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Updated method to set velocity and removed acceleration.

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This commit is contained in:
Daniel Sissom
2024-06-06 14:20:47 -05:00
parent 402584345f
commit 19467e5b5b
2 changed files with 20 additions and 20 deletions
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36
dsmApp/src/MD90Driver.cpp
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@@ -140,29 +140,26 @@ void MD90Axis::report(FILE *fp, int level)
asynMotorAxis::report(fp, level);
}
/** Acceleration currently unsupported with MD-90 controller
* \param[in] acceleration The accelerations to ramp up to max velocity
* \param[in] velocity Motor velocity in steps / sec
*/
asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
{
asynStatus status;
int ival;
int freq;
// static const char *functionName = "MD90::sendAccelAndVelocity";
// Send the velocity
ival = NINT(fabs(115200./velocity));
if (ival < 2) ival=2;
if (ival > 255) ival = 255;
sprintf(pC_->outString_, "#%02dV=%d", axisNo_, ival);
// Velocity provided in steps/sec
// Our unit step size of the encoder is 10 nm, but the motor moves in steps approx. 5 micrometers.
// Motor controller accepts step frequency in Hz.
freq = NINT(fabs(velocity / 500.));
if (freq < 5) freq=5;
if (freq > 125) freq = 125;
sprintf(pC_->outString_, "SSF %d", freq);
status = pC_->writeReadController();
// Send the acceleration
// acceleration is in steps/sec/sec
// MD-90 is programmed with Ramp Index (R) where:
// dval (steps/sec/sec) = 720,000/(256-R) */
// or R=256-(720,000/dval) */
ival = NINT(256-(720000./acceleration));
if (ival < 1) ival=1;
if (ival > 255) ival=255;
sprintf(pC_->outString_, "#%02dR=%d", axisNo_, ival);
status = pC_->writeReadController();
return status;
}
@@ -233,7 +230,8 @@ asynStatus MD90Axis::stop(double acceleration )
}
/** The ACS driver used this to turn on/off the motor winding current, so
* we'll use this for enabling/disabling the persistent move state. */
* we'll use this for enabling/disabling the persistent move state.
*/
asynStatus MD90Axis::setClosedLoop(bool closedLoop)
{
asynStatus status;
@@ -250,7 +248,8 @@ asynStatus MD90Axis::setClosedLoop(bool closedLoop)
/** Set the I Gain of the motor control loop. The motor is an I- controller
* and has no P or D terms.
* \param[in] iGain The current I gain in the control loop */
* \param[in] iGain The current I gain in the control loop
*/
asynStatus MD90Axis::setIGain(double iGain)
{
asynStatus status;
@@ -279,7 +278,8 @@ asynStatus MD90Axis::doMoveToHome()
* and the drive power-on status.
* It calls setIntegerParam() and setDoubleParam() for each item that it polls,
* and then calls callParamCallbacks() at the end.
* \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
* \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false).
*/
asynStatus MD90Axis::poll(bool *moving)
{
int replyStatus;