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epics-motor / motorKohzu

EPICS motor drivers for Kohzu controllers
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Does this support the latest version of Kohzu controller ARIES and LYNX? #2

Open qinwenming opened 3 years ago

qinwenming commented 3 years ago

The readme file says this is EPICS motor drivers for the following Kohzu controllers: SC-200, SC-400, SC-800 stepper motor controllers.

Does this support the latest version of Kohzu controller ARIES and LYNX? Or should I do some modification for supporting ARIES and LYNX.

I tried this module with ARIES and LYNX, but didn't work. Is there any other Kohzu ioc support ARIES and LYNX.

Thanks a lot.

Wenming

kmpeters commented 3 years ago

Many of the commands on page 56 of the following manual are the same as the ones the EPICS driver for the SC-800:

https://www.kohzuprecision.com/fileadmin/user_upload/pdfs/manuals/ARIES_LYNX_manual_Rev1.20_en.pdf

One difference I see is that the enable/disable torque command doesn't appear to be supported:

https://github.com/epics-motor/motorKohzu/blob/0b11d6fe415dbb77fe22db5c3fbaeac6ea0e5e05/kohzuApp/src/devSC800.cc#L308-L314

I tried this module with ARIES and LYNX, but didn't work.

This is because the driver sends the controller the IDN command during motor initialization and it doesn't recognize the version string from the ARIES controller:

https://github.com/epics-motor/motorKohzu/blob/0b11d6fe415dbb77fe22db5c3fbaeac6ea0e5e05/kohzuApp/src/drvSC800.cc#L558-L576

How does the ARIES controller respond ot the IDN command?

Once the driver is modified to detect the ARIES controller, the existing support should work. I can create a branch for you to test it.

1458861693 commented 7 months ago

@kmpeters , I am using the ARIES and LYNX motor controller by epics, but there is no ARIES and LYNX support in motorKohzu module, only SC-200、SC-400 and SC-800 series controllers can be supported. Could you give me some help? Please. Thanks very much!

kmpeters commented 7 months ago

I'm not able to provide much help at this time.

My normal recommendation would be to write a new model-3 asyn motor driver for the ARIES and LYNX motor controllers, however, because the controllers share commands with the existing SC-800 driver, it might be easier to copy and modify the SC-800 driver.

The 2015 EPICS training had a presentation on how to write motor drivers:

https://epics.anl.gov/docs/APS2015.php

1458861693 commented 7 months ago

@kmpeters , Thanks for your reply, I will try to modify the SC-800 driver after I know how to write a motor driver. Thanks very much for your help.