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<== Date ==> <== Thread ==>

Subject: Re: Motor record, servo motors & OMS58
From: "Jens Eden (PTB)" <[email protected]>
To: Timo Korhonen <[email protected]>
Cc: [email protected]
Date: Mon, 02 Apr 2001 14:15:06 +0200
Timo Korhonen wrote:
> 
> Hi,
> 
> could somebody who has experience using servo motors with the OMS58 card
> (servo version) and the motor record please help me? I just started with this
> combination and I have some questions (I hope they are easy ones.)

We had similar problems when we started with OMS Servo Motors.
Try to use the code below to send single commands to the OMS58 card.
There is a step by step explanation to set the amplification values in the OMS
Manual.
This is our init-string of the motor record: "AY HE KP.1 KD.3 KI0 LP0 HN"


> Another question: Does anybody have a utility to send commands directly to
> the OMS58 from the vxWorks shell?

With the following lines included in drvOms58.c you can directly talk to
the OMS58 card for testing purposes. (Don't use it in your production
application
as it might disturb the communication between OMS58 and motorRecord).

e.g.
> oms58SendMess(1,"AX RE",0)


void oms58SendMess(int oms58card, char *oms58com, char oms58c)
{
        send_mess(oms58card, oms58com, oms58c);
        return;
}
void oms58RecvMess(int oms58card, int oms58amount)
{
        char buffer[BUFFER_SIZE];

        recv_mess(oms58card, buffer, oms58amount);
        printf("OMS58>%s<\n",buffer);
        return;
}

I hope this helps.

Jens Eden


References:
Motor record, servo motors & OMS58 Timo Korhonen

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