fixing 5 CAM transformation, higher current for cryojet

MX3_coordTrf.md

@@ -0,0 +1,212 @@
+
+
+```
+
+telnet SAR-CPPM-EXPMX3 50001
+
+zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX$ PBInspect --host SAR-CPPM-EXPMX3 --cfg PBInspect3.pbi
+
+
+
+ssh root@SAR-CPPM-EXPMX3
+sendgetsends -1
+
+
+gpasciiCommander --host SAR-CPPM-EXPMX3 -i
+//!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05)
+!MX3_coordTrf(exc=5000,height=0,width=377500,length=600000,camSf=1.7453292519943296e-05)
+!MX3_coordTrf(exc=5000,height=0,width=377500,length=600000,camSf=1.7453292519943296e-05,q=-.8)
+Coord[1].Ta=10
+Coord[1].Td=10
+Coord[1].AltFeedRate=1000
+Coord[1].Tm=-10000  //1000um/FeedTime -> 1mm/sec
+Coord[1].FeedTime=1000 //default value 1000um
+
+
+list subProg10
+call15
+jog1=(L0)
+call16
+
+open prog 1
+call15
+abslinear
+X(0) Y(0) U(0) V(0) w(0)
+call16
+close
+&1b1r
+
+open prog 1
+call15
+abslinear
+X(2000) Y(0) U(0) V(0) w(0)
+dwell 1000
+X(-2000) Y(0) U(0) V(0) w(0)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(0)
+call16
+close
+
+open prog 2
+call15
+abslinear
+X(0) Y(2000) U(0) V(0) w(0)
+dwell 1000
+X(0) Y(-2000) U(0) V(0) w(0)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(0)
+call16
+close
+
+open prog 3
+call15
+abslinear
+X(0) Y(0) U(2000) V(0) w(0)
+dwell 1000
+X(0) Y(0) U(-2000) V(0) w(0)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(0)
+call16
+close
+
+open prog 4
+call15
+abslinear
+X(0) Y(0) U(0) V(2000) w(0)
+dwell 1000
+X(0) Y(0) U(0) V(-2000) w(0)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(0)
+call16
+close
+
+open prog 5
+call15
+abslinear
+X(0) Y(0) U(0) V(0) w(2000)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(-2000)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(0)
+call16
+close
+
+&1b1r
+&1b2r
+&1b3r
+&1b4r
+&1b5r
+
+
+
+
+
+
+
+
+open prog 2
+call15
+abslinear
+X(2000) Y(0) U(0) V(0) w(0)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(0)
+dwell 1000
+X(0) Y(2000) U(0) V(0) w(0)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(0)
+dwell 1000
+X(0) Y(0) U(2000) V(0) w(0)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(0)
+dwell 1000
+X(0) Y(0) U(0) V(2000) w(0)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(0)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(2000)
+dwell 1000
+X(0) Y(0) U(0) V(0) w(0)
+call16
+close
+&1b2r
+
+cpx call 15
+#1..5j=90000
+cpx call 16
+
+
+
+Koordinate U is wrong
+
+
+
+fwd_inp(0)  90000 90000 90000 90000 90000
+fwd_inp(0)  2.16489e-13 2.16489e-13 2.16489e-13 2.16489e-13 2.16489e-13
+fwd_res     -3.17041e-14 4.01274e-13 1.26816e-13 6.34082e-14 -6.34082e-14
+inv_inp(0)  2000 0 0 0 0
+inv_res     73570.1 106430 73570.1 106430 90000
+inv_inp(0)  0 0 0 0 0
+inv_res     90000 90000 90000 90000 90000
+inv_inp(0)  0 2000 0 0 0
+inv_res     73570.1 73570.1 73570.1 73570.1 66421.8
+inv_inp(0)  0 0 0 0 0
+inv_res     90000 90000 90000 90000 90000
+inv_inp(0)  0 0 2000 0 0
+inv_res     81869.9 98130.1 81869.9 81869.9 101537
+inv_inp(0)  0 0 0 0 0
+inv_res     90000 90000 90000 90000 90000
+inv_inp(0)  0 0 0 2000 0
+inv_res     98130.1 81869.9 81869.9 98130.1 90000
+inv_inp(0)  0 0 0 0 0
+inv_res     90000 90000 90000 90000 90000
+inv_inp(0)  0 0 0 0 2000
+inv_res     98130.1 98130.1 81869.9 81869.9 78463
+inv_inp(0)  0 0 0 0 0
+inv_res     90000 90000 90000 90000 90000
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+> list forward
+list forward
+L6=118000/377500
+L7=5000/1.4142135623700001
+L11=L7*cos(L2*0.0000174532925199)
+L12=L7*cos(L1*0.0000174532925199)
+L13=L7*cos(L4*0.0000174532925199)
+L14=L7*cos(L5*0.0000174532925199)
+L15=L7*cos(L3*0.0000174532925199)
+C6=0.5*L11-0.5*L12+(L6+0.25)*L13+(L6-0.75)*L14+(0.25-L6)*1.4142135623700001*L15
+C7=0.5*L11+0.5*L12+0.25*L13+0.25*L14+0.25*1.4142135623700001*L15
+C3=1*L13+1*L14-1*1.4142135623700001*L15
+C4=-1*L11+1*L12+1.5*L13-0.5*L14-0.5*1.4142135623700001*L15
+C5=-1*L11-1*L12+0.5*L13+0.5*L14+0.5*1.4142135623700001*L15
+D0=248
+> list inverse
+list inverse
+L6=118000/377500
+L11=0.5*C6+0.5*C7+(0.25-0.5*L6)*C3-0.25*C4-0.25*C5
+L12=-0.5*C6+0.5*C7+(0.5*L6-0.25)*C3+0.25*C4-0.25*C5
+L13=0.5*C6+0.5*C7+(0.25-0.5*L6)*C3+0.25*C4+0.25*C5
+L14=-0.5*C6+0.5*C7+(0.25+0.5*L6)*C3-0.25*C4+0.25*C5
+L15=0.5*1.4142135623700001*C7-0.25*1.4142135623700001*C3+0.25*1.4142135623700001*C5
+L7=1.4142135623700001/5000
+L2=acos(L11*L7)/0.0000174532925199
+L1=acos(L12*L7)/0.0000174532925199
+L4=acos(L13*L7)/0.0000174532925199
+L5=acos(L14*L7)/0.0000174532925199
+L3=acos(L15*L7)/0.0000174532925199
+> 
+
+
+```

cfg/MX2_setup.cfg

@@ -53,4 +53,4 @@
 !motor(mot=6,dirCur=1500,JogSpeed=10,invDir=False,servoSf=102.4)
 
 
-!holding_current(m1=[0,1000],m2=[0,1000],m3=[0,1000],m4=[0,1000],m5=[1400,1800],m6=[0,500])
+!holding_current(m1=[0,1000],m2=[0,1000],m3=[0,1000],m4=[0,1000],m5=[1400,1800],m6=[0,1000])

cfg/MX3_coordTrf.py

@@ -11,6 +11,7 @@ def MX3_coordTrf(fileParser,kwargs):
   ...
 
   Documentation:
+  /home/zamofing_t/Documents/doc-ext/SwissFEL/Devices/5CAM/cam_mov7.pdf
   'Cam Movers for SLS undulators' (21.5.2013, Calvi, Bruegger, Zimoch)
   home/zamofing_t/Documents/doc-ext/DeltaTau/Training/TrainingSlides/22-Power PMAC Cam Tables 2014-04.ppt
   Ref Manual: 96-106,488, 527-528, 655
@@ -35,6 +36,10 @@ S=D*X
   '''
 
   kw=kwargs
+
+  if not kw.has_key('q'):
+    kw['q']=0.
+
   kw['sqrt2']=sqrt(2.)
   fileParser.parse_txt('''
 // ---------- Coordinate System/Transformation ----------
@@ -46,9 +51,11 @@ S=D*X
 #4->I
 #5->I
 
-Coord[1].Ta=100
+Coord[1].Ta=10
-Coord[1].Td=100
+Coord[1].Td=10
-Coord[1].AltFeedRate=1
+Coord[1].AltFeedRate=1000
+Coord[1].Tm=-10000  //1000um/FeedTime -> 1mm/sec
+Coord[1].FeedTime=1000 //default value 1000um
 Motor[1].MaxSpeed=Motor[1].JogSpeed
 Motor[2].MaxSpeed=Motor[2].JogSpeed
 Motor[3].MaxSpeed=Motor[3].JogSpeed
@@ -59,10 +66,11 @@ open forward
   //define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
   define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3')
 
-  define(r='L6',scl='L7')
+  define(r='L6',scl='L7',q='L8')
   define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
   define(X='C6',Y='C7',U='C3',V='C4',W='C5')
   r=$height/$width
+  q=$q
   scl=$exc/$sqrt2
   S1=scl*cos(AA1*$camSf)
   S2=scl*cos(AA2*$camSf)
@@ -75,11 +83,11 @@ open forward
 
 
   //X=D^-1*S
-  X=+.5*S1   -.5*S2   +(r+.25)*S3   +(r-.75)*S4   +(.25-r)*$sqrt2*S5
+  X=      +.5*S1          -.5*S2          +(r+.75)*S3          +(r-.25)*S4          -(r+.25)*$sqrt2*S5
-  Y=+.5*S1   +.5*S2       +.25*S3       +.25*S4       +.25*$sqrt2*S5
+  Y=(1.+q)*.5*S1   +(1.+q)*.5*S2       +(1.-q)*.25*S3       +(1.-q)*.25*S4       +(1.-q)*.25*$sqrt2*S5
-  U=                       +1.*S3        +1.*S4        -1.*$sqrt2*S5
+  U=                                           +1.*S3               +1.*S4               -1.*$sqrt2*S5
-  V=-1.*S1   +1.*S2       +1.5*S3        -.5*S4        -.5*$sqrt2*S5
+  V=      -1.*S1          +1.*S2               +.5*S3              -1.5*S4               +.5*$sqrt2*S5
-  W=-1.*S1   -1.*S2        +.5*S3        +.5*S4        +.5*$sqrt2*S5
+  W=      -1.*S1          -1.*S2               +.5*S3               +.5*S4               +.5*$sqrt2*S5
 
   //send 1"fwd_res     %f %f %f %f %f\\n",X,Y,U,V,W
 
@@ -89,7 +97,7 @@ close
 open inverse
   //define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
   define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3')
-  define(r='L6',scl='L7')
+  define(r='L6',scl='L7',q='L8')
   define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
   define(X='C6',Y='C7',U='C3',V='C4',W='C5')
 
@@ -99,12 +107,13 @@ open inverse
   //send 1"inv_inp(%f)  %f %f %f %f %f\\n",D0,X,Y,U,V,W
 
   r=$height/$width
+  q=$q
 
-  S1=+.5*X        +.5*Y   +(.25-.5*r)*U   -.25*V          -.25*W
+  S1=+.5*X        +.5*Y   -(.25+.5*r)*U   -.25*V         -.25*(1-q)*W
-  S2=-.5*X        +.5*Y   +(.5*r-.25)*U   +.25*V          -.25*W
+  S2=-.5*X        +.5*Y   +(.25+.5*r)*U   +.25*V         -.25*(1-q)*W
-  S3=+.5*X        +.5*Y   +(.25-.5*r)*U   +.25*V          +.25*W
+  S3=+.5*X        +.5*Y   +(.25-.5*r)*U   +.25*V         +.25*(1+q)*W
-  S4=-.5*X        +.5*Y   +(.25+.5*r)*U   -.25*V          +.25*W
+  S4=-.5*X        +.5*Y   +(.25+.5*r)*U   -.25*V         +.25*(1+q)*W
-  S5=       .5*$sqrt2*Y   -.25*$sqrt2*U           +.25*$sqrt2*W
+  S5=       .5*$sqrt2*Y   -.25*$sqrt2*U           +.25*$sqrt2*(1+q)*W
 
   scl=$sqrt2/$exc
   AA1=acos(S1*scl)/$camSf

cfg/SAR-EXPMX3.cfg

@@ -7,7 +7,9 @@
 //height      = 90+28mm = 118
 //width       = (450+305)/2=377.5
 //length      = 600mm
-!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05)
+//pivotpoint q= -.7       0= center 1=mover upstream -1=mover downstream ca. 100mm from downstream
+//!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05)
+!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05,q=-.7)
 
 //Motor 1 -> AA2
 //Motor 2 -> AA1