Hi,
> I think there's a problem in the motor record.
> ( v3.4 under EPICS 3.13.1 )
>
> - the home fwd/rev (HOMR/HOMF) are supposed to 'hit home at 1000 steps per
> sec.'
>
> the conversion in motorRecord.c is erronous:
> double hvel = 1000 * fabs(pmr->mres / pmr->eres);
> [..]
> WRITE_MSG(SET_VELOCITY, &hvel);
>
> where:
> mres = steps size in EGU
> eres = steps / rev
>
> hvel should simply be set to 1000.
I think you may misunderstand the meaning of the "eres" field, which you said
equals steps/rev. eres is the encoder resolution, and has the same units as
"mres". Thus, in most cases mres/eres is 1 (eres should be set to mres when
there is no encoder present).
However, I agree that there is a problem here. Hardcoding 1000 steps/second
as the home speed is not the right thing to do - some controllers can home
faster, some must find home slower. The home speed should be a settable field
in the motor record.
Mark Rivers
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