Experimental Physics and
Industrial Control System

Ric Claus <[email protected]> · Wed, 10 Apr 1996 15:28:14 -0700 (PDT)

  Below are my proposed stepper motor related changes to be submitted for
inclusion in the next release of EPICS.  I didn't list the corresponding 
necessary changes to steppermotor.h and choiceRec.ascii.  The effect of
these changes are to provide a motor controller independent way of finding
the limit switches and to add support for finding a home switch.  Motor 
controller support routines are thus free to interpret what these concepts 
mean (or to ignore them) whereas previously record support dictated the 
meaning of finding a limit switch.  Are these agreeable to everyone?  I 
realize that this breaks non(Compumotor and OMS) support that may be out 
there, but the changes the owners would have to make are small.

  I have also completed device support for the Allen Bradley 1746-HSTP1
stepper motor controller and would like to submit it for inclusion in the
next release of EPICS, as well.

	Thanks,
		Ric Claus

recSteppermotor.c / init_sm:
...
	if (psm->mode == POSITION){
		if (psm->ialg != 0){
>			switch (psm->ialg){
>			case (POSITIVE_LIMIT):
>				status = (*pdset->sm_command)(psm,SM_FIND_LIMIT,1,0);
>				break;
>			case (NEGATIVE_LIMIT):
>				status = (*pdset->sm_command)(psm,SM_FIND_LIMIT,-1,0);
>				break;
>			case (POSITIVE_HOME):
>				status = (*pdset->sm_command)(psm,SM_FIND_HOME,1,0);
>				break;
>			case (NEGATIVE_HOME):
>				status = (*pdset->sm_command)(psm,SM_FIND_HOME,-1,0);
>				break;
>			}
			psm->sthm = 1;
		/* force a read of the position and status */
		}else{
			status = (*pdset->sm_command)(psm,SM_READ,0,0);
		}
...

drvCompuSm.c / compu_driver:
	case (SM_VELOCITY):
		compu_motor_data_array[card].velocity = arg1;
		compu_motor_data_array[card].accel = arg2;

		/* set the velocity */
		compu_msg[0] = SM_DEF_VEL_ACC;
		compu_msg[1] = 0;		/* time is in seconds */
		compu_msg[2] = 0;
		pint = (int *)&compu_msg[3];	/* velocity */
		*pint = arg1;
		pint++;				/* acceleration */
		*pint = arg2;
		compu_send_msg(pcompu_motors[card],compu_msg,11);

		break;

>	case (SM_FIND_HOME):            /* Move to a home switch */
>		break;                  /* Not supported by this device */
>
>	case (SM_FIND_LIMIT):           /* Move to a limit switch */
>		arg1 = arg1 >= 0 ? 0x000fffff : -0x000fffff;
>		/* break purposely left out to continue with SM_MOVE */

	case (SM_MOVE):
		if (compu_motor_array[card].mode == VELOCITY_MODE)
			return(0);

		/* move the motor */
		i = 0;
		compu_msg[i++] = SM_MOV_REL_POS;
		pint = (int *)&compu_msg[i];
		*pint = arg1;
		i += 4;

		compu_send_msg(pcompu_motors[card],compu_msg,i);

		/* set the motor to active */
		compu_motor_array[card].active = TRUE;

		/* wakeup the compu task */
		semGive(compu_wakeup);

		break;

drvOms.c / oms_driver:
	case (SM_VELOCITY):
		/* set the velocity */
		motor_data_array[card][channel].velocity = arg1;
		strcpy(oms_move_msg,"A?\nVL");
		oms_move_msg[MOTOR_POS] = oms_motor_specifier[channel];
		count = cvtLongToString(arg1,&oms_move_msg[5]);
		strcat(oms_move_msg,"\n");
		oms_send_msg(oms_motor_present[card],oms_move_msg);

		/* set the acceleration */
		strcpy(oms_move_msg,"A?\nAC");
		oms_move_msg[MOTOR_POS] = oms_motor_specifier[channel];
		count = cvtLongToString(arg2,&oms_move_msg[5]);
		strcat(oms_move_msg,"\n");
		oms_send_msg(oms_motor_present[card],oms_move_msg);

		break;

>	case (SM_FIND_HOME):            /* Move to a home switch */
>		break;                  /* Not supported by this device */
>
>	case (SM_FIND_LIMIT):           /* Move to a limit switch */
>		arg1 = arg1 >= 0 ? 0x000fffff : -0x000fffff;
>		/* break purposely left out to continue with SM_MOVE */

	case (SM_MOVE):
		/* move the motor */
		strcpy(oms_move_msg,"A?\nAF\nMR");
		oms_move_msg[1] = oms_motor_specifier[channel];
		count = cvtLongToString(arg1,&oms_move_msg[8]);
		strcat(oms_move_msg,"\nGO\n");
		oms_send_msg(oms_motor_present[card],oms_move_msg);

		/* set the motor to active */
		oms_motor_array[card][channel].active = TRUE;

		/* wakeup the oms task */
		semGive(oms_wakeup);

		break;

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System