forked from epics_driver_modules/motorBase
jsullivan-anl
137 lines
3.2 KiB
Plaintext
Executable File
137 lines
3.2 KiB
Plaintext
Executable File
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Spectra-Physics Oriel Encoder Mike Motor Controllers
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==============================================================================
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Model: 18011 (Three motor controller/driver)
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RS232 Configuration
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----------------------------------
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Default: 4800, 8, 1, N (DB25) - Internal Jumper Setting to 19200
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Software Setup: REMOTE/LOCAL switching ("R", "L")
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Controller Specifications
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------------------------------------------
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No Software configuration available
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Position Units: Microns (format %.1f)
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Precision: 0.1 microns
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Limits: 0.1 to 999999 (maximum string length = 7char)
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Velocity Units: um/s (format %.1f)
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From To Precision
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0.5 4.99 %.2f
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5.0 49.9 %.1f
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50 200 %.0f
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Single Character Commands
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------------------------------------------
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Command Successful Response Failure Response
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Local
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"L" "\r\n\rOFF LINE\r\n" "" (Already in local)
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Remote
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"R" "\rON LINE\r\n" "" (Already in remote)
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Jog +
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">" "\r\n" "" (Already moving)
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Jog -
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"<" "\r\n" "" (Already moving)
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Stop
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"S" "STOP\r\n" "" (Already stopped)
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Multi Character Commands
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------------------------------------------
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Command Successful Response Failure Response
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Zero Abs
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Position "CA\r" "CA\r\n" "" or (Motor in motion)
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"xxxx.x\r\n" (position info???)
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Zero Rel
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Position "CR\r" "CR\r\n" "" (when motor in motion)
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Goto Abs
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Position "Gxxx.x\r" "Gxxx.x\r\r\n" "" (when motor in motion)
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Rel Position "Txxx.x\r" "Txxx.x\r\r\n" "" (when motor in motion)
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Set Velocity
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"Vx.x\r" "Vx.x\r\r\n" "" (when motor in motion)
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"Vx.x\r\r\n" (Echos command even if invalid)
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Select Axis
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"Mx\r" "Mx\r\r\n" "" (when motor in motion)
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Inquiries Commands
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------------------------------------------
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Command Successful Response Failure Response
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Abs Pos "A\r" "xxxx.x\r\n" none
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Abs Pos "Z" "<char>" none
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a,b,c,d,e
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============== Build Info ======================
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xxxApp/src
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Makefile
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--------
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xxx_Common_LIBS += Parker
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xxCommonInclude.dbd
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-------------------
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include "devEMC18011.dbd"
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============= IOC Boot info ======================
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iocBoot/iocLinux
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serial.cmd
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----------
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# serial 1 is a RS232 link to a Oriel Encoder Mike Controller
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drvAsynSerialPortConfigure("serial1", "/dev/ttyS0", 0, 0, 0)
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asynSetOption(serial1,0,baud,4800)
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asynOctetSetOutputEos("serial1",0,"\r")
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asynOctetSetInputEos("serial1",0,"\n")
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.
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.
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# Oriel Encoder Mike - driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) motor task polling rate (min=1Hz, max=60Hz)
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EMC18011Setup(2, 60)
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# Oriel Encoder Mike driver configuration parameters:
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# (1) controller being configured
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# (2) asyn port name (string)
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EMC18011Config(0, "serial1")
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EMC18011Config(1, "serial3")
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motor.substitutions
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-------------------
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Set the DTYPE column to "EMC18011"
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=================== Motor Record Setup ================================
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EGU = microns
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VELO = [0.5 to 200] Maximum and Base velocity not used
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BDST = 0 Controller does its own backlash
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MRES = .010 (set to velocity resolution, position resolution is .10 microns)
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RDBD = .05 (position resolution is only 0.1 - will be rounded up)
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