Merge branch 'commands' into dev

dsmApp/src/MD90Driver.cpp

@@ -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;
 }
 
@@ -208,13 +205,15 @@ asynStatus MD90Axis::moveVelocity(double minVelocity, double maxVelocity, double
     
   status = sendAccelAndVelocity(acceleration, maxVelocity);
 
-  /* MD-90 does not have jog command. Move 1 million steps */
+  /* MD-90 does not have jog command. Move max 6000 steps */
+  sprintf(pC_->outString_, "SNS 6000");
+  status = pC_->writeReadController();
   if (maxVelocity > 0.) {
     /* This is a positive move in MD90 coordinates */
-    sprintf(pC_->outString_, "#%02dI+1000000", axisNo_);
+    sprintf(pC_->outString_, "ESF");
   } else {
-      /* This is a negative move in MD90 coordinates */
-      sprintf(pC_->outString_, "#%02dI-1000000", axisNo_);
+    /* This is a negative move in MD90 coordinates */
+    sprintf(pC_->outString_, "ESB");
   }
   status = pC_->writeReadController();
   return status;
@@ -230,22 +229,46 @@ asynStatus MD90Axis::stop(double acceleration )
   return status;
 }
 
-asynStatus MD90Axis::setPosition(double position)
-{
-  asynStatus status;
-  //static const char *functionName = "MD90Axis::setPosition";
-
-  sprintf(pC_->outString_, "#%02dP=%+d", axisNo_, NINT(position));
-  status = pC_->writeReadController();
-  return status;
-}
-
+/** 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.
+  */
 asynStatus MD90Axis::setClosedLoop(bool closedLoop)
 {
   asynStatus status;
   //static const char *functionName = "MD90Axis::setClosedLoop";
 
-  sprintf(pC_->outString_, "#%02dW=%d", axisNo_, closedLoop ? 1:0);
+  if (closedLoop == 1) {
+    sprintf(pC_->outString_, "EPM");
+  } else {
+    sprintf(pC_->outString_, "DPM");
+  }
+  status = pC_->writeReadController();
+  return status;
+}
+
+/** 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
+  */
+asynStatus MD90Axis::setIGain(double iGain)
+{
+  asynStatus status;
+  //static const char *functionName = "MD90Axis::setIGain";
+
+  iGain = iGain * 100;
+  if (iGain < 1) iGain = 1.0;
+  if (iGain > 100) iGain = 100.0;
+  sprintf(pC_->outString_, "SGN %d", NINT(iGain));
+  status = pC_->writeReadController();
+  return status;
+}
+
+asynStatus MD90Axis::doMoveToHome()
+{
+  asynStatus status;
+  //static const char *functionName = "MD90Axis::doMoveToHome";
+
+  sprintf(pC_->outString_, "CLM 0");
   status = pC_->writeReadController();
   return status;
 }
@@ -255,7 +278,8 @@ asynStatus MD90Axis::setClosedLoop(bool closedLoop)
   * 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;
@@ -263,7 +287,7 @@ asynStatus MD90Axis::poll(bool *moving)
   int replyValue;
   int done;
   int driveOn;
-  int home;
+  int homed;
   double position;
   asynStatus comStatus;
 
@@ -332,8 +356,8 @@ asynStatus MD90Axis::poll(bool *moving)
   if (comStatus) goto skip;
   // The response string is of the form "0: Home status: 1"
   sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
-  home = (replyValue == '1') ? 1:0;
-  setIntegerParam(pC_->motorStatusAtHome_, home);
+  homed = (replyValue == '1') ? 1:0;
+  setIntegerParam(pC_->motorStatusHomed_, homed);
 
   // Read the drive power on status
   sprintf(pC_->outString_, "GPS");

dsmApp/src/MD90Driver.h

@@ -26,8 +26,9 @@ public:
   asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
   asynStatus stop(double acceleration);
   asynStatus poll(bool *moving);
-  asynStatus setPosition(double position);
   asynStatus setClosedLoop(bool closedLoop);
+  asynStatus setIGain(double iGain);
+  asynStatus doMoveToHome();
 
 private:
   MD90Controller *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.

iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90

@@ -14,9 +14,9 @@ pattern
 # DESC	Description
 # EGU	Engineering units
 # DIR	Direction
-# VELO	Velocity (EGU / s)
+# VELO	Velocity (EGU / s) (note: jog velocity set separately by JVEL)
 # VBAS	Minimum velocity (EGU / s)
-# VMAX	Maximum velocity (EGU / s) (not getting set here with basic_asyn_motor.db)
+# 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
 # MRES	Motor step size (EGU)