EPICS Home

Experimental Physics and Industrial Control System


 
1994  1995  1996  1997  1998  1999  2000  2001  2002  2003  2004  2005  2006  2007  2008  2009  2010  2011  2012  2013  2014  2015  2016  <20172018  2019  2020  2021  2022  2023  2024  Index 1994  1995  1996  1997  1998  1999  2000  2001  2002  2003  2004  2005  2006  2007  2008  2009  2010  2011  2012  2013  2014  2015  2016  <20172018  2019  2020  2021  2022  2023  2024 
<== Date ==> <== Thread ==>

Subject: Re: How to support a new stepper motor controller?
From: Torsten Bögershausen <[email protected]>
To: Ralph Lange <[email protected]>, EPICS Tech Talk <[email protected]>
Date: Tue, 7 Feb 2017 12:52:54 +0100


Not sure how to make this page look nice
Pete ?
<https://raw.githubusercontent.com/epics-modules/motor/master/documentation/motorDeviceDriver.html>


And the good stuff is here:
<https://github.com/epics-modules/motor/blob/master/motorApp/AcsSrc/MCB4BDriver.cpp>

HTH
/Torsten

PS:
I would probably suggest to start with a simulator.
Let's see if I can dig out one.


On 07/02/17 10:53, Ralph Lange wrote:
Dear motion specialists,

I am writing on behalf of Paramveer Jain (in CC) who has contacted me with this
issue, but as I have never done motion control integration with EPICS, I'd
rather throw this ball up than send him into the wrong direction.

He is being tasked with developing EPICS support for a locally developed motor
controller.

The hardware setup can be summarized as:

  * Moxa embedded TCP-to-serial converter (NE4110S)
  * Serial connection (RS-232)
  * Homemade motor controller (based on an AT89C52)
  * Ark Motion AMS 3630 stepper motor driver.

The controller software talks ASCII in command/response fashion, e.g.:

  * Read position (rotary encoder)
    Command: STX U <CR>
    Response: STX U pppppp <CR>
    pppppp = six digit hex (divide by 640 to get millimeter)
  * Go to position (rotary encoder)
    Command: STX P1 sss pppppp <CR>
    Response: \06 (ACK)
    sss = three digit hex (speed in mm/s multiplied by 240)
    pppppp = six digit hex (millimeter multiplied by 640)
  * ...

What's the best/easiest way to do this? What are the caveats?
Is there a tutorial he could follow?
Is there existing support for another motor that he could start from?

Thanks a lot for your help!
~Ralph



Replies:
RE: How to support a new stepper motor controller? Jemian, Pete R.
References:
How to support a new stepper motor controller? Ralph Lange

Navigate by Date:
Prev: How to support a new stepper motor controller? Ralph Lange
Next: RE: How to support a new stepper motor controller? Jemian, Pete R.
Index: 1994  1995  1996  1997  1998  1999  2000  2001  2002  2003  2004  2005  2006  2007  2008  2009  2010  2011  2012  2013  2014  2015  2016  <20172018  2019  2020  2021  2022  2023  2024 
Navigate by Thread:
Prev: How to support a new stepper motor controller? Ralph Lange
Next: RE: How to support a new stepper motor controller? Jemian, Pete R.
Index: 1994  1995  1996  1997  1998  1999  2000  2001  2002  2003  2004  2005  2006  2007  2008  2009  2010  2011  2012  2013  2014  2015  2016  <20172018  2019  2020  2021  2022  2023  2024