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Motor record – next generation ?

This article explores the evolution and improvements in motor records, focusing on interfaces, modern controllers, future advancements, and current challenges. The history, current status, and future plans contribute to a comprehensive overview of motor control systems. Experience the progress in motion control technology from the past to potential future developments.

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Motor record – next generation ?

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  1. Motor record – next generation ? Torsten Bögershausen Motion Control and Automation Group www.europeanspallationsource.se

  2. History • Motor Record 4.1: February 2000 • Well defined interface(s) → popular • Designed + does work well with stepper motor cards • Configuration values for controller in record (VELO, ACCL, soft limits,...)

  3. Future • ESS: Much higher (neutron) flux- Measure fast- Move fast • Modern controllers: - Improved dynamics (closed loop, jerk,...) - Many more parameters - Engineering tool for setup and ”tuning”

  4. Improvements so far • Possible to ”revert” the configuration: • Values from controller through driver into Record(soft limits, VMAX, VELO, ACCL)

  5. Today • Fork from motor, called axis • Simulator via TCP/IP • Test suite • Work ongoing 2016-2017

  6. Tomorrow ? • Split: drivers as Git submodule • Record: call it motor (again) • Only model 3 • Glitch compensator • More updates: 2018 @ EPICS meeting

  7. Thanks • Thanks for listening • Questions: Round table here at ICALEPCS

  8. Extra • local meeting here at ICALEPCS

  9. Extra - Glitch compensator • Motor is reported ”ready”, but has not yet started (workaround for EthercatMC) • Set RTRY to 1, RDBD to MRES and ”tweak” Motor will be reported as MISS (bug) • caput -c -w 30 IOC:m1.HOMF(Is this working ?) • Glitches in state machine(s) with asyn ?

  10. Extra – Advanced controllers • STOP on LS may confuse controllers:disturbs the ongoing ”ramp down” • Solution (?)- use a counter before stop - turn off the power • Device support: Send all data in one go!

  11. Extra - Plans • Split into Git submodules (axis project(?),model 3 drivers only) • Rename axisRecord into motorRecord • Call Git motorX • Include foreign Gits as remotes

  12. Extra - Done • Add SDBD field for servos • Removed all ”latest” fields • Removed NTM, NTMF (did old code work?) • FRAC does nothing (better done in driver) • Position readback (motor/encoder) was crippled to 32 bits. • Soft limits from controller (model1 could do,model 3 could not)

  13. Extra – Device support • Model 3 has methods move(), moveVelocity() • Device support split into VEL, ACC, POS, GO→ can be done easier → rewrite dev Support • Model 1 & 2 convert into Model 3 • INIT, PREM, POST ? • Soft motor already lost

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