motion/ecmc_drv_curr_tests
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2024-12-06 17:05:54 +01:00
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@@ -69,6 +69,21 @@ Cannot move faster than 1720
* +1.35 deg ttd_28
* +1.8 deg ttd_29
### Hich accuracy tests (Ulrich Wagners test setup)
0.5mm pitch and 32bit 1nm resolution Renishaw
Requirement within +-200nm
Attocube interferometer as reference
Closed loop:
Too low resolution in output (velocity setpoint). Basically a 1 or -1 as velo setpoint is too big.
Open loop:
Running in open loop made the situation much better but resulted in an offset. Motor record retries would be needed to make this work.
Impact of run current and stdby current is unclear...
## ipos4808
```
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000,I_STDBY_MA=200,I_CTRL_GAIN=1.0,I_CTRL_INT=0.26'"
@@ -88,6 +103,17 @@ ${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepp
* +1.35 deg ttd_6
* +1.8 deg ttd7
### Hich accuracy tests (Ulrich Wagners test setup)
0.5mm pitch and 32bit 1nm resolution Renishaw
Requirement within +-200nm
Attocube interferometer as reference
Closed loop:
Issue when going to stdby current, then axis move and current is applied again and again..
Open loop:
Running in open loop made the situation much better but resulted also here in an offset. Motor record retries would be needed to make this work.
## EL7047
```
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=48000,R_COIL_MOHM=8000,L_COIL_UH=9700 ,SPEED_RANGE=2'"
@@ -194,6 +220,16 @@ Works roughly up to 3000deg/s but osc
* +1.35 deg ttd_34
* +1.8 deg ttd_35
### Hich accuracy tests (Ulrich Wagners test setup)
0.5mm pitch and 32bit 1nm resolution Renishaw
Requirement within +-200nm
Attocube interferometer as reference
Closed loop:
Issues to enable.. Issuses with encoder. needed to match the single turn bits as giood as possible in cfg (19bits approx 500000)
The actual position that the drive sends is scaled based on this so it's useless..
Got it working fro a short time but then it was rather noise and similar isses when going to stdby current..
# Conclusions
@@ -201,3 +237,5 @@ Works roughly up to 3000deg/s but osc
* Current noise is significantly reduced with lower motor supply voltage (only tested with EL7047)
*... much more..
For the high accuracy issues I think it aslo can be related to to low friction of Ulrichs stage. Seems easier to position the test owis stages (howvere lower accuracy encoder).