5.5.8.2. - Motor Parameters
Motor parameter assignment consists of key words of the form
MOT000, MOT001, ...,
followed by 11 values.
The
MOT key words must be numbered consecutively starting at zero.
The values are:
| 1 | Controller type (E500, SMC, OMS, ...) |
| 2 | Steps per unit (degrees, mm, ...) (sign changes direction of motion) |
| 3 | Sign between user and dial units (+1 or -1) |
| 4 | Steady state rate (Hz) (must be positive) |
| 5 | Base rate (Hz) (must be positive) (also used as backlash rate) |
| 6 | Steps for backlash (sign changes direction of motion) |
| 7 | Acceleration time (msec) |
| 8 | Not used |
| 9 | Motor flags in hexadecimal (protection, units, etc.) |
| 10 | Motor mnemonic (th, phi, sl1, ...) |
| 11 | Motor name (Theta, Phi, Slit 1, unused, ...) |
An example is:
# Motor cntrl steps sign slew base backl accel nada flags mne name MOT000 = E500 -2000 1 2000 200 50 125 0 0x003 tth Two Theta
Valid controller types currently include:
18011 |
Oriel Encoder Mike Controller 18011 |
18092 |
Oriel Encoder Mike 18092 |
ANORAD |
Anorad I-Series Controller |
ANORAD_E |
As above, but with encoder |
CM3000 |
Compumotor 3000 |
CM4000 |
Compumotor 4000 |
CMSX |
Compumoter SX |
CMSX_E |
As above, but with encoder |
DAC_B12 |
PC DAC 12-Bit D/A (binary output) |
DAC_B16 |
PC DAC 16-Bit D/A (binary output) |
DAC_T12 |
PC DAC 12-Bit D/A (two's complement) |
DAC_T16 |
PC DAC 16-Bit D/A (two's complement) |
E250 |
DSP E250 12-Bit D/A as Motor Controller |
E500 |
DSP Technology E500A |
E500_M |
As above, but with multiplexor |
ECB_M |
RISO ECB Motors |
EPICS_M1 |
EPICS using spec's config motor parameters |
EPICS_M2 |
EPICS using EPICS' database motor parameters |
ES_OMS |
ESRF using VME OMS |
ES_VPAP |
ESRF using VME Vpap |
GALIL |
Galil DMC-1000 PC Board |
HLV544 |
Highland Technology VME V544 |
HUB9000 |
Huber 9000 |
IP28 |
Micro-Controle IP28 |
ITL09 |
Micro-Controle ITL09 |
ITL09_E |
As above, but with encoder |
IXE |
Phytron IXE |
KS3112 |
Kinetic Systems 3112 12-Bit D/A |
KS3116 |
Kinetic Systems 3116 16-Bit D/A |
KS3195 |
Kinetic SystemsS 3195 16-Bit D/A |
MAXE |
ESRF VME MAXE Motor Controller |
MAXE_E |
As above, but with encoder |
MAXE_S |
As above, but with servo |
MAXE_DC |
ESRF VME DC Motor Controller |
MC4 |
Klinger MC4 |
MCB |
Advanced Control Systems MCB |
MCU |
Advanced Control Systems MCU |
MCU_E |
As above, but with encoder |
MCU_H |
As above, with with Heidenhain encoder |
MCU_O |
As above, but with old PROMs |
MM2000 |
Newport MM2000/3000 |
MM2000_E |
As above, but with encoder |
MM2500 |
Newport MM2500 |
MM2500_E |
As above, but with encoder |
MM4000 |
Newport MM4000/4005 |
MM4000_E |
As above, but with encoder |
MMC32 |
NSLS homemade |
MURR |
Missouri Research Reactor Motors |
MURR_E |
As above, but with encoder |
NF8732 |
New Focus Picomotor 8732 |
NONE |
Pseudo controller |
NSK |
NSK Motor Controller |
NT2400 |
Laboratory Equipment Corporation Model |
OMS |
Oregon Micro Systems PCX/34/38/39/48 |
OMS_E |
As above, but with encoder |
PI |
PI DC Motor Controller |
PM500 |
Newport PM500 |
RIGAKU |
Rigaku RINT-2000 Motor Controller |
SCIPE_A |
SCIPE Actuator Device |
SIX19 |
Micro-Controle SIX19 |
SMC |
Joerger Single Motor Controller |
SPI8 |
Advanced Control System SPI-8 |
TSUJI |
Tsuji PM16C-02N |
XIAHSC |
XIA HSC-1 |
XRGCI_M |
Inel XRGCI motor controller/timer |
Field 2, the steps per unit, may be non-integral, and the units can be in degrees, millimeters or whatever. The rest of the numeric fields must be integral. The motor names should be kept to nine characters or less, as the standard macros truncate them to fit a nine-character field when printing them out.
Field 8 is reserved.
Field 9, the flags field, contains several kinds of information. The lowest order two bits are used to enable particular operations on the selected motor. If bit 0 is set, the user can move the motor. If bit 1 is set, the user can change the software limits of the motor. Bits 2 and 3 are used by the edconf program to prevent users from changing certain configuration information. Bits 8 through 12 are used with the shared config file feature described below.
Optional motor parameters appear on lines following the
MOT keywords and are of the form
MOTPAR:dcgain = 1500Each
MOTPAR refers to the immediately preceding motor.
Possible parameters are:
encoder_step_size step_mode slop home_slew_rate home_base_rate home_acceleration dc_dead_band dc_settle_time dc_gain dc_dynamic_gain dc_damping_constant dc_integration_constant dc_integration_limit dc_following_error dc_sampling_interval deceleration read_mode torque misc_par_1 misc_par_2 misc_par_3 misc_par_4 misc_par_5 misc_par_6Most parameters are not used by most motor controllers.