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This commit is contained in:
zamofing_t
2019-01-16 14:29:29 +01:00
parent ee70ff070a
commit 3e9485ee25
4 changed files with 197 additions and 72 deletions
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9
python/MXMotion.py
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@@ -62,10 +62,11 @@ class MotionBase:
flag1='Gate3[1].Chan[1].UserFlag'
flag0='P0';flag1='P1'
prg = '''
Coord[1].Q[1]=1
Coord[1].Q[1]=-2
while({flag0}==0){{}}
Coord[1].Q[1]=-1
Gather.Enable=2
while({flag1}==0){{}}
Coord[1].Q[1]=2
'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
self.sync_prg = prg
self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
@@ -77,9 +78,9 @@ class MotionBase:
flag0='P0';flag1='P1'
pt2pt_time=40
prg='''
Coord[1].Q[1]=1
//Gather.Enable=2 if done in the sync program
Coord[1].DesTimeBase=0
Coord[1].Q[1]=2
Coord[1].Q[1]=-1
'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
self.sync_prg=prg
self.sync_run='&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)

47
python/shapepath.py
View File

@@ -287,6 +287,9 @@ class ShapePath(MotionBase):
gt=self.gather
gt.set_phasemode(False)
address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Gate3[1].Chan[1].UserFlag")
address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Sys.P[1]")
#address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Coord[1].Q[1]")
gt.set_address(*address)
gt.set_property(MaxSamples=1000000, Period=acq_per)
ServoPeriod= .2 #0.2ms #Sys.ServoPeriod is dependent of !common() macro
@@ -318,13 +321,16 @@ class ShapePath(MotionBase):
mode=-1 jog a 10mm square
mode=0 linear motion
mode=1 pvt motion
kwargs: scale: scaling velocity (default=1. value=0 would stop at the point
kwargs:
pt2pt_time : time to move from one point to the next point
sync_frq : synchronization mark all n points (default=10)
scale : scaling velocity (default=1. value=0 would stop at the point
cnt : move path multiple times (default=1)
dwell : dwell time at end (default=100ms)
mode=2 spline motion
mode=3 pvt motion using inverse fft velocity
kwargs: scale: scaling velocity (default=1. value=0 would stop at the point
kwargs:
pt2pt_time : time to move from one point to the next point
sync_frq : synchronization mark all n points
kwargs: same as pvt motion
'''
prg=['close all buffers','open prog %d'%(prgId)]
comm=self.comm
@@ -364,6 +370,7 @@ class ShapePath(MotionBase):
self.meta['pt2pt_time']=pt2pt_time
cnt=kwargs.get('cnt', 1) # move path multiple times
sync_frq=kwargs.get('sync_frq', 10) # synchronization mark all n points
dwell=kwargs.get('dwell', 100) # synchronization mark all n points
CoordFeedTime=1000. #Defaut deltatau value
try:
pt=self.ptsCorr
@@ -403,17 +410,17 @@ class ShapePath(MotionBase):
try: prg.extend(self.sync_prg.split('\n'))
except AttributeError:
#print('no sync code available')
pass
prg.append('Gather.Enable=2')
prg.append('Gather.Enable=2')
if cnt>1:
prg.append('P100=%d'%cnt)
prg.append('N100:')
prg.append(' pvt%g abs'%pt2pt_time) #100ms to next position
for idx in range(1,pv.shape[0]):
if sync_frq is not None and idx%sync_frq==0:
prg.append('Coord[1].Q[0]=%d'%(idx))
prg.append('Coord[1].Q[1]=%d'%(idx))
prg.append('X%g:%g Y%g:%g'%tuple(pv[idx,(0,2,1,3)]))
prg.append('Coord[1].Q[0]=%d' % (idx))
if sync_frq is not None:
prg.append('Coord[1].Q[1]=%d' % (idx))
prg.append('X%g Y%g' % tuple(pv[-1, (0,1)]))
if cnt>1:
prg.append('dwell 10')
@@ -426,10 +433,7 @@ class ShapePath(MotionBase):
prg.append('goto 100')
prg.append('}')
else:
prg.append('dwell 1000')
if sync_frq is not None:
prg.append('Coord[1].Q[0]=-1')
prg.append('Coord[1].Q[1]=0')
prg.append('dwell %d'%dwell)
prg.append('Gather.Enable=0')
elif mode==2: #### spline motion
try:
@@ -562,6 +566,20 @@ class ShapePath(MotionBase):
self.ax=ax
self.hl=hl
idxTrigger = rec[:, 4]
idxTrigger = np.where(np.diff(idxTrigger) == 1)[0] + 1
if idxTrigger.shape[0]>0:
hl=ax.plot(rec[idxTrigger,1],rec[idxTrigger,0],'xr') # actual path
fig = plt.figure('trigger')
ax = fig.add_subplot(1, 1, 1)
hl += ax.plot(rec[:,2], 'r-',label='desPos Mot1')
hl += ax.plot(rec[:,3], 'g-',label='desPos Mot2')
hl += ax.plot(rec[:, 4], 'b-',label='trigger')
ax.legend(loc='best')
plt.show(block=False)
if mode&2:
fig = plt.figure('position error')
ax = fig.add_subplot(1, 1, 1)
@@ -588,6 +606,7 @@ class ShapePath(MotionBase):
# idxTrigger=np.hstack(([0],rec[:,4]))
# doc.idxTrigger=idxTrigger=np.where(np.diff(idxTrigger)==1)[0]
idxTrigger = rec[:, 4]
idxTrigger = np.where(np.diff(idxTrigger) == 1)[0] + 1
idxInPos = [] # first point at idx 0
try: # find approximate distance of 2 points
@@ -785,7 +804,7 @@ if __name__=='__main__':
sp.setup_gather(acq_per=2)
sp.setup_sync(mode=2) #sync with timing system and PLC to sync speed (PROG)
sp.setup_coord_trf() # reset to shape path system
sp.setup_motion(fnPrg=fn + '.prg', mode=3, pt2pt_time=40,scale=1)
sp.setup_motion(fnPrg=fn + '.prg', mode=3, pt2pt_time=40,scale=1,dwell=10)
sp.run()
sp.gather_upload(fnRec=fn+'.npz')
sp.plot_gather(mode=11)