towards python 3

2017-09-29 10:38:24 +02:00
parent f6b3853550
commit 3764e27d13
6 changed files with 90 additions and 30 deletions
--- a/ESB_MX.subs
+++ b/ESB_MX.subs
@@ -20,9 +20,9 @@

 file PPMACMotor.template {
 pattern {DESC    ,P       ,M             ,PORT       ,ADDR   ,DIR,VMAX,VELO,JVEL,HVEL,ACCL,JAR,MRES  ,PREC,EGU ,DHLM,DLLM}
-{ "Rotation Y"   ,"$(P_M)","MOTOR_ROT_Y1","$(PORT_M)","$(M1)",0  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"deg",0   ,0}
-{ "Translation X","$(P_M)","MOTOR_X1"    ,"$(PORT_M)","$(M2)",0  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
-{ "Translation Y","$(P_M)","MOTOR_Y1"    ,"$(PORT_M)","$(M3)",0  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
-{ "TransBase X",  "$(P_M)","MOTOR_AX"    ,"$(PORT_M)","$(M7)",0  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
-{ "TransBase Z",  "$(P_M)","MOTOR_AZ"    ,"$(PORT_M)","$(M8)",0  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+{ "Rotation Y"   ,"$(P_M)","MOTOR_ROT_Y1","$(PORT_M)","$(M1)",1  ,50  ,50  ,50  ,1   ,0.1 ,20 ,-0.001,3   ,"deg",0   ,0}
+{ "Translation X","$(P_M)","MOTOR_X1"    ,"$(PORT_M)","$(M2)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+{ "Translation Y","$(P_M)","MOTOR_Y1"    ,"$(PORT_M)","$(M3)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+{ "TransBase X",  "$(P_M)","MOTOR_AX"    ,"$(PORT_M)","$(M7)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+{ "TransBase Z",  "$(P_M)","MOTOR_AZ"    ,"$(PORT_M)","$(M8)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
 }
--- a/2
+++ b/2
@@ -3,7 +3,7 @@ MODULE = $(notdir $(shell pwd))
 BUILDCLASSES = Linux
 ARCH_FILTER = eldk42% SL6-x86_64
 EXCLUDE_VERSIONS = 3.14.8
-SCRIPTS+=$(wildcard add_device*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi qt/*.ui qt/*.jpg)
+SCRIPTS+=$(wildcard add_device*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi qt/*.ui qt/*.jpg python/*.py)
 #SOURCES+=src/DHVSaSub.cpp
 #DBDS+=src/DHVSaSub.dbd
 USR_CXXFLAGS+= -fno-operator-names
--- a/Readme.md
+++ b/Readme.md
@@ -4,6 +4,7 @@ Various motor documents

 Parker stage
 ------------
+```
 - encoder is incremental encoder
 25mm or 50mm travel stage
 Stall Current Continuous 0.8
@@ -14,7 +15,7 @@ Max.BuxVoltage V 80

 Continous Force 4N -> assume 1kg load -> acceleration=a=F/m=4m/s^2
 Weight top stage: 250g=2.5N
-
+```


 Mecapion rot stage
@@ -27,15 +28,16 @@ http://www.parkem.ch/medien/produkte/direktantriebstechnik/pdf/MDM_Rundtisch_kat
 http://www.goto.si/wp-content/uploads/2016/kat/L7%20Series%20catalog.pdf
 http://farasys.ir/wp-content/uploads/2015/Direct%20Drive%20Rotary%20Motors.pdf
 http://www.inmoco.co.uk/Upload/product/1037_DD_Series_Motors_79.pdf
-```

 - encoder is biss 20 bit
 - Rated Current 1.46 Arms
 - Max Current 4.38 Arms
 - 32 pole (16 einraster per rev)
+```

 Servo Test Motor QBL 4208-41-04-006
 -----------------------------------
+```
     8     pole (4 lock position per rev)
    24 V   rated voltage
  1.79 A   rated phase current
@@ -43,10 +45,12 @@ Servo Test Motor QBL 4208-41-04-006
  4000 rpm rated speed
   1.8 ohm line to line resistance
   2.6 mH  line to line inductance
+```
+

- 
 2Phase Stepper Test Motor Vextra PK244M
 ---------------------------------------
+```
 - 200 pole (100 einraster per rev)


@@ -61,28 +65,31 @@ gpasciiCommander --host SAR-CPPM-EXPMX1 -i

 cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
 ./shapepath.py -v255
-
+```


 Testing ServoFrq.
 -----------------
-
+```
 !common(PhaseFreq=20000,PhasePerServo=4) -> 25000points, 20um error  leads the trajectory in x
 !common(PhaseFreq=20000,PhasePerServo=2) -> 25000points, 6.6um error
 !common(PhaseFreq=20000,PhasePerServo=1) -> 25000points, 6.1um error ossilates in y, x is quite good

 -> the servo loop has to be optimized!
+```

 Testing linear,pvt,spline moves
 -------------------------------
+```

 Tested with shapepath.py: THE BEST TRAJECTORY RESULT IST WITH PVT MOTION

+```


 Optimize/Test Parameters with Parker Stage
 ------------------------------------------
-
+```
 cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
 gpasciiCommander --host SAR-CPPM-EXPMX1 -i
 !mx-stage()
@@ -119,12 +126,12 @@ average error x 0.313575 um, y 0.461707 um, 0.629583 um

 ./shapepath.py
 average error x 0.371877 um, y 0.317152 um, 0.542073 um
-
+```


 Start motion on external signal
 -------------------------------
-
+```
 open plc 1
 Coord[1].DesTimeBase=0       // freezes timebase at boot
 while(1)
@@ -144,3 +151,32 @@ close
 enable plc 1
 -> run motion program. press gpio 0 to run at 100%

+```
+
+29.9.17 Testing in MX-LAB
+-------------------------
+```
+Start the powerbrick. ioc is started automatically
+zamofing_t@ganymede:~$ ssh x06mx-cons-1
+
+caget SAR-ESB_MX:MOTOR_AX
+cd /net/slsfs-crtl/export/sf/common/config/qt/
+startDM -macro 'P=SAR-ESB_MX' ESB_MX_exp
+press homing button
+-> all axes can be moved.
+
+(on thierrys laptop only)
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
+./shapepath.py
+will execute the custom motion. No problems with EPICS
+
+(on other machines)
+module is installed in:
+ls /net/slsfs-crtl/export/sf/ioc/modules/ESB_MX/zamofing_t/R3.14.12/
+PATH=/net/slsfs-crtl/export/sf/controls/bin/:$PATH
+source /opt/gfa/python-2.7/2.3.0/bin/activate xblpython > /dev/null 2>&1
+cd /net/slsfs-crtl/export/sf/ioc/modules/ESB_MX/zamofing_t/R3.14.12/
+./shapepath.py
+
+```
+
--- a/cfg/torqueCtrl.cfg
+++ b/cfg/torqueCtrl.cfg
@@ -41,7 +41,7 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
 //Motor[1].pAbsPhasePos=Acc84B[0].Chan[0].SerialEncDataA.a

 !motor_servo(mot=1,ctrl='ServoCtrl',Kp=0.8,Kvfb=20,Ki=0.001,Kvff=40,Kaff=0,MaxInt=1000)
-!motor(mot=1,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10)
+!motor(mot=1,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987)


 //Stage Y Parker MX80L
@@ -85,12 +85,14 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a

 !encoder_biss(enc=7,numBits=32,posSf=1./20)
 !encoder_biss(enc=8,numBits=32,posSf=1./20)
-!motor(mot=7,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8)
-!motor(mot=8,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8)
+!motor(mot=7,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8,InPosBand=1,HomeOffset=39278)
+!motor(mot=8,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8,InPosBand=1,HomeOffset=39736)

 //turn off servon and inpos below ... user units (here 1um)
-Motor[7].InPosBand=1;Motor[7].Servo.BreakPosErr=Motor[7].InPosBand
-Motor[8].InPosBand=1;Motor[8].Servo.BreakPosErr=Motor[8].InPosBand
+//Motor[7].InPosBand=1;Motor[7].Servo.BreakPosErr=Motor[7].InPosBand
+//Motor[8].InPosBand=1;Motor[8].Servo.BreakPosErr=Motor[8].InPosBand
+
+#1,7,8hmz

 //holding current
 !holding_current(m7=[0,200],m8=[0,200])
--- a/python/shapepath.py
+++ b/python/shapepath.py
@@ -64,7 +64,7 @@ class ShapePath:
        fh=open(args.cfg,'r')
        s=fh.read()
        cfg=json.loads(s, object_hook=ConvUtf8)
-        s=json.dumps(cfg, indent=2, separators=(',', ': '));print s
+        s=json.dumps(cfg, indent=2, separators=(',', ': '));print(s)
      else:
        fn='/tmp/shapepath4'
        #fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
@@ -88,9 +88,11 @@ class ShapePath:
        cfg = {"sequencer": ['gen_grid_points(w=5,h=5,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")']}
+        #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")']}
        #cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','gen_prog(file="'+fn+'.prg",mode=1,pt2pt_time=10,cnt=1)']}

+        #cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",mode=1,pt2pt_time=10,cnt=1)']}
+
      self.cfg=dotdict(cfg)
      self.args=args

@@ -108,7 +110,7 @@ class ShapePath:
      else:
        dryrun=self.args.dryrun
        for cmd in sequencer:
-          print '>'*5+' '+cmd+' '+'<'*5
+          print('>'*5+' '+cmd+' '+'<'*5)
          if not dryrun:
            eval('self.' + cmd)

@@ -164,7 +166,7 @@ class ShapePath:
      ptsCorr=(pts-recPts[:,1:3]+recPts[:,4:6])
      self.points=pts
      self.ptsCorr=ptsCorr
-      print ptsCorr
+      print(ptsCorr)

    def gen_prog(self,prgId=2,file=None,host=None,mode=0,**kwargs):
      '''
@@ -221,7 +223,7 @@ class ShapePath:
        try:
          pt2pt_time=kwargs['pt2pt_time'] #how many ms to move to next point (pt2pt_time)
        except KeyError:
-          print 'missing pt2pt_time, use default=100ms'
+          print('missing pt2pt_time, use default=100ms')
          pt2pt_time=100.
        try:
          cnt=kwargs['cnt'] #move path multiple times
@@ -273,7 +275,7 @@ class ShapePath:
        try:
          pt2pt_time=kwargs['pt2pt_time'] #how many ms to move to next point (pt2pt_time)
        except KeyError:
-          print 'missing pt2pt_time, use default=100ms'
+          print('missing pt2pt_time, use default=100ms')
          pt2pt_time=100.
        pos=self.points
        pcor=np.ndarray(pos.shape,dtype=pos.dtype);pcor[:]=np.NaN
@@ -302,13 +304,13 @@ class ShapePath:
        fh.close()
        if host is not None:
          cmd ='gpasciiCommander --host '+host+' '+ file
-          print cmd
+          print(cmd)
          p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
          #res=p.stdout.readlines();  print res
          retval = p.wait()
          #gather -u /var/ftp/gather/out.txt
          cmd ='PBGatherPlot -m24 -v7 --host '+host
-          print cmd
+          print(cmd)
          p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
          retval = p.wait()
      self.prg=prg
@@ -349,8 +351,8 @@ class ShapePath:

    @staticmethod
    def onclick(event):
-        print 'button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%(
-            event.button, event.x, event.y, event.xdata, event.ydata)
+        print('button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%(
+            event.button, event.x, event.y, event.xdata, event.ydata))
        obj=event.canvas.figure.obj

    def plot_points(self,pts):
--- a/qt/ESB_MX_motor.ui
+++ b/qt/ESB_MX_motor.ui
@@ -13,7 +13,7 @@
  <property name="windowTitle">
   <string>Form</string>
  </property>
-  <layout class="QHBoxLayout" name="horizontalLayout" stretch="5,3,4,0,0,3">
+  <layout class="QHBoxLayout" name="horizontalLayout" stretch="5,3,4,0,0,0,3">
   <property name="spacing">
    <number>2</number>
   </property>
@@ -77,6 +77,26 @@
     </property>
    </widget>
   </item>
+   <item>
+    <widget class="caLed" name="caled_3">
+     <property name="minimumSize">
+      <size>
+       <width>25</width>
+       <height>4</height>
+      </size>
+     </property>
+     <property name="channel" stdset="0">
+      <string notr="true">$(P):$(M).DMOV</string>
+     </property>
+     <property name="trueColor">
+      <color>
+       <red>0</red>
+       <green>85</green>
+       <blue>255</blue>
+      </color>
+     </property>
+    </widget>
+   </item>
   <item>
    <widget class="caLed" name="caled">
     <property name="minimumSize">