The Real Motor Entry

A real motor is a motor controlled by a hardware DHS.

An entry for a Real Motor definition should be in the following generic format:

Line 1:motorName
Line 2:1
Line 3:responsibleDHS externalMotorName
Line 4:position upperLimit lowerLimit scaleFactor speed acceleration backlash lowerLimitOn upperLimitOn motorLockOn backlashOn reverseOn circleMode units
Line 5:0
Line 6:passiveOk remoteOk localOk inHutchOk closedHutchOk
Line 7:passiveOk remoteOk localOk inHutchOk closedHutchOk

• The responsibleDHS must be the name of a DHS defined in separate entry as discussed in The DHS definition.

• The externalMotorName parameter can be the same name as the motorName, but is provided here for mapping the motor name to a DHS(s) that names the motor differently. This is common with the motors controlled by the ICS system.

• The position parameter is the current position of the motor.

• The upperLimit and lowerLimit parameters are the software limits for the motor. The limits are only used if the corresponding upperLimitOn and lowerLimitOn flags are enabled.

• The scaleFactor converts motor steps to the default units of the motor.

• The speed parameter is in units of steps/second.

• The acceleration parameter is in units of milli-seconds.

• The backlash parameter is in steps.

• The lowerLimitOn parameter can be 0 (for no software limit) or 1 (to enable the lowerLimit parameter).

• The upperLimitOn parameter can be 0 (for no software limit) or 1 (to enable the upperLimit parameter).

• The motorLockOn parameter can be 0 (which allows the motor to move) or 1 (prevents the motor from moving.)

• The backlashOn parameter can be 0 (no backlash) or 1 (uses the backlash parameter for each move.)

• The reverseOn parameter can be 0 (no internal swapping of direction) or 1 (internally swaps the direction of the motor move.)

• The circleMode parameter can be 0 (linear motion) or 1 (automatically converts 360 degrees to 0, and automatically picks the shortest path of motion.)

• The two permissions lines (lines 6 and 7) are discussed in The Device Permission Bits.

• units is

   mm|deg|eV|counts
  

Here is an example for table_vert_1 motor entry. It is is motor controlled by a DHS called gi. The DHS gi knows this motor by a different name tablev1.

table_vert_1
1
gi tablev1
23.099118 49.999984 0.000000 3145.921000 500 125 1573 0 0 0 1 0 0 mm
0
0 1 1 1 1
0 1 1 1 1