forked from epics_driver_modules/motorBase
jsullivan-anl
359 lines
10 KiB
Plaintext
359 lines
10 KiB
Plaintext
#/ Controller version = 5.00
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#/ Date = 08/08/2006 17:03
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#/ User remarks = #0
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! X-AXIS
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! Ibex dual rotary stage, 4xHR2 Nanomotiion motors per axis, AB5 amplifier, firmware 3.2
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! Renishaw encoders, 20 micron pitch, X2000 interpolator, 1 count = 10 nm, 15 counts = 1 micro-radian
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! ACS-Tech80 SpiPlus PCI-4 controller, firmware 5.0
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!Note: Set dcEnable flag in AUTOEXEC routine to select AB2 or AB5 amplifier
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!Note: VEL and ACC are commented out for the AC mode as they are set from EPICS MEDM screens.
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!Note: VEL and ACC are DEFINED for the DC mode as they are not defined from EPICS MEDM screens
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!ACC is defined in the homing routines as they are defined from EPICS during Homing but VEL is defined.
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GLOBAL acpar(8)
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GLOBAL dcpar(8)
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GLOBAL dcEnable(8)
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GLOBAL INT home_F(8)
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GLOBAL INT home_R(8)
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GLOBAL target_pos(8)
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GLOBAL jog_vel(8)
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GLOBAL Done(8)
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GLOBAL opReq(8)
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! Each AXIS has a copy of these functions in a corresponding buffer
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LOCAL Axis
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LOCAL Buffer
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IF opReq(Axis) = 1
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call ABS_MOVE
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ELSEIF opReq(Axis) = 2
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call REL_MOVE
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ELSEIF opReq(Axis) = 3
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call JOG_MOVE
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ELSEIF opReq(Axis) = 4
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call HOME_F
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ELSEIF opReq(Axis) = 5
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call HOME_R
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END
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opReq(Axis) = 0; Done(Axis) = 1
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STOP
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!Powerup Routine
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AUTOEXEC:
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!Buffer = sysinfo(3)
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Buffer = 0
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Axis = Buffer
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! Set AC/DC Switching Amplifier (AB2) enable flag
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! Enable = 1, Disable = 0
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dcEnable(Axis) = 0
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DISP "Buffer 0: Axis:", Axis
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! Set all axis configuration parmeters
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call AXIS_CFG
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acpar(Axis)=1; TILL acpar(Axis)=0
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if dcEnable(Axis) > 0
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dcpar(Axis)=1; TILL dcpar(Axis)=0
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else
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acpar(Axis)=1; TILL acpar(Axis)=0
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end
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STOP
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!THESE PROGRAMS ARE SMALL ROUTINES THAT ARE REQUIRED FOR CO-ORDINATING MOVEMENT WITH EPICS. THIS IS ESPECIALLY NEEDED
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!BECAUSE OF THE AC AND DC MODE SWITCHING NEEDED for AB2 amplifier BEFORE AND AFTER EVERY MOVE.
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!Written by Joe Sullivan (BCDA) and Suresh (8-ID) (March 2006)
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ABS_MOVE:
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! Switch to AC(Servo) Mode
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acpar(Axis)=1; TILL acpar(Axis)=0
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PTP(Axis),target_pos(Axis)
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TILL ^MST(Axis).#MOVE
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! Switch to DC(Position) Mode
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if dcEnable(Axis) > 0
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dcpar(Axis)=1; TILL dcpar(Axis)=0
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end
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RET
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REL_MOVE:
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acpar(Axis)=1; TILL acpar(Axis)=0
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PTP/r(Axis),target_pos(Axis)
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TILL ^MST(Axis).#MOVE
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if dcEnable(Axis) > 0
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dcpar(Axis)=1; TILL dcpar(Axis)=0
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end
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RET
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JOG_MOVE:
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acpar(Axis)=1; TILL acpar(Axis)=0
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JOG/v(Axis),jog_vel(Axis)
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TILL ^MST(Axis).#MOVE
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if dcEnable(Axis) > 0
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dcpar(Axis)=1; TILL dcpar(Axis)=0
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end
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RET
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!These program are for homing X and was written by Aaron Dietrich, ACS-Tech80 and modified by Suresh, 8-ID (March 2006)
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!EPICS calls these routines when you Home from the MEDM screen.
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!HOME_R homes in the -ve direction and HOME_F homes in the +ve direction
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!If you desire to home in the same direction due to constraints, change the last 2 lines
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!in this program accordingly.
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!Note: this program is written for AB2 amplifier. If using with AB5, comment out acpar and dcpar lines
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!and rest should be fine.
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HOME_R:
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! Load tuned parameters for AC mode for AB2 Amplifier
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!disable this when using AB5 amplifier
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acpar(Axis)=1; TILL acpar(Axis)=0
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DISP "Homing in negative direction is in PROGRESS ......"
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ENABLE (Axis)
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FDEF(Axis).#CL = 0 !disable default response of Current Limit fault
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FDEF(Axis).#CPE = 0 !disable default response of Critical Postion Error fault
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FDEF(Axis).#SRL = 0 !disable default response of Software Right Limit fault
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FDEF(Axis).#SLL = 0 !disable default response of Software Left Limit fault
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JOG (Axis), -
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TILL (ABS(PE(Axis))>10000)
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JOG (Axis), +
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IST(Axis).#IND = 0 !enables the index capture
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TILL IST(Axis).#IND = 1 !wait till index capture happens
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KILL (Axis)
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SET FPOS(Axis)=FPOS(Axis)-IND(Axis) !this sets index position as 0 reference point
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PTP (Axis), 0
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TILL ^MST(Axis).#MOVE
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FDEF(Axis).#CL = 1 !re-enable default response of Current Limit fault
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FDEF(Axis).#CPE = 1 !re-enable default response of Critical Postion Error fault
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FDEF(Axis).#SRL = 1 !re-enable default response of Software Right Limit fault
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FDEF(Axis).#SLL = 1 !re-enable default response of Software Left Limit fault
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!Put the stage in DC Mode
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if dcEnable(Axis) > 0
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dcpar(Axis)=1; TILL dcpar(Axis)=0
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end
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!DISABLE (Axis)
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call AXIS_CFG
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DISP "Homing is DONE ......"
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home_R(Axis) = 0;
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RET
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HOME_F:
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! Load tuned parameters for AC mode for AB2 Amplifier
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!disable this when using AB5 amplifier
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acpar(Axis)=1; TILL acpar(Axis)=0
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DISP "Homing in positive direction is in PROGRESS ......"
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ENABLE (Axis)
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FDEF(Axis).#CL = 0 !disable default response of Current Limit fault
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FDEF(Axis).#CPE = 0 !disable default response of Critical Postion Error fault
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FDEF(Axis).#SRL = 0 !disable default response of Software Right Limit fault
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FDEF(Axis).#SLL = 0 !disable default response of Software Left Limit fault
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JOG (Axis), +
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TILL (ABS(PE(Axis))>10000)
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JOG (Axis), -
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IST(Axis).#IND = 0 !enables the index capture
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TILL IST(Axis).#IND = 1 !wait till index capture happens
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KILL (Axis)
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SET FPOS(Axis)=FPOS(Axis)-IND(Axis) !this sets index position as 0 reference point
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PTP (Axis), 0
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TILL ^MST(Axis).#MOVE
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FDEF(Axis).#CL = 1 !re-enable default response of Current Limit fault
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FDEF(Axis).#CPE = 1 !re-enable default response of Critical Postion Error fault
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FDEF(Axis).#SRL = 1 !re-enable default response of Software Right Limit fault
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FDEF(Axis).#SLL = 1 !re-enable default response of Software Left Limit fault
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!Put the stage in DC Mode
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if dcEnable(Axis) > 0
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dcpar(Axis)=1; TILL dcpar(Axis)=0
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end
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!DISABLE (Axis)
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call AXIS_CFG
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DISP "Homing is DONE ......"
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home_F(Axis) = 0;
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RET
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!THESE PROGRAMS TUNE PARAMETERS SAVED FOR AB2 and AB5 AND THE GOOD
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!STAGE TO BE USED IN THE MONO IN 8-ID
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!MOSTLY WE WILL NEVER USE AB5 AMPLIFIER AS THE MOTOR IS ALWAYS SERVOING IN THIS MODE
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!AND IS NOT GOOD FOR VACUUM USE AS THE MOTOR GETS HOT AND CANNOT BE ENABLED FOR MORE THAN
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!10 MINUTES OR SO. IN AB2, DEADBAND IS ACTIVE AND SO THE MOTOR IS BASICALLY DISABLED
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!ONCE THE STAGE IS WITHIN THE DEADBAND MAX WHICH IS LIKE 10 COUNTS IN THE CURRENT TUNING
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!CONFIGURATION AND IS ABOUT 100 nm.
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!In the DC mode, the motor can be kept enabled forever in vacuum and holds position to within 1 count
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!which is currently 10 nm.
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!Written by Suresh (8-ID) (March 2006)
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!Note: VEL and ACC are commented out for the AC mode as they are set from EPICS MEDM screens.
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!Note: VEL and ACC are DEFINED for the DC mode as they are not defined from EPICS MEDM screens
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!To switch from DC to AC you must disable the motor
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AC_TUNED_PAR: ! FOR LONG MOVE
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! Switching only neccessary if DC mode enabled
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if dcEnable(Axis) > 0
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DISABLE(Axis);
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!SET DC_MODE to 0 and SET Nanomotion bit to 1 resp.
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MFLAGS(Axis).30 = 0;
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MFLAGS(Axis).7 = 1;
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SLPKP(Axis)=300;
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SLVKP(Axis)=20;
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SLVKI(Axis)= 1600;
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SLFRC(Axis)=17;
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end
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!VEL(Axis)= 102400 * 1.0; !defined from EPICS
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!ACC(Axis)=VEL(Axis)*10; !defined from EPICS
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DEC(Axis)=ACC(Axis);
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KDEC(Axis)=DEC(Axis)*1E4;
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JERK(Axis)=ACC(Axis)*1E3;
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if dcEnable(Axis) > 0
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ENABLE(Axis);
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end
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acpar(Axis)=0;
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RET
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DC_TUNED_PAR:
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!SET DC_MODE to 1 and SET Nanomotion bit to 0 resp.
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VEL(Axis)=15;
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ACC(Axis)=VEL(Axis)*10;
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MFLAGS(Axis).30 = 1;
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MFLAGS(Axis).7 =0;
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SLPKP(Axis)=2500;
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SLVKP(Axis)=20;
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SLVKI(Axis)= 9000;
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SLFRC(Axis)=0;
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DEC(Axis)=ACC(Axis);
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KDEC(Axis)=DEC(Axis);
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JERK(Axis)=ACC(Axis)*10;
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dcpar(Axis)=0;
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RET
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! *********************
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! Axis Configuration
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! *********************
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AXIS_CFG:
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DISABLE (Axis)
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! Configuration Parameters
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MFLAGS(Axis).#OPEN = 0
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DCOM(Axis)= 0
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MFLAGS(Axis).12=0 ! Encoder Direction, 0 = direct, 1 = invereted
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MFLAGS(Axis).13=0 ! Driver Output, 0 = direct, 1 = inverted
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SLCPRD(Axis) = 1E9
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! Safety Parameters
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XVEL(Axis) = 2E8 ! Maximum Velocity
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XCURV(Axis) = 75 ! Maximum motor command during motion, 100% = 10V
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XCURI(Axis) = 75 ! Maximum motor command during rest, 100% = 10V
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XRMS(Axis) = 50 ! Maximum RMS of motor command. Do not exceed 75%
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XRMST(Axis)= 3230 ! RMS time constant
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CERRI(Axis) = 1E4 ! Critical position error at rest
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CERRV(Axis) = 1E5 ! Critical position error at CV
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CERRA(Axis) = 1E5 ! Critical position error at Accel
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FMASK(Axis).#CPE = 1! Enable critical position error protection
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FMASK(Axis).#CL = 1 ! Enable current limit protection
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!LEFT_LIM = 3E6
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!RIGHT_LIM = -3E6
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! Nanomotion Parameters
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MFLAGS(Axis).7 = 0! Disable Enable Nanomotion mode, since we are using an AB5 amplifier
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SETTLE(Axis)=5 ! Require motor to be within TARGRAD consecutively for 5 msec before declaring end of move.
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TARGRAD(Axis)= 10 ! Target radius = 50 nm
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SLDZMAX(Axis)= 0 ! Dead Zone Maximum
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SLDZMIN(Axis)= 0 ! Dead Zone Minimum
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SLZFF(Axis) = 0 ! Zero feed forward at 0 counts before target
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SLFRC(Axis) = 0 ! friction offset compensation
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SLFRCD(Axis) = 0 ! Dynamic friction offset compensation
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SLIOFFS(Axis) = 0 ! DAC offset
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SLVSOFD(Axis) = 0.707 ! Low pass filter damping
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! Default Motion Parameters
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VEL(Axis)= 1E4 ! Velocity
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ACC(Axis)= 1E5 ! Accel
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DEC(Axis)= 1E5 ! Decel
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KDEC(Axis)= 1E9 ! Kill decel
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JERK(Axis)= 1E8 !
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! Servo Parameters, relaexed
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SLPKP(Axis)=40 ! KP (POSITION GAIN)
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SLVKP(Axis)=2000 ! KV (VELOCITY GAIN)
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SLVKI(Axis)=500 ! KI (INTEGRATOR GAIN)
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SLVLI(Axis)=50 ! Anti windup integrator limit, % of 100%
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SLVSOF(Axis)=1000 ! Low pass filter bandwidth
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SLAFF(Axis) = 0 ! Accel feed forward
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MFLAGS(Axis).14 = 0! Enable notch filter
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RET
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ON home_R(Axis)=1; CALL HOME_R; RET
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ON home_F(Axis)=1; CALL HOME_F; RET
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ON acpar(Axis)=1; CALL AC_TUNED_PAR; RET
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ON dcpar(Axis)=1; CALL DC_TUNED_PAR; RET
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#8
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!THIS BUFFER STOPS MOTION PROGRAMS ON A PER AXIS BASES AND RETURNS TO DC MODE
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!Done(Axis) Flag is used by EPICS to check when op operation is complete
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!Written by Joe Sullivan (BCDA) and Suresh (8-ID) (March 2006)
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GLOBAL stop_all(8)
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GLOBAL Done(8)
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GLOBAL acpar(8)
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GLOBAL dcpar(8)
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GLOBAL dcEnable(8)
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LOCAL Axis
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STOP
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STOP_MOVE:
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! Stop corresponding buffer
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stop Axis
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! Halt motor motion and wait until done
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HALT(Axis)
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TILL ^MST(Axis).#MOVE
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!Test that buffer and autoroutine are stopped (with timeout)
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TILL ^PST(Axis).#RUN & ^PST(Axis).#AUTO,500
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!clear the AC and DC Flags to make sure they are cleared
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acpar(Axis)=0;dcpar(Axis)=0;
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! Switch to DC Mode
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if dcEnable(Axis) > 0
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dcpar(Axis)=1; TILL dcpar(Axis)=0
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end
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! Clear flags
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stop_all(Axis) = 0; Done(Axis) = 1;
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RET
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ON stop_all(0)=1; Axis=0;CALL STOP_MOVE; RET
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ON stop_all(1)=1; Axis=1;CALL STOP_MOVE; RET
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ON stop_all(2)=1; Axis=2;CALL STOP_MOVE; RET
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ON stop_all(3)=1; Axis=3;CALL STOP_MOVE; RET
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ON stop_all(4)=1; Axis=4;CALL STOP_MOVE; RET
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ON stop_all(5)=1; Axis=5;CALL STOP_MOVE; RET
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ON stop_all(6)=1; Axis=6;CALL STOP_MOVE; RET
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ON stop_all(7)=1; Axis=7;CALL STOP_MOVE; RET
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