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Updated to sinqMotor 1.5 to get deadband feature

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This commit is contained in:
mathis_s
2025-09-09 16:52:19 +02:00
parent 91e2519832
commit bf3406be1c
2 changed files with 36 additions and 57 deletions
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91
src/turboPmacAxis.cpp
View File

@@ -27,18 +27,6 @@ struct turboPmacAxisImpl {
// The axis status is used when enabling / disabling the motor
int axisStatus;
bool needInit;
/*
Deadband is defined in enconder units / 16 (a value of 16 is 1 actual
encoder count, see Turbo PMAC Manula, p.160)
*/
double deadband;
/*
Scaling factor Ixx08, see Turbo PMAC User Manual, p. 268f:
[Ixx08] = counts / engineering units (eu)
*/
double eu_to_counts;
};
/*
@@ -88,8 +76,6 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
.timeAtHandshake = 0,
.axisStatus = 0,
.needInit = false,
.deadband = 0.0,
.eu_to_counts = 0.0,
});
// Provide initial values for some parameter library entries
@@ -147,8 +133,16 @@ asynStatus turboPmacAxis::init() {
double motorVelocity = 0.0;
double motorVmax = 0.0;
double motorAccel = 0.0;
int acoDelay = 0.0; // Offset time for the movement watchdog caused by
// the air cushions in milliseconds.
// Conversion factor between engineering units (EU) and encoder counts
double eu_to_counts = 0.0;
// Deadband in counts. Can be a fraction of a count, hence double.
double deadband_counts = 0.0;
// Offset time for the movement watchdog caused by the air cushions in
// milliseconds.
int acoDelay = 0.0;
int axStatus = 0;
// The parameter library takes some time to be initialized. Therefore we
@@ -199,10 +193,9 @@ asynStatus turboPmacAxis::init() {
pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
pTurboPmacA_->needInit = true;
}
nvals =
sscanf(response, "%d %lf %lf %lf %lf %d %lf %lf", &axStatus, &motorPos,
&motorVmax, &motorVelocity, &motorAccel, &acoDelay,
&pTurboPmacA_->eu_to_counts, &pTurboPmacA_->deadband);
nvals = sscanf(response, "%d %lf %lf %lf %lf %d %lf %lf", &axStatus,
&motorPos, &motorVmax, &motorVelocity, &motorAccel,
&acoDelay, &eu_to_counts, &deadband_counts);
// The acoDelay is given in milliseconds -> Convert to seconds, rounded up
setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
@@ -236,6 +229,26 @@ asynStatus turboPmacAxis::init() {
return status;
}
/*
Check if the new target position is within the range current position +/-
deadband. If that is the case, no movement command should be sent. This
functionality is implemented within the motor record itself, we just need to
populate the field SPDP (see record PushSPDB2Field in db/turboPmac.db)
First, the deadband is read out (Ixx65, see Turbo PMAC User Manual, p.
160.). This value then needs to be converted into counts (by dividing it by
16). After words, the deadband in counts then need to be converted into
engineering units. For this, the scaling factor Ixx08 needs to be applied
(see Turbo PMAC User Manual, p. 268f):
[Ixx08] = counts / engineering units (eu)
deadband_eu = deadband_counts / Ixx08 = Ixx65 / (16 * Ixx08)
The values of Ixx08 and Ixx65 are read out during initialization and are
assumed to not change during operation.
*/
setAxisParamChecked(this, motorPositionDeadband,
deadband_counts / (16.0 * eu_to_counts));
// Update the parameter library immediately
status = callParamCallbacks();
if (status != asynSuccess) {
@@ -797,45 +810,11 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
motorTargetPosition = position * motorRecResolution;
motorVelocity = maxVelocity * motorRecResolution;
/*
Check if the new target position is within the range current position +/-
deadband. If that is the case, no movement command should be sent.
First, the deadband is read out (Ixx65, see Turbo PMAC User Manual, p.
160.). This value then needs to be converted into counts (by dividing it by
16). After words, the deadband in counts then need to be converted into
engineering units. For this, the scaling factor Ixx08 needs to be applied
(see Turbo PMAC User Manual, p. 268f):
[Ixx08] = counts / engineering units (eu)
deadband_eu = deadband_counts / Ixx08 = Ixx65 / (16 * Ixx08)
The values of Ixx08 and Ixx65 are read out during initialization and are
assumed to not change during operation.
*/
double motorCurrentPosition = 0.0;
motorPosition(&motorCurrentPosition);
double deadband_eu = pTurboPmacA_->deadband / (pTurboPmacA_->eu_to_counts);
double deadband_lower = motorCurrentPosition - deadband_eu;
double deadband_upper = motorCurrentPosition + deadband_eu;
if (motorTargetPosition > deadband_lower &&
motorTargetPosition < deadband_upper) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nNew target "
"position %lf within deadband around current position %lf "
"(deadband %lf to %lf). No move command sent.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
motorTargetPosition, motorCurrentPosition, deadband_lower,
deadband_upper);
return asynSuccess;
}
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\nStart of axis to "
"position %lf.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
motorCurrentPosition);
motorTargetPosition);
// Check if the speed is allowed to be changed
getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);

2
src/turboPmacController.cpp
View File

@@ -47,7 +47,7 @@ struct turboPmacControllerImpl {
int flushHardware;
int limFromHardware;
};
#define NUM_turboPmac_DRIVER_PARAMS 3
#define NUM_turboPmac_DRIVER_PARAMS 5
turboPmacController::turboPmacController(const char *portName,
const char *ipPortConfigName,