UK Astronomy Technology Centre	Chris Tierney
Royal Observatory, Edinburgh	31st March 2001

The modified GMOS deviceControl record used by the NAOMI project

Documentation for the GMOS deviceControl record has been reproduced here by kind permission of HIA staff who originally produced the record. The changes implemented for NAOMI fall into the following categories:

Minor bug fixes.

New index algorithms were added to the device support function controlMotion(). Notable, the re-index (REIX) mode, which moves a stage off a limit switch and back into it, at low velocity, was implemented.

The handling of timeouts was modified. Timeouts are exclusively calculated in the device support function setDelay(), which determines the correct timeout based on the current mode/operating state of the record.

Encoder support was modified.

An extra mode, JOG, was added to the record. In this mode, the motor is instructed to move at the velocity specified by the VELO field of the record (using the OMS "JG" command), the target position (VAL, VALS) being ignored. The VELO field can be modified whilst motion is in progress. The execution of a further START directive will cause the motor velocity to be updated. A STOP directive causes the motor to stop, at which point the record will return to an IDLE state.

Usage of the encoder deadband field (EDBD) was updated.