forked from epics_driver_modules/motorBase
Ron Sluiter
126 lines
4.2 KiB
Plaintext
126 lines
4.2 KiB
Plaintext
Newport ESP300
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==============
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Serial communication using the GreensSpring XM Octal I/O.
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---------------------------------------------------------
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The GreensSpring XM Octal I/O has a 16 pin jumper block for each serial port.
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Assume (the manual does not define this) that the jumper pins are numbered
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from, top to bottom, and from left to right; i.e.,
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1 2 3 4
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5 6 7 8
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9 10 11 12
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13 14 15 16
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Then the "Default jumbering ..." depicted in Fig. 2 of the GreensSpring XM
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Octal I/O manual is jumpered as follows; 1-5, 2-6, 9-13, 10-14.
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The correct jumpering for the ESP300 is; 1-5, 2-6, 9-13, 10-11, 15-16.
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Setting the motor resolution (MRES) field.
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------------------------------------------
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For DC motors, set MRES to the ESP300's response to the SU? command.
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If there is no other mechanism (e.g., generic serial record, dumb terminal,
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etc.) to communicate to the ESP300, the response to the SU? command can be
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determined by following this procedure;
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1 - uncomment the "USR_CFLAGS += -DDEBUG" line in the NewportSrc/Makefile.Vx
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file (This selects the diagnostic messages to be compiled).
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2 - "cd <motor>/motorApp/NewportSrc; gnumake clean; gnumake"; this re-compiles
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the device drivers with the diagnostic messages selected.
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3 - Rebuild your IOC; "cd <IOC>; gnumake".
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4 - Add "drvESP300debug = 4" to the IOC's st.cmd file before "iocInit".
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5 - Connect to the VxWorks shell and reboot the IOC.
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The VxWorks shell output should contain lines like the following;
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+++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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Starting iocInit
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recv_mess(): message = ""
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send_mess(): message = VE?
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recv_mess(): message = "ESP300 Version 3.03 04/13/00"
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send_mess(): message = ZU
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recv_mess(): message = "0H"
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send_mess(): message = 01ST
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send_mess(): message = 02ST
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send_mess(): message = 03ST
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send_mess(): message = 01SU?
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recv_mess(): message = "0.00005101"
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send_mess(): message = 01MD
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recv_mess(): message = "1"
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send_mess(): message = 01TP
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recv_mess(): message = "0.00000"
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send_mess(): message = 01PH
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recv_mess(): message = "18000000H, 7H"
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send_mess(): message = 01MO?
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recv_mess(): message = "0"
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send_mess(): message = 02SU?
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recv_mess(): message = "0.00005101"
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send_mess(): message = 02MD
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recv_mess(): message = "1"
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+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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Note the response to the SU? commands and set MRES to that value.
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6 - Turn off diagnostic messages. Either set drvESP300debug = 0 in the st.cmd
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file (there is a very small amount of CPU overhead associated with leaving
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the diagnostic messages loaded), or go to step #1, and reverse the steps;
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comment out the "USR_CFLAGS += -DDEBUG" line in the NewportSrc/Makefile.Vx,
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etc., etc.,
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Newport ESP100
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==============
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Configuration
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-------------
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- Unlike the ESP300, the ESP100 must be told what type of motor it is connected
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to. This is done using the "Set Motor Type" command; QM. "QM" arguments are
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as follows:
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0 - motor type undefined (default).
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1 - DC servo motor.
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2 - stepper motor.
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3 - commutated stepper motor.
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4 - commutated brushless DC servo motor.
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After setting the motor type, the value must be saved to non-volatile memory
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using the "SM" command.
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Example
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-------
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Setting and saving an ESP100 for use with a DC servo motor driven stage (e.g.,
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850G);
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1QM 1<CR>
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SM<CR>
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Newport MM4000
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==============
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The MM4000 controller has an approximately 50ms delay before it responds to a
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status query. Hence, it is impossible to get more that a 20 Hz update rate
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from the MM4000; 7 or 8 Hz is attainable. This 50ms delay exists with both
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RS232 and GPIB communication interfaces.
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Newport PM500
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=============
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The PM500 has high and low speed loops. Since the EPICS PM500 device driver
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does not set any of the low speed parameters (i.e., LSIZE, LACCEL, LDECEL, LV),
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the low speed loop feature may interfere with EPICS setting the slew velocity.
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I recommend preventing the PM500 from ever using the low speed velocity loop by
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setting the Low Speed Loop Threshold (LSIZE) to the motor record's Retry
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Deadband field (RDBD).
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The LSIZE can be set from the EPICS motor record by entering the PM500 command
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in the record's INIT field. LSIZE is in units of either um or arc-sec. For
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example, if your RDBD = 0.123 mm, then set the INIT field to "LSIZE 123.0".
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