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

Subject: Re: How to support a new stepper motor controller?
From: Torsten Bögershausen <torsten.bogershausen@esss.se>
To: Mark Rivers <rivers@cars.uchicago.edu>, Paramveer Jain <paramveerjain89@gmail.com>
Cc: "tech-talk@aps.anl.gov" <tech-talk@aps.anl.gov>
Date: Thu, 9 Feb 2017 11:24:10 +0100


On 09/02/17 09:06, Mark Rivers wrote:
I will send some detailed comments and recommendations tomorrow.

Mark


Sent from my iPhone

On Feb 8, 2017, at 9:16 PM, Paramveer Jain <paramveerjain89@gmail.com<mailto:paramveerjain89@gmail.com>> wrote:

Hello all,
            I have gone through the documentation you suggested. After understanding most of the coding I am here with some doubts.

1 >  what are controller specific parameters. ? How can I get my controller specific Parameters ?

2> in method
 asynStatus PXAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{
  asynStatus status;
  // static const char *functionName = "moveAxis";

  sprintf(pC_->outString_, "%s STX P1 %f %f CR", axisName_, maxVelocity/pulsesPerUnit_, position/pulsesPerUnit_);
  status = pC_->writeController();
  return status;
}

How will I assign value for maxVelocity and position ???

They come from the motorRecord:
Max velocity is derived from the VELO field.
The position is of course derived from the VAL field.
Both records fields are divided by MRES and send to the driver and end up measured steps
in our move() method.

(This is probably a bad explanation, hope it helps.
 And welcome to the EPICS world)




References:
How to support a new stepper motor controller? Ralph Lange
Re: How to support a new stepper motor controller? Kevin Peterson
Re: How to support a new stepper motor controller? Rod Nussbaumer
Re: How to support a new stepper motor controller? Paramveer Jain
Re: How to support a new stepper motor controller? Mark Rivers

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