Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Doc CNEN HOMF HOMR better #221

Merged
merged 2 commits into from
Nov 19, 2024
Merged

Doc CNEN HOMF HOMR better #221

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
7fbdf4b
docs/motorRecord.html: CNEN is implementation specific
tboegi Nov 13, 2024
df0132e
docs/motorRecord.html: Document HOMF and HOMR better
tboegi Nov 13, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
25 changes: 19 additions & 6 deletions docs/motorRecord.html
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2377,7 +2377,13 @@ <h2>Field Descriptions</h2> 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.&nbsp; These fields can be set to 1,
but setting either field to 0 results in an error.&nbsp; The record sets HOM[F/R]
to zero when the homing procedure is either completed or aborted.</td>
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.
</td>
</tr>
<tr valign="top">
<td><br>
Expand Down Expand Up @@ -2875,11 +2881,18 @@ <h2>Servo fields</h2>
<td>R/W</td>
<td>Enable control</td>
<td>RECCHOICE</td>
<td>(0:"Disable", 1:"Enable")&nbsp; Enable/Disable closed-loop position control.&nbsp;
This field is active only if the GAIN_SUPPORT bit in the MSTA is true.&nbsp;
This field is set by both the user and device support.&nbsp; CNEN is set to <i>Disable</i>
by device support when it detects a motion controller error; e.g. maximum
following error exceeded.</td>
<td>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.
<li>
Some (older?) controllers can switch between open- and closed-loop. (0: open loop, 1: closed loop)
</li>
<li>
Some controllers use this field to enable torque control
</li>
<li>
Most modern controllers use this field to enable/disable the motor (amplifier/driver)
</li>
</tr>
<tr valign="top">
<td>PCOF</td>
Expand Down
Loading