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<== Date ==> <== Thread ==>

Subject: RE: How to support a new stepper motor controller?
From: "Jemian, Pete R." <jemian@anl.gov>
To: Torsten Bögershausen <torsten.bogershausen@esss.se>, Ralph Lange <ralph.lange@gmx.de>, EPICS Tech Talk <tech-talk@aps.anl.gov>
Date: Tue, 7 Feb 2017 12:36:56 +0000
Start with this prefix:  http://htmlpreview.github.io/?

Like this:
http://htmlpreview.github.io/?https://raw.githubusercontent.com/epics-modules/motor/master/documentation/motorDeviceDriver.html



Sent from a device with a dreadfully small screen


-------- Original message --------
From: Torsten Bögershausen <torsten.bogershausen@esss.se>
Date: 2/7/17 5:53 AM (GMT-06:00)
To: Ralph Lange <ralph.lange@gmx.de>, EPICS Tech Talk <tech-talk@aps.anl.gov>
Subject: Re: How to support a new stepper motor controller?



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
>

References:
How to support a new stepper motor controller? Ralph Lange
Re: How to support a new stepper motor controller? Torsten Bögershausen

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