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INDI Robofocus Driver README.robofocus
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2006-10-02, Markus Wildi
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1) Development environment:
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I used INDI v 0.4 and kstars 1.2. on PIII 800 MHz running Linux 2.6.16.5-default.
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The RoboFocus micro controller does not check if a setting is out of the interval
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0 ... ca. 65000. After a position is out of limits it does not respond to any
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command and must be turned off and on.
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3) Feedback: markus.wildi_AT_datacomm_dot_ch
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Make it completely complying with the INDI standard properties.
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Add Temperature compensation.
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All commands listed in Appendix I of the RoboFocus manual are implemented.
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Read at first the RoboFocus manual at least chapter 3. Operation of RoboFocus
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including the description of the RoboFocus Control Program (RFCP) and Appendix I
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Directions are given as positive or negative numbers.
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7) Recommended approach:
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Use the default settings for duty cycle, step delay and motor steps per tick
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(a tick is a counter increment by one). Set the back lash correction only to a
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non zero value in case you measured it.
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RoboFocus is a slow device and sometimes the position needs to be read out
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separately. That needs additional time. If the LED indicator became green again
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of given property the robofocus driver resumed normal operation regardless what
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Robofocus driver provides the following features: absolute and relative movement,
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resetting the counter to a given position, maximum and minimum travel,
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backlash compensation, duty cycle, step delay, number of motor steps per
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counter increment (tick), the read out of the built in temperature sensor
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and the four output lines used to control the remote power modules (optional
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The settings of the RoboFocus device are polled and displayed in the corresponding
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Port: Set the name of the RS 232 port. The speed is fixed to 9600 baud.
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Power: set the four digital outputs (used for optional RoboFocus accessory)
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Temperature: read out of the built in temperature sensor (not a real useful
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Settings: the settings step delay and motor steps per tick determine how fast the
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stepper motor turns. The duty cycle is can be set to zero for a main mirror focuser
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setup and to a decent value for a rack and pinion focuser. Read the RoboFocus manual.
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Extrema: the movement of the focuser and the position setting can be limited.
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Maximum travel: (to me the RoboFocus documentation is unclear.)
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Set register Position: set the counter to the value given in the input field.
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Set register Backlash: define the amount of ticks. If the back lash correction and
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the absolute or relative movement have opposite signs RoboFocus will move into the
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negative direction of the main movement at the end.
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Movement: set it currently to IGNORE (this is a ToDo)
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Position: shows the actual position.
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Speed, Timer: ignore them (this is a ToDo)
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Absolute goto: the focuser moves to the absolute position.
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Relative goto: the focuser moves the defined ticks (negative or positive).