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<== Date ==> | <== Thread ==> |
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Subject: | Re: How to support a new stepper motor controller? |
From: | Maren Purves <[email protected]> |
To: | Ralph Lange <[email protected]> |
Cc: | EPICS Tech Talk <[email protected]> |
Date: | Tue, 7 Feb 2017 04:45:15 -1000 |
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