OMSMAXV (Pro-Dex, Oregon Micro Systems)

VME motor controller: 8 motors per module. The module type OMSMAXV selects the stepping motor mode.

VME: A32D16/A32D8, 4k at 0x01000000, 0x02000000, ....

Jumpers (VME connectors point right): J12 100010 ('1' means jumper set), J13 01111111011011 (for base address 0x01000000), J14 always 00000000, J8 all jumpers up, selecting stepper mode, J7 all jumpers low, selection digital I/O.

J12: The 3 leftmost jumpers select A32, A24 aund A16 mode. The A32 jumper is left. The other 3 jumpers select the IRQ which is not used.

J13: The 8 leftmost jumpers specify the base address. The least significant bit is left. An open jumper selects 1. The other 6 jumpers encode the address modifier.

The maximum slew rate is 4000000 steps per second, the maximum acceleration is 8000000 steps per second $^2$ . The step position ranges from $\pm 2^31$ .

Assignment of the limit switches: the cw limit is hit with increasing steps.

Figure 36.1 shows an OMS MAXV board configured for MOT1 - MOT8 (base 0x1000000). The following figures show some details: 36.2 show the default settings of the J7 and J8 jumpers, 36.3, 36.4, 36.5 show the base address selection for (MOT1-MOT8), (MOT9-MOT16), (MOT17-MOT24).

Stepping motors are introduced to Online by:

define/dev=stepper/mod=omsmaxv/base=0x01000000/vec=0x0/chan=0 mot1 
define/dev=stepper/mod=omsmaxv/base=0x01000000/vec=0x0/chan=1 mot2 
define/dev=stepper/mod=omsmaxv/base=0x01000000/vec=0x0/chan=2 mot3 
define/dev=stepper/mod=omsmaxv/base=0x01000000/vec=0x0/chan=3 mot4 
define/dev=stepper/mod=omsmaxv/base=0x01000000/vec=0x0/chan=4 mot5 
define/dev=stepper/mod=omsmaxv/base=0x01000000/vec=0x0/chan=5 mot6 
define/dev=stepper/mod=omsmaxv/base=0x01000000/vec=0x0/chan=6 mot7 
define/dev=stepper/mod=omsmaxv/base=0x01000000/vec=0x0/chan=7 mot8 
define/dev=stepper/mod=omsmaxv/base=0x02000000/vec=0x0/chan=0 mot9 
...

If Tango servers are used, we need entries in /online_dir/online.xml, e.g.:

<?xml version="1.0"?>
<hw>
<!-- 
comment 
--> 
<device>
 <name>exp_mot01</name>
 <type>stepping_motor</type>
 <module>oms58</module>
 <device>p09/motor/exp.01</device>
 <control>tango</control>
 <hostname>haso107tk:10000</hostname>
</device>
</hw>

**Figure 36.1:** OMS MAXV Controller

**Figure 36.2:** OMS MAXV, J7 (Ditial I/O), J8 (Stepping mode)

**Figure 36.3:** OMS MAXV, MOT1 - MOT8, base: 0x1000000

**Figure 36.4:** OMS MAXV, MOT9 - MOT16, base: 0x2000000

**Figure 36.5:** OMS MAXV, MOT17 - MOT24, base: 0x3000000

Subsections