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<== Date ==> <== Thread ==>
Subject: Reversing the order of motor record base and slew velocity commands
From: Ron Sluiter <[email protected]>
To: EPICS <[email protected]>
Date: Wed, 6 Aug 2014 14:59:40 -0500
I am considering reversing the order in which the motor record issues base velocity and slew velocity commands to device support. Currently, whenever the motor record request motor motion it first issues a command to device support to set the base velocity and then the slew velocity. I have no record of why that order was chosen.

Unfortunately, command errors are occurring with Pro-Dex MAXv controllers when a specific application changes the base velocity.  This is because the base velocity is range limited by the slew velocity value (0 <= base < slew).  When the application tries to set base velocity at or below the slew velocity of the previous move, a command error occurs.

I made a brief survey the EPICS motor module supported motor controllers. Most drivers either do not implement base velocity or use a fixed range. Both New Focus Model 8753 open-loop controllers and Schneider Electric (IMS) MDrive/MForce controllers are like the Pro-Dex MAX in that the base velocity is range limited by the slew velocity value.

I find no motor controllers that would "suffer" from this change, so please let me know if you know otherwise.

Ron
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