forked from epics_driver_modules/motorBase
Ron Sluiter==============================================================================
MAXv MAXv MAXv MAXv
==============================================================================
For all MAXv motors.
--------------------
Configure the MAXv's limit switch sense by placing one of the following MAXv
controller commands in the 2nd argument of MAXvConfig(); the initialization
string. This command determines which TTL signal level defines an active
limit switch input:
LL - low (default).
LH - high.
In addition, one of the following MAXv controller commands must appear in the
initialization string to configure the type of axis:
PSO - open loop stepper axis.
PSE - stepper axis with encoder.
PSM - servo axis
Note: Separate multiple commands in the initialization string with ";".
Example
-------
config0="AX LH PSM; AY LL PSO; AZ LL PSO; AT LL PSO; AU LH PSO; AV LH PSO; \
AR LH PSO; AS LH PSO;"
MAXvConfig(0, config0)
Configuring the MAXv for an open loop stepper motor (default).
--------------------------------------------------------------
Set J8 for stepper and add the command "PS0;" to the MAXvConfig()
initialization string.
Configuring the MAXv for a stepper motor with encoder.
------------------------------------------------------
Set J8 for stepper and add the command "PSE;" to the MAXvConfig()
initialization string.
Configuring the MAXv for a servo motor.
---------------------------------------
Set J8 for servo and add the command "PSM;" to MAXvConfig() initialization
string.
MAXv array base address
-----------------------
- defined the by 3rd argument to the MAXvSetup() call.
MAXv incremental address
------------------------
- increment each additional MAXv's VMEbus address by 0x1000 from the array's
base address.
NOTES:
- Unlike the other OMS models, the MAXv VME Address Modifiers (AM) do not
respond to both supervisory and non-privileged access. Hence, the MAXv's
AM's must match the CPU board's AM's exactly.
==============================================================================
VME8, VME44, VS4, VX2 VME8, VME44, VS4, VX2
==============================================================================
OMS array base address
--------------------------
- defined by the 3rd argument to the omsSetup() call.
- the VMEbus address of the 1st board in the array of OMS VME8, VME44, VS4 and
VX2 boards.
OMS incremental address
---------------------------
- increment each additional OMS board's VMEbus address by 0x10 from the array's
base address.
==============================================================================
VME58 VME58 VME58 VME58
==============================================================================
VME58 array base address
------------------------
- defined the by 2nd argument to the oms58Setup() call.
- the VMEbus address of the 1st board in the array of OMS VME58 boards.
VME58 incremental address
-------------------------
- increment each additional board's VMEbus address by 0x1000 from the array's
base address.
NOTE
----
1. The EPICS motor record does NOT support the encoder mode. The encoder mode
is enabled with the ER#,# and results in all distance, velocity and
acceleration parameters being input in encoder counts.
SSCAN THROUGH-PUT NOTES
-----------------------
The following results where done using the following;
- SSCAN support module R2.5.1, with scan.db configured as follows;
- Read(R1PV) set to "time".
- Drive(P1PV) set to motor record VAL field.
- #PTS(NPTS) set to 1000.
- Step Size(P1SI) set to MRES of the motor record.
- Motor record R5.7; configured as follows;
- Set slew velocity (VELO) = (500,000 * MRES).
- Set base velocity (VBAS) = (499,999 * MRES).
- Acceleration time (ACCL) does not matter.
- EPICS base R3.14.7
- WRS Tornado 2.2.1
- MVME5100
- VME8 with firmware version 1.97-8
- VME44 with firmware version 2.35-4E:
- VME58 with firmware version 2.16-8
- MAXv with firmware version 1.25
Controller | sysClkRate | interrupts | polling rate | ms/scan pt.
-----------|------------|------------|--------------|------------
VME8 | 60 | disabled | 1HZ | 1076.0
-----------|------------|------------|--------------|------------
VME44 | 60 | disabled | 1HZ | 1267.0
-----------|------------|------------|--------------|------------
VME58 | 60 | disabled | 1HZ | 808.5
-----------|------------|------------|--------------|------------
MAXv | 60 | disabled | 1HZ | 808.5
===========|============|============|==============|============
VME8 | 60 | disabled | 60HZ | 801.8
-----------|------------|------------|--------------|------------
VME44 | 60 | disabled | 60HZ | 990.6
-----------|------------|------------|--------------|------------
VME58 | 60 | disabled | 60HZ | 77.3
-----------|------------|------------|--------------|------------
MAXv | 60 | disabled | 60HZ | 77.4
===========|============|============|==============|============
VME8 | 4000 | disabled | 1HZ | 776.0
-----------|------------|------------|--------------|------------
VME44 | 4000 | disabled | 1HZ | 779.9
-----------|------------|------------|--------------|------------
VME58 | 4000 | disabled | 1HZ | 772.3
-----------|------------|------------|--------------|------------
MAXv | 4000 | disabled | 1HZ | 772.5
===========|============|============|==============|============
VME8 | 4000 | disabled | 60HZ | 18.8
-----------|------------|------------|--------------|------------
VME44 | 4000 | disabled | 60HZ | 22.1
-----------|------------|------------|--------------|------------
VME58 | 4000 | disabled | 60HZ | 14.9
-----------|------------|------------|--------------|------------
MAXv | 4000 | disabled | 60HZ | 15.2
===========|============|============|==============|============
VME8 | 60 | enabled | 1HZ | 38.8
-----------|------------|------------|--------------|------------
VME44 | 60 | enabled | 1HZ | 38.8
-----------|------------|------------|--------------|------------
VME58 | 60 | enabled | 1HZ | 77.5
-----------|------------|------------|--------------|------------
MAXv | 60 | enabled | 1HZ | 77.5
===========|============|============|==============|============
VME8 | 60 | enabled | 1HZ | 75.4 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
VME44 | 60 | enabled | 1HZ | 80.1 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
VME58 | 60 | enabled | 1HZ | 97.9 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
MAXv | 60 | enabled | 1HZ | 84.9 with VBAS/VELO removed
===========|============|============|==============|============
VME8 | 60 | enabled | 60HZ | 38.7
-----------|------------|------------|--------------|------------
VME44 | 60 | enabled | 60HZ | 38.7
-----------|------------|------------|--------------|------------
VME58 | 60 | enabled | 60HZ | 77.5
-----------|------------|------------|--------------|------------
MAXv | 60 | enabled | 60HZ | 77.4
===========|============|============|==============|============
VME8 | 100 | enabled | 1HZ | 15.5
-----------|------------|------------|--------------|------------
VME44 | 100 | enabled | 1HZ | 23.2
-----------|------------|------------|--------------|------------
VME58 | 100 | enabled | 1HZ | 38.7
-----------|------------|------------|--------------|------------
MAXv | 100 | enabled | 1HZ | 38.7
===========|============|============|==============|============
VME8 | 4000 | enabled | 1HZ | 14.4
-----------|------------|------------|--------------|------------
VME44 | 4000 | enabled | 1HZ | 18.2
-----------|------------|------------|--------------|------------
VME58 | 4000 | enabled | 1HZ | 10.4
-----------|------------|------------|--------------|------------
MAXv | 4000 | enabled | 1HZ | 11.6
===========|============|============|==============|============
VME8 | 4000 | enabled | 60HZ | 14.4
-----------|------------|------------|--------------|------------
VME44 | 4000 | enabled | 60HZ | 18.2
-----------|------------|------------|--------------|------------
VME58 | 4000 | enabled | 60HZ | 10.4
-----------|------------|------------|--------------|------------
MAXv | 4000 | enabled | 60HZ | 11.6
===========|============|============|==============|============
VME8 | 4000 | enabled | 60HZ | 12.7 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
VME44 | 4000 | enabled | 60HZ | 15.6 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
VME58 | 4000 | enabled | 60HZ | 9.8 with VBAS/VELO removed
-----------|------------|------------|--------------|------------
MAXv | 4000 | enabled | 60HZ | 9.8 with VBAS/VELO removed
-----------|------------|------------|--------------|------------