forked from epics_driver_modules/motorBase
jsullivan-anl
130 lines
3.3 KiB
Plaintext
130 lines
3.3 KiB
Plaintext
Digital Piezo Controller
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piezosystem jena
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www.piezojena.com
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Model: EDS
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Tested Version: EDS2, DSM V1.959
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RS232: <Programmable>
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9600,8,1,N (See setup warning below)
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RX EOL: '/r' (13) <cr>
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TX FRAMING: '/023'<ascii text>/r/n'/021'
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Position Resolution: 0.001 micrometers (um)
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=================== serial.cmd =============================
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# Piezosystem Jena EDS motor controller/driver setup parameters:
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# (1) maximum number of controllers in system
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# (2) maximum drives per controller
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# (3) motor task polling rate (min=1Hz, max=60Hz)
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#drvPIJEDSdebug=1
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PIJEDSSetup(1, 2, 60)
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# Piezosystem Jena EDS controller/driver configuration parameters:
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# (1) controller being configured
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# (2) asyn port name (string)
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# (3) asyn address (GPIB)
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PIJEDSConfig(0, "serial1", 0)
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================== motor.substitutions ==================
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{P, N, M, DTYP, C, S, DESC, EGU, DIR, VELO,VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
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{xxx:, 9, "m$(N)", "PIJEDS", 0, 0, "motor $(N)", um, Pos, 2., 0, .2, 0, 0, .2, .001, 5, 100, 0, ""}
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{xxx:, 10, "m$(N)", "PIJEDS", 0, 1, "motor $(N)", um, Pos, 2., 0, .2, 0, 0, .2, .001, 5, 100, 0, ""}
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=================== CONTROLLER SETUP =================
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BAUD RATE: 115200 BAUD must be lowered to 9600 to work
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with the IP-OCTAL card (VxWorks IOC's).
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***WARNING***
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The 9600 baud setting does NOT work after the EDS2 is power cycled.
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Re-entering the 9600 baud setting is required.
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Use Controller's Screen to access motion parameters (PID, notch filter)
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PID parameters are not implemented in EPICS device driver because
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the other motion calibration settings are not available from EPICS.
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============= COMMANDS SYNTAX ==================================
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<command>,<axis>,[<arg>]</r>
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Where axis = 0, 1, ...,5
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* Reply from motion commands '/023/021' (framing characters only)
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* Single command per line
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Query Reply: <command>,<axis>,<return value>
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*** WARNING *** Printing the EDS responses (during debugging)
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lockup the vxWorks terminal session (using cu) because
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of the framing characters.
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=================== MOTION =================
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ENABLE/DISABLE Servo - ClosedLoop/OpenLoop
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cl,<axis>,[1/0]
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MOVE Absolute (set displacement)
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set,<axis>,<0 to xxx.xxx>
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MOVE Relative
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<none>
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GO HOME
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<none>
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SET VELOCITY (slew rate)
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sr,<axis>,<xxx.x>
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Units: 0.001 ... 500.0 V/ms
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STOP MOTION
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<none>
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=================== STATUS =================
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READ Version Info
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\r
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Return:
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READ Commanded position
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<none>
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READ Feedback position
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mess,<axis>
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Response: 0 to xxx.xxx um
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READ Velocity (programmed)
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sr,<axis>
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Units: 0.001 ... 500.0 V/ms
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ON-TARGET:
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<none>
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SERVO ENABLE
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stat,<axis>
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16bit register - bit 7
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================== IMPLEMENTATION NOTES ==========================
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DRIVER SUPPORT EXCEPTIONS:
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NO Relative Motion
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NO JOG command
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NO DONE indicator
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NO Homing
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NO Limit Switches
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SET_STATUS:
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DONE: No DONE indicator so the 'no motion' test is used
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to set the DONE status.
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No Motion Test: Reference position is not available so
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the 'no motion' test was widen to a hard coded
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tolerance value based on the MAXIMUM RESOLUTION.
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This was needed because of encoder jitter.
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