forked from epics_driver_modules/motorBase
MarkRivers
53 lines
1.3 KiB
Plaintext
53 lines
1.3 KiB
Plaintext
Faulhaber MCDC2805 driver
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Mark Rivers
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Nov. 4, 2005
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This driver supports the Faulhaber MCDC2805 servo controller.
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It assumes the following wiring:
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Analog input = Input 1 = Home input
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Fault pin = Input 2 = CW limit
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Input 3 Input 3 = CCW limit
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There is a currently a problem with the Home input, and its status cannot be read. The reason for this
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is being investigated, but until it is resolved the home functions in the motor record do not work.
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The following commands are send to the MCDC2805 when the EPICS software initializes:
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/* Set the velocity control to be RS-232 */
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SOR 0
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/* Program fault pin as limit switch input */
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REFIN
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/* Program limit polarity for rising edge and high level */
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HP7
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/* Program the motor to hard block on the the limit switch inputs */
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HB6
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/* Program the limit switch directions to block
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* + direction on input 2, - direction on input 3 */
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HD2
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/* Program homing sequence on input 1*/
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HL1
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HA1
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CAHOSEQ
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It is a good idea to set the power-up behavior of the device to be "disabled" by sending the following
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commands once:
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DI
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EEPSAV
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It is also necessary to change the address of the board from the default address of 0 if daisy chaining
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multiple modules. To change to address 1, send the following commands once:
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NODEADR 1
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EEPSAV
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