ALFA turret motor

10sep08

hardware
software
problems

Hardware:


Software- alfa_motor.c

ALFAMOTOR:
The ALFA rotator should now be working.
Commands are send to the ALFAMOTOR socket.
Commands to this socket are:
POSITION  degrees [ REPLY ]  - Starts the ALFA rotator moving to the desired position in degrees.
Valid positions are +/- 100 degrees. If you put the optional "REPLY" command, it will send a message when
it gets there. If it never gets there (maybe because somebody sent a DISABLE command) it will barf an
error. The REPLY option was added for the observing executive so that it can block till the rotator is
in-position. The POSITION command always sends DISABLE then ENABLE and then the position
command.This action clears any pending move commands.
ENABLE - Enables the rotator to accept POSITION commands. (Never needed in practice.)
DISABLE - Stops the rotator from moving.
RAW enc_counts velocity - Debug tool.

The position is polled every half a second and if it changes it  is sent to the
ALFAMON program which broadcasts the position with the monitor data every 10 seconds.
There is a new keyword for the tcl/tk alfa command to return the motor position called:
alfa motor_position
The motor is controlled via a serial port plugged into the aeroncpu (192.168.100.118)
computer in the wapp room.


Problems:


Manuals:

Setup and Reference Guide ServorStar CD (we're using a CE06)
ServoStart S and ServoStar CD installation manual
ServoStar S andCD series Sine encoder feedback
Application note: S/CD Series Serial communications protocol
Application note: Servostar S/CD position control
Kolmorgon documentation ServoStartCD controller.

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