MAXV Encoder, Tango

The following code helps to operate a MAXV controller with an encoder axis. The widget is displayed below.

$Spc::res_h{ blsc} = "mot65encoder";
#
#
#
$Spc::res_h{ mot65encoder_title} = { text => "Mot65-Encoder"}; 

$Spc::res_h{ mot65encoder_help} = sub 
{ 
    Util::display_text( "Help MOt65Encoder", 
'
  State
    0 ON
    6 MOVING
  
  Home
    Starts the homing sequence

  Toggle auto-refresh 
    If enabled, the menu items are updated every 2 seconds. 
    See current state of this flag is displayed in the 
    log widget of the toplevel menu, if it is changed.
'
)};
$Spc::res_h{ "mot65encoder_io1"} = { 
    label => { name => "Position", 
	       get => sub { Spectra::tng_attrDoubleRd( "mot65", "Position");}},
    entry => { set => sub { Spectra::tng_inoutDoubleLong( "mot65", "Move", $_[0])}}};

$Spc::res_h{ "mot65encoder_io2"} = { 
    label => { name => "Encoder Position", 
	       get => sub { if( Spectra::tng_attrLongRd( "mot65", "FlagEncoderHomed"))
			    {
				Spectra::tng_attrDoubleRd( "mot65", "PositionEncoder");
			    }
			    else { "not homed";}}}}; 
$Spc::res_h{ "mot65encoder_io3"} = { 
    label => { name => "Encoder Home Position", 
	       get => sub { if( Spectra::tng_attrLongRd( "mot65", "FlagEncoderHomeDefined"))
			    {
				Spectra::tng_attrDoubleRd( "mot65", "HomePosition");
			    }
			    else { "home not defined";}}},
    entry => { set => sub { Spectra::tng_attrDoubleWrt( "mot65", "HomePosition", $_[0])}}}; 
$Spc::res_h{ "mot65encoder_io4"} = { 
    label => { name => "Encoder Conversion", 
	       get => sub { if( Spectra::tng_attrLongRd( "mot65", "FlagEncoderConversionDefined"))
			    {
				Spectra::tng_attrDoubleRd( "mot65", "ConversionEncoder");
			    }
			    else { "conversion not defined";}}}, 
    entry => { set => sub { Spectra::tng_attrDoubleWrt( "mot65", "ConversionEncoder", $_[0])}}}; 
$Spc::res_h{ "mot65encoder_io5"} = { 
    label => { name => "FlagHomed", 
	       get => sub { Spectra::tng_attrLongRd( "mot65", 
						       "FlagEncoderHomed");}}};
$Spc::res_h{ "mot65encoder_io6"} = { 
    label => { name => "FlagUseEncoderPosition", 
	       get => sub { Spectra::tng_attrLongRd( "mot65", 
						     "FlagUseEncoderPosition");}}, 
    entry => { set => sub { Spectra::tng_attrLongWrt( "mot65", "FlagUseEncoderPosition", $_[0])}}}; 

$Spc::res_h{ "mot65encoder_io7"} = { 
    label => { name => "State", 
	       get => sub { Spectra::tng_state( "mot65");}}}; 

$Spc::res_h{ mot65encoder_b1} = { 
    name => "Home", 
    command => sub { Spectra::tng_inout( "mot65", 
					 "MoveHome");}};

$Spc::res_h{ mot65encoder_b2} = { 
    name => "ResetMotor", 
    command => sub { Spectra::tng_inout( "mot65", 
					 "ResetMotor");}};

$Spc::res_h{ mot65encoder_option1} = { 
    name => "Toggle auto-refresh", 
    command => sub { if( defined( $BLSC::h{ w_timer}))
		     {
			 $BLSC::h{ w_timer}->cancel(); 
			 delete $BLSC::h{ w_timer};
			 Util::log( "BLSC: timer cancelled"); 
		     }
		     else
		     {
			 $BLSC::h{ w_timer} = 
			     $BLSC::h{ w_top}->after( 2000, \&BLSC::refresh);
			 Util::log( "BLSC: timer started"); 
		     }}};

The following figure displays the widget just after the axis has been homed: the motor position, the encoder position and the home position are identical.

Figure 14.9: An OMS MAXV controller with an encoder