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Merge branch 'dev'

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Daniel Sissom
2024-08-05 13:59:37 -05:00
parent 72d6fb6c05 ffada72c50
commit 10028ba1c1
4 changed files with 16 additions and 11 deletions
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2
dsmApp/src/MD90Driver.cpp
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@@ -183,7 +183,7 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
// Send the velocity
// Velocity provided in steps/sec
// Our unit step size of the encoder is 10 nm, but the motor moves in steps approx. 5 micrometers.
// Our unit step size of the encoder is 10 nm, but the motor moves in steps approx. 10 micrometers.
// Motor controller accepts step frequency in Hz.
freq = NINT(fabs(velocity / COUNTS_PER_STEP));
sprintf(pC_->outString_, "SSF %d", freq);

4
iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90
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@@ -2,7 +2,7 @@ file "$(MOTOR)/db/basic_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, VMAX, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
{DSM:, 0, "m$(N)", "asynMotor", MD900, 0, "MD-90", mm, Pos, 0.5, 0.025, 0.625, 0, 0, 0.03, 0, .00001, 2, 20, -20, ""}
{DSM:, 0, "m$(N)", "asynMotor", MD900, 0, "MD-90", mm, Pos, 1.0, 0.05, 1.0, 0, 0, 0.05, 0, .00001, 2, 20, -20, ""}
}
# P IOC prefix
@@ -19,6 +19,8 @@ pattern
# VMAX Maximum velocity (EGU / s) (note: not getting set here with basic_asyn_motor.db)
# ACCL Acceleration (time in seconds until VELO)
# BDST Backlash distance
# BVEL Backlash velocity
# BACC Backlash acceleration
# MRES Motor step size (EGU)
# PREC Display precision number of decimal places
# DHLM Dial high travel limit (EGU)

18
iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90.multi
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@@ -2,14 +2,14 @@ file "$(MOTOR)/db/basic_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, VMAX, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
{DSM:, 0, "m$(N)", "asynMotor", MD900, 0, "MD-90", mm, Pos, 0.5, 0.025, 0.625, 0, 0, 0.03, 0, .00001, 2, 20, -20, ""}
{DSM:, 1, "m$(N)", "asynMotor", MD901, 0, "MD-90", mm, Pos, 0.5, 0.025, 0.625, 0, 0, 0.03, 0, .00001, 2, 20, -20, ""}
{DSM:, 2, "m$(N)", "asynMotor", MD902, 0, "MD-90", mm, Pos, 0.5, 0.025, 0.625, 0, 0, 0.03, 0, .00001, 2, 20, -20, ""}
{DSM:, 3, "m$(N)", "asynMotor", MD903, 0, "MD-90", mm, Pos, 0.5, 0.025, 0.625, 0, 0, 0.03, 0, .00001, 2, 20, -20, ""}
{DSM:, 4, "m$(N)", "asynMotor", MD904, 0, "MD-90", mm, Pos, 0.5, 0.025, 0.625, 0, 0, 0.03, 0, .00001, 2, 20, -20, ""}
{DSM:, 5, "m$(N)", "asynMotor", MD905, 0, "MD-90", mm, Pos, 0.5, 0.025, 0.625, 0, 0, 0.03, 0, .00001, 2, 20, -20, ""}
{DSM:, 6, "m$(N)", "asynMotor", MD906, 0, "MD-90", mm, Pos, 0.5, 0.025, 0.625, 0, 0, 0.03, 0, .00001, 2, 20, -20, ""}
{DSM:, 7, "m$(N)", "asynMotor", MD907, 0, "MD-90", mm, Pos, 0.5, 0.025, 0.625, 0, 0, 0.03, 0, .00001, 2, 20, -20, ""}
{DSM:, 0, "m$(N)", "asynMotor", MD900, 0, "MD-90", mm, Pos, 1.0, 0.05, 1.0, 0, 0, 0.05, 0, .00001, 2, 20, -20, ""}
{DSM:, 1, "m$(N)", "asynMotor", MD901, 0, "MD-90", mm, Pos, 1.0, 0.05, 1.0, 0, 0, 0.05, 0, .00001, 2, 20, -20, ""}
{DSM:, 2, "m$(N)", "asynMotor", MD902, 0, "MD-90", mm, Pos, 1.0, 0.05, 1.0, 0, 0, 0.05, 0, .00001, 2, 20, -20, ""}
{DSM:, 3, "m$(N)", "asynMotor", MD903, 0, "MD-90", mm, Pos, 1.0, 0.05, 1.0, 0, 0, 0.05, 0, .00001, 2, 20, -20, ""}
{DSM:, 4, "m$(N)", "asynMotor", MD904, 0, "MD-90", mm, Pos, 1.0, 0.05, 1.0, 0, 0, 0.05, 0, .00001, 2, 20, -20, ""}
{DSM:, 5, "m$(N)", "asynMotor", MD905, 0, "MD-90", mm, Pos, 1.0, 0.05, 1.0, 0, 0, 0.05, 0, .00001, 2, 20, -20, ""}
{DSM:, 6, "m$(N)", "asynMotor", MD906, 0, "MD-90", mm, Pos, 1.0, 0.05, 1.0, 0, 0, 0.05, 0, .00001, 2, 20, -20, ""}
{DSM:, 7, "m$(N)", "asynMotor", MD907, 0, "MD-90", mm, Pos, 1.0, 0.05, 1.0, 0, 0, 0.05, 0, .00001, 2, 20, -20, ""}
}
# P IOC prefix
@@ -26,6 +26,8 @@ pattern
# VMAX Maximum velocity (EGU / s) (note: not getting set here with basic_asyn_motor.db)
# ACCL Acceleration (time in seconds until VELO)
# BDST Backlash distance
# BVEL Backlash velocity
# BACC Backlash acceleration
# MRES Motor step size (EGU)
# PREC Display precision number of decimal places
# DHLM Dial high travel limit (EGU)

3
iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90
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@@ -35,4 +35,5 @@ iocInit
# This IOC does not use save/restore, so set values of some PVs
dbpf("DSM:m0.RTRY", "0")
dbpf("DSM:m0.TWV", "0.1")
dbpf("DSM:m0.VMAX", "0.625")
dbpf("DSM:m0.VMAX", "1.0")
dbpf("DSM:m0.HVEL", "1.0")