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Hardware reference : Motors : Oregon Motor Controller | ||||||||||||||
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Oregon Motor ControllerInterface:
Manufacturer:
config file PC_OMS = device_name number_of_motors INTR|POLLPC_OMSP = base_address number_of_motors POLLPC_OMSP58 = base_address memory_address number_of_motors POLLPC_OMSV = VME_address number_of_motors IRQ_number INTR|POLLPC_OMSV58 = VME_address number_of_motors IRQ_number INTR|POLLedconf: DEVICES screen
MOTORS DEVICE ADDR <>MODE NUM <>TYPE
YES /dev/oms00 INTR 4 Oregon Micro Systems PCX/38/39
YES 0x330 POLL 4 Oregon Micro Systems PCX/38/39 polled
YES 0xe000 0x300 POLL 4 Oregon Micro Systems PC58 polled
YES 0xfc00 IRQ5 8 Oregon Micro Systems VME8
YES 0xf000 POLL 8 Oregon Micro Systems VME58
spec currently supports PC board and VME module Oregon Micro Systems
motor controllers.For the PC versions of spec, the PCX, PC38 or PC39 models may be used in two, four, six or eight motor configurations. (Note, the newer PC34 and PC48 models should be used with the PCX/38/39 configuration.) spec can operate with a CSS-supplied driver (on certain platforms) or completely from user level using I/O port polling. The driver does require a dedicated PC interrupt, and at present, is limited to support of only one board. If I/O port polling is used, spec allows use of multiple boards. The driver is contained in the file oms.c in the drivers subdirectory of the spec distribution. See the README file in the that directory for instructions on installing the driver into the UNIX kernel. There is no driver for the PC58 board. It is only supported in polled mode. For VME, the VME8, VME44 and VME58 models are supported. The VME8 operates eight motors, while the VME44 operates four motors with encoders, although software options for encoders are not currently implemented in spec . Multiple OMS VME motor controllers can be used simultaneously and are generally operated in polled mode. Interrupt-driven mode is currently only supported with the National Instruments MXI-VXI controllers. OMS motor controllers can have from two to eight motors. spec numbers the motors the OMS manuals designate X, Y, Z, T, U, V, R and
S as 0 through 7, in that order.The first example above selects the PC board with the driver node /dev/oms00. The driver may be used in either interrupt or polled mode. Interrupt mode means the spec program will be interrupted when motors complete their motions or hit a limit. In polled mode, the wait() function must be called repeatedly to check the status of the motor. Interrupt mode generally gives better performance, although in earlier versions of spec , software problems could be overcome by using polled mode. A PC interrupt is always required when the driver is used, even when polled mode is selected. The second example selects the PC board with I/O port polling, with the board's base address at 0x330 , and with four motors on the board.The third example selects the PC58 board at I/O port 0x300 . The
PC58 also require 4,096 bytes of low memory. The example configuration with
the address entered as 0xE000 in the DEVICE column selects a
real memory address of 0xE0000 , as the value in the configuration
is multiplied by 16.The fourth example selects the VME8 and VME44 modules, with the board's A16 base address jumpered at 0xFC00 and with the VME interrupt
request jumpered for IRQ5 . Any of the VME IRQ vectors may
be selected as can be polled mode. If more than one VME OMS controller
is being used, all must be in polled mode or all must use interrupts.
Different boards may use the same interrupt, though.The last example selects the VME58 model. Note, this model requires 4096 bytes of A16 address space, so valid addresses have one hexadecimal digit followed by three zeroes. On the motor screen (M) of the configuration editor, all of the OMS controllers use the symbol OMS or OMS_E in the controller field of the screen. The latter indicates the motor is being used with an encoder. Function Reference:
The following special commands are available through the motor_par() function. The two letter commands are direct
implementations of commands described in the OMS manual. Refer to that
manual for more information. Not all commands are available on all
versions of the OMS controllers or on all firmware versions for a
particular controller.
----- ----- -----
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d| | | | | |
y| | | | | |
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o ----- ----- ---> dx
The scan starts at the point o , as specified with the
commands below, and continues in the x and y directions
in the range as specified with the commands below. At the
end of the range, the motors are returned to the starting position and
the scan is repeated.Two motors must be configured with the mnemonics dx and
dy in order for the asynchronous scanning mode to be available.
When not in scanning mode, these motors may be moved normally.Once started, the scanning will continue until explicitly stopped either with the "stop_scan" command (shown below), with
a ^C typed at the keyboard or with a sync
command (which aborts the motors, but doesn't update spec 's positions).
While scanning, the wait() function will not indicate
these motors are moving. The getangles command will,
however, return the current positions of these motors.When the dx and dy motors are scanning,
the remaining motors may be moved independently.
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