Experimental Physics and Industrial Control System
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Hello Peter,
The EPICS motor record has no allowance for rolling over the
DBF_LONG (epicsInt32) RMP field.
If the application and the motion control system support it, then
one way to avoid the whole problem would be to reduce the motor
resolution field (MRES). For example, if this was a ACS SPD-32M
mini-stepping motor driver module configured for 8 mini-steps per
full step, you could reduce that to 6 mini-steps per full step and
adjust the MRES according. Again, only if the application can
support the reduced resolution.
Ron
On 10/21/2013 9:55 PM, Peter Linardakis wrote:
We're pretty new at controlling motors using
EPICS and we've run into a few small issues. After a crate reboot, some of a bank of 28 motors end up with a
motor.RMP value that is quite close to the signed 32-bit integer limit (both at
max and min ends).
If we then try move the motor more
than the difference, the motor just stops. We're not running a complicated
setup, we just home the motors using limit switches. We do not use
encoders at this time.
My question is,
how do we properly initialise the .RMP value
to some known value, probably zero? At this stage of the game,
we're not looking to use an autosave module
or similar.
Regards
Peter
Dr Peter Linardakis
Accelerator Research and
Development Engineer
Nuclear Physics | Research
School of Physics and Engineering
Australian National
University
e: [email protected]
p: (02) 6125 2862 f: (02) 6215 0748
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- Proper initialisation of Motor Record .RMP value Peter Linardakis
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ANJ, 20 Apr 2015 |
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