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first steps to commission wedge mover: all motors + encoder ok.

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Homing limit switch and coorTrf to be done.
This commit is contained in:
zamofing_t
2018-01-15 11:28:14 +01:00
parent c2695e0ebf
commit 4d197eb204
12 changed files with 941 additions and 364 deletions
Download Patch File Download Diff File Expand all files Collapse all files

113
Helical1.pbi Normal file
View File

@@ -0,0 +1,113 @@
[
[
"StatusGblListCtrl",
[],
"name=g;caption=global;state=67377148;dir=4;layer=0;row=0;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=41;floaty=486;floatw=208;floath=377;notebookid=-1;transparent=255"
],
[
"MotorListCtrl",
[
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"name=p;caption=motor pos;state=67377148;dir=4;layer=0;row=0;pos=1;prop=100000;bestw=200;besth=350;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1;notebookid=-1;transparent=255"
],
[
"WatchListCtrl",
[
[
"EncTable[1].PrevEnc",
null
],
[
"EncTable[9].PrevEnc",
null
],
[
"Motor[1].idCmd",
null
],
[
"Motor[1].Ctrl",
null
],
[
"Motor[1].pos",
null
],
[
"Motor[1].ServoOut",
null
],
[
"P1000",
null
],
[
"Gather.Samples",
null
],
[
"Gather.MaxLines",
null
]
],
"name=w;caption=watch;state=67377148;dir=4;layer=0;row=1;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=221;floaty=858;floatw=208;floath=377;notebookid=-1;transparent=255"
],
[
"StatusMotorListCtrl",
[
1
],
"name=m1;caption=motor1;state=67377148;dir=4;layer=0;row=4;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=485;floaty=810;floatw=208;floath=677;notebookid=-1;transparent=255"
],
[
"StatusMotorListCtrl",
[
2
],
"name=m2;caption=motor2;state=67377148;dir=4;layer=0;row=4;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=520;floaty=734;floatw=208;floath=677;notebookid=-1;transparent=255"
],
[
"StatusCoordListCtrl",
[
1
],
"name=c1;caption=coord1;state=67377148;dir=4;layer=0;row=2;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=350;floaty=493;floatw=208;floath=677;notebookid=-1;transparent=255"
],
[
"StatusMotorListCtrl",
[
3
],
"name=m3;caption=motor3;state=67377148;dir=4;layer=0;row=5;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1490;floaty=556;floatw=208;floath=677;notebookid=-1;transparent=255"
],
[
"StatusMotorListCtrl",
[
4
],
"name=m4;caption=motor4;state=67377148;dir=4;layer=0;row=5;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1528;floaty=501;floatw=208;floath=677;notebookid=-1;transparent=255"
],
[
"StatusMotorListCtrl",
[
5
],
"name=m5;caption=motor5;state=67377148;dir=4;layer=0;row=6;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1588;floaty=238;floatw=208;floath=677;notebookid=-1;transparent=255"
]
]

136
PBInspect1.pbi
View File

@@ -27,25 +27,95 @@
[ [
"Motor[1].idCmd", "Motor[1].idCmd",
"lambda v: '%.8g'%float(v)" "lambda v: '%.8g'%float(v)"
], ],
[ "Motor[1].iqCmd", "lambda v: '%.8g'%float(v)" ], [
[ "Motor[1].idCmd", "lambda v: '%.8g'%float(v)" ], "Motor[1].iqCmd",
[ "Motor[2].iqCmd", "lambda v: '%.8g'%float(v)" ], "lambda v: '%.8g'%float(v)"
[ "Motor[2].idCmd", "lambda v: '%.8g'%float(v)" ], ],
[ "Motor[3].iqCmd", "lambda v: '%.8g'%float(v)" ], [
[ "Motor[3].idCmd", "lambda v: '%.8g'%float(v)" ], "Motor[1].ServoOut",
[ "Motor[4].iqCmd", "lambda v: '%.8g'%float(v)" ], "lambda v: '%.8g'%float(v)"
[ "Motor[4].idCmd", "lambda v: '%.8g'%float(v)" ], ],
[ "Motor[5].iqCmd", "lambda v: '%.8g'%float(v)" ], [
[ "Motor[5].idCmd", "lambda v: '%.8g'%float(v)" ], "Motor[2].iqCmd",
[ "Motor[6].iqCmd", "lambda v: '%.8g'%float(v)" ], "lambda v: '%.8g'%float(v)"
[ "Motor[6].idCmd", "lambda v: '%.8g'%float(v)" ], ],
[ "Motor[7].iqCmd", "lambda v: '%.8g'%float(v)" ], [
[ "Motor[7].idCmd", "lambda v: '%.8g'%float(v)" ], "Motor[2].idCmd",
[ "Motor[8].iqCmd", "lambda v: '%.8g'%float(v)" ], "lambda v: '%.8g'%float(v)"
[ "Motor[8].idCmd", "lambda v: '%.8g'%float(v)" ], ],
[ "P2000", null ], [
[ "P3000", null ] "Motor[2].ServoOut",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[3].iqCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[3].idCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[3].ServoOut",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[4].iqCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[4].idCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[4].ServoOut",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[5].iqCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[5].idCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[5].ServoOut",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[6].iqCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[6].idCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[6].ServoOut",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[7].iqCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[7].idCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[7].iqCmd",
"lambda v: '%.8g'%float(v)"
],
[
"P1000",
null
],
[
"P2000",
null
]
], ],
"name=w;caption=watch;state=67377148;dir=4;layer=0;row=1;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=221;floaty=858;floatw=208;floath=377;notebookid=-1;transparent=255" "name=w;caption=watch;state=67377148;dir=4;layer=0;row=1;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=221;floaty=858;floatw=208;floath=377;notebookid=-1;transparent=255"
], ],
@@ -54,7 +124,7 @@
[ [
3 3
], ],
"name=m3;caption=motor3;state=67377148;dir=4;layer=0;row=5;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=694;floaty=941;floatw=208;floath=677;notebookid=-1;transparent=255" "name=m3;caption=motor3;state=67377148;dir=4;layer=0;row=6;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=694;floaty=941;floatw=208;floath=677;notebookid=-1;transparent=255"
], ],
[ [
"StatusGblListCtrl", "StatusGblListCtrl",
@@ -66,48 +136,48 @@
[ [
2 2
], ],
"name=m2;caption=motor2;state=67377148;dir=4;layer=0;row=4;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=2588;floaty=946;floatw=208;floath=677;notebookid=-1;transparent=255" "name=m2;caption=motor2;state=67377148;dir=4;layer=0;row=5;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=2588;floaty=946;floatw=208;floath=677;notebookid=-1;transparent=255"
], ],
[ [
"StatusMotorListCtrl", "StatusMotorListCtrl",
[ [
4 4
], ],
"name=m4;caption=motor4;state=67377148;dir=4;layer=0;row=6;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=905;floaty=792;floatw=208;floath=677;notebookid=-1;transparent=255" "name=m4;caption=motor4;state=67377148;dir=4;layer=0;row=7;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=905;floaty=792;floatw=208;floath=677;notebookid=-1;transparent=255"
], ],
[ [
"StatusMotorListCtrl", "StatusMotorListCtrl",
[ [
5 5
], ],
"name=m5;caption=motor5;state=67377148;dir=4;layer=0;row=6;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1139;floaty=836;floatw=208;floath=677;notebookid=-1;transparent=255" "name=m5;caption=motor5;state=67377148;dir=4;layer=0;row=7;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1139;floaty=836;floatw=208;floath=677;notebookid=-1;transparent=255"
], ],
[ [
"StatusMotorListCtrl", "StatusMotorListCtrl",
[ [
7 7
], ],
"name=m7;caption=motor7;state=67377148;dir=4;layer=0;row=7;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1353;floaty=657;floatw=208;floath=677;notebookid=-1;transparent=255" "name=m7;caption=motor7;state=67377148;dir=4;layer=0;row=8;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1353;floaty=657;floatw=208;floath=677;notebookid=-1;transparent=255"
], ],
[ [
"StatusMotorListCtrl", "StatusMotorListCtrl",
[ [
6 6
], ],
"name=m6;caption=motor6;state=67377148;dir=4;layer=0;row=7;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1276;floaty=771;floatw=208;floath=677;notebookid=-1;transparent=255" "name=m6;caption=motor6;state=67377148;dir=4;layer=0;row=8;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1276;floaty=771;floatw=208;floath=677;notebookid=-1;transparent=255"
],
[
"StatusCoordListCtrl",
[
0
],
"name=c0;caption=coord0;state=67377148;dir=4;layer=0;row=2;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=457;floaty=774;floatw=208;floath=677;notebookid=-1;transparent=255"
], ],
[ [
"StatusMotorListCtrl", "StatusMotorListCtrl",
[ [
1 1
], ],
"name=m1;caption=motor1;state=67377148;dir=4;layer=0;row=4;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=669;floaty=892;floatw=208;floath=677;notebookid=-1;transparent=255" "name=m1;caption=motor1;state=67377148;dir=4;layer=0;row=5;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=669;floaty=892;floatw=208;floath=677;notebookid=-1;transparent=255"
],
[
"StatusCoordListCtrl",
[
1
],
"name=c1;caption=coord1;state=67377148;dir=4;layer=0;row=2;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=527;floaty=439;floatw=208;floath=677;notebookid=-1;transparent=255"
] ]
] ]

87
PBInspect2.pbi
View File

@@ -29,34 +29,74 @@
[ [
"WatchListCtrl", "WatchListCtrl",
[ [
[
"EncTable[1].PrevEnc",
null
],
[
"EncTable[9].PrevEnc",
null
],
[ [
"Motor[1].idCmd", "Motor[1].idCmd",
null "lambda v: '%.8g'%float(v)"
], ],
[ [
"Motor[1].Ctrl", "Motor[1].iqCmd",
null "lambda v: '%.8g'%float(v)"
],
[
"Motor[1].pos",
null
], ],
[ [
"Motor[1].ServoOut", "Motor[1].ServoOut",
null "lambda v: '%.8g'%float(v)"
],
[
"Motor[2].iqCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[2].idCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[2].ServoOut",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[3].iqCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[3].idCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[3].ServoOut",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[4].iqCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[4].idCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[4].ServoOut",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[5].iqCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[5].idCmd",
"lambda v: '%.8g'%float(v)"
],
[
"Motor[5].ServoOut",
"lambda v: '%.8g'%float(v)"
], ],
[ [
"P1000", "P1000",
null null
], ],
[
"P2000",
null
],
[ [
"Gather.Samples", "Gather.Samples",
null null
@@ -92,15 +132,22 @@
[ [
"StatusMotorListCtrl", "StatusMotorListCtrl",
[ [
7 4
], ],
"name=m7;caption=motor7;state=67377148;dir=4;layer=0;row=3;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1220;floaty=261;floatw=208;floath=677;notebookid=-1;transparent=255" "name=m4;caption=motor4;state=67377148;dir=4;layer=0;row=5;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=991;floaty=738;floatw=208;floath=677;notebookid=-1;transparent=255"
], ],
[ [
"StatusMotorListCtrl", "StatusMotorListCtrl",
[ [
8 5
], ],
"name=m8;caption=motor8;state=67377148;dir=4;layer=0;row=3;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1257;floaty=494;floatw=208;floath=677;notebookid=-1;transparent=255" "name=m5;caption=motor5;state=67377148;dir=4;layer=0;row=6;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1181;floaty=512;floatw=208;floath=677;notebookid=-1;transparent=255"
],
[
"StatusMotorListCtrl",
[
3
],
"name=m3;caption=motor3;state=67377148;dir=4;layer=0;row=5;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1168;floaty=473;floatw=208;floath=677;notebookid=-1;transparent=255"
] ]
] ]

45
Readme.md
View File

@@ -155,7 +155,7 @@ HelicalScan
PPMAC=MOTTEST-CPPM-CRM0485 PPMAC=MOTTEST-CPPM-CRM0485
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX
PBInspect --host $PPMAC --cfg PBInspect2.pbi PBInspect --host $PPMAC --cfg PBInspect1.pbi
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
gpasciiCommander --host $PPMAC sim_8_motors.cfg -i gpasciiCommander --host $PPMAC sim_8_motors.cfg -i
@@ -263,7 +263,7 @@ ssh x06mx-cons-1
export CAQTDM_DISPLAY_PATH=/net/slsfs-crtl/export/sf/common/config/qt/:/net/slsfs-crtl/export/sf/controls/config/qt/ export CAQTDM_DISPLAY_PATH=/net/slsfs-crtl/export/sf/common/config/qt/:/net/slsfs-crtl/export/sf/controls/config/qt/
export EPICS_CA_ADDR_LIST="129.129.126.255"
caqtdm -macro "P=SAR-EXPMX" ESB_MX_exp.ui caqtdm -macro "P=SAR-EXPMX" ESB_MX_exp.ui
``` ```
@@ -289,3 +289,44 @@ To see the differences compare:
When using segmented mode (SegMoveTime>0) the velocities are not needed. When using segmented mode (SegMoveTime>0) the velocities are not needed.
With SegMoveTime=0 these velocities are needed and will result in a non optimal trajectory (with the current buggy calculation). With SegMoveTime=0 these velocities are needed and will result in a non optimal trajectory (with the current buggy calculation).
``` ```
Testing Helicalscan with real motors 8.1.18
-------------------------------------------
```
PPMAC=SAR-CPPM-EXPMX1
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
gpasciiCommander --host $PPMAC -i
$$$***
!common()
!SAR-EXPMX1()
enable plc 1
export EPICS_CA_ADDR_LIST=$PPMAC
caQtDM -macro 'P=SAR-EXPMX' ESB_MX_exp
do homing (or call plc 1)
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
./helicalscan.py
```
Testing Wedge mover
-------------------
```
PPMAC=SAR-CPPM-EXPMX2
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX
PBInspect --host $PPMAC --cfg PBInspect2.pbi
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
gpasciiCommander --host $PPMAC -i
$$$***
!common()
!SAR-EXPMX2()
Motor[1].pLimits=0
Motor[2].pLimits=0
Motor[3].pLimits=0
Motor[4].pLimits=0
```

16
SAR-EXPMX2.subs
View File

@@ -17,13 +17,13 @@ file asyn.template {{P="$(P_M)2", PORT=$(PORT_M)}}
file PPMACMotor.template { file PPMACMotor.template {
pattern{ DESC , P , M , PORT , ADDR, DIR, VELO, HVEL, ACCL, JAR, MRES , PREC, EGU , DHLM, DLLM} 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 , .3 , .3 , 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 , .3 , .3 , 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 , .3 , .3 , 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 , .3 , .3 , 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 , .3 , .3 , 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 , .3 , .3 , 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 , .3 , .3 , 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 , .3 , .3 , 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 } { "Backlight", "$(P_M)", "MOT_BLGT" , "$(PORT_M)", 5 , 1 , 40E3, 20E3, 0.1 , 20 , -1 , 0 , "usr", 0 , 0 }
} }

2
cfg/MX1_home.cfg
View File

@@ -108,6 +108,8 @@ open plc PLC_Homing
//Motor[1].PhasePos=560 // 555 581 593 558 //Motor[1].PhasePos=560 // 555 581 593 558
//Motor[2].PhasePos=1540 //1549 1531 1543 1537 //Motor[2].PhasePos=1540 //1549 1531 1543 1537
homez6,7
goto 1 goto 1
N0: //ERROR_END N0: //ERROR_END

4
cfg/MX1_setup.cfg
View File

@@ -95,8 +95,8 @@ Motor[3].pPhaseEnc=Acc84B[0].Chan[2].SerialEncDataA.a
//Interferometer 1,2 //Interferometer 1,2
//------------------ //------------------
!encoder_inc(enc=6,tbl=6,mot=6)# ,posSf=13000./650000) !encoder_inc(enc=6,tbl=6,mot=6 ,posSf=.01) //1 incr=10nm -> posSf=.01 to scale to um
!encoder_inc(enc=7,tbl=7,mot=7)# ,posSf=13000./650000) !encoder_inc(enc=7,tbl=7,mot=7 ,posSf=-.01) //1 incr=10nm,inverse direction -> posSf=.01 to scale to um
#3,4,5hmz #3,4,5hmz

42
cfg/MX2_setup.cfg
View File

@@ -1,18 +1,40 @@
//Wedge Movers //Wedge Movers
-------------- //--------------
!encoder_inc(enc=1,posSf=1./20) //Nanotec 2 ph motor 42.3mm 1.8deg, Planetgetriebe 1.5Nm I=1:12, Spindel 2mm steigung
!motor(mot=1,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=2855,InPosBand=1) //ST4118L1804-B 42 mm 17 50 Ncm 1.8 deg/step 1.8 A/Wicklung 49 mm €34.10
!encoder_inc(enc=2,posSf=1./20) //102400*12=1228800 == 2mm
!motor(mot=2,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=2844,InPosBand=1) //#1j:1228800 -> 1 rev = 2mm = 2000inc
//posSf = userUnits/encoder_steps =1
//servoSf=motor_u_steps/userUnits = 1228800/2000. = 614.4
!encoder_inc(enc=3,posSf=1./20) //#1 = wedge 1a
!motor(mot=3,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=204,InPosBand=1) //#2 = wedge 1b
//#3 = wedge 2a
//#4 = wedge 2b
!encoder_inc(enc=4,posSf=1./20) //steigung Keil: 11.4212deg = arctan(0.2)=11.31deg -> Steigung 1:5
!motor(mot=4,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=2094,InPosBand=1) //on 146mm from 35 to 21.5mm 146/(35-21.5)=10.81
//on 280mm from 61mm to 38 mm 280/(61-38)=
//!encoder_sim(enc=1)
//!encoder_inc(enc=1,tbl=9,mot=9,posSf=1)
//!motor(mot=1,dirCur=120,JogSpeed=102.4*1,invDir=False)
//Motor[1].pLimits=0
!encoder_inc(enc=1,posSf=1.)
!motor(mot=1,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)
!encoder_inc(enc=2,posSf=1.)
!motor(mot=2,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)
!encoder_inc(enc=3,posSf=1.)
!motor(mot=3,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)
!encoder_inc(enc=4,posSf=1.)
!motor(mot=4,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1)
//Backlight //Backlight
@@ -22,4 +44,4 @@
!motor(mot=5,dirCur=1800,JogSpeed=40,invDir=False) !motor(mot=5,dirCur=1800,JogSpeed=40,invDir=False)
!holding_current(m5=[1400,1800]) !holding_current(m1=[0,1000],m2=[0,1000],m3=[0,1000],m4=[0,1000],m5=[1400,1800])

105
python/helicalscan.py
View File

@@ -30,7 +30,7 @@ verbose bits:
''' '''
import os, sys, json import os, sys, json,re
import numpy as np import numpy as np
import matplotlib as mpl import matplotlib as mpl
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
@@ -275,7 +275,7 @@ class HelicalScan:
param=self.param param=self.param
# param[i]=(z_i, y_i, x_i, r_i,phi_i) # param[i]=(z_i, y_i, x_i, r_i,phi_i)
ctr=param[:,0:3].mean(0)[::-1] ctr=param[:,0:3].mean(0)[::-1]
self.axSetCenter(ctr,10) self.axSetCenter(ctr,param[0,3]+param[1,3])
axCx=plt.axes([0.1, 0.01, 0.8, 0.02]) axCx=plt.axes([0.1, 0.01, 0.8, 0.02])
axCz=plt.axes([0.1, 0.04, 0.8, 0.02]) axCz=plt.axes([0.1, 0.04, 0.8, 0.02])
@@ -348,7 +348,7 @@ class HelicalScan:
# param[i]=(z_i, y_i, x_i, r_i,phi_i) # param[i]=(z_i, y_i, x_i, r_i,phi_i)
ctr=(0,0,0) ctr=(0,0,0)
self.axSetCenter(ctr,10) self.axSetCenter(ctr,param[0,3]+param[1,3])
axDx=plt.axes([0.1, 0.01, 0.8, 0.02]) axDx=plt.axes([0.1, 0.01, 0.8, 0.02])
axDz=plt.axes([0.1, 0.04, 0.8, 0.02]) axDz=plt.axes([0.1, 0.04, 0.8, 0.02])
@@ -404,7 +404,7 @@ class HelicalScan:
# param[i]=(z_i, y_i, x_i, r_i,phi_i) # param[i]=(z_i, y_i, x_i, r_i,phi_i)
ctr=(0,0,0) ctr=(0,0,0)
self.axSetCenter(ctr,10) self.axSetCenter(ctr,param[0,3]+param[1,3])
axFrm=plt.axes([0.1, 0.01, 0.8, 0.02]) axFrm=plt.axes([0.1, 0.01, 0.8, 0.02])
@@ -704,7 +704,7 @@ open forward
p0_z=z_0+r_0*cos(phi_0+qW) p0_z=z_0+r_0*cos(phi_0+qW)
p1_z=z_1+r_1*cos(phi_1+qW) p1_z=z_1+r_1*cos(phi_1+qW)
scale=(qFY-y_0)/(y_1-y_0) scale=(qFY-(y_0))/(y_1-(y_0))
p0_x=p0_x+scale*(p1_x-p0_x) p0_x=p0_x+scale*(p1_x-p0_x)
p0_y=p0_y+scale*(p1_y-p0_y) p0_y=p0_y+scale*(p1_y-p0_y)
p0_z=p0_z+scale*(p1_z-p0_z) p0_z=p0_z+scale*(p1_z-p0_z)
@@ -727,10 +727,11 @@ open inverse
define( qCX='L4', qCZ='L5', qW='L3', qFY='L1') define( qCX='L4', qCZ='L5', qW='L3', qFY='L1')
define(vqCX='R4', vqCZ='R5', vqW='R3', vqFY='R1') define(vqCX='R4', vqCZ='R5', vqW='R3', vqFY='R1')
define(qCX='L4', qCZ='L5', qW='L3', qFY='L1')
define(p0_x='L10', p0_y='L11', p0_z='L12') define(p0_x='L10', p0_y='L11', p0_z='L12')
define(p1_x='L13', p1_y='L14', p1_z='L15') define(p1_x='L13', p1_y='L14', p1_z='L15')
define(scale='L16') define(p_x='L16', p_y='L17', p_z='L18')
define(sclY='L19')
define(scl='L20')
if(D0>0) if(D0>0)
send 1"inv_inp(%f) %f:%f %f:%f %f:%f %f:%f\\n",D0,DX,vDX,DZ,vDZ,W,vW,Y,vY send 1"inv_inp(%f) %f:%f %f:%f %f:%f %f:%f\\n",D0,DX,vDX,DZ,vDZ,W,vW,Y,vY
else else
@@ -750,20 +751,26 @@ open inverse
p0_z=z_0+r_0*cos(phi_0+W) p0_z=z_0+r_0*cos(phi_0+W)
p1_z=z_1+r_1*cos(phi_1+W) p1_z=z_1+r_1*cos(phi_1+W)
scale=(Y-y_0)/(y_1-y_0) sclY=(Y-(y_0))/(y_1-(y_0))
p0_x=p0_x+scale*(p1_x-p0_x) p_x=p0_x+sclY*(p1_x-p0_x)
p0_y=p0_y+scale*(p1_y-p0_y) p_y=p0_y+sclY*(p1_y-p0_y)
p0_z=p0_z+scale*(p1_z-p0_z) p_z=p0_z+sclY*(p1_z-p0_z)
qCX=DX+p0_x qCX=DX+p_x
qCZ=DZ+p0_z qCZ=DZ+p_z
qFY=Y qFY=Y
if(D0>0) if(D0>0)
{ // calculate velocities for PVT motion { // calculate velocities for PVT motion''')
vqCX=vDX prg.append(" vW=vW*%g"%(d2r/1000.)) #scale from 1000*deg to rad
vqCZ=vDZ prg.append(''' p_x=sclY*(p1_x-p0_x)
vqW=vW p_z=sclY*(p1_z-p0_z)
vqFY=vY vqFY=vY
send 1"inv_res %f:%f %f:%f %f:%f %f:%f\\n",qCX,vqCX,qCZ,vqCZ,qW,vqW,qFY,vqFY vqCX=vDX + (p1_x-p0_x)/(p1_y-p0_y)*vY //+ vqW*p_z
vqCZ=vDZ + (p1_z-p0_z)/(p1_y-p0_y)*vY //+ vqW*p_x
//vqW=vqW+(vqCX+(p1_x-p0_x)/(p1_y-p0_y)*vY)*p_z+(vqCZ+(p1_z-p0_z)/(p1_y-p0_y)*vY)*p_x
vqW=vW//+((p1_x-p0_x)/(p1_y-p0_y)*vY)*p_z+((p1_z-p0_z)/(p1_y-p0_y)*vY*p_x
''')
prg.append(" vqW=vqW*%g"%(1000./d2r)) #scale from rad to 1000*deg
prg.append(''' send 1"inv_res %f:%f %f:%f %f:%f %f:%f\\n",qCX,vqCX,qCZ,vqCZ,qW,vqW,qFY,vqFY
} }
else else
send 1"inv_res %f %f %f %f\\n",qCX,qCZ,qW,qFY send 1"inv_res %f %f %f %f\\n",qCX,qCZ,qW,qFY
@@ -771,6 +778,11 @@ open inverse
close close
''') ''')
# vqCX=vDX + (p1_x-p0_x)/(p1_y-p0_y)*vY + vqW*p_x
# vDX is in same direction, so add as it is
# (p1_x-p0_x)/(p1_y-p0_y)*vY velocity part in vqCX direction, when moving in vY
# vqW*p_x velocity part of the rotation (vqW is in rad)
self.download(prg,mode=0,file='/tmp/coordTrf.cfg') self.download(prg,mode=0,file='/tmp/coordTrf.cfg')
@@ -845,7 +857,7 @@ close
cntHor = kwargs.get('cntHor', 4) cntHor = kwargs.get('cntHor', 4)
hRng = kwargs.get('hRng', (-.2,.2)) hRng = kwargs.get('hRng', (-.2,.2))
wRng = kwargs.get('wRng', (0,360000)) wRng = kwargs.get('wRng', (0,360000))
yRng = kwargs.get('yRng', (2.3,6.2)) yRng = kwargs.get('yRng', self.param[:,1])
numPt=cntVert*cntHor numPt=cntVert*cntHor
pt=np.zeros((numPt,4)) pt=np.zeros((numPt,4))
@@ -881,7 +893,7 @@ close
cntHor = kwargs.get('cntHor', 4) cntHor = kwargs.get('cntHor', 4)
hRng = kwargs.get('hRng', (-.2,.2)) hRng = kwargs.get('hRng', (-.2,.2))
wRng = kwargs.get('wRng', (0,360000)) wRng = kwargs.get('wRng', (0,360000))
yRng = kwargs.get('yRng', (2.3,6.2)) yRng = kwargs.get('yRng', self.param[:,1])
pt2pt_time = kwargs.get('pt2pt_time', 100) pt2pt_time = kwargs.get('pt2pt_time', 100)
smt = kwargs.get('smt', 1) # SegMoveTime, default = 1ms -> velocity calc not yet 100% correct (smt=0 not 100% working) smt = kwargs.get('smt', 1) # SegMoveTime, default = 1ms -> velocity calc not yet 100% correct (smt=0 not 100% working)
numPt=cntVert*cntHor numPt=cntVert*cntHor
@@ -1001,6 +1013,18 @@ close
stderr=sprc.PIPE) stderr=sprc.PIPE)
res = p.wait() res = p.wait()
self.rec = np.genfromtxt(fnLoc, delimiter=' ') self.rec = np.genfromtxt(fnLoc, delimiter=' ')
com=GpasciiCommunicator().connect(host,prompt='# ')
ack=GpasciiCommunicator.gpascii_ack
channels=["Motor[4].HomePos","Motor[5].HomePos","Motor[3].HomePos","Motor[1].HomePos"]
ofs=np.ndarray(len(channels))
for i,v in enumerate(channels):
com.write(v+'\n')
val=com.read_until(ack)
#print val
#regexp: https://docs.python.org/2/library/re.html -> %e, %E, %f, %g
ofs[i]=float(re.search('=([-+]?(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?)',val).group(1))
self.rec-=ofs
self.save_rec() self.save_rec()
@@ -1062,19 +1086,45 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
hs=HelicalScan(args) hs=HelicalScan(args)
hs.args.verbose = 255 hs.args.verbose = 255
hs.args.host='MOTTEST-CPPM-CRM0485' #hs.args.host='MOTTEST-CPPM-CRM0485'
hs.args.host='SAR-CPPM-EXPMX1'
#SAR-CPPM-EXPMX1 MOTTEST-CPPM-CRM0485 #SAR-CPPM-EXPMX1 MOTTEST-CPPM-CRM0485
#hs.sequencer() #hs.sequencer()
#hs.test_find_rot_ctr() #hs.test_find_rot_ctr()
#hs.test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6) #hs.test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6)
hs.calcParam() hs.calcParam()
#hs.param[0]=(15,2,0,3,0)#(z_i, y_i, x_i, r_i,phi_i)
#hs.param[1]=(15,4,0,3,0)#(z_i, y_i, x_i, r_i,phi_i)
#hs.param[0]=(-100, 10,0,50,0)#(z_i, y_i, x_i, r_i,phi_i)
#hs.param[1]=(-100,-10,0,70,0)#(z_i, y_i, x_i, r_i,phi_i)
hs.test_coord_trf() hs.test_coord_trf()
#hs.interactive_cx_cz_w_fy() #hs.interactive_cx_cz_w_fy()
#hs.interactive_dx_dz_w_y() #hs.interactive_dx_dz_w_y()
hs.download(file='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/sim_8_motors.cfg') #mode bits:
hs.gen_coord_trf_code() #0:1 config simulated motors
#1:2 config real motors
#2:4 config coord trf
mode=6#6#5#4#0
os.chdir(os.path.join(os.path.dirname(__file__),'../cfg'))
if mode&1:
hs.download(file='sim_8_motors.cfg')
if mode&2:
hs.download(['$$$***','!common()','!SAR-EXPMX1()','#1..7j/','enable plc 1','Motor[1].MaxSpeed=25','Motor[2].MaxSpeed=25'])
raw_input('press return when homed')
if mode&4:
hs.download(['disable plc 0',])
time.sleep(.5)
hs.gen_coord_trf_code()
print ('gen_coord_trf_code')
time.sleep(.5)
hs.download(['enable plc 0',])
time.sleep(.5)
hs.download(['#1..7j/',])
time.sleep(.5)
#hs.gen_prog(mode=-1) #hs.gen_prog(mode=-1)
#hs.gen_prog(mode=0,cntHor=1,cntVert=3,wRng=(120000,120000)) #hs.gen_prog(mode=0,cntHor=1,cntVert=3,wRng=(120000,120000))
#hs.gen_prog(mode=0,cntHor=1) #hs.gen_prog(mode=0,cntHor=1)
@@ -1083,9 +1133,14 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
#hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100) #hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100)
#hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100,smt=0) #hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100,smt=0)
#hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(0,360000)) #hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(0,360000))
#hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(0,360000),smt=0) #hs.gen_prog(mode=1,cntHor=1,cntVert=5,hRng=(-.3,.3),wRng=(0,360000),smt=1)
#hs.gen_prog(mode=1,cntHor=7,cntVert=2,hRng=(-3,3),wRng=(120000,120000),smt=0)
hs.gen_prog(mode=1,cntHor=3,cntVert=6,hRng=(-5,5),wRng=(00,120000),smt=0,pt2pt_time=10)
#hs.gen_prog(mode=1, cntHor=1, cntVert=2, wRng=(0, 360000), smt=0)
#hs.gen_prog(mode=1) #hs.gen_prog(mode=1)
hs.gen_prog(mode=1,pt2pt_time=100,cnt=1,cntVert=35,cntHor=7,hRng=(-.3,.3),wRng=(0,360000*3),yRng=(6.2,2.3)) #hs.gen_prog(mode=1,pt2pt_time=100,cnt=1,cntVert=35,cntHor=7,hRng=(-.3,.3),wRng=(0,360000*3),yRng=(6.2,2.3))
#hs.gen_prog(mode=1,pt2pt_time=100,cnt=1,cntVert=10,cntHor=3,hRng=(-30,30),wRng=(0,36000),yRng=(-50,-100))
#hs.gen_prog(mode=1,cntHor=7,cntVert=2,hRng=(-100,50),wRng=(000,10000),smt=0)
hs.load_rec() hs.load_rec()
hs.show_pos();hs.show_vel() hs.show_pos();hs.show_vel()
hs.interactive_anim() hs.interactive_anim()

497
python/helicalscan1.svg
View File

@@ -18,6 +18,34 @@
sodipodi:docname="helicalscan1.svg"> sodipodi:docname="helicalscan1.svg">
<defs <defs
id="defs4"> id="defs4">
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is_visible="true" />
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effect="spiro" effect="spiro"
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@@ -133,9 +161,9 @@
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inkscape:pageopacity="0.0" inkscape:pageopacity="0.0"
inkscape:pageshadow="2" inkscape:pageshadow="2"
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inkscape:document-units="px" inkscape:document-units="px"
inkscape:current-layer="layer1" inkscape:current-layer="layer1"
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@@ -281,9 +309,9 @@
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sodipodi:rx="20.900398" sodipodi:rx="20.900398"
sodipodi:ry="5.2250996" sodipodi:ry="5.2250996"
sodipodi:start="0.47984631" sodipodi:start="1.1988058"
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d="m -404.18498,375.94701 a 20.900398,5.2250996 0 0 1 -24.71557,2.57967 20.900398,5.2250996 0 0 1 -14.5744,-5.61761" d="m -415.12833,378.40261 a 20.900398,5.2250996 0 0 1 -26.00072,-2.39137 20.900398,5.2250996 0 0 1 6.33652,-6.74251 20.900398,5.2250996 0 0 1 27.54003,0.75342 20.900398,5.2250996 0 0 1 0.35372,6.92555"
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@@ -294,23 +322,23 @@
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sodipodi:rx="18.581232" sodipodi:rx="18.581232"
sodipodi:ry="4.645308" sodipodi:ry="4.645308"
sodipodi:start="6.0151975" sodipodi:start="0.63234095"
sodipodi:end="1.0471386" sodipodi:end="2.0378307"
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x="428.61023" x="431.80341"
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id="tspan5158">s</tspan></tspan></text> id="tspan5158">0</tspan></tspan></text>
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@@ -323,7 +351,7 @@
x="469.13644" x="469.13644"
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id="tspan5192">e</tspan></tspan></text> id="tspan5192">1</tspan></tspan></text>
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y="187.17661" y="203.88509"
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sodipodi:role="line">φ<tspan sodipodi:role="line">φ<tspan
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id="tspan5210">s</tspan></tspan></text> id="tspan5210">0</tspan></tspan></text>
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@@ -387,7 +415,7 @@
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x="3.9073553" x="3.9073553"
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id="tspan5226">s</tspan></tspan></text> id="tspan5226">0</tspan></tspan></text>
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x="101.44707" x="94.294395"
sodipodi:role="line" sodipodi:role="line"
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style="font-size:64.99999762%;baseline-shift:sub">e</tspan>, φ<tspan style="font-size:64.99999762%;baseline-shift:sub">1</tspan>, φ<tspan
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style="font-size:64.99999762%;baseline-shift:sub">e</tspan></tspan></text> style="font-size:64.99999762%;baseline-shift:sub">1</tspan></tspan></text>
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256
python/plot_interfero.py
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@@ -11,33 +11,39 @@
zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg$ gpasciiCommander --host $PPMAC -i zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg$ gpasciiCommander --host $PPMAC -i
$$$*** $$$***
!common() !common()
!mx-stage() !SAR-EXPMX1()
enable plc 1
Motor[1].MaxSpeed=25
Motor[2].MaxSpeed=25
X -12000 ..12000
Y -12000 .. 12000
Gather.Enable=0 Gather.Enable=0
Gather.Items=6 Gather.Items=6
Gather.MaxSamples=1000000 Gather.MaxSamples=1000000
Gather.Period=10 Gather.Period=10
Gather.Addr[0]=Motor[2].DesPos.a Gather.Addr[0]=Motor[1].DesPos.a
Gather.Addr[1]=Motor[3].DesPos.a Gather.Addr[1]=Motor[2].DesPos.a
Gather.Addr[2]=Motor[2].ActPos.a Gather.Addr[2]=Motor[1].ActPos.a
Gather.Addr[3]=Motor[3].ActPos.a Gather.Addr[3]=Motor[2].ActPos.a
Gather.Addr[4]=Motor[4].ActPos.a Gather.Addr[4]=Motor[6].ActPos.a
Gather.Addr[5]=Motor[5].ActPos.a Gather.Addr[5]=Motor[7].ActPos.a
open prog 2 open prog 2
linear abs linear abs
X1000 Y1000 X-12000 Y-12000
dwell 10 dwell 10
Gather.Enable=2 Gather.Enable=2
X28000 Y1000 X-12000 Y12000
dwell 100 dwell 100
X1000 Y1000 X-12000 Y-12000
dwell 100 dwell 100
X1000 Y28000 X12000 Y-12000
dwell 100 dwell 100
X1000 Y1000 X-12000 Y-12000
dwell 1000 dwell 1000
Gather.Enable=0 Gather.Enable=0
close close
#1..7j/
&1 &1
b2r b2r
@@ -57,43 +63,217 @@ b2r
''' '''
import os, sys, json import os, sys, json, time
import numpy as np import numpy as np
import matplotlib as mpl import matplotlib as mpl
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
import subprocess as sprc import subprocess as sprc
import telnetlib import telnetlib
if __name__=='__main__': class Interferometer():
def plot_gather(base): def __init__(self,**kwargs):
#rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos for k,v in kwargs.iteritems():
#res=rot.ActPos,y.ActPos,x.ActPos,rot.DesPos,y.DesPos,x.DesPos setattr(self,k,v)
def gen_prog(self,prgId=2,mode=0,**kwargs):
'''
kwargs:
acq_per : acquire period: acquire data all acq_per servo loops (default=1)
mode=0: test motion
xrng:
yrng:
spd:
'''
prg=[]
acq_per=kwargs.get('acq_per',10)
gather={"MaxSamples":1000000, "Period":acq_per}
#Sys.ServoPeriod is dependent of !common() macro
ServoPeriod= .2 #0.2ms
#ServoPeriod = .05
self.meta = {'timebase': ServoPeriod*gather['Period']}
channels=["Motor[1].DesPos","Motor[2].DesPos","Motor[1].ActPos","Motor[2].ActPos","Motor[6].ActPos","Motor[7].ActPos"]
prg.append('Gather.Enable=0')
prg.append('Gather.Items=%d'%len(channels))
for k,v in gather.iteritems():
prg.append('Gather.%s=%d'%(k,v))
for i,c in enumerate(channels):
prg.append('Gather.Addr[%d]=%s.a'%(i,c))
prg.append('open prog %d'%(prgId))
prg.append(' P1000=0')
# this uses Coord[1].Tm and limits with MaxSpeed
#******** mode -1 ********
if mode==0: #### jog all motors 10000um (or 10000 mdeg)
xRng = kwargs.get('xRng', (-12000,12000))
yRng = kwargs.get('yRng', (-12000,12000))
spd = kwargs.get('spd', 10)
prg.append('Motor[1].MaxSpeed=%f'%spd)
prg.append('Motor[2].MaxSpeed=%f'%spd)
prg.append('''
linear abs
X%g Y%g
dwell 10
Gather.Enable=2
X%g Y%g
dwell 100
X%g Y%g
dwell 100
X%g Y%g
dwell 100
X%g Y%g
dwell 100
Gather.Enable=0
'''%(xRng[0],yRng[0],xRng[0],yRng[1],xRng[0],yRng[0],xRng[1],yRng[0],xRng[0],yRng[0]))
prg.append(' P1000=1')
prg.append('close')
prg.append('&1\nb%dr\n'%prgId)
self.download(prg,mode=3,file='/tmp/prg.cfg')
def download(self,prg=None,mode=0,file='/tmp/interfero.cfg'):
'''
mode bits:
bit 0 (1): wait execution finished (P1000==1)
bit 1 (2): gather and save data
bit 2 (4): ...
'''
host=self.host
if prg is not None and self.verbose & 4:
for ln in prg:
print(ln)
if file is not None and prg is not None:
fh=open(file,'w')
fh.write('\n'.join(prg))
fh.close()
if host is not None:
# ***download and start the program***
cmd ='gpasciiCommander --host '+host+' '+ file
print(cmd)
p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
#res=p.stdout.readlines(); print res
retval = p.wait()
if mode &1:
# ***wait program finished P1000=1***
com=GpasciiCommunicator().connect(host,prompt='# ')
ack=GpasciiCommunicator.gpascii_ack
sys.stdout.write('wait execution...');sys.stdout.flush()
while(True):
#Gather.MaxLines calculates maximum numbewr of gathering into memory
com.write('P1000\n')
val=com.read_until(ack)
#print val
val=int(val[val.find('=')+1:].rstrip(ack))
if val==1:break
#com.write('Gather.Index\n')
#val=com.read_until(ack)
#print val
time.sleep(.2)
sys.stdout.write('.');sys.stdout.flush()
if mode &2:
fnRmt = '/var/ftp/gather/out.txt'
fnLoc = '/tmp/gather.txt'
print('\ngather data to %s...' % fnRmt)
p = sprc.Popen(('ssh', 'root@' + host, 'gather ', '-u', fnRmt), shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE,
stderr=sprc.PIPE)
res = p.wait()
if res:
print('ssh failed. ssh root@%s to open a session' % host)
return
print('transfer data to %s...' % fnLoc)
p = sprc.Popen(('scp', 'root@' + host + ':' + fnRmt, fnLoc), shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE,
stderr=sprc.PIPE)
res = p.wait()
self.rec = np.genfromtxt(fnLoc, delimiter=' ')
def show_pos(self):
rec=self.rec
#"M1.DesPos","M2.DesPos","M1.ActPos","M2.ActPos","M6.ActPos","M7.ActPos"]
#idx 0 1 2 3 4 5 #idx 0 1 2 3 4 5
f1=plt.figure() f1=plt.figure()
#f2 = plt.figure()
ax1 = f1.add_subplot(1,1,1) ax1 = f1.add_subplot(1,1,1)
#ax2 = f2.add_subplot(1, 1, 1)
for fn in sorted(os.listdir(base)): x=range(len(rec[:,0]))
print fn
rec = np.genfromtxt(base+'/'+fn, delimiter=' ')
print rec.shape
x=range(len(rec[:,0])) hl=ax1.plot(x,-(rec[:,0]-rec[0,0]),'k')
#hl=ax[0].plot(x, y, color=col) hl=ax1.plot(x,-(rec[:,2]-rec[0,2]),'r')
hl=ax1.plot(x,-(rec[:,4]-rec[0,4])/100,'m')
hl=ax1.plot(x,-(rec[:,0]-rec[0,0]),'k') hl=ax1.plot(x,rec[:,1]-rec[0,1],'k')
hl=ax1.plot(x,-(rec[:,2]-rec[0,2]),'r') hl=ax1.plot(x,rec[:,3]-rec[0,3],'b')
hl=ax1.plot(x,-(rec[:,4]-rec[0,4])/100,'m') hl=ax1.plot(x,-(rec[:,5]-rec[0,5])/100,'c')
hl=ax1.plot(x,rec[:,1]-rec[0,1],'k') #hl=ax1.plot(x,-(rec[:,0]-rec[0,0]),'k')
hl=ax1.plot(x,rec[:,3]-rec[0,3],'b') #hl=ax1.plot(x,-(rec[:,2]-rec[0,2]),'r')
hl=ax1.plot(x,-(rec[:,5]-rec[0,5])/100,'c') #hl=ax1.plot(x,-(rec[:,4]-rec[0,4])/100,'m')
#hl=ax1.plot(x,rec[:,1]-rec[0,1],'k')
#hl=ax1.plot(x,rec[:,3]-rec[0,3],'b')
#hl=ax1.plot(x,-(rec[:,5]-rec[0,5])/100,'c')
plt.show() plt.show()
#plot_gather(base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/gather5/') def show_poserr(self):
#plot_gather(base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/gather50/') rec=self.rec
#plot_gather(base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/tmp/') #"M1.DesPos","M2.DesPos","M1.ActPos","M2.ActPos","M6.ActPos","M7.ActPos"]
#plot_gather(base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/data_interfero_spd10') #idx 0 1 2 3 4 5
#plot_gather(base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/data_interfero_spd20') f1=plt.figure()
plot_gather(base='data_interfero_spd10') ax1 = f1.add_subplot(1,1,1)
t=range(len(rec[:,0]))
actYerr=(rec[:,2]-rec[:,0]);actYerr-=actYerr[0]
actXerr=(rec[:,3]-rec[:,1]);actXerr-=actXerr[0]
infYerr=(rec[:,4]-rec[:,0]);infYerr-=infYerr[0]
infXerr=(rec[:,5]-rec[:,1]);infXerr-=infXerr[0]
hl=ax1.plot(t,actYerr,'r',label='actYerr')
hl=ax1.plot(t,actXerr,'b',label='actXerr')
hl=ax1.plot(t,infYerr,'m',label='infYerr')
hl=ax1.plot(t,infXerr,'c',label='infXerr')
#plt.legend(handles=h)
ax1.legend()
plt.show()
class GpasciiCommunicator():
'''Communicates with the Delta Tau gpascii programm
'''
gpascii_ack="\x06\r\n"
gpascii_inp='Input\r\n'
def connect(self, host, username='root', password='deltatau',prompt='ppmac# ',verbose=0):
p=telnetlib.Telnet(host)
s=p.read_until('login: ')
if verbose: print(s)
p.write(username+'\n')
s =p.read_until('Password: ')
if verbose: print(s)
p.write(password+'\n')
s =p.read_until(prompt) # command prompt
if verbose: print(s)
p.write('gpascii -2\n') # execute gpascii command
s=p.read_until(self.gpascii_inp)
if verbose: print(s)
return p
if __name__=='__main__':
ifm=Interferometer(verbose = 255,host='SAR-CPPM-EXPMX1')
os.chdir(os.path.join(os.path.dirname(__file__), '../cfg'))
ifm.download(['$$$***','!common()','!SAR-EXPMX1()','#1..7j/','enable plc 1','Motor[1].MaxSpeed=25','Motor[2].MaxSpeed=25'])
raw_input('press return when homed')
#ifm.gen_prog(mode=0)
#ifm.show_poserr()
#ifm.gen_prog(mode=0,xRng=(-10000,10000),yRng=(-10000,10000),spd=10)
ifm.gen_prog(mode=0,xRng=(-5000,5000),yRng=(-5000,5000),spd=5)
ifm.show_poserr()
#ifm.gen_prog(mode=0,xRng=(-2000,2000),yRng=(4000,8000),spd=5)
#ifm.show_poserr()
#ifm.rec = np.genfromtxt('/scratch/gather.txt', delimiter=' ')
#ifm.show_pos()

2
qt/ESB_MX_exp.ui
View File

@@ -296,7 +296,7 @@ P=$(P),M=MOT_GIRDER5</string>
<string>Home BkLight</string> <string>Home BkLight</string>
</property> </property>
<property name="channel" stdset="0"> <property name="channel" stdset="0">
<string notr="true">$(P):MOTOR_BLGT.HOMF</string> <string notr="true">$(P):MOT_BLGT.HOMF</string>
</property> </property>
<property name="pressMessage"> <property name="pressMessage">
<string notr="true">1</string> <string notr="true">1</string>