Experimental Physics and
Industrial Control System

Mohan Ramanathan <[email protected]> · Fri, 12 Dec 2003 08:44:11 -0600 (CST)

hi:

At APS we operate our device with as much as 4 motors to control each end of 
each jaw. The control system uses OMS motor controller. We run the device in 
open loop with epics records monitoring the encoder readbacks and doing all the 
conversions to end of device etc....  It is possible to start the motors with 
epics records and keep them pretty much in sync.   We also have features for 
users to run the devide in sync with the beamline monochromator for continous 
data acquisition. In that case the device speeds are changed to users needs all 
with databases.  We do not have any special records - everything is done with 
calc, calcout and sequence records!

mohan
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Mohan Ramanathan                      Beamline Specialist
[email protected]                     Advanced Photon Source
(630)-252-3773                        Argonne National Laboratory
(630)-252-9350 (FAX)                  Argonne, IL 60439
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>
> 
> Hello,
> 
> thank you Juraj, but this actually is not what I was aiming for. The 
> quesition was regarding the motor control of the opposite motors on each 
> side of the gap. By specifications, they have to synchronized to a 
> maximum difference (distance from center) of 5 microns at all times. The 
> speeds are also quite big - up to several mm per second. This somehow in 
> my opinion disqualifies a template solution.
> 
> Cheers,
> Rok
> 
> >
> > Hello,
> >
> > we driveID (or two IDs in the case of dual undulators) with a 
> > monochromator using the sscan record combined with the busy record. 
> > The point is, that if the busy record is rised upon an activation of 
> > an sscan positioner, the sscan is blocked until 'somebody'  resets the 
> > busy record. This 'somebody' could be a calcout record like:
> >
> > record(calcout,"$(P):alldone"){
> >         field(SCAN,"Passive")
> >         field(INPA,"$(P)withID1:STATUS CP NMS")
> >         field(INPB,"$(P)withID2:STATUS CP NMS")
> >         field(INPC,"$(PGM):dmov CP NMS")
> >         field(CALC,"A=1&&B=1&&C=1")
> >         field(OCAL,"0")
> >         field(OOPT,"Transition To Non-zero")
> >         field(DOPT,"Use OCAL")
> > #                                 <--- here the busy is reset
> >         field(OUT,"$(P):busy PP")
> > }
> >  
> >
> > and if you put the $(P)-E:GO transform record below as a positioner in 
> > you sscan
> >  
> >
> > # select here what to un synchronously
> > record(mbbo,"$(P)-E:OPT"){
> >         field(ZRST,"PGM")
> >         field(ONST,"PGM+ID1")
> >         field(TWST,"PGM+ID2")
> >         field(THST,"PGM+ID1+ID2")
> >         field(DOL,"0")
> >         field(PINI,"YES")
> > }
> >
> > record(transform,"$(P)-E:GO") {
> >         field(PREC,"3")
> >         field(CLCA,"a")
> >         field(CLCB,"1")
> >         field(CLCC,"a")
> >         field(OUTA,"$(P):energy PP")
> > #      set the busy record to 'busy'
> >         field(OUTB,"$(P):busy PP")
> >         field(OUTC,"$(P)-E:GOPGM PP")
> > }
> >
> > # this is the monochromator +ID1 + ID2 energy PV
> > record(ai,"$(P):energy")
> > {
> >         field(PREC,"3")
> > }
> >
> > record(seq,"$(P)-E:GOPGM"){
> >        field(SELM, "All")
> >        field(DOL1,"$(P):energy")
> >        field(LNK1,"$(PGM):energy PP")
> >        field(DO2,"1")
> >        field(LNK2,"$(PGM):setE.PROC")
> >        field(DO3,"1")
> >        field(LNK3,"$(P)-E:GOID1.PROC")
> > }
> >
> > record(calcout,"$(P)-E:GOID1") {
> >         field(INPA,"$(P):energy")
> > #                <-- use INPC if there is an energy shift between the 
> > mono and ID1
> >         field(INPC,"0")
> >         field(INPB,"$(P)-E:OPT")
> >         field(CALC,"B=1||B=3?1:0")
> >         field(OOPT,"When Non-zero")
> >         field(DOPT,"Use OCAL")
> >         field(OCAL,"A+C")
> >         field(OUT,"$(BML)-ID1:ENERGY PP")
> >         field(FLNK,"$(P)-E:GOID2")
> >
> > record(calcout,"$(P)-E:GOID2") {
> >         field(INPA,"$(P):energy")
> > #                <-- if INPC if there is an energy shift between the 
> > mono and ID2
> >         field(INPC,"0")
> >         field(INPB,"$(P)-E:OPT")
> >         field(CALC,"B=2||B=3?1:0")
> >         field(OOPT,"When Non-zero")
> >         field(DOPT,"Use OCAL")
> >         field(OCAL,"A+C")
> >         field(OUT,"$(BML)-ID2:ENERGY PP")
> > }
> >
> > 
> >###################################################
> ># checking up the ID1/ID2 status for $(P)alldone
> ># considering the E-OPT: i.e whether the ID1/ID2 is
> ># scanned allong with the mono or not
> >###################################################
> >
> >record(calc,"$(P)withID1:STATUS") {
> >        field(SCAN,"Passive")
> >        field(INPA,"$(BML)-ID1:STATUS CP NMS")
> >        field(INPB,"$(P)-E:OPT CP NMS")
> >#                               +-+--------- 0 means ID1 done
> >        field(CALC,"B=1||B=3?(A=0?1:0):1")
> >}
> >record(calc,"$(P)withID2:STATUS") {
> >        field(SCAN,"Passive")
> >        field(INPA,"$(BML)-ID2:STATUS CP NMS")
> >        field(INPB,"$(P)-E:OPT CP NMS")
> >#                               +-+--------- 0 means ID2 done
> >        field(CALC,"B=2||B=3?(A=0?1:0):1")
> >}
> >####################################################
> >
> >
> > and if you handle separately the "done" state of the monochromator, 
> > ID1, ID2, you get a general template based solution to synchronous scans.
> >
> > Cheers
> >  
> >
> >
> >
> >                          _____
> >       Swiss             /    /        [email protected]
> >      _/_/_/  _/   _/_/_/    /____    Experimental Division
> >     _/      _/   _/   Source    /   Paul Scherrer Institute 
> >      _/_/  _/     _/_/     ____/  CH-5232 Villigen-PSI
> >         _/_/Light    _/   /      Tel: ++41 56 310 5131
> >  _/_/_/_/_/_/_/ _/_/_/___/      Fax: ++41 56 310 3151
> >  
> >
> 
> 

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System