Add support for virtual axes #65
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kmpeters
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Feb 17, 2025
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| ## Virtual Axes | ||
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| Virtual axes are supported. An axis is considered to be virtual when its `MFLAGS.#DEFCON` bit is 1. The encoder resolution of the virtual axis is defined by `EFAC`. If a user-defined real array named `VPOS` (virtual feedback position) exists on the controller, motorAcsMotion considers it to be the logical equivalent of `FPOS` but for nonstandard `CONNECT` function virtual axes. `VPOS` is the virtual axis actual position (calculated from hardware axis `FPOS` values). If `VPOS` is not defined, motorAcsMotion falls back to using `APOS`. The motorAcsMotion report generated by `asynReport` shows whether virtual feedback positions are supported (i.e., whether motorAcsMotion is using `VPOS` for virtual axes) and the virtual feedback position of each axis (i.e., the value of `VPOS` for each axis, or 0 if `VPOS` is not being used). |
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I highly recommend adding an ERES reference to the 3rd sentence when "encoder resolution" is mentioned. People who are new to EPICS might not know about the encoder resolution field and will be very confused when setting UEIP to YES for an axis that uses VPOS and finding the motor doesn't move the expected amount due to MRES != ERES.
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Oops, good point. OK, fixed and force-pushed.
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@jlmuir, thanks for this excellent pull request. |
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