From ffada72c5005a2f15e976e921a4f4b39f5d303a2 Mon Sep 17 00:00:00 2001 From: Daniel Sissom Date: Mon, 5 Aug 2024 13:58:33 -0500 Subject: [PATCH] Updated default motor speeds. --- dsmApp/src/MD90Driver.cpp | 2 +- .../iocBoot/iocDsm/motor.substitutions.md90 | 4 +++- .../iocDsm/motor.substitutions.md90.multi | 18 ++++++++++-------- iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90 | 3 ++- 4 files changed, 16 insertions(+), 11 deletions(-) diff --git a/dsmApp/src/MD90Driver.cpp b/dsmApp/src/MD90Driver.cpp index 33d0181..4d56f56 100644 --- a/dsmApp/src/MD90Driver.cpp +++ b/dsmApp/src/MD90Driver.cpp @@ -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); diff --git a/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90 b/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90 index 6c21e47..bc32390 100644 --- a/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90 +++ b/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90 @@ -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$(N)", "asynMotor", MD900, 0, "MD-90", mm, Pos, 1.0, 0.05, 1.0, 0, 0, 0.05, 0, .00001, 2, 20, -20, ""} } # P IOC prefix @@ -19,6 +19,8 @@ pattern # VMAX Maximum velocity (EGU / s) (note: not getting set here with basic_asyn_motor.db) # ACCL Acceleration (time in seconds until VELO) # BDST Backlash distance +# BVEL Backlash velocity +# BACC Backlash acceleration # MRES Motor step size (EGU) # PREC Display precision number of decimal places # DHLM Dial high travel limit (EGU) diff --git a/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90.multi b/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90.multi index d8d483d..17756ee 100644 --- a/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90.multi +++ b/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90.multi @@ -2,14 +2,14 @@ file "$(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) diff --git a/iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90 b/iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90 index 5893de1..ea93594 100644 --- a/iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90 +++ b/iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90 @@ -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")