064ec37e9a
- Refactored site specific stuff into a site module - PSI specific stuff is now in the PSI directory. - The old version has been tagged with pre-ansto
46 lines
2.0 KiB
C
46 lines
2.0 KiB
C
/*------------------------------------------------------------------------
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this is a motor driver for the Risoe motor controllers within the
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ECB system. The motor is controlled through functions invoked in the
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Z80 processor of the ECB system which is connected through a GPIB
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bus to the wider world. This driver has to do a lot of extra things:
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- it has to convert from physical values to motor steps.
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- Quite a few parameters, such as ramping parameters,
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have to be downloaded to the ECB
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- Risoe motors may have a virtual encoder or a real encoder.
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- The motor may have to control air cushions as well.
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- Tricky backlash handling. Backlash handling ensures that a position is
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always arrived at from a defined direction. If backlash is applied
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a restart flag is set in ECBRunTo. ECBGetStatus checks for that and
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causes the motor to drive back to the position actually desired.
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This driver support only P2048a motor controllers, as these are the
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only ones which seem to have arrived at PSI. The P1648 and Tridynamic
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things are not supported.
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Multiplexed motors: Originally the ECB supported 24 motors. This did
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prove to be not enough. Therefore another device called P2234e was
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introduced which allowed to run 8 motors from one controller port. In this
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case the motor parameters have to be copied to the ECB before
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driving the motor. Multiplexing is selected through the parameter MULT.
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MULT 0 means no multiplexing, MULT > 0 makes MULT the number of the
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motor in the multiplexer. MULT is now also used to flag a download of
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parameters to the ECB. In such a case MULT is -1.
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Some of this code was taken from the tascom driver for the ECB.
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copyright: see file COPYRIGHT
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Mark Koennecke, January 2003
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--------------------------------------------------------------------------*/
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#ifndef ECBDRIV
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#define ECBDRIV
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MotorDriver *CreateECBMotor(SConnection *pCon, int argc, char *argv[]);
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void KillECBMotor(void *driver);
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#endif
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