diff --git a/.gitignore b/.gitignore index 5dd1a68..7327eec 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,6 @@ .tmp_versions/ .idea/ +gather*/ *~ *.pyc usralgo.ko diff --git a/ESB_MX.subs b/ESB_MX.subs index a2bc1a9..a8a439d 100644 --- a/ESB_MX.subs +++ b/ESB_MX.subs @@ -19,12 +19,12 @@ file PPMACMotor.template { -pattern {DESC ,P ,M ,PORT ,ADDR ,DIR,VMAX,VELO,JVEL,HVEL,ACCL,JAR,MRES ,PREC,EGU ,DHLM,DLLM} -{ "Rotation Y" ,"$(P_M)","MOTOR_ROT_Y" ,"$(PORT_M)","$(M1)",1 ,50 ,50 ,50 ,1 ,0.1 ,20 ,-0.001,3 ,"deg",0 ,0} -{ "Translation X","$(P_M)","MOTOR_FX" ,"$(PORT_M)","$(M2)",1 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0} -{ "Translation Y","$(P_M)","MOTOR_FY" ,"$(PORT_M)","$(M3)",1 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0} -{ "CamBase X", "$(P_M)","MOTOR_CAMX" ,"$(PORT_M)","$(M4)",0 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0} -{ "CamBase Y", "$(P_M)","MOTOR_CAMY" ,"$(PORT_M)","$(M5)",1 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0} -{ "TransBase X", "$(P_M)","MOTOR_CX" ,"$(PORT_M)","$(M7)",1 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0} -{ "TransBase Z", "$(P_M)","MOTOR_CZ" ,"$(PORT_M)","$(M8)",1 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0} +pattern{ DESC , P , M , PORT , ADDR , DIR, VELO, ACCL, JAR, MRES , PREC, EGU , DHLM, DLLM} + { "Rotation Y" , "$(P_M)", "MOTOR_ROT_Y", "$(PORT_M)", "$(M1)", 1 , 50 , 0.1 , 20 , -0.001, 3 , "deg", 0 , 0 } + { "Sample F-Trans X", "$(P_M)", "MOTOR_FX" , "$(PORT_M)", "$(M2)", 1 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } + { "Sample F-Trans Y", "$(P_M)", "MOTOR_FY" , "$(PORT_M)", "$(M3)", 1 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } + { "CamBase X" , "$(P_M)", "MOTOR_CAMX" , "$(PORT_M)", "$(M4)", 1 , .3 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } + { "CamBase Y" , "$(P_M)", "MOTOR_CAMY" , "$(PORT_M)", "$(M5)", 0 , .3 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } + { "Sample C-Trans X", "$(P_M)", "MOTOR_CX" , "$(PORT_M)", "$(M7)", 1 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } + { "Sample C-Trans Z", "$(P_M)", "MOTOR_CZ" , "$(PORT_M)", "$(M8)", 1 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } } diff --git a/PPMACMotor.template b/PPMACMotor.template index 2023c24..484e577 100644 --- a/PPMACMotor.template +++ b/PPMACMotor.template @@ -2,19 +2,20 @@ record(motor,"$(P):$(M)") { field(DESC,"$(DESC)") field(DTYP,"asynMotor") - field(OUT,"@asyn($(PORT),$(ADDR))") - field(DIR,"$(DIR)") - field(VMAX,"$(VMAX)") - field(VELO,"$(VELO)") - field(JVEL,"$(JVEL)") - field(HVEL,"$(HVEL)") - field(ACCL,"$(ACCL)") - field(JAR, "$(JAR)") - field(MRES,"$(MRES)") - field(PREC,"$(PREC)") - field(EGU,"$(EGU)") - field(DHLM,"$(DHLM)") - field(DLLM,"$(DLLM)") + field(OUT, "@asyn($(PORT),$(ADDR))") + field(DIR, $(DIR)) + field(VMAX,$(VELO)) + field(VELO,$(VELO)) + field(JVEL,$(VELO)) + field(HVEL,$(VELO)) + field(ACCL,.1) + field(JAR, 20) + field(MRES,$(MRES)) + field(PREC,$(PREC)) + field(EGU, $(EGU)) + field(DHLM,$(DHLM)) + field(DLLM,$(DLLM)) + field(RTRY,0) } record(asyn,"$(P):ASYN") diff --git a/cfg/startOnTrigger.cfg b/cfg/startOnTrigger.cfg new file mode 100644 index 0000000..fd8a72a --- /dev/null +++ b/cfg/startOnTrigger.cfg @@ -0,0 +1,21 @@ +//changes the Timebase of coord system 1 + +//modifies the timebase to start/stop a running program +//this can also be used to adjust the execution speed + +open plc 1 +Coord[1].DesTimeBase=0 // freezes timebase at boot +while(1) +{ + if(PowerBrick[0].GpioData[0].0.1==1) + { + PowerBrick[0].GpioData[0].16.8=255 + Coord[1].DesTimeBase=Sys.ServoPeriod + } + else + { + PowerBrick[0].GpioData[0].16.8=7 + Coord[1].DesTimeBase=0 + } +} +close diff --git a/cfg/testPerfGrid.cfg b/cfg/testPerfGrid.cfg new file mode 100644 index 0000000..1fd5cf9 --- /dev/null +++ b/cfg/testPerfGrid.cfg @@ -0,0 +1,834 @@ +define(PRG_GridXY='10',PRG_GridYX='11') + + + +//this program is generated with ./shapepath.py +//cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg") +//then modifiing start and end to not use gathering and 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Y150.692:-4870.94 +X1458.82:-55.5215 Y106.925:-4975.22 +X1452.96:31.0064 Y51.1873:-5005.36 +X1459.44:323.804 Y6.8182:-2218.45 +X1459.44:0 Y6.8182:0 +X1459.44 Y6.8182 +dwell10 +goto 0 +close \ No newline at end of file diff --git a/cfg/torqueCtrl.cfg b/cfg/torqueCtrl.cfg index 030f87f..d08622a 100644 --- a/cfg/torqueCtrl.cfg +++ b/cfg/torqueCtrl.cfg @@ -26,12 +26,11 @@ //Mot 3: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step //Enc 3: Stage X Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step) -//Enc 4: Interferometer 1 - -//Enc 5: Interferometer 2 - - +//Mot/Enc 4: camera base plate X +// OBSOLETE: Enc 4: Interferometer 1 +//Mot/Enc 5: camera base plate Y +// OBSOLETE Enc 5: Interferometer 2 //Mot 7: Stada Stepper: 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor) //Enc 7: Renishaw absolute BiSS @@ -94,8 +93,8 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a //!encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000) //!encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000) -//Base plate -//---------- +//camera base plate X,Y +//--------------------- //102400000 ustep 200000 encCnt = 10mm = 10000um //posSf = userUnits/encoder_steps = 10000/200000 =1./20 diff --git a/qt/ESB_MX_exp.ui b/qt/ESB_MX_exp.ui index e58b154..bf8c8a5 100644 --- a/qt/ESB_MX_exp.ui +++ b/qt/ESB_MX_exp.ui @@ -217,8 +217,42 @@ P=$(P),M=MOTOR_CAMY enable plc 1 + + + + 620 + 250 + 121 + 24 + + + + Smaract + + + + 128 + 136 + 255 + + + + Smaract + + + ESB_MX_SMARACT_main.ui + + + P=SARES30-ESBMX + + + + caRelatedDisplay + QWidget +
caRelatedDisplay
+ caMessageButton QPushButton