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	psi/utils/SerPortServer.c
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koennecke
2005-04-06 15:05:29 +00:00
parent 010bd79ca2
commit 97cf408ca8
36 changed files with 529 additions and 153 deletions
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16
doc/user/motor.htm
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@ -34,6 +34,7 @@ status display clients.
Please note that the actual driving of the motor is done via the <a href="drive.htm">drive</a> command.</p>
<hr size=4 width="66%">
<h2>The motor parameters</h2>
<p>
<ul>
<li> <b> HardLowerLim </b> is the hardware lower limit. This is read from the motor controller and is identical to the limit switch welded to the instrument. Can usually not be changed.
<li> <b> HardUpperLim </b> is the hardware upper limit. This is read from the motor controller and is identical to the limit switch welded to the instrument. Can usually not be changed.
@ -58,9 +59,12 @@ desired position was reached. If the position read back from the motor
is not within precision to the desired value, the motor is
restarted. This is done at max maxretry times. After maxretry retries,
the motor throws an error.
<li></b> ignorefault </b>If this is bigger then 0, positioning faults
<li><b> ignorefault </b>If this is bigger then 0, positioning faults
from the motor will be ignored.
</ul>
This list of parameters may be enhanced buy driver specific
parameters. motor list will show all parameters.
</p>
<p>
<h2>Motor Error Handling Concepts</h2>
<p>
@ -94,13 +98,13 @@ maxretries repositionings, a HWFault is assumed.
In any case lots of warnings and infos are printed.
</p>
<p>
If SICS tries to drive an axis which is for some reason broken to
often hardware damage may occur (and HAS occurred!). Now, SICS has no
If SICS tries to drive an axis which is broken hardware damage may
occur (and HAS occurred!). Now, SICS has no
means to detect if the mispositioning of a motor is due to a concrete
block in the path of the instrument or any other reason. What SICS can
do though is to count how often a motor mispositions in
sequence. This means SICS counts mispositionings if it cannot drive a
motor, if the motor is driven succesfully, the count is cleared. If
sequence. This means SICS increments a mispositioning counter if it cannot drive a
motor, if the motor is driven succesfully, the mispositioning counter is cleared. If
the count of mispositionings becomes higher then the parameter
failafter, SICS thinks that there is something really, really wrong
and aborts the measurement and prints an error message containing the
@ -116,7 +120,7 @@ check for the interrupt in upper level code.
<dt>SICS falsly reports mispositionings.
<dd>Solution: increase the precision parameter.
<dt>You know that a motor is broken, you cannot fix it, but you want
to measure anyway.
to measure anyway.
<dd>Solution: increase the precision parameter, if SICS finds the
positioning problem, increase maxretries, increase the failafter
parameter. In the worst case set the ignorefault parameter to greater