Experimental Physics and
Industrial Control System

"Florian Feldbauer" <[email protected]> · 15 Feb 2013 10:14:38 +0100

Hey,

I have written an AsynPortDriver for the TMCM142 1 axis stepper

driver/controller

The motor driver is connected via CAN bus and expects a message with 7

bytes of data:

byte 0: command number

byte 1: parameter number (I'm using the addr parameter from the asyn

interface)

byte 2: motor number (only one motor can be connected to the driver so

it is always 0)

byte 3-6: data (32 bit signed int)

For setting the microstep resolution of the motor driver the data has to

be a number between

0 and 11, each coding a different resoultion.
I wanted to use a mbbo record, which looks like this:

record( mbbo, "PANDA:$(subsys):MOTOR:$(SECTOR):SAP:USTEPRESOLUTION" ) {
  field( DTYP, "asynUInt32" )
  field( OUT,  "@asyn($(BUS),27,1)TMCM142_SAP" )

  field( ZRST, "2048 micro steps" )
  field( ONST, "1024 micro steps" )
  field( TWST, "512 micro steps" )
  field( THST, "256 micro steps" )
  field( FRST, "128 micro steps" )
  field( FVST, "64 micro steps" )
  field( SXST, "32 micro steps" )
  field( SVST, "16 micro steps" )
  field( EIST, "8 micro steps" )
  field( NIST, "4 micro steps" )
  field( TEST, "2 micro steps" )
  field( ELST, "1 micro steps" )
}

Unfortunately, the value inside my writeInt32 function from the

asynPortDriver is always 0.

Do I have to set the ZRVL,...,ELVL fields for asynInt32? Or do I need

another asyn interface for

this record?

Best regards,
Florian

--
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| Dr. Florian Feldbauer                |
|                                      |
| Helmholtz-Institut Mainz /           |
| Johannes Gutenberg-Universität Mainz |
| Johann-Joachim-Becher-Weg 45         |
| D-55128 Mainz                        |
|                                      |
| Office: 01/217                       |
| Phone:  (+49)6131 / 39-25829         |
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Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System