Configuring an Elmo motor controller of the Whistle series from 2006¶
This chapter explains how to configure an Elmo whistle motor controller.
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¶
- 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