homing plc and fixes
This commit is contained in:
299
logbook.md
299
logbook.md
@@ -592,14 +592,299 @@ Grid path at speed:
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Interferometer
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--------------
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Interferometer 11.4.2017
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------------------------
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adding to torqueCtrl lines:
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!encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000)
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!encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000)
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gpasciiCommander --host SAR-CPPM-EXPMX1 -i
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!mx-stage()
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#1..3$
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&1
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#1..3j/
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$$$***
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both interferometer works
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homing and move:
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#2..5p
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-0.04000000000000008 0.0200000000000023 -298.8984375 39.890625
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> #2j=10000;#3j=0000
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#2j=10000;#3j=0000
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> #2..5p
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#2..5p
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10000 2.380040609040179e-15 -500672.5625 4334.390625
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> #2j=0000;#3j=0000
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#2j=0000;#3j=0000
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> #2j=0000;#3j=10000
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#2j=0000;#3j=10000
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> #2..5p
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#2..5p
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-0.02000000000000006 10000 -3559.06640625 -499752.609375
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#2..5p
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-0.08000000000000007 -0.003515624999636202 -0.5 7.2890625
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#2j=10000
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#2..5p
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9999.980000000001 -0.01000000000021828 4290.96875 -500362.453125
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#2j=0;#3j=10000
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#2..5p
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0 9999.992812500001 -499789.3984375 -3260.984375
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Interferometer have 500000 counts per 10000um = 50 counts per um =20nm
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at Motor[2].JogSpeed=10 the interferometer can not follow the motion.
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It will not loose steps, but the maximum frequency is limiting during motion.
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at Motor[2].JogSpeed=10 the interferometer and the encoder delivers similar values.
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interfero_move_rec.py
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self.gather={"MaxSamples":1000000, "Period":acq_per}
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self.channels=channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"]
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Gather.Enable=0
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Gather.Items=6
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Gather.MaxSamples=1000000
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Gather.Period=10
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Gather.Addr[0]=Motor[2].DesPos.a
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Gather.Addr[1]=Motor[3].DesPos.a
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Gather.Addr[2]=Motor[2].ActPos.a
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Gather.Addr[3]=Motor[3].ActPos.a
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Gather.Addr[4]=Motor[4].ActPos.a
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Gather.Addr[5]=Motor[5].ActPos.a
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open prog 2
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linear abs
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X0 Y0
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dwell 10
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Gather.Enable=2
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X10000 Y0
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dwell 100
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X0 Y0
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dwell 100
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X0 Y10000
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dwell 100
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X0 Y0
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dwell 1000
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Gather.Enable=0
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close
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&1
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b2r
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download data with
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PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1
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cat /tmp/gather.txt
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Motor[2].MaxSpeed=50
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Motor[3].MaxSpeed=50
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->gather50.txt
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Motor[2].MaxSpeed=5
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Motor[3].MaxSpeed=5
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->gather5.txt
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Motor[2].MaxSpeed=1
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Motor[3].MaxSpeed=1
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->gather1.txt
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Changing encoder frequency on atto cube makes it run even at high speed
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28. 4.2017 prepare for vibration measurement
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--------------------------------------------
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PPMAC=SAR-CPPM-EXPMX1
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cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX
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PBInspect --host $PPMAC --cfg PBinspect.pbi
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cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo
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make
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cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
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gpasciiCommander --host SAR-CPPM-EXPMX1 -i
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!mx-stage()
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#1..3$
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&1
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#1..3j/
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#1j=360000 //360deg gegenuhrzeiger
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#2j:100 //100 um right
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#3j:100 //100 um up
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move bottom left
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#2,3$
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Motor[2].PhasePos;Motor[3].PhasePos
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Motor[2].PhasePos=310;Motor[3].PhasePos=1210
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#2,3hmz
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Motor[3].HomePos=Motor[3].HomePos+15000
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Motor 2 vibriert mit 76ms =13.15 Hz
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b2r
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Load is now Alublock + mirrors
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at 50 Hz peak to peak 200um
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at 100Hz peak to Peak 50um
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at 200Hz peak to Peak 13um
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at 400Hz peak to Peak 1.5um
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2. 5.2017 Vertical stage with load
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----------------------------------
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scale=0.83832 #np.sqrt(3)/2*32767/33.850/1000
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Motor[3].I2tSet=670.65601
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670.65601/0.83832 = 800.000
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ohne Platte iqCmd = 625
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Platte 133.2g iqCmd = 910
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Platte 156.8g iqCmd = 965
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Motor[3].IaMeas=-660
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Motor[3].IbMeas=580
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Motor[3].IqMeas=634.15991
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Motor[3].IaMeas=-708
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Motor[3].IbMeas=256
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Motor[3].IaMeas=436 =520
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Motor[3].IbMeas=-632 =-753
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Motor[3].IqMeas=566.46863 = 675
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Claude messungen:
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Phase 1: 330mA
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Phase 2: 125mA
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Phase 3: 694mA
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Stromzange: 650 mA
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Interferometer 29.5.2017
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------------------------
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cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX;PBInspect --cfg PBinspect.pbi --host SAR-CPPM-EXPMX1
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gpasciiCommander --host SAR-CPPM-EXPMX1 -i
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!mx-stage()
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#1..3$
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&1
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#1..3j/
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zero to neative inc values
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move motor 2,3 from 500 to 28500
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#1..5hmz
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read acquire statements and program at to of plot_interfero.py
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Motor[2].MaxSpeed=30;Motor[3].MaxSpeed=30
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Motor[2].MaxSpeed=10;Motor[3].MaxSpeed=10
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PPMAC=SAR-CPPM-EXPMX1
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PBGatherPlot -m24 -v7 --host $PPMAC --dat gather1.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather0.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather1.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather2.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather3.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather4.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather5.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather6.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather7.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather8.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather9.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather10.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather11.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather12.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather13.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather14.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather15.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather16.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather17.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather18.txt
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b2r
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!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather19.txt
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Konstantfeder 2.6.2017
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----------------------
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cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX;PBInspect --cfg PBinspect.pbi --host SAR-CPPM-EXPMX1
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cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/;gpasciiCommander --host SAR-CPPM-EXPMX1 -i
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!mx-stage()
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//#1..3$
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//move bottom left
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#2,3$
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Motor[2].PhasePos;Motor[3].PhasePos
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Motor[2].PhasePos=310;Motor[3].PhasePos=1210
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#2,3hmz
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Motor[2].HomePos=Motor[2].HomePos+5000
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Motor[3].HomePos=Motor[3].HomePos+5000
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&1
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#1..3j/
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#2..3j=0
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L2=Motor[2].MaxDac
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L3=Motor[3].MaxDac
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Motor[2].MaxDac=500
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#2j+
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enable plc 1
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Motor[2].HomeVel=2
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Motor[3].HomeVel=2
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#2,3$
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Homing 12.6.2017
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---------------
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cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX;PBInspect --cfg PBinspect.pbi --host SAR-CPPM-EXPMX1
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cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/;gpasciiCommander --host SAR-CPPM-EXPMX1 -i
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!mx-stage()
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//!init()
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//!init_limit()
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enable plc 1
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!common()
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!encoder_inc(enc=8,tbl=8,mot=8)
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!encoder_inc(enc=1,tbl=1,mot=1)
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!encoder_inc(enc=2,tbl=2,mot=2)
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