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tweak xy stage part1

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This commit is contained in:
zamofing_t
2018-08-14 11:59:01 +02:00
parent 55a82707a0
commit 2f37442828
6 changed files with 48 additions and 21 deletions
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27
Readme.md
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@@ -960,4 +960,31 @@ Alles bündig bei je 67mm
m3 -330
m4 1900
Wedge Mover Limits:
X -2.13 .. 1.5
Y -1.68 .. 2.28
Individual motor limits:
Y-Min (moving until all limits kick in)
#1..4p
19594 16978 22575.5 21962
Y-Max
#1..4p
-23962.5 -23414 -22669 -22413
right:
#1..4p
-2023 2049 -3362 3379
left
#1..4p
3017 -3170 1415.5 -1693
Y: -1.67
B :
T
L
R

20
SAR-EXPMX2.subs
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@@ -17,14 +17,14 @@ file asyn.template {{P="$(P_M)2", PORT=$(PORT_M)}}
file PPMACMotor.template {
pattern{ DESC , P , M , PORT , ADDR, DIR, VELO, HVEL, ACCL, JAR, MRES , PREC, EGU , DHLM, DLLM}
{ "Wedge 1" , "$(P_M)", "MOT_WEDGE1", "$(PORT_M)", 1 , 0 , 1. , .5 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Wedge 2" , "$(P_M)", "MOT_WEDGE2", "$(PORT_M)", 2 , 0 , 1. , .5 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Wedge 3" , "$(P_M)", "MOT_WEDGE3", "$(PORT_M)", 3 , 0 , 1. , .5 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Wedge 4" , "$(P_M)", "MOT_WEDGE4", "$(PORT_M)", 4 , 0 , 1. , .5 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Wedge X" , "$(P_M)", "MOT_WEDGEX", "$(PORT_M)", 9 , 0 , 1. , .5 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Wedge Y" , "$(P_M)", "MOT_WEDGEY", "$(PORT_M)", 10 , 0 , 1. , .5 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Wedge A" , "$(P_M)", "MOT_WEDGEA", "$(PORT_M)", 11 , 0 , 1. , .5 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Wedge B" , "$(P_M)", "MOT_WEDGEB", "$(PORT_M)", 12 , 0 , 1. , .5 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Backlight", "$(P_M)", "MOT_BLGT" , "$(PORT_M)", 5 , 1 , 40E3, 20E3, 0.1 , 20 , -1 , 0 , "usr", 0 , 0 }
{ "Cryojet" , "$(P_M)", "MOT_CRYO" , "$(PORT_M)", 6 , 1 , 10., 5. , 0.1 , 20 , -0.001, 3 , "mm", 0 , 0 }
{ "Wedge 1" , "$(P_M)", "MOT_WEDGE1", "$(PORT_M)", 1 , 0 , 1. , .5 , 0.1 , 20 , 0.001, 3 , "mm" , 0 , 0 }
{ "Wedge 2" , "$(P_M)", "MOT_WEDGE2", "$(PORT_M)", 2 , 0 , 1. , .5 , 0.1 , 20 , 0.001, 3 , "mm" , 0 , 0 }
{ "Wedge 3" , "$(P_M)", "MOT_WEDGE3", "$(PORT_M)", 3 , 0 , 1. , .5 , 0.1 , 20 , 0.001, 3 , "mm" , 0 , 0 }
{ "Wedge 4" , "$(P_M)", "MOT_WEDGE4", "$(PORT_M)", 4 , 0 , 1. , .5 , 0.1 , 20 , 0.001, 3 , "mm" , 0 , 0 }
{ "Wedge X" , "$(P_M)", "MOT_WEDGEX", "$(PORT_M)", 9 , 1 , 1. , .5 , 0.1 , 20 , 0.001, 3 , "mm" , 0 , 0 }
{ "Wedge Y" , "$(P_M)", "MOT_WEDGEY", "$(PORT_M)", 10 , 0 , 1. , .5 , 0.1 , 20 , 0.001, 3 , "mm" , 0 , 0 }
{ "Wedge A" , "$(P_M)", "MOT_WEDGEA", "$(PORT_M)", 11 , 0 , 1. , .5 , 0.1 , 20 , 0.001, 3 , "mm" , 0 , 0 }
{ "Wedge B" , "$(P_M)", "MOT_WEDGEB", "$(PORT_M)", 12 , 1 , 1. , .5 , 0.1 , 20 , 0.001, 3 , "mm" , 0 , 0 }
{ "Backlight", "$(P_M)", "MOT_BLGT" , "$(PORT_M)", 5 , 1 , 40E3, 20E3, 0.1 , 20 , 1 , 0 , "usr", 0 , 0 }
{ "Cryojet" , "$(P_M)", "MOT_CRYO" , "$(PORT_M)", 6 , 1 , 10., 5. , 0.1 , 20 , 0.001, 3 , "mm", 0 , 0 }
}

12
cfg/MX1_setup.cfg
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@@ -45,10 +45,10 @@
//use um as motor unit
!encoder_sim(enc=1,tbl=9,mot=9,posSf=13000./2048)
!encoder_inc(enc=1,tbl=1,mot=1,posSf=13000./650000)
//!motor_servo(mot=1,ctrl='ServoCtrl',Kp=20,Kvfb=1000,Ki=0.07,Kvff=1000,Kaff=4000,MaxInt=1000)
//!motor_servo(mot=1,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
//Stage X Parker MX80L (top stage, mounted on Y stage)
@@ -57,12 +57,12 @@
// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05
//2048 phase_step =166400000 PhaseCapt -> PhasePosSf = 2048/166400000= 2048./(256*650000)
//PhaseFreq=20000,PhasePerServo=1 -> Kvfb=220*4 Ki/=4,Kvff*=4,Kaff*=4*4
!encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048)
!encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000)
!motor_servo(mot=2,ctrl='ServoCtrl',Kp=18,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
//PhaseFreq=20000,PhasePerServo=1 -> Kvfb=220*4 Ki/=4,Kvff*=4,Kaff*=4*4
!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
!motor_servo(mot=2,ctrl='ServoCtrl',Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
//rot stage

2
cfg/MX2_home.cfg
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@@ -17,7 +17,7 @@ open plc PLC_Homing
Motor[3].HomeVel=0.5
Motor[4].HomeVel=0.5
status=1
while(1)
{
if((Motor[1].LimitStop==1 || Motor[1].FeFatal==1)){

2
python/shapepath.py
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@@ -85,7 +85,7 @@ class ShapePath:
#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=1000)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
cfg = {"sequencer": ['gen_grid_points(w=10,h=10,pitch=100,rnd=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'.npz")']}
cfg = {"sequencer": ['gen_grid_points(w=40,h=40,pitch=100,rnd=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=20,acq_per=10)','plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_swissfel_points(scale=300)','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=100,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','gen_prog(file="'+fn+'_corr.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'_corr.npz")']}

6
qt/ESB_MX_exp.ui
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@@ -278,10 +278,10 @@ P=$(P),M=MOT_GIR_W</string>
<string notr="true">$(P):MOT_BLGT</string>
</property>
<property name="trueValue">
<string>28000</string>
<string>-29000</string>
</property>
<property name="falseValue">
<string>-2000</string>
<string>0</string>
</property>
</widget>
<widget class="caMessageButton" name="camessagebutton_2">
@@ -297,7 +297,7 @@ P=$(P),M=MOT_GIR_W</string>
<string>Home BkLight</string>
</property>
<property name="channel" stdset="0">
<string notr="true">$(P):MOT_BLGT.HOMF</string>
<string notr="true">$(P):MOT_BLGT.HOMR</string>
</property>
<property name="pressMessage">
<string notr="true">1</string>