forked from epics_driver_modules/motorBase
kpetersn
251 lines
7.8 KiB
Plaintext
251 lines
7.8 KiB
Plaintext
NOTES on Motor Record fields
|
|
============================
|
|
|
|
|
|
Field Function
|
|
----- --------
|
|
|
|
REP Raw Encoder Position. Feedback position read from motor controller.
|
|
|
|
If the "Encoder Present" status bit is ON in the MSTA, REP is the raw
|
|
encoder value read from the controller; if the status bit is OFF, REP
|
|
is always zero.
|
|
|
|
motor_update_values(motordevCom.c): mr->rep = ptrans->encoder_pos
|
|
motor_callback(motordevCom.c):
|
|
ptrans->encoder_pos = motor_return->encoder_position
|
|
set_status(drv[device].c): motor_info->encoder_position = motorData
|
|
|
|
|
|
RMP Raw Motor Position. Commanded position read from motor controller.
|
|
|
|
motor_update_values(motordevCom.c): mr->rmp = ptrans->motor_pos
|
|
motor_callback(motordevCom.c):
|
|
ptrans->motor_pos = motor_return->position
|
|
set_status(drv[device].c): motor_info->position = pos
|
|
|
|
|
|
RRBV Raw Readback Value.
|
|
|
|
process_motor_info(motorRecord.c):
|
|
IF UEIP set to YES, AND, MSTA indicates an encoder is present.
|
|
pmr->rrbv = pmr->rep
|
|
ELSE
|
|
pmr->rrbv = pmr->rmp.
|
|
ENDIF
|
|
|
|
|
|
DRBV Dial Readback Value.
|
|
|
|
process_motor_info(motorRecord.c):
|
|
IF URIP set to YES.
|
|
pmr->drbv *= pmr->rres; /* Set DRBV from RDBL link. */
|
|
ELSE
|
|
IF UEIP set to YES, AND, MSTA indicates an encoder is present.
|
|
pmr->drbv = pmr->rrbv * pmr->eres
|
|
ELSE
|
|
pmr->drbv = pmr->rrbv * pmr->mres
|
|
ENDIF
|
|
|
|
RBV User Readback Value. Actual (i.e, feedback) motor position.
|
|
|
|
process_motor_info(motorRecord.c):
|
|
pmr->rbv = dir * pmr->drbv + pmr->off
|
|
|
|
==============================================================================
|
|
------------------------------------------------------------------------------
|
|
|
|
DIR User Direction. Used to convert between dial and user coordinates.
|
|
Valid values are defined by menu(motorDIR);
|
|
0 = "motorDIR_Pos"; user has same sign as dial.
|
|
1 = "motorDIR_Neg"; user has opposite sign of dial.
|
|
|
|
|
|
OFF User Offset (EGU). User and dial coordinates can differ by a sign
|
|
(the DIR field) and an offset (OFF), according to the following
|
|
equations:
|
|
IF DIR == motorDIR_Pos
|
|
HLM = DHLM + OFF
|
|
LLM = DLLM + OFF
|
|
ELSE
|
|
HLM = -DLLM + OFF
|
|
LLM = -DHLM + OFF
|
|
ENDIF
|
|
|
|
RBV = (DRBV * DIR) + OFF
|
|
DVAL = (VAL - OFF) / DIR
|
|
VAL = (DVAL * DIR) + OFF
|
|
userVAL = (DialVAL * DIR) + OFFset
|
|
|
|
OFF is set by the motor record under the following conditions.
|
|
|
|
do_work(): IF new DVAL, AND, the SET position field is ON, AND,
|
|
the FOFF field is "Variable".
|
|
OFF = VAL - (DVAL * DIR)
|
|
ENDIF
|
|
special(): IF new DIR, AND, FOFF is "Variable"
|
|
OFF = VAL - (DVAL * DIR)
|
|
ENDIF
|
|
load_pos(): IF FOFF field is "Variable".
|
|
IF DIR == motorDIR_Pos
|
|
OFF = VAL - DVAL
|
|
ELSE
|
|
OFF = VAL + DVAL
|
|
ENDIF
|
|
ENDIF
|
|
|
|
SET Set/Use Switch. Used to calibrate the motor's user and dial positions.
|
|
|
|
------------------------------------------------------------------------------
|
|
RVAL Raw Desired Value. Target position.
|
|
|
|
do_work(): IF new DVAL,
|
|
pmr->rval = NINT(pmr->dval / pmr->res)
|
|
postProcess(): IF OMSL is OFF (i.e., "supervisory")
|
|
pmr->rval = pmr->rrbv ???Reset Target to Actual???
|
|
|
|
|
|
DVAL Dial Desired Value. Target position.
|
|
|
|
do_work(): IF new RVAL,
|
|
pmr->dval = pmr->rval * pmr->res
|
|
postProcess(): IF OMSL is OFF (i.e., "supervisory")????
|
|
pmr->dval = pmr->drbv
|
|
|
|
|
|
VAL User Desired Value. Target position.
|
|
|
|
do_work(): IF (new DVAL, OR, DMOV is FALSE), AND, SET is FALSE.
|
|
pmr->val = pmr->dval * dir + pmr->off
|
|
postProcess(): IF OMSL is OFF (i.e., "supervisory")?????
|
|
pmr->val = pmr->rbv
|
|
|
|
------------------------------------------------------------------------------
|
|
|
|
ERES Encoder Step Size (EGU)
|
|
do_work(): IF MRES, OR, ERES, OR, UEIP are marked as changed.
|
|
IF MSTA indicates an encoder is present, AND, UEIP
|
|
set to YES.
|
|
if (fabs(pmr->eres) < 1.e-9)
|
|
pmr->eres = pmr->mres;
|
|
ENDIF
|
|
ENDIF
|
|
|
|
RRES Readback Step Size (EGU)
|
|
|
|
RES Step Size (EGU). With R4.5, RES <=> MRES.
|
|
|
|
MRES Motor Step Size (EGU). Motor resolution in EGU/step. MRES=UREV/SREV
|
|
|
|
special(motorRecord.c): pmr->mres = pmr->urev / pmr->srev;
|
|
|
|
UREV EGU's per Revolution.
|
|
|
|
SREV Steps per Revolution. The record never sets this field.
|
|
|
|
------------------------------------------------------------------------------
|
|
|
|
VBAS Minimum Velocity (EGU/s)
|
|
SBAS Minimum Speed (revolutions/sec)
|
|
|
|
special(motorRecord.c): pmr->sbas = pmr->vbas / fabs(pmr->urev);
|
|
pmr->vbas = fabs(pmr->urev) * pmr->sbas;
|
|
|
|
VMAX Maximum Velocity (EGU/s)
|
|
SMAX Maximum Speed (revolutions/sec)
|
|
|
|
VELO Slew Velocity (EGU/s)
|
|
S Speed (revolutions/sec)
|
|
|
|
BVEL Backlash Velocity (EGU/s)
|
|
SBAK Backlash Speed (revolutions/sec)
|
|
|
|
|
|
UEIP effects
|
|
------------
|
|
|
|
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) whether absolute or relative position commands are used.
|
|
|
|
|
|
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.
|
|
|
|
|
|
#1)
|
|
IF |DIFF| > |BDST|, OR, sign(DIFF) != sign(BDST)
|
|
Move to position (TARGET - BDST) using ACCL and VELO.
|
|
Move to position TARGET using BACC and BVEL.
|
|
ELSE IF |DIFF| <= |BDST|, AND, sign(DIFF) == sign(BDST).
|
|
Move to position TARGET using BACC and BVEL.
|
|
ENDIF
|
|
|
|
|
|
#3) Backlash correction is disabled if and only if |BDST| < |RES|.
|
|
|
|
|
|
Initial or retry move logic at end of do_work().
|
|
------------------------------------------------
|
|
|
|
IF [backlash is disabled {|BDST| < |MRES|}], OR,
|
|
[Preferred Dir. == True, AND, BVEL == VELO, AND, BACC == ACCL]
|
|
Set local vel/acc to slew values.
|
|
IF use relative moves indicator is true.
|
|
Set local move position = relpos * FRAC
|
|
= (DIFF/MRES) * FRAC
|
|
= ((DVAL - DRBV)/MRES) * FRAC
|
|
ELSE
|
|
Set local move position = currpos + (FRAC * (newpos - currpos))
|
|
If FRAC = 1
|
|
= currpos + newpos - currpos = newpos
|
|
= DVAL/MRES
|
|
ENDIF
|
|
ELSE IF
|
|
[Preferred Dir. == True], AND,
|
|
[the current position is within the backlash distance plus
|
|
1 step. {|DIFF| < |BDST| + |MRES|}
|
|
{
|
|
(use_rel == true, AND, (sign(DIFF - BDST) != sign(DIFF)), OR
|
|
[use_rel == false, AND, ([(LDVL + RDBD) > (DVAL - BDST)] == (DVAL > LDVL))]
|
|
}
|
|
]
|
|
|
|
Set local vel/acc to backlash values.
|
|
IF use relative moves indicator is true.
|
|
Set local move position = relpos * FRAC
|
|
IF use relative moves indicator is true.
|
|
Set local move position = relpos * FRAC
|
|
= (DIFF/MRES) * FRAC
|
|
= ((DVAL - DRBV)/MRES) * FRAC
|
|
ELSE
|
|
Set local move position = currpos + (FRAC * (newpos - currpos))
|
|
If FRAC = 1
|
|
= currpos + newpos - currpos = newpos
|
|
= DVAL/MRES
|
|
ENDIF
|
|
ELSE
|
|
Set local vel/acc to slew values.
|
|
IF use relative moves indicator is true.
|
|
Set local move position = relbpos
|
|
= (DIFF - BDST) / MRES
|
|
ELSE
|
|
Set local move position = bpos
|
|
= (DVAL - BDST) / MRES
|
|
ENDIF
|
|
ENDIF
|
|
|