| ELMO.MAC
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[
source code |
installed at |
configured at
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See other macros in category:
Positioning
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Description:
Macros to control ELMO motor controller through macro motor.
Tested only with model "Whistle 2.02.07.00" through RS232 and
driving a single rotation stage.
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Documentation:
DESCRIPTION
- Configuring macro motors
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- 1)
You must have an entry in "MOTORS" table for each controller
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The "DEVICE" field must be set to string "elmo"
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The "ADDR" must be set to the serial line already declared
in the current session config (ex: "6"). The serial line
settings are 19200 bauds with mode Raw
- -
The "NUM" should be set to
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The "TYPE" field must be set to "Macro Motors"
- 2)
For each axis you must define a motor with:
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The "Controller" field set to "MAC_MOT"
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The "Unit" field, numbered from 0,
must be set to the MOTORS entry.
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The "Module" field is not used
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The "Chan" field is not used
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The "Linear/Rotary" field set to 1 for rotary motors, 0 otherwise
- Controller mode (user_mode motor_par)
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- Position control mode
- On spec reconfig, the control position is automatically set.
The ELMO corresponding user_mode is 4 for linear motors (aux. encoder feedback loop) or
5 for rotary motors (main encoder feedback loop) depending on "Linear/Rotary" field in spec config.
- Speed control mode
- Correspond to ELMO user_mode = 2. In this mode, higher velocity can be reached but
no control position commands can be executed (ie. no standard mv/mvr/...).
- Motor parameters implemented
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- closed_loop
- Switch on(1) / off(0) the closed loop
- power
- Switch motor on(1) / off(0). On power ON, the command position is updated.
If the user_mode is in control position (4 or 5), on power ON, the command position is updated.
If ran outside config (ie. on a motor_par), read_motors(0x6) is called to update spec internals.
- enc_position
- Return actual encoder position
- user_mode
- Change the ELMO control mode (4/5: position control, 2: speed control). When switching to position control
mode, the command position is updated. The read_motors(0x6) is executed to update spec internals.
- jog_speed
- Start a jog speed motion in (deg or mm)/sec. Stop it if speed = 0.
- Homing procedure implemented
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- chg_dial(mot, "home+")
- Jog motor in user positive direction until home switch. Sets the controller position (dial) to the
position eventually defined in spec config as "home position" (0 by default)
- chg_dial(mot, "home-")
- Same procedure moving in negative direction
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Macros:
elmodebug
Usage: elmodebug
Toggle on/off debug messages
elmohome
Usage: elmohome <motor> <user_position>
Search home switch in positive direction,
sets the position to 0 and then move motor to user_position
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Internal Macros:
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elmodebug_init
Usage: elmodebug_init
elmo_config
Usage: elmo_config(num,type,p1,p2,p3)
MACRO MOTOR:
Called by spec after reading the config file
elmo_par
Usage: elmo_par(num,key,todo,p1)
MACRO MOTOR:
Called by spec after reading the config file, after calling _config()
and only if parameters are set in the config file for a motor.
elmo_cmd
Usage: elmo_cmd(num,key,p1,p2)
MACRO MOTOR:
Called by spec on motor operation.
elmo_query
Usage: elmo_query (serialline, command)
Send the command to the ELMO controller and returns its string
answer if any or empty string if none.
If case of error, returns -1.
elmo_parseanswer
Usage: elmo_parseanswer (command, answer)
Parse controller serial response. Check command echo, error character,
and return answer or (-1) on error
elmo_multiquery
Usage: elmo_multiquery(sl, ncmd, cmds, vals)
Send multiple commands to controller (ncmd commands defined in ass array cmds[]).
Parse answer of each commands and return answer or (-1) on errors in ass array vals[]
Global return is 0 if sucess, -1 if one of the commands fails.
elmo_printerr
Usage: elmo_printerr (err)
Print a string message corresponding to the binary error code given.
See "Command Reference Manual" page 3-32 for detailed list.
elmo_round
Usage: elmo_round (x)
Return a well rounded integer as opposed to int() which always
round down
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| Filename: | elmo.mac |
| Author: | MP BLISS (Original 8/2011).
$Revision: 1.13 $ / $Date: 2017/06/13 15:03:55 $ |
| Last mod.: | 13/06/2017 17:04 by papillon |
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