Experimental Physics and
Industrial Control System

Christian Pauly <[email protected]> · Thu, 20 Jun 2013 18:05:39 +0200

Hi
I am trying to set up EPICS control for a XY-scanning table.

Control of the motor controller for the two stepper motors via RS232 is

rather simple, and already implemented via StreamerClass:

The controller understands 4 simple commands:
u100/r
d100/r
l100/r
r100/r    to move the motors up/down/left/right by 100 steps.

In return, AFTER FINISHING the move (which can take up to 10sec), the

controller returns a "OK/r/n"

So far i was using a protokoll like this:
move {
    out "\$1%d\r";
    in "OK\r\n";
}

and 4 EPICS records for moving like this:
record(longout, "XY:movel")
{
    field(DESC, "Move XY-Table left")
    field(DTYP, "stream")
    field(OUT,  "@devXYtableSupport.proto move(l) $(PORT) $(A)")
    field(FLNK, "XY:posX.PROC")
}

However, due to the long move-times, this is not ideal. As i understand

from the documentation, one should rather implement an asynchronous control.

Best would be, to have a separate boolan record "motorsmoving" which is

set to "TRUE" every time i send a move command to the controller, and

which is set back to "FALSE" once the controller sends back the "OK".

Any advice how to proceed ???
I am fighting for days now...

Thanks for any help !

Christian

--
Dr. Christian Pauly
Bergische Universität Wuppertal
Fachbereich C - Physik
Gaußstraße 20, D-42119 Wuppertal
Tel: +49 (0)202 439-2632,
Fax: +49 (0)202 439-2662

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System