Experimental Physics and
Industrial Control System

Burkhard Kolb <[email protected]> · Fri, 15 Feb 2013 10:38:42 +0100

Hi Florian,
yes, you have to set also the values. The numbering scheme distinguishes between sixteen states,
but their value does not have to be 0, 1, 2, 4..., but could be anything.

Burkhard
--
Dr. Burkhard Kolb
Tel +49 6159 712667
GSI Helmholtzzentrum für Schwerionenforschung GmbH
Planckstraße 1 | D-64291 Darmstadt | www.gsi.de

Gesellschaft mit beschränkter Haftung
Sitz der Gesellschaft: Darmstadt
Handelsregister: Amtsgericht Darmstadt, HRB 1528

Geschäftsführung: Professor Dr. Dr. h.c. mult. Horst Stöcker, Peter Hassenbach

Vorsitzende des Aufsichtsrates: Dr. Beatrix Vierkorn-Rudolph
Stellvertreter: Ministerialdirigent Dr. Rolf Bernhardt

Am 15.02.2013 um 10:14 schrieb Florian Feldbauer:

> 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
> 
> -- 
> ----------------------------------------
> | 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         |
> ----------------------------------------
> 

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System