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zamofing_t
2018-04-06 17:19:30 +02:00
parent 85414a7acf
commit 16614d650e
8 changed files with 1178 additions and 3358 deletions
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Readme.md
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@@ -594,30 +594,11 @@ caput SAR-EXPMX3:ASYN.AOUT '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:ASYN.AOUT '&1;cpx jog1..5=000;call 16'
caput SAR-EXPMX3:ASYN.AOUT '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:ASYN.AOUT '&1;cpx jog1..5=10000;call 16'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;jog1..5=10000;cpx call 16'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:debug0 '&1;cpx jog1..5=0;call 16'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:debug0 '&1;cpx jog1..5=10000;call 16'
caput SAR-EXPMX3:ASYN.AOUT cpx call 16
caput SAR-EXPMX3:ASYN.AOUT cpx call 15
caput SAR-EXPMX3:ASYN.debug cpx call 16
caput SAR-EXPMX3:ASYN.debug0 cpx call 16
see also:
/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/SARES20-CSSU-ESB1_startup.script
@@ -625,8 +606,6 @@ see also:
/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/hpod.template
/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/cfg/hpod.proto
caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynRecord.ui
caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynSerialPortSetup.ui
caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynOctet.ui
@@ -636,19 +615,17 @@ caQtDM -macro "P=SAR-EXPMX:,R=debug0" asynOctet.ui
caput SAR-EXPMX:asyn.AOUT '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX:asyn.AOUT '&1;#1..5j/;cpx call 16'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call 16'
caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call 15;jog1..5=0; call 16'
caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call 15;jog1..5=10000; call 16'
caput SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
caget -S SAR-EXPMX:debug0
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16'
caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16'
caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
SAR-EXPMX:MOT_GIR_W.SPMG
@@ -739,22 +716,6 @@ open inverse
close
&1;cpx abs linear;jog1=0;jog2=0;jog3=0;jog4=0;jog5=0
&1;cpx abs linear;jog1=10000;jog2=20000;jog3=30000;jog4=40000;jog5=50000
@@ -791,3 +752,84 @@ inv_res 60621.7 38843.4 20130.6 -10620.2 4072.1
```
Checking Homeoffset init bug
----------------------------
```
//the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear)
//the ssi-encoder has 2**18=262144 steps per revolution
//posSf = userUnits/encoder_steps
//servoSf=motor_u_steps/userUnits
512*200*100/262144
cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=-1000;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0
!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.)
cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=361000;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0
!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.)
cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=1000;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0
!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.)
cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=0;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0
!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.)
$$$***
!common()
!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.)
!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
#1hmz
$$$***
!common()
!encoder_ssi(enc=1,numBits=18,posSf=1.)
!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf= 39.0625,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
#1hmz
cpx PowerBrick[1].GpioData[0].16.5=$1f;jog1=-1000;PowerBrick[1].GpioData[0].16.5=$0
Motor[1].idCmd=0
EncTable[1].PrevEnc
Motor[1].HomeOffset
Motor[1].HomePos
Motor[1].ActPos
EncTable[1].PrevEnc=-2490368
!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.)
!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
#1hmz
!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.)
!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-20907.)
#1hmz
Motor[1].HomeOffset=-20907
Motor[1].HomePos=-1100471.57226169435
Motor[1].ActPos=-1100474.61749599339
!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) -> reate wrong values
Motor[1].HomeOffset=0
Motor[1].HomePos=-1439342.11669405433
Motor[1].ActPos=-1100474.61749599339
!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-20907.)
```