wip

Readme.md

@@ -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 -S SAR-EXPMX:debug '&1;#1..5j/;cpx call 15;jog1..5=0; call 16'
-caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx 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 -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 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 SAR-EXPMX:debug0 '&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(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 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'
 
 
 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.)
+
+
+
+```

SAR-EXPMX3.subs

@@ -13,11 +13,11 @@
 #caget SAROP21-OAPU092:ASYN.TINP
 #caput SAROP21-OAPU092:ASYN.AOUT '&1;cpx abs;X(-900)Y(10)A(5200)B(5100)'
 
-file stream.template {{P="$(P_M)",Q="MOT_GIR_",PORT=$(PORT_M)}}
+file stream.template {{P="$(P_M)",Q="MOT_GIR_",ID="3",PORT=$(PORT_M)}}
 
 file PPMACMotor.template {
 pattern
-{ DESC      , P       , M          , PORT       , ADDR, DIR, VELO, MRES  , PREC, EGU   }
+{ DESC      , P       , M          , PORT       , ADDR, DIR, VELO, MRES , PREC, EGU   }
 { "Girder 1", "$(P_M)", "MOT_GIR_1", "$(PORT_M)", 1   , 0  , 40  , 0.001, 3   , "deg" }
 { "Girder 2", "$(P_M)", "MOT_GIR_2", "$(PORT_M)", 2   , 0  , 40  , 0.001, 3   , "deg" }
 { "Girder 3", "$(P_M)", "MOT_GIR_3", "$(PORT_M)", 3   , 0  , 40  , 0.001, 3   , "deg" }
@@ -25,7 +25,7 @@ pattern
 { "Girder 5", "$(P_M)", "MOT_GIR_5", "$(PORT_M)", 5   , 0  , 40  , 0.001, 3   , "deg" }
 { "Girder X", "$(P_M)", "MOT_GIR_X", "$(PORT_M)", 9   , 0  , 40  , 0.001, 3   , "mm"  }
 { "Girder Y", "$(P_M)", "MOT_GIR_Y", "$(PORT_M)", 10  , 0  , 40  , 0.001, 3   , "mm"  }
-{ "Girder U", "$(P_M)", "MOT_GIR_U", "$(PORT_M)", 11  , 0  , 40  , 0.001, 3   , "mrad"  }
+{ "Girder U", "$(P_M)", "MOT_GIR_U", "$(PORT_M)", 11  , 0  , 40  , 0.001, 3   , "mrad"}
-{ "Girder V", "$(P_M)", "MOT_GIR_V", "$(PORT_M)", 12  , 0  , 40  , 0.001, 3   , "mrad"  }
+{ "Girder V", "$(P_M)", "MOT_GIR_V", "$(PORT_M)", 12  , 0  , 40  , 0.001, 3   , "mrad"}
-{ "Girder W", "$(P_M)", "MOT_GIR_W", "$(PORT_M)", 13  , 0  , 40  , 0.001, 3   , "mrad"  }
+{ "Girder W", "$(P_M)", "MOT_GIR_W", "$(PORT_M)", 13  , 0  , 40  , 0.001, 3   , "mrad"}
 }

cfg/MX3_coordTrf.py

@@ -68,8 +68,8 @@ open forward
   S4=scl*sin(AA4*$camSf)
   S5=scl*sin(AA5*$camSf)
 
-  send 1"fwd_inp(%f)  %f %f %f %f %f\\n",D0,AA1,AA2,AA3,AA4,AA5
+  //send 1"fwd_inp(%f)  %f %f %f %f %f\\n",D0,AA1,AA2,AA3,AA4,AA5
-  send 1"fwd_inp(%f)  %f %f %f %f %f\\n",D0,S1,S2,S3,S4,S5
+  //send 1"fwd_inp(%f)  %f %f %f %f %f\\n",D0,S1,S2,S3,S4,S5
 
 
   //X=D^-1*S
@@ -79,7 +79,7 @@ open forward
   V=-1.*S1   +1.*S2       +1.5*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
+  //send 1"fwd_res     %f %f %f %f %f\\n",X,Y,U,V,W
 
   D0=$$000000f8; //U=$$8 V=$$10 W=$$20 X=$$40 Y=$$80 hex(8+int('10',16)+int('20',16)+int('40',16)+int('80',16)) -> '0xf8'
 close
@@ -93,7 +93,7 @@ open inverse
   //if(D0>0)
   //  send 1"Velocity calculation NOT SUPPORTED\\n"
 
-  send 1"inv_inp(%f)  %f %f %f %f %f\\n",D0,X,Y,U,V,W
+  //send 1"inv_inp(%f)  %f %f %f %f %f\\n",D0,X,Y,U,V,W
 
   r=$height/$width
 
@@ -110,7 +110,7 @@ open inverse
   AA4=asin(S4*scl)/$camSf
   AA5=asin(S5*scl)/$camSf
 
-  send 1"inv_res     %f %f %f %f %f\\n",AA1,AA2,AA3,AA4,AA5
+  //send 1"inv_res     %f %f %f %f %f\\n",AA1,AA2,AA3,AA4,AA5
 
 close
 

cfg/MX3_setup.cfg

@@ -66,7 +66,7 @@ open subprog SP_LockBrk
   {
     if(Coord[1].InPos)
     {
-      send 1"inPos\n"
+      //send 1"inPos\n"
       break
     }
     //if(Motor[1].InPos && Motor[2].InPos&& Motor[3].InPos&& Motor[4].InPos&& Motor[5].InPos)

cfg/SAR-EXPMX3.cfg

@@ -1,6 +1,6 @@
 
-X3_setup()
+!MX3_setup()
-!MX3_setup_sim() // comment out !MX3_setup() when this is active
+//!MX3_setup_sim() // comment out !MX3_setup() when this is active
 //!MX3_home()
 //using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000
 //excentricity= 5mm
@@ -29,4 +29,21 @@ Motor[5].IdCmd=0;Motor[5].InPosBand=10
 #1..5j/
 &1
 
+//initialization code
+open plc 0
+  if (Motor[1].ActPos-Motor[1].HomePos>180000)
+    Motor[1].HomePos=Motor[1].HomePos+360000
+  if (Motor[2].ActPos-Motor[2].HomePos>180000)
+    Motor[2].HomePos=Motor[2].HomePos+360000
+  if (Motor[3].ActPos-Motor[3].HomePos>180000)
+    Motor[3].HomePos=Motor[3].HomePos+360000
+  if (Motor[4].ActPos-Motor[4].HomePos>180000)
+    Motor[4].HomePos=Motor[4].HomePos+360000
+  if (Motor[5].ActPos-Motor[5].HomePos>180000)
+    Motor[5].HomePos=Motor[5].HomePos+360000
+  disable plc 0
+close plc 0```
+
+enable plc 0
+
 

cfg/stream.cfg

@@ -17,7 +17,6 @@ debug {
 debug0 {
     out "%s";
 }
-# end
 
 moveXYUVW {
   out "cpx abs linear;call 15; X(%(\$1X.VAL)f)Y(%(\$1Y.VAL)f)U(%(\$1U.VAL)f)V(%(\$1V.VAL)f)W(%(\$1W.VAL)f);call 16";

stream.template

@@ -9,32 +9,31 @@
 #record(motor, "$(P):$(Q)U") {}
 #record(motor, "$(P):$(Q)V") {}
 #record(motor, "$(P):$(Q)W") {}
-
+record(calc, "$(P):5CAM_X") {
-record(calc, $(P):5CAM_X) {
   field(CALC, "A/B")
   field(INPA, "$(P):$(Q)X.VAL")
   field(INPB, "$(P):$(Q)X.MRES")
 }
 
-record(calc, $(P):5CAM_Y) {
+record(calc, "$(P):5CAM_Y") {
   field(CALC, "A/B")
   field(INPA, "$(P):$(Q)Y.VAL")
   field(INPB, "$(P):$(Q)Y.MRES")
 }
 
-record(calc, $(P):5CAM_U) {
+record(calc, "$(P):5CAM_U") {
   field(CALC, "A/B")
   field(INPA, "$(P):$(Q)U.VAL")
   field(INPB, "$(P):$(Q)U.MRES")
 }
 
-record(calc, $(P):5CAM_V) {
+record(calc, "$(P):5CAM_V") {
   field(CALC, "A/B")
   field(INPA, "$(P):$(Q)V.VAL")
   field(INPB, "$(P):$(Q)V.MRES")
 }
 
-record(calc, $(P):5CAM_W) {
+record(calc, "$(P):5CAM_W") {
   field(CALC, "A/B")
   field(INPA, "$(P):$(Q)W.VAL")
   field(INPB, "$(P):$(Q)W.MRES")
@@ -44,10 +43,9 @@ record(calc, $(P):5CAM_W) {
 #   field(DESC, "asyn record")
 #   field(PORT, "$(PORT)")
 # }
-
+#record (stringout, "$(P):debug$(ID)") is limited to 40 characters therefore use waveform record
-#record (stringout, "$(P):debug") is limited to 40 characters therefore use waveform record
+record(waveform, "$(P):debug$(ID)") {
-record(waveform, "$(P):debug") {
+  field(DESC, "debug$(ID)")
-  field(DESC, "debug")
   field(FTVL, "CHAR")
   field(NELM, "256")
   field(DTYP, "stream")
@@ -69,20 +67,38 @@ record(bo, "$(P):MOVE_XYUVW") {
   field(OUT, "@stream.cfg moveXYUVW($(P):5CAM_) $(PORT)")
 }
 
-
 #! Further lines contain data used by VisualDCT
-#! View(0,0,1.0)
+#! View(0,160,1.0)
-#! Record("$(P):MOT_GIR1",20,23,0,0,"$(P):MOT_GIR1")
+#! Record("$(P):5CAM_X",300,22,0,0,"$(P):5CAM_X")
-#! Field("$(P):MOT_GIR1.VAL",16777215,1,"$(P):MOT_GIR1.VAL")
+#! Field("$(P):5CAM_X.INPA",16777215,0,"$(P):5CAM_X.INPA")
-#! Field("$(P):MOT_GIR1.MRES",16777215,1,"$(P):MOT_GIR1.MRES")
+#! Field("$(P):5CAM_X.INPB",16777215,0,"$(P):5CAM_X.INPB")
-#! Record("$(P):MOT_GIR2",260,23,0,0,"$(P):MOT_GIR2")
+#! Field("$(P):5CAM_X.VAL",16777215,1,"$(P):5CAM_X.VAL")
-#! Record("$(P):MOT_GIR3",500,23,0,0,"$(P):MOT_GIR3")
+#! Record("$(P):5CAM_Y",300,202,0,0,"$(P):5CAM_Y")
-#! Record("$(P):MOT_GIR4",740,23,0,0,"$(P):MOT_GIR4")
+#! Field("$(P):5CAM_Y.INPA",16777215,0,"$(P):5CAM_Y.INPA")
-#! Record("$(P):MOT_GIR5",980,23,0,0,"$(P):MOT_GIR5")
+#! Field("$(P):5CAM_Y.INPB",16777215,0,"$(P):5CAM_Y.INPB")
-#! Record("$(P):debug",1220,14,0,0,"$(P):debug")
+#! Field("$(P):5CAM_Y.VAL",16777215,1,"$(P):5CAM_Y.VAL")
-#! Record("$(P):MOVE_XYUVW",1460,22,0,0,"$(P):MOVE_XYUVW")
+#! Record("$(P):5CAM_U",280,382,0,0,"$(P):5CAM_U")
-#! Record(M1,300,202,0,1,"M1")
+#! Field("$(P):5CAM_U.INPA",16777215,0,"$(P):5CAM_U.INPA")
-#! Field("M1.INPA",16777215,0,"M1.INPA")
+#! Field("$(P):5CAM_U.INPB",16777215,0,"$(P):5CAM_U.INPB")
-#! Link("M1.INPA","$(P):MOT_GIR1.VAL")
+#! Field("$(P):5CAM_U.VAL",16777215,1,"$(P):5CAM_U.VAL")
-#! Field("M1.INPB",16777215,0,"M1.INPB")
+#! Record("$(P):5CAM_V",280,562,0,0,"$(P):5CAM_V")
-#! Link("M1.INPB","$(P):MOT_GIR1.MRES")
+#! Field("$(P):5CAM_V.INPA",16777215,0,"$(P):5CAM_V.INPA")
+#! Field("$(P):5CAM_V.INPB",16777215,0,"$(P):5CAM_V.INPB")
+#! Field("$(P):5CAM_V.VAL",16777215,1,"$(P):5CAM_V.VAL")
+#! Record("$(P):5CAM_W",280,742,0,0,"$(P):5CAM_W")
+#! Field("$(P):5CAM_W.INPA",16777215,0,"$(P):5CAM_W.INPA")
+#! Field("$(P):5CAM_W.INPB",16777215,0,"$(P):5CAM_W.INPB")
+#! Field("$(P):5CAM_W.VAL",16777215,1,"$(P):5CAM_W.VAL")
+#! Record("$(P):debug$(ID)",660,274,0,0,"$(P):debug$(ID)")
+#! Record("$(P):MOVE_XYUVW",660,128,0,0,"$(P):MOVE_XYUVW")
+#! Record(SEL,660,414,0,1,"SEL")
+#! Field("SEL.INPA",16777215,0,"SEL.INPA")
+#! Link("SEL.INPA","$(P):5CAM_X.VAL")
+#! Field("SEL.INPB",16777215,0,"SEL.INPB")
+#! Link("SEL.INPB","$(P):5CAM_Y.VAL")
+#! Field("SEL.INPC",16777215,0,"SEL.INPC")
+#! Link("SEL.INPC","$(P):5CAM_U.VAL")
+#! Field("SEL.INPD",16777215,0,"SEL.INPD")
+#! Link("SEL.INPD","$(P):5CAM_V.VAL")
+#! Field("SEL.INPE",16777215,0,"SEL.INPE")
+#! Link("SEL.INPE","$(P):5CAM_W.VAL")