Hi
I am trying to set up EPICS control for a XY-scanning table.
Control of the motor controller for the two stepper motors via RS232 is
rather simple, and already implemented via StreamerClass:
The controller understands 4 simple commands:
u100/r
d100/r
l100/r
r100/r to move the motors up/down/left/right by 100 steps.
In return, AFTER FINISHING the move (which can take up to 10sec), the
controller returns a "OK/r/n"
So far i was using a protokoll like this:
move {
out "\$1%d\r";
in "OK\r\n";
}
and 4 EPICS records for moving like this:
record(longout, "XY:movel")
{
field(DESC, "Move XY-Table left")
field(DTYP, "stream")
field(OUT, "@devXYtableSupport.proto move(l) $(PORT) $(A)")
field(FLNK, "XY:posX.PROC")
}
However, due to the long move-times, this is not ideal. As i understand
from the documentation, one should rather implement an asynchronous control.
Best would be, to have a separate boolan record "motorsmoving" which is
set to "TRUE" every time i send a move command to the controller, and
which is set back to "FALSE" once the controller sends back the "OK".
Any advice how to proceed ???
I am fighting for days now...
Thanks for any help !
Christian
--
Dr. Christian Pauly
Bergische Universität Wuppertal
Fachbereich C - Physik
Gaußstraße 20, D-42119 Wuppertal
Tel: +49 (0)202 439-2632,
Fax: +49 (0)202 439-2662
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