forked from epics_driver_modules/motorBase
Ron Sluiter
152 lines
5.5 KiB
Plaintext
152 lines
5.5 KiB
Plaintext
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MDrive 17,23,34
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==============================================================================
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Configuring MDrive for party mode.
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----------------------------------
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The following is a modified version of the procedure defined in Section 2.1,
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"Multiple MDrive Motion Control System (Party Mode)", page #27, of the
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"MDrive Motion Control" manual; Revision 01.24.2005.
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1. Connect the first MDrive Motion Control to the Host PC configured for Single
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Mode Operation. Since the MDrive uses RS-485, a RS-232 to RS-485
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converter is required for a Host PC to MDrive communication connection.
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Set the PC Host RS-232 port characteristics to 9600 Baud, 8 Data bits,
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1 Stop bit, No parity, No flow control.
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2. Establish communications.
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If you can see the sign-on message "Copyright 2001-2003 by Intelligent
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Motion Systems, Inc.", then you are up and running. If the sign-on
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message does not appear, try using a software reset. Hold down the
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"Ctrl" key and press "C" (^C). If the sign-on message still does not
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appear then there may be a problem with either the connections,
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hardware or software configuration of the MDrive Motion Control or
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Host.
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3. Using the command DN, name the MDrive Motion Control. This must be a number
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1-9. (DN="1"{enter}). Label the motor with the device name.
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4. Define the plus, minus and home limit switches, if available, using the
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S<1-4> command.
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5. Set Echo Mode EM=2{enter}.
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6. Set the party flag PY=1{enter}.
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7. Type CTRL+J to activate the Party Mode.
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8. Type {DN}S CTRL+J where {DN} is the device name given in step #3 (Save
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device name, Echo mode, I/O Setup and Party Mode).
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9. Remove power.
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10. Repeat steps 1 through 8 for each additional MDrive in the system using
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successive device names "1" through "9".
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IMPORTANT NOTES
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---------------
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1. The EPICS motor record does NOT support the optional encoder mode. The
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Encoder Enable Flag (EE) must be 0.
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MDrive Facts
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------------
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* Default step resolution - 51,200 steps / 1 motor revolution (MS=256).
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* Encoder resolution - 2048 ticks / 1 motor revolution.
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IM483
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==============================================================================
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Configuring IM483's for Party Mode communication.
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------------------------------------------------
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The following is a modified version of the procedure defined in the
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"Communication" section, page #9, of the "Software Reference Manual"; Revision
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051794.
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1) Power down the IM483's. Configure each IM483 module for stand alone (single
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mode) communications. For the APS Diviero chassis, jumper J4 for Stand Alone
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(1-2) and J7 for Master (1-2).
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2) Connect an RS-232 serial connection (9600,none,8,1) from a host terminal to
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the first ("A") controller's front panel connector.
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3) Power up the IM483.
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4) Assign the axis name. At the host terminal, enter the letter "A" (0x41)
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followed by a space charter (0x20).
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5) The IM483 controller should respond by echoing the "A" character and the
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sign-on message at the host terminal, i.e.,
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A 1342 4038 ADVANCED MICRO SYSTEMS, INC
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MAX-2000 v1.15i
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6) Change the "Limit Polarity" to active high. At the host terminal, enter
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"l1<enter>". The IM483 should echo your input at the host terminal.
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7) Store parameters. At the host terminal, enter "S<enter>".
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8) Move RS-232 connection to next controller. At the host terminal, enter
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control c (^c). Repeat steps 4 through 7 while incrementing the axis name
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(i.e, A, B, C, etc.).
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9) Set all the IM483's for Party Mode communication. For the APS Diviero
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chassis, configure all of the IM483's for Party Mode by setting J4 to (2-3).
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Connect the RS-232 port to the Master IM483 and set all the remaining IM483's
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to Slave mode by setting J7 to (2-3).
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SSCAN THROUGH-PUT NOTES
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-----------------------
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The following results where done using the following;
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- SSCAN support module R2.5.1, with scan.db configured as follows;
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- Read(R1PV) set to "time".
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- Drive(P1PV) set to motor record VAL field.
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- #PTS(NPTS) set to 1000.
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- Step Size(P1SI) set to MRES of the motor record.
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- Motor record R5.7; configured as follows;
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- Set slew velocity (VELO) 5.0 = (500 * MRES).
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- Set base velocity (VBAS) 4.9 = (499 * MRES).
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- Acceleration time (ACCL) does not matter.
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- EPICS base R3.14.7
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- WRS Tornado 2.2.1
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- MVME5100
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- IM483SM with firmware version; 1342 4038 AMS, INC MAX-2000 v1.15i
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Controller | sysClkRate | polling rate | ms/scan pt.
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-----------|------------|--------------|------------
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IMS483SM | 60 | 1HZ | 121.0
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-----------|------------|--------------|------------
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IMS483SM | 60 | 1HZ | 834.2 with VBAS/VELO removed
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-----------|------------|--------------|------------
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IMS483SM | 60 | 10HZ | 121.0
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-----------|------------|--------------|------------
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IMS483SM | 60 | 10HZ | 154.4 with VBAS/VELO removed
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-----------|------------|--------------|------------
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IMS483SM | 60 | 60HZ | 121.0
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-----------|------------|--------------|------------
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IMS483SM | 60 | 60HZ | 102.9 with VBAS/VELO removed
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-----------|------------|--------------|------------
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IMS483SM | 100 | 1HZ | 121.0
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-----------|------------|--------------|------------
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IMS483SM | 1000 | 1000HZ | 121.0
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-----------|------------|--------------|------------
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IMS483SM | 1000 | 1000HZ | 96.0 with VBAS/VELO removed
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KNOWN PROBLEMS
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==============
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- The MDrive overshoots the target position on small moves when the velocity
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base is large.
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