M663 (Piezo Motor, PI)

If the M663 motors are connected via an USB adaptor, we define:

define /device=piezo_motor/module=m663/ifc="/dev/ttyUSB7"/chan=1 mot41
define /device=piezo_motor/module=m663/ifc="/dev/ttyUSB7"/chan=2 mot42
define /device=piezo_motor/module=m663/ifc="/dev/ttyUSB7"/chan=3 mot43

If a M663 is connected via TCP/IP, we say:

define /device=piezo_motor/module=m663/host=hasbw4piezo/port=8105 mot60
define /device=piezo_motor/module=m663/host=hasbw4piezo/port=8106 mot61
define /device=piezo_motor/module=m663/host=hasbw4piezo/port=8107 mot62
define /device=piezo_motor/module=m663/host=hasbw4piezo/port=8108 mot63

A M663 motor is operated as follows:

• The conversion factor can be set to +1 or -1. If it is set, Online ensures that the motor direction matches the sign of the conversion factor.

• If the motor is accessed for the first time in an Online session, it is ensured that the direction reflects the sign of the conversion factor.

• If the conversion factor is set, the motor does a reference move which ends at 0. At this point the calibration can be resetted: 'cali/unit=0 mot60'.

• A calibrate command defines an offset: motor_position = encpos + cal_offset. 'encpos' is the encoder position.

• The limits cannot be changed.