driver for Oregon Micro Systems VME58 series boards
drvOms58.h Header included by devOms58.c and drvOms58.c

-
-
devV544.c Device support for Highland Technology boards.
drvV544.cDriver for Highland Technology boards.
drvV544.h Header included by devV544.c and drvV544.c

-
-
drvMMCom.hCommon header included by all Newport Motion Master device drivers.

- 		NOTE: The above files are required for any and all Newport Motion -Master device drivers.
devMM3000.cDevice support for Newport MM3000.
drvMM3000.cDriver for Newport MM3000.
devMM4000.cDevice support for Newport MM4000.
drvMM4000.cDriver for Newport MM4000.
devPM500.cDevice support for Newport PM500.
drvPM500.cDriver for Newport PM500.

-
-
devSoft.cSoft Channel device support.
devSoftAux.cSoft Channel device support (Note: CA and record access code cannot - both reside in the same file; each defines (redefines) the DBR's.  -Hence, functions are split between this and the above file base on whether -they are record oriented (devSoft.c) or CA oriented (devSoftAux.c).
devSoft.hHeader included by devSoft.c and devSoftAux.c

-
-
gpibIO.hGPIB communication include file.
gpibIO.cGPIB interface via Hideos.
serialIO.h Serial communication include file.
serialIOMPF.ccSerial communication interface via MPF.

-
-
drvIM483.hCommon header included by all IMS device drivers.
dev483PL.cDevice support for IM483 in party line communication mode.
dev483SM.cDevice support for IM483 in single mode communication mode.
drv483PL.cDriver for IM483 in party line communication mode.
drv483SM.cDriver for IM483 in single mode communication mode.

-
-

-
-
Makefile.VxThis file is not included in the distribution. However, the user must - edit this file and add lines similar to the following: - 
MOTOR_OBJS       = motorRecord.o devOms.o drvOms.o devOms58.o drvOms58.o
LIBNAME = mylib.o
LIBOBJS = $(MOTOR_OBJS) $(other objects here)

-
- - + + +
+ +
+
+ +
+ +
+

Servo fields

+
+ + + - - + + - - - + + + + + + - - - + + + + + + - - - + + + + + + - - - + + + + + + - - - + + + + + + - - - - - - - - - - -
+   +
ASCII FILES
- files to be placed in &lttop>/cat_ascii/
PID related record fields accept only normalized + values (i.e., 0.0 <= value <= 1.0).  Before sending them to the motor + controller, device support scales the record fields to valid motor controller + parameters,.  Let the motor controller PID parameters be represented by CKP, + CKI and CKD; then the PID coefficients are converted from motor record fields to + controller parameters as follows: +

+ For the MM4000;  CKP = PCOF, CKI = ICOF and CKD = DCOF.
+ For all OMS controllers;  CKP = 1999.9 * PCOF, CKI = 1999.9 * ICOF, CKD = + 1999.9 * DCOF. +

+ +

+ Note the following: +

+ +
    +
  • + When commanded to move the OMS control law is a PD loop, when it is holding a + position it is a PID loop. +
    • +
  • + The Proportional Gain cannot be turned off (i.e., set to zero) in an OMS + controller.  The minimum value is PCOF = 0.00005 (CKP = 0.1).  If the + user sets PCOF < 0.00005 for an OMS controller, device support silently + resets it to it's minimum value of 0.00005. +
    • + +
+
motorRecord.asciiThis file defines all of the fields for the motor record.
+
+ Name +
+ 		+
+ Access +
+ 		+
+ Prompt +
+ 		+
+ Data type +
+ 		+
+ Comments +
+
choiceRecMotor.asciiThis file defines all of the choice values for the motor record.
CNENR/WEnable controlRECCHOICE(0:"Disable", 1:"Enable")  Enable/Disable closed-loop position control.  + This field is active only if the GAIN_SUPPORT bit in the MSTA is true.  + This field is set by both the user and device support.  CNEN is set to Disable + by device support when it detects a motion controller error; e.g. maximum + following error exceeded.
choiceMotor.hThis file is included by choiceRecMotor.ascii and by recMotor.c.
PCOFR/WProportional GainFLOATValid range; 0.0 <= PCOF <= 1.0
choiceRec.asciiThis file is not included in the distribution. However, the user must - edit this file and add the line: - 
#include &ltchoiceRecMotor.ascii>
-
 ICOFR/WIntegral GainFLOATValid range; 0.0 <= ICOF <= 1.0
dbRecType.asciiThis file is not included in the distribution. However, the user must - edit this file and add the line: - 
"motor"
-
 DCOFR/WDerivative GainFLOATValid range; 0.0 <= DCOF <= 1.0
devSup.asciiThis file is not included in the distribution. However, the user must - edit this file and add the following lines: - 
! Device Support for motor record
"motor"    VME_IO    "devOMS"     "OMS VME8, VME44" 
"motor"    VME_IO    "devOms58"   "OMS VME58" 
"motor"    VME_IO    "devV544"    "Highland V544" 
-
drvSup.asciiThis file is not included in the distribution. However, the user must - edit or create this file and add the following lines: - 
! Driver support for the OME VME58 motor controller
"drvOms58"



-
- - + + +
+
+  + + - - + + + + + + - - - + + + + + - - - + + + + + - - - + + + + + - - - + + + + + - - - + + + + + + - - + + + + + + - - -
+
+ +
+ +
+

Alarm fields

+
+
MEDM DISPLAY SCREENS
- files to be placed in &lttop>/&ltapp&gtApp/op/adl/
NameAccessPromptData typeComments
motorx.adlSmall motor-control screen
HIHIR/W*Hihi Alarm LimitFLOAT
motorx_tiny.adl Tiny motor-control screen
LOLOR/W*Lolo Alarm LimitFLOAT
motorx_more.adl Medium motor-control screen
HIGHR/W*High Alarm LimitFLOAT
motorx_setup.adlSetup screen for a single motor
LOWR/W*Low Alarm LimitFLOAT
motorx_all.adl Debug screen for a single motor
HHSVR/W*Hihi SeverityGBLCHOICENot used.
These files build medm screens to access the motor - record. To use one of them from the command line, type, for example - - 
medm -x -macro "P=XXX:,M=m1" motorx.adl
- where XXX:m1 is the name of a motor record in an IOC. - -

These files can also be used as related displays from other - medm screens by passing the argument "P=XXX:,M=m1" - .

-
LLSVR/W*Lolo SeverityGBLCHOICENot used.
- - + + + + + + + + + + + + + + + + + + + + + + +
HSVR/W*High SeverityGBLCHOICENot used.
LSVR/W*Low SeverityGBLCHOICENot used.
HLSVR/W*HW Limit Switch Violation SeverityGBLCHOICE
+ +
+ + - - + + + + + + - - - + + + + + + - - + + + + + - - -
+ + +

Miscellaneous fields

+

- EPICS STARTUP FILES
- files to be placed in &lttop>/ioc/ioc&ltname>/
NameAccessPromptData typeComments
st.cmdmv167 Startup script
PRECR/WDisplay PrecisionSHORTThe number of digits to the right of the decimal that are to be displayed by + MEDM and other channel-access clients.
A sample startup script, containing excerpts relevant to - motors, is included in the distribution. Here is an annotated copy: - - 
#######################################################################
# vxWorks startup script to load and execute system (iocCore) software.
- Load standard EPICS software - - 
# the following should be loaded first - BEGIN
ld < targetmv167/iocCore
ld < targetmv167/drvSup
ld < targetmv167/devSup
ld < targetmv167/recSup
# the following should be loaded first - END
- Load custom EPICS software (including motor support) - - 
ld < ../../stdApp/src/O.mv167/stdlib.o
- Motor-related debug switches  - - 
recMotordebug = 0

#OMS vme8/vme44 debug switches
devOMSdebug = 0
drvOMSdebug = 0

#OMS vme58 debug switches
devOms58debug = 0
drvOms58debug = 0

#Highland Technology V544 debug switches
devV544ebug = 0
drvV544debug = 0
- Motor-related databases  - - 
# load this before loading any databases
dbLoad "../../default.dctsdr"

#allstop
dbLoadRecords("../../stdApp/gDb/allstop.db","P=tmm:")
#motors
dbLoadRecords("../../stdApp/gDb/m16.db","P=tmm:")
- Specify motor-controller board address, interrupt - vector, etc. - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
EGUR/WEngineering UnitsSTRINGString sent to channel-access clients who ask for engineering units.
VERSRCode VersionFLOATVersion number of the recMotor.c code.
CARDRCard NumberSHORTFor 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 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.

Command Primitives

The following three fields + comprise the Command Primitives feature.  The command primitive record + fields are available to the user to send ASCII command primitives to the motor + control board at fixed, predefined, times.  Each of the fields is defined + as a character string.  Consult the motor controller manual for command + protocols.  No error checking is done by the motor record or the device + driver to insure that the command strings are valid.  Each field is terminated + by the device driver according to the command protocol.  Command primitives + that result in a response from the motion control board are valid, but the + response is not processed.  This feature is currently only available with + OMS VME8/44/58 or Newport MM4000 device support. +

+ Device Directives +

+ +
    +
  • + Valid only in the INIT, PREM and POST fields. +
    • +
  • + Must be identified by the following; +
    • + +
    +
  • + First character of a device directive string must be a '@'. +
    • +
  • + One or more characters followed by a terminating '@'; i.e., device directives + must have nonzero length. +
    • +
  • + Valid device directives: +
    • +
    +
  • + In the INIT field; only "DPM_ON". +
    • +
  • + In the PREM field;, only "PUT(pvname, pv-value, delay in + seconds)". +
    • +
  • + In the POST field; only "PUT(pvname, pv-value)". +
    • +
    + See Driver Power Monitoring below for the DPM_ON directive.  The PUT + directive supports changing the value of a database variable.  Note that + the PREM supports a delay argument, but that POST does not.  The Readback + settle time field (DLY) should be used to create a time delay after the PV + specified in the POST field is written. +
    +
    +
  • + A valid device directive; currently, only "DPM_ON". +
    • +
    +
  • + Device directive strings are stripped of valid device directives (including @'s) + and tested for nonzero length before being sent to the controller.  For + example, given the INIT string, "@DPM_ON@HE", the device directive @DPM_ON@ is + stripped out before HE is sent to the controller. +
    • +
+ + Driver Power Monitoring +
    +
  • + This feature is only available with the OMS VME58 device support. +
    • +
  • + The 8 User I/O signals are assigned to the 8 possible VME58 axes as follows: +
    • + +
      + User I/O #0 <> X axis
      +  "   "    1 <> Y  " +
      + ........................................
      + "    "    7 <> S  " +
    +
  • + Drive-power monitoring defaults to disabled at boot-up.  Request enabling + drive-power monitoring by entering the device directive "@DPM_ON@" command into + the motor record initialization field (i.e., INIT).  The INIT field is + processed at record initialization (i.e., bootup), hence if there are no errors, + drive-power monitoring will be enabled after the next bootup. +
    • +
  • + Whenever a request is made to enable drive-power status monitoring, an error + check is made (using the VME58 "RB" command) to verify that the User I/O has + been configured as an input.  The following message will appear in the + error log if a configuration error is detected; "Invalid VME58 configuration; RB + = 0x####", where "####" is the VME58's response to the RB command. +
    • +
  • + When drive-power status monitoring is enabled and a power failure is detected, + the device driver will respond by activating the the RA_OVERTRAVEL bit in the + MSTA.  This results in either HLS or LLS being activated depending on the + DIR field. In addition, the following message will appear in the error log; "Drive + power failure at VME58 card#?? motor#??". +
    • + +
+
INITR/WStartup commandsSTRINGSent at record initialization.
PREMR/WPre-move commandsSTRINGSent before every command string that causes motion.
POSTR/WPost-move commandsSTRINGSent after a complete motion is finished or when an overtravel limit switch + is detected.
     
LOCKR/WSoft Channel Position LockRECCHOICEAfter a "hard" motor initiated move, Soft Channel device support + automatically synchronizes a "soft" motor's target position with a "hard" motor's + readback position. Soft Channel device support detects that the "hard" motor + has initiated the move when it sees the PV pointed to by DINP go false, while + the "soft" record's DMOV is true. Automatic synchronization is undesirable in a + multi-axis application. Hence, setting the LOCK field to "Yes" disables this + automatic synchronization.
NTMR/WNew Target MonitorRECCHOICEThe requirements on how the motor record processes a new target position + while the motor is in motion are as follows;
+ Case #1: The motor record is given a new position, which is in the opposite + direction from the current motor motion. If NTM is "Yes", the motor is + immediately stopped and given a motion command to the new position. If NTM is "No + ", the motor completes the previous move before it is given a motion command to + the new position.
+ Case #2: The motor record is given a new position, which is in the same + direction as the current motor motion, but the new position is closer to the + motor's current position than the original target position. If NTM is "Yes", + the motor is stopped after it has gone past the new position; then a command is + given to return to the new position. If NTM is "No", the motor completes the + previous move before it is given a motion command to the new position.
+ Case #3: The motor record is given a new position, which is in the same + direction as the current motor motion, but the new position is further from the + motor's current position than the original position. After the motor reaches + the original target position and stops, a command is given to the new target + position. This case is independent of NTM.
+ NTM defaults to "Yes". It should be set to "No" only for soft motors. Soft + motors should be configured with NTM set to "No" to prevent Case #1 above from + interfering with "hard" motors using backlash correction.
+ +
+ + - - + + + + + + - - - + + + + + + - - - + + + + + - - - + + + + + - - - + + + + + - - - + + + + + - - - + + + + + - - - + + + + + - - - + + + + + - - -
+ + +

Private fields

+
   omsSetup(nCards, Unused, baseAddress, -intVectBase, intLevel, pollRate)
-  oms58Setup(nCards, Unused, baseAddress, intVectBase, -intLevel, 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)

- -

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) 
-  

-
NameAccessPromptData typeComments
nCardsthe actual number of cards may be less, but not greater than this
CBAKNoneCallback structureNOACCESS
+
nCommNetthe number of Communication networks  (e.g., the number of RS-422 - networks for a IM483PL device).
LVALRLast User Des ValDOUBLE
nAxesthe maximum number of motor axes controlled by any one card
LDVLRLast Dial Des ValDOUBLE
baseAddressthe base address of the first card of a series. This must agree with - address jumpers on the actual card(s). -

OMS VME8, VME44, and VMEX cards are all of one series, -with a base address in the short address space, on a 16-byte (0x10) boundary. -(I.e., these cards require 16 bytes each, and must all be addressed contiguously -as, e.g., 0xFC00, 0xFC10).

- -

OMS VME58-x cards are in their own series, also in the -short address space, on a 4k-byte (0x1000) boundary.

- -

Highland Technology V544 cards are in their own series, -in the short address space, on a 128-byte (0x80) boundary.

-
LRVLRLast Raw Des ValDOUBLE
intVectBasethe interrupt vector that will be loaded into the first card of a -series. Succeeding cards will be loaded with intVectBase+1, intVectBase+2, -etc. Set to "0" to disable interrupt generation; otherwise, stay in the range -[64..255].
LRLVRLast Rel ValueDOUBLE
intLevelthe VME-interrupt level (in [1..6]) the cards will use. This must -agree with jumper settings on the cards.
CDIR
+ 		RCommand direction
+ 		SHORT
+
pollRatethe rate (in Hz.) at which the driver will interrogate a card when -one of its motors is moving. This is also the rate at which channel-access -monitors will be posted; to avoid saturating the network with motor-readback -information, don't set pollRate much higher than 10 Hz. pollRate must be -in the range [1..60].
PPRPost process commandSHORT
portType0 - GPIB_PORT or 1 - RS232_PORT
MIPRMotion In ProgressSHORT
- - 
# OMS VME8, VME44, VMEX driver setup parameters:
omsSetup(5, 8, 0xFC00, 180, 5, 10)

# OMS VME58 driver setup parameters:
oms58Setup(5, 8, 0x2000, 190, 5, 10)

# Highland Technology V544 driver setup parameters:
v544Setup(5, 4, 0xDD00, 200, 5, 10)
- Start EPICS - 
iocInit
-
MMAPRMonitor MaskULONG
- - + + + + + + + + + + + + + + + +
NMAPRMonitor MaskULONG
LSPGRLast SPMGRECCHOICE(see SPMG)
+ +
+

+ +

+ +

Files, device support

The following table briefly describes all of the +files required to implement and use the motor record. The reader is assumed to +be familiar with the EPICS +Application Source/Release Control document which describes how to build an +EPICS application tree into which these files are to be placed, and how to run "makesdr +" and "gnumake" to build the record support. These files can all be obtained +from the EPICS +Software Distribution (in the custom-software +section ). + - - + + - - - + + + - - - + + + - - - + + + - - - + + + - - + + + - - -
BACKUP/RESTORE (BURT) REQUEST FILES
- files to be placed in &lttop>/&ltapp&gtApp/op/burt/
SOURCE CODE
+ files to be placed in &lttop>/&ltapp&gtApp/src/
settings.reqsample request file to save settings of all motors. Edit this file, - supplying names of the motor records whose settings you want saved. (The -sample file also saves the states of other records in the sample database, -m16.db, that enable or disable the motor records.)
motorRecord.dbdDatabase Definition file for motor record.
yyMotorSettings.req save settings of a specified motor. This file is #include -'d (once for each motor) by settings.req.
motorRecord.c Record support for the motor record
positions.req sample request file to save positions of all motors. Edit this file, - supplying names of the motor records whose positions you want saved.
motor.h Header included by all .c files
yyMotorPositions.req save position of a specified motor, This file is #include -'d (once for each motor) by positions.req.

+
+
These files tell the backup/restore tool how to save motor - settings and positions. To use them from the command line, type, for example - - 
burtrb -f settings.req -o myMotorSettings.snap

burtrb -f positions.req -o myMotorPositions.snap

- To restore the motor settings and positions saved by the above commands, - type - 
burtwb -f myMotorSettings.snap

burtwb -f myMotorPositions.snap

-
motordevCom.cDevice support common to all motor Record device drivers.
- -
- -

Restrictions

- You must not change the motor resolution while the motor is moving, - but the record currently does not defend itself against this. -

There is no way to ask for a reading of the motor's position register, - encoder, or limit switches. These are read only while the motor is moving. -

- -

Because of the way limit-switch information is conveyed by the OMS -hardware, the motor record cannot know the states of both limit switches at -the same time. It only knows the state of the switch toward which the motor -is moving.

- -

If a move is requested while the motor already is in motion, the original - move will still receive a (useless) backlash correction.

- -

Changing MRES (the motor resolution) should change VELO (the speed -in engineering units per second), and leave S (the speed in revolutions per - second) unchanged. Currently, neither VELO nor S appears to change, but -the record behaves as though S had been changed to agree with VELO. A similar - thing happens with SBAK and SBAS.
-

- -

- - -

Examples

- -

Command Primitives

- This example assumes the controller is an MM4000 and that only one motor - in the controller is moved at a time (MM4000 power on/off effects all motors).  - If the user wishes the system to perform as follows: -
    -
  1. Boot-up with motor power off.
    2. -
  2. Turn motor power on before motor motion.
    3. -
  3. Turn motor power off after motor motion.
    4. - -
- Then set fields as follows: - - -

Soft Channel

- The following is a simple example of using soft channel device support -to allow the user to transform rotary position commands into linear moves.  - This example assumes the system consist of a linear stage driving a tangent - arm.  The user commands the system in terms of the angle the arm makes - with the vertical.  The database converts this angle into a linear -position along an axis that is one meter perpendicular to the center of rotation. - -

The following database implements the system described above.  - The database consist of four records:

- - - Note the following concerning the example database and Soft Channel device - support: - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
motordevCom.hDevice support header file.
motordrvCom.cDriver support common to all motor Record device drivers.
motordrvCom.hDriver support header file.
motordrvComCode.hLocal variables common to all motor Record drivers.

+ 		NOTE: All of the above files are required for any and all motor Record + device drivers.

+
+
devOmsCom.cDevice support common to all Oregon Micro Systems device drivers.
devOmsCom.hDevice support header file common to all Oregon Micro Systems device drivers.
drvOmsCom.hDriver support header file common to all Oregon Micro Systems device drivers.

+ 		NOTE: The above files are required for any and all Oregon Micro Systems + device drivers.

+
+
devOms.cDevice support for Oregon Micro Systems VME8 and VME44 series boards
drvOms.cDriver for Oregon Micro Systems VME8 and VME44 series boards
drvOms.hHeader included by devOms.c and drvOms.c

+
+
devOms58.cDevice support for Oregon Micro Systems VME58 series boards
drvOms58.cDriver for Oregon Micro Systems VME58 series boards
drvOms58.hHeader included by devOms58.c and drvOms58.c

+
+
devV544.cDevice support for Highland Technology boards.
drvV544.cDriver for Highland Technology boards.
drvV544.hHeader included by devV544.c and drvV544.c

+
+
drvMMCom.hCommon header included by all Newport Motion Master device drivers.

+ 		NOTE: The above files are required for any and all Newport Motion Master + device drivers.
devMM3000.cDevice support for Newport MM3000.
drvMM3000.cDriver for Newport MM3000.
devMM4000.cDevice support for Newport MM4000.
drvMM4000.cDriver for Newport MM4000.
devPM500.cDevice support for Newport PM500.
drvPM500.cDriver for Newport PM500.

+
+
devSoft.cSoft Channel device support.
devSoftAux.cSoft Channel device support (Note: CA and record access code cannot both + reside in the same file; each defines (redefines) the DBR's.  Hence, + functions are split between this and the above file base on whether they are + record oriented (devSoft.c) or CA oriented (devSoftAux.c).
devSoft.hHeader included by devSoft.c and devSoftAux.c

+
+
gpibIO.hGPIB communication include file.
gpibIO.cGPIB interface via Hideos.
serialIO.hSerial communication include file.
serialIOMPF.ccSerial communication interface via MPF.

+
+
drvIM483.hCommon header included by all IMS device drivers.
devIM483PL.cDevice support for IM483 in party line communication mode.
devIM483SM.cDevice support for IM483 in single mode communication mode.
drvIM483PL.cDriver for IM483 in party line communication mode.
drvIM483SM.cDriver for IM483 in single mode communication mode.

+
+

+
+
Makefile.VxThis file is not included in the distribution. However, the user must edit + this file and add lines similar to the following: + 
MOTOR_OBJS       = motorRecord.o devOms.o
+      drvOms.o devOms58.o drvOms58.o
LIBNAME = mylib.o
LIBOBJS = $(MOTOR_OBJS) $
+      (other objects here)

+
+ + - - - + + - - - + + + - - -
grecord(motor,"$(user):rotary")
- {
-     field(DTYP,"Soft Channel")
-     field(OUT,"$(user):convertDriveValue.A  PP MS") -
-     field(RDBL,"$(user):convertReadbackValue.VAL  NPP -MS")
-     field(URIP,"Yes")
-     field(STOO,"$(user):linear.STOP  PP MS")
-     field(DINP,"$(user):linear.DMOV  NPP MS")
-     field(MRES,"0.001")
-     field(RRES,"1.000")
-     field(PREC,"3")
-     field(DHLM,"45")
-     field(DLLM,"-45")
-     field(TWV,"5")
-     field(RTRY,"0")
-     field(EGU,"deg.")
- }		grecord(motor,"$(user):linear")
- {
-     field(DTYP,"OMS VME58")
-     field(VBAS,"1.0")
-     field(VELO,"25.0")
-     field(OUT,"#C0 S0 @")
-     field(MRES,"0.001")
-     field(PREC,"3")
-     field(DHLM,"1000")
-     field(DLLM,"-1000")
-     field(RTRY,"0")
-     field(TWV,"1")
-     field(EGU,"mm.")
- }
ASCII FILES
+ files to be placed in &lttop>/cat_ascii/
grecord(calcout,"$(user):convertDriveValue")
- {
-     field(DESC,"Convert rotary to linear")
-     field(CALC,"TAN(A / 57.296) * 1000")
-     field(OUT,"$(user):linear.DVAL  PP MS")
- }		grecord(calcout,"$(user):convertReadbackValue")
- {
-     field(DESC,"Convert linear to rotary")
-     field(CALC,"ATAN(A / 1000) * 57.296")
-     field(INPA,"$(user):linear.DRBV  CP MS")
- }
motorRecord.asciiThis file defines all of the fields for the motor record.
- -

-

- -

Design Decisions

- This section of the document is an attempt to record the reasoning behind - recent motor record design decisions. -

Motor Controller Travel Limits

- For those motor controllers that provide their own internal software travel - limits (e.g., MM4000), the motor record will only allow the user to set -dial travel limits (i.e., D[H/L]LM) that are within the controller's travel -limit range, inclusively.  In making this design decision it was assumed -that an expert user would enter the controller travel limits (possibly, - through a front panel user interface) that would protect other users from - reaching the hard travel limits.  Controllers with their own travel -limits that are commanded to move outside their valid range respond with -an error.  Hence, there is no utility in allowing the dial travel limits -outside the controller's range. -

Separate EGU's and MRES's between Controller and Motor Record

- Device driver support for controllers that have characteristics different - from the OMS controllers, such as the Newport MM4000, has raised new issues.  - One of these issues is whether or not the motor record should set it's EGU -and MRES fields from the controller's values.  We think it should not. - -

Background: The MM4000 is a stand-alone controller with it's own front - panel, non-volatile memory and power supply.  The user can configure - the MM4000 entirely from the front panel; including which engineering units - will be displayed on the front panel.  Once engineering units are selected, -these same units will be used by the MM4000 when communicating with a host -system (i.e., EPICS).  Since a host can query the MM4000 for both the -controller's engineering units and it's positioning resolution, it is possible -to have the motor record's EGU and MRES fields automatically set based on -values stored in the MM4000 controller, but we decided not to do this.

- -

To maximize flexibility, we decided to keep these characteristics separate -between the motor record and the controller.  This decision allows the -motor record EGU field (and consequently, MRES) to be set to an application -specific value (e.g., kV) that is not supported by the motor controller. -
-  
-  

- -

- -
-
Suggestions and comments to:
-
- Ron Sluiter - : (sluiter@aps.anl.gov)
- Tim Mooney - : (mooney@aps.anl.gov)
- Joe Sullivan - : (sullivan@aps.anl.gov)
- Last modified: July 12, 1999 - - + + choiceRecMotor.ascii + This file defines all of the choice values for the motor record. + + + choiceMotor.h + This file is included by choiceRecMotor.ascii and by recMotor.c. + + + choiceRec.ascii + This file is not included in the distribution. However, the user must edit + this file and add the line: + 
#include &ltchoiceRecMotor.ascii>
+ + + + dbRecType.ascii + This file is not included in the distribution. However, the user must edit + this file and add the line: + 
"motor"
+ + + + devSup.ascii + This file is not included in the distribution. However, the user must edit + this file and add the following lines: + 
! Device Support for motor record
"motor"    VME_IO    
+      "devOMS"     "OMS VME8, VME44" 
"motor"    
+      VME_IO    "devOms58"   "OMS VME58" 
"motor"    
+      VME_IO    "devV544"    "Highland V544" 
+ + + + drvSup.ascii + This file is not included in the distribution. However, the user must edit + or create this file and add the following lines: + 
! Driver support for the OME VME58 motor controller
"drvOms58"



+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
MEDM DISPLAY SCREENS
+ files to be placed in &lttop>/&ltapp&gtApp/op/adl/
motorx.adlSmall motor-control screen
motorx_tiny.adl Tiny motor-control screen
motorx_more.adl Medium motor-control screen
motorx_setup.adlSetup screen for a single motor
motorx_all.adl Debug screen for a single motor
These files build medm screens to access the motor + record. To use one of them from the command line, type, for example + + 
medm -x -macro "P=XXX:,M=m1" motorx.adl
+ where XXX:m1 is the name of a motor record in an IOC. + +

+ These files can also be used as related displays from other medm + screens by passing the argument "P=XXX:,M=m1" . +

+
+ + + + + + + + + + + + + + + +

+ EPICS STARTUP FILES
+ files to be placed in &lttop>/ioc/ioc&ltname>/
st.cmdmv167 Startup script
A sample startup script, containing excerpts relevant to motors, + is included in the distribution. Here is an annotated copy: + + 
#######################################################################

+      # vxWorks startup script to load and execute system (iocCore) software.
+ Load standard EPICS software + + 
# the following should be loaded first - BEGIN
ld < targetmv167/
+      iocCore
ld < targetmv167/drvSup
ld < targetmv167/devSup
ld <
+      targetmv167/recSup
# the following should be loaded first - END
+ Load custom EPICS software (including motor support) + + 
ld < ../../stdApp/src/O.mv167/stdlib.o
+ Motor-related debug switches  + + 
recMotordebug = 0

#OMS vme8/vme44 debug switches
devOMSdebug = 0

+      drvOMSdebug = 0

#OMS vme58 debug switches
devOms58debug = 0

+      drvOms58debug = 0

#Highland Technology V544 debug switches
devV544ebug
+      = 0
drvV544debug = 0
+ Motor-related databases  + + 
# load this before loading any databases
dbLoad "../../default.dctsdr"


+      #allstop
dbLoadRecords("../../stdApp/gDb/allstop.db","P=tmm:")
#motors

+      dbLoadRecords("../../stdApp/gDb/m16.db","P=tmm:")
+ Specify motor-controller board address, interrupt + vector, etc. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
   omsSetup(nCards, Unused, baseAddress, + intVectBase, intLevel, pollRate)
+  oms58Setup(nCards, Unused, baseAddress, intVectBase, intLevel, + 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) +

+ +

+ 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) 
+   +

+
nCardsthe actual number of cards may be less, but not greater than this
nCommNetthe number of Communication networks  (e.g., the number of RS-422 + networks for a IM483PL device).
nAxesthe maximum number of motor axes controlled by any one card
baseAddressthe base address of the first card of a series. This must agree with address + jumpers on the actual card(s). +

+ OMS VME8, VME44, and VMEX cards are all of one series, with a base address in + the short address space, on a 16-byte (0x10) boundary. (I.e., these cards + require 16 bytes each, and must all be addressed contiguously as, e.g., 0xFC00, + 0xFC10). +

+ +

+ OMS VME58-x cards are in their own series, also in the short address space, on a + 4k-byte (0x1000) boundary. +

+ +

+ Highland Technology V544 cards are in their own series, in the short address + space, on a 128-byte (0x80) boundary. +

+
intVectBasethe interrupt vector that will be loaded into the first card of a series. + Succeeding cards will be loaded with intVectBase+1, intVectBase+2, etc. Set to "0 + " to disable interrupt generation; otherwise, stay in the range [64..255].
intLevelthe VME-interrupt level (in [1..6]) the cards will use. This must agree with + jumper settings on the cards.
pollRatethe rate (in Hz.) at which the driver will interrogate a card when one of + its motors is moving. This is also the rate at which channel-access monitors + will be posted; to avoid saturating the network with motor-readback information, + don't set pollRate much higher than 10 Hz. pollRate must be in the range [1..60].
portType0 - GPIB_PORT or 1 - RS232_PORT
+ + 
# OMS VME8, VME44, VMEX driver setup parameters:
omsSetup(5, 8, 0xFC00,
+      180, 5, 10)

# OMS VME58 driver setup parameters:
oms58Setup(5, 8,
+      0x2000, 190, 5, 10)

# Highland Technology V544 driver setup parameters:

+      v544Setup(5, 4, 0xDD00, 200, 5, 10)
+ Start EPICS + 
iocInit
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + +
BACKUP/RESTORE (BURT) REQUEST FILES
+ files to be placed in &lttop>/&ltapp&gtApp/op/burt/
settings.reqsample request file to save settings of all motors. Edit this file, + supplying names of the motor records whose settings you want saved. (The sample + file also saves the states of other records in the sample database, m16.db, that + enable or disable the motor records.)
yyMotorSettings.req save settings of a specified motor. This file is #include 'd (once + for each motor) by settings.req.
positions.req sample request file to save positions of all motors. Edit this file, + supplying names of the motor records whose positions you want saved.
yyMotorPositions.req save position of a specified motor, This file is #include 'd (once + for each motor) by positions.req.
These files tell the backup/restore tool how to save motor + settings and positions. To use them from the command line, type, for example + + 
burtrb -f settings.req -o myMotorSettings.snap

burtrb -f positions.
+      req -o myMotorPositions.snap

+ To restore the motor settings and positions saved by the above commands, type + 
burtwb -f myMotorSettings.snap

burtwb -f myMotorPositions.snap

+
+ +
+ + +

Restrictions

You must not change the motor resolution while the +motor is moving, but the record currently does not defend itself against this. +

+There is no way to ask for a reading of the motor's position register, encoder, +or limit switches. These are read only while the motor is moving. +

+ +

+Because of the way limit-switch information is conveyed by the OMS hardware, the +motor record cannot know the states of both limit switches at the same time. It +only knows the state of the switch toward which the motor is moving. +

+ +

+If a move is requested while the motor already is in motion, the original move +will still receive a (useless) backlash correction. +

+ +

+Changing MRES (the motor resolution) should change VELO (the speed in +engineering units per second), and leave S (the speed in revolutions per second) +unchanged. Currently, neither VELO nor S appears to change, but the record +behaves as though S had been changed to agree with VELO. A similar thing happens +with SBAK and SBAS.
+

+ +
+
+ + +

Examples

+ +

Command Primitives

This example assumes the controller is an MM4000 and +that only one motor in the controller is moved at a time (MM4000 power on/off +effects all motors).  If the user wishes the system to perform as follows: +
    +
  1. + Boot-up with motor power off. +
    2. +
  2. + Turn motor power on before motor motion. +
    3. +
  3. + Turn motor power off after motor motion. +
    4. + +
+Then set fields as follows: + + +

Soft Channel

The following is a simple example of using soft channel +device support to allow the user to transform rotary position commands into +linear moves.  This example assumes the system consist of a linear stage +driving a tangent arm.  The user commands the system in terms of the angle +the arm makes with the vertical.  The database converts this angle into a +linear position along an axis that is one meter perpendicular to the center of +rotation. + +

+The following database implements the system described above.  The database +consist of four records: +

+ + +Note the following concerning the example database and Soft Channel device +support: + + + + + + + + + + + + + + +
grecord(motor,"$(user):rotary")
+ {
+     field(DTYP,"Soft Channel")
+     field(OUT,"$(user):convertDriveValue.A  PP MS")
+     field(RDBL,"$(user):convertReadbackValue.VAL  NPP MS")
+     field(URIP,"Yes")
+     field(STOO,"$(user):linear.STOP  PP MS")
+     field(DINP,"$(user):linear.DMOV  NPP MS")
+     field(MRES,"0.001")
+     field(RRES,"1.000")
+     field(PREC,"3")
+     field(DHLM,"45")
+     field(DLLM,"-45")
+     field(TWV,"5")
+     field(RTRY,"0")
+     field(EGU,"deg.")
+ }		grecord(motor,"$(user):linear")
+ {
+     field(DTYP,"OMS VME58")
+     field(VBAS,"1.0")
+     field(VELO,"25.0")
+     field(OUT,"#C0 S0 @")
+     field(MRES,"0.001")
+     field(PREC,"3")
+     field(DHLM,"1000")
+     field(DLLM,"-1000")
+     field(RTRY,"0")
+     field(TWV,"1")
+     field(EGU,"mm.")
+ }
grecord(calcout,"$(user):convertDriveValue")
+ {
+     field(DESC,"Convert rotary to linear")
+     field(CALC,"TAN(A / 57.296) * 1000")
+     field(OUT,"$(user):linear.DVAL  PP MS")
+ }		grecord(calcout,"$(user):convertReadbackValue")
+ {
+     field(DESC,"Convert linear to rotary")
+     field(CALC,"ATAN(A / 1000) * 57.296")
+     field(INPA,"$(user):linear.DRBV  CP MS")
+ }
+ +
+
+ + +

Design Decisions

+ +This section of the document is an attempt to record the reasoning behind recent +motor record design decisions.

Motor Controller Travel Limits

For those +motor controllers that provide their own internal software travel limits (e.g., +MM4000), the motor record will only allow the user to set dial travel limits (i.e., +D[H/L]LM) that are within the controller's travel limit range, inclusively.  +In making this design decision it was assumed that an expert user would +enter the controller travel limits (possibly, through a front panel user +interface) that would protect other users from reaching the hard travel limits.  +Controllers with their own travel limits that are commanded to move outside +their valid range respond with an error.  Hence, there is no utility in +allowing the dial travel limits outside the controller's range.

Separate EGU's +and MRES's between Controller and Motor Record

Device driver support for +controllers that have characteristics different from the OMS controllers, such +as the Newport MM4000, has raised new issues.  One of these issues is +whether or not the motor record should set it's EGU and MRES fields from the +controller's values.  We think it should not. + +

+Background: The MM4000 is a stand-alone controller with it's own front panel, +non-volatile memory and power supply.  The user can configure the MM4000 +entirely from the front panel; including which engineering units will be +displayed on the front panel.  Once engineering units are selected, these +same units will be used by the MM4000 when communicating with a host system (i.e., +EPICS).  Since a host can query the MM4000 for both the controller's +engineering units and it's positioning resolution, it is possible to have the +motor record's EGU and MRES fields automatically set based on values stored in +the MM4000 controller, but we decided not to do this. +

+ +

+To maximize flexibility, we decided to keep these characteristics separate +between the motor record and the controller.  This decision allows the +motor record EGU field (and consequently, MRES) to be set to an application +specific value (e.g., kV) that is not supported by the motor controller.
+ 
+  +

+ +

+

+ +
+
Suggestions and comments to:

+Ron Sluiter : (sluiter@aps.anl.gov)
+Tim Mooney : (mooney@aps.anl.gov)
+Joe Sullivan : (sullivan@aps.anl.gov)
+Last modified: June 9, 2003 + +