Commit 6b492110 authored by Matias Guijarro's avatar Matias Guijarro

Merge branch 'elmo_whistle' into 'master'

Elmo whistle motor controller and doc

See merge request !1256
parents 4ea141c3 62bacd56
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## Configuring an Elmo motor controller of the Whistle series from 2006
This chapter explains how to configure an Elmo whistle motor controller.
### Supported features
Encoder | Shutter | Trajectories
------- | ------- | ------------
Yes | NO | NO
The controller supports the search of hardware limits, homing and jogging features.
Three different user modes are possible:
* user_mode = 4: Used for linear movements. This mode uses the auxillary encoder feedback loop.
* user_mode = 5: Used for rotational movements. This mode uses the main encoder feedback loop.
* user_mode = 2: Speed control mode. This mode regulates the motors speed and not the motor position. In this mode
no position control is possible.
The jogging functionality sets the controller in this mode and sets it back to position control
when the jogging is stopped.
### Specific Elmo controller parameters
* **url**: Serial line to be used
* **user_mode**: One of the user modes described above
### YAML configuration file example
```YAML
- name: MR_SZ
class: Elmo_whistle
serial:
url: tango://id19/serialrp_192/22
axes:
- name: mrsz
steps_per_unit: 2000
velocity: 10 # mm/s
acceleration: 5 # mm/s2
user_mode: 4
- name: MR_SROT
class: Elmo_whistle
serial:
url: tango://id19/serialrp_192/20
axes:
- name: mrsrot
steps_per_unit: 12800
velocity: 22.5 # deg/s
acceleration: 45 # deg/s2
user_mode: 5
```
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