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comissioning ESC

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This commit is contained in:
zamofing_t
2018-08-13 14:04:40 +02:00
parent 0ed2ef7e43
commit 55a82707a0
3 changed files with 69 additions and 6 deletions
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63
Readme.md
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@@ -893,8 +893,71 @@ caput SAR-EXPMX3:ASYN.debug0 cpx call 16
#1..5p
-204709.6252433953 -242008.2092276345 -269883.2702626893 -124867.8588862641 -189315.0329582951
-19000
Motor[1].pLimits=PowerBrick[0].Chan[0].Status.a
Motor[2].pLimits=PowerBrick[0].Chan[1].Status.a
```
29.5.18 Commissioning ESC
-------------------------
```
[saresb-cons-01 ~]$ caqtdm -macro 'P=SAR-EXPMX' ESB_MX_exp
SAR-EXPMX:MOT_CX ok
SAR-EXPMX:MOT_CZ ok
SAR-EXPMX:MOT_FX encoder ok, failed phasing... cabeling issue. old cable ok.
SAR-EXPMX:MOT_FY encoder ok, failed phasing... cabeling issue. old cable ok.
SAR-EXPMX:MOT_ROT_Y ok
SAR-EXPMX:MOT_BLGT hotor ok, homing fails -> check if ho,ing switsch is on correct pins?
SAR-EXPMX:MOT_CRYO ok
SAR-EXPMX:MOT_WEDGE1 motor ok, encoder cable issue. old incr. cable works
SAR-EXPMX:MOT_WEDGE2 motor ok, encoder cable issue. old incr. cable works
SAR-EXPMX:MOT_WEDGE3 motor ok, encoder cable issue. old incr. cable works
SAR-EXPMX:MOT_WEDGE4 motor ok, encoder cable issue. old incr. cable works
Backlight: check register Gate3[1].Chan[0].Status when pressing home button...
```
```
Wedge mover:
#3,4
#3,4j=-17000 up limit
#3,4j=18000 down limit
#3j=350;#4j=-350 left right
#3j=-2900;#4j=2900 left right
#1j=-13000;#2j=0 up limit
#1j=1000;#2j=14000 down limit
#1j=-6000;#2j=7000 start
#1j=-8500;#2j=9500 left right
#1j=-6000;#2j=7000 also limit ?
do this multiple times until motor 2 is far enough
> #1j-;#2j-
> #1j+;#2j-
then home motor 2
#1j-;#2hm
Measured distances schieblehre:
m1:67.85
m2:67:42
m3:66.73
m4:68.97
Alles bündig bei je 67mm
m3 -330
m4 1900

8
cfg/MX2_home.cfg
View File

@@ -20,10 +20,10 @@ open plc PLC_Homing
while(1)
{
if((Motor[1].MinusLimit==1 || Motor[1].FeFatal==1)){
if((Motor[2].MinusLimit==1 || Motor[2].FeFatal==1)){
if((Motor[3].MinusLimit==1 || Motor[3].FeFatal==1)){
if((Motor[4].MinusLimit==1 || Motor[4].FeFatal==1)){
if((Motor[1].LimitStop==1 || Motor[1].FeFatal==1)){
if((Motor[2].LimitStop==1 || Motor[2].FeFatal==1)){
if((Motor[3].LimitStop==1 || Motor[3].FeFatal==1)){
if((Motor[4].LimitStop==1 || Motor[4].FeFatal==1)){
status=2
break
}}}}

4
cfg/MX3_setup.cfg
View File

@@ -54,7 +54,7 @@ open subprog SP_RelBrk
Motor[3].IdCmd=1000;Motor[3].InPosBand=2
Motor[4].IdCmd=1000;Motor[4].InPosBand=2
Motor[5].IdCmd=1000;Motor[5].InPosBand=2
PowerBrick[1].GpioData[0].16.5=$1f
PowerBrick[0].GpioData[0].16.5=$1f
//send 1"wait\n"
//EndTime = Sys.Time + .1; // time + 10 sec.
//while (EndTime > Sys.Time){}
@@ -85,7 +85,7 @@ open subprog SP_LockBrk
Motor[3].IdCmd=0;Motor[3].InPosBand=10
Motor[4].IdCmd=0;Motor[4].InPosBand=10
Motor[5].IdCmd=0;Motor[5].InPosBand=10
PowerBrick[1].GpioData[0].16.5=$0
PowerBrick[0].GpioData[0].16.5=$0
close