EPICS Controls Argonne National Laboratory

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: Ernest L Williams <[email protected]>
To: <[email protected]>
Date: Tue, 7 Feb 2017 06:20:17 -0800

On 02/07/2017 01:53 AM, 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?
Here I recommend that the driver be written as a Model 3 Driver


What are the caveats?
Is there a tutorial he could follow?
http://www.aps.anl.gov/bcda/synApps/motor/R6-9/motor_release.html
Mark may have some updates on this as he has given classes at SLAC in the past.
There may even be a Youtube video :)


Is there existing support for another motor that he could start from?
I would recommend to follow:
<MOTOR>/motorApp/SmarActMCSSrc


By the way, a very timely tech-talk question. :)

This leads me to a related question.

SLAC has contributed a few more motor drivers as well.
Should the motor module be unbundled as was done for ADCore?
If the answer is yes, we would like to begin unbundling the motor drivers.
The number of motion controllers continue to grow.  :(


Cheers,
Ernest


Thanks a lot for your help!
~Ralph



Replies:
RE: How to support a new stepper motor controller? Mark Rivers
RE: How to support a new stepper motor controller? Mark Rivers
References:
How to support a new stepper motor controller? Ralph Lange

Navigate by Date:
Prev: RE: How to support a new stepper motor controller? Jemian, Pete R.
Next: Re: How to support a new stepper motor controller? Maren Purves
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: RE: How to support a new stepper motor controller? Jemian, Pete R.
Next: RE: How to support a new stepper motor controller? Mark Rivers
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 
ANJ, 21 Dec 2017 Valid HTML 4.01! · Home · News · About · Base · Modules · Extensions · Distributions · Download ·
· Search · EPICS V4 · IRMIS · Talk · Bugs · Documents · Links · Licensing ·