From 7fbdf4b99edb6015a762f9d51b67d510b2ee74f8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?= Date: Wed, 13 Nov 2024 12:01:59 +0100 Subject: [PATCH 1/2] docs/motorRecord.html: CNEN is implementation specific The CNEN field has been developed with motion controllers which can switch between open- and closed-loop. In modern controllers this is hard-coded inside the motion controller, or to be more exact, sometimes the configuration of ths controller. In other words, the CNEN field has been used to enable or disable the motor. Make this different usage and functionality more clear. --- docs/motorRecord.html | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) diff --git a/docs/motorRecord.html b/docs/motorRecord.html index 4e9255ce8..763c15ca3 100644 --- a/docs/motorRecord.html +++ b/docs/motorRecord.html @@ -2875,11 +2875,18 @@

Servo fields

R/W Enable control RECCHOICE - (0:"Disable", 1:"Enable")  Enable/Disable closed-loop position control.  - This field is active only if the GAIN_SUPPORT bit in the MSTA is true.  - This field is set by both the user and device support.  CNEN is set to Disable - by device support when it detects a motion controller error; e.g. maximum - following error exceeded. + This field is active only if the GAIN_SUPPORT bit in the MSTA is true. + The function of this field is depending on the motion controller. + This field is set by both the user and device support. +
  • + Some (older?) controllers can switch between open- and closed-loop. (0: open loop, 1: closed loop) +
    • +
  • + Some controllers use this field to enable torque control +
    • +
  • + Most modern controllers use this field to enable/disable the motor (amplifier/driver) +
    • PCOF From df0132e73ea594ed6e7de2d77f2df84d39fe7cb1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?= Date: Wed, 13 Nov 2024 12:12:26 +0100 Subject: [PATCH 2/2] docs/motorRecord.html: Document HOMF and HOMR better Modern motion controller may have more advanced homing sequences the what is specified in the motorRecord documentation. However, many installations and implementations still use the HOMF and HOMR fields to initiate such a homing sequence. Make this more clear. --- docs/motorRecord.html | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/docs/motorRecord.html b/docs/motorRecord.html index 763c15ca3..3b4f7cdc9 100644 --- a/docs/motorRecord.html +++ b/docs/motorRecord.html @@ -2377,7 +2377,13 @@

    Field Descriptions

    In addition to fields common to all record types (se motor stops, the VAL field will be set equal to the RBV field, and the DVAL field will be set equal to the DRBV field.  These fields can be set to 1, but setting either field to 0 results in an error.  The record sets HOM[F/R] - to zero when the homing procedure is either completed or aborted. + to zero when the homing procedure is either completed or aborted. + Note that modern controllers, depending on their firmware and configuration, + may do different things. Examples are home into the limit switch, move + into a limit switch, return and search for a home switch or other sequences. + Often HOMF and HOMR then yield the same functionality. + And the controller may choose to do nothing, if a motor is not homable. +