commission hardware

Readme.md

@@ -19,6 +19,7 @@ Weight top stage: 250g=2.5N
 
 
 Mecapion rot stage
+------------------
 ```
 http://www.lsmecapion.com/eng/
 http://www.lsmecapion.com/eng/contents/sub01/sub02_03.php
@@ -34,39 +35,6 @@ http://www.inmoco.co.uk/Upload/product/1037_DD_Series_Motors_79.pdf
 - 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
-   5.4 A   max peak current
-  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)
-
-
-******* Path shaping test *****************
-cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
-gpasciiCommander --host SAR-CPPM-EXPMX1 -i
-
-!mx-stage()
-#1..3$
-&1
-#1..3j/
-
-cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
-./shapepath.py -v255
-```
-
-
 Testing ServoFrq.
 -----------------
 ```
@@ -80,9 +48,7 @@ Testing ServoFrq.
 Testing linear,pvt,spline moves
 -------------------------------
 ```
-
 Tested with shapepath.py: THE BEST TRAJECTORY RESULT IST WITH PVT MOTION
-
 ```
 
 
@@ -127,7 +93,6 @@ average error x 0.313575 um, y 0.461707 um, 0.629583 um
 average error x 0.371877 um, y 0.317152 um, 0.542073 um
 ```
 
-
 Start motion on external signal
 -------------------------------
 ```
@@ -242,8 +207,6 @@ fwd_trf: dx:0.2 dz:0.3 w:5.72958 fy:3.3
 
 ```
 
-
-
 Motors final setup 20.12.17
 ---------------------------
 ```
@@ -252,10 +215,15 @@ SAR-CPPM-EXPMX1: biss:y timing:y
   2: fx
   3: ry
   4: cx
-  5: cy
+  5: cz
   6: interfero y
   7: interfero x
 
+labels:
+MOT_FY      EXPMX1.1 MOT_FX      EXPMX1.2 MOT_ROT_Y   EXPMX1.3 MOT_CX      EXPMX1.4 MOT_CZ      EXPMX1.5
+ENC_FY      EXPMX1.1 ENC_FX      EXPMX1.2 ENC_ROT_Y   EXPMX1.3 ENC_CX      EXPMX1.4 ENC_CZ      EXPMX1.5
+IFR_FY      EXPMX1.6 IFR_FX      EXPMX1.7
+
 SAR-CPPM-EXPMX2: biss:n timing:n
   1: wedge1
   2: wedge2
@@ -276,7 +244,33 @@ ssh root@$PPMAC
 cd /ioc/SAR-CPPM-EXPMX1;iocsh startup.script
 
 
-ssh sf-lc
+ssh x06mx-cons-1
+export CAQTDM_DISPLAY_PATH=/net/slsfs-crtl/export/sf/common/config/qt/:/net/slsfs-crtl/export/sf/controls/config/qt/
+
+
+
 caqtdm -macro "P=SAR-EXPMX" ESB_MX_exp.ui
 
 ```
+
+
+SCRATCH
+--------
+
+PPMAC=SAR-CPPM-EXPMX1
+gpasciiCommander --host $PPMAC -i
+$$$***
+!common()
+!SAR-EXPMX1()
+
+PPMAC=SAR-CPPM-EXPMX1
+PBInspect --host $PPMAC -i
+
+
+Coord[1].SegMoveTime=.05
+will calculate all 0.05 sec the inverse kinematic.
+default Coord[1].SegMoveTime=0, calculates inv kin. only at endpoints
+
+
+ssh root@$PPMAC sendgetsends -1
+    send 1"SampleMessage\n"

SAR-EXPMX1.subs

@@ -22,4 +22,6 @@ pattern{ DESC              , P       , M          , PORT       , ADDR, DIR, VELO
        { "Rotation Y"      , "$(P_M)", "MOT_ROT_Y", "$(PORT_M)", 3   , 1  , 50  , 50  , 0.1 , 20 , -0.001, 3   , "deg", 0   , 0   }
        { "Sample C-Trans X", "$(P_M)", "MOT_CX"   , "$(PORT_M)", 4   , 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
        { "Sample C-Trans Z", "$(P_M)", "MOT_CZ"   , "$(PORT_M)", 5   , 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Interfero Y"     , "$(P_M)", "ENC_FY"   , "$(PORT_M)", 6   , 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Interfero X"     , "$(P_M)", "ENC_FX"   , "$(PORT_M)", 7   , 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
 }

add_EXPMX1.cmd

@@ -12,8 +12,8 @@ powerPmacCreateAxis($(PORT), 2)
 powerPmacCreateAxis($(PORT), 3)
 powerPmacCreateAxis($(PORT), 4)
 powerPmacCreateAxis($(PORT), 5)
-#powerPmacCreateAxis($(PORT), 6)
+powerPmacCreateAxis($(PORT), 6)
-#powerPmacCreateAxis($(PORT), 7)
+powerPmacCreateAxis($(PORT), 7)
 #powerPmacCreateAxis($(PORT), 8)
 
 # Load databse

add_EXPMX3.cmd

@@ -34,9 +34,9 @@ OR=1
 # Load databse
 dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)3.subs", "PORT_M=$(PORT),P_M=$(P)")
 
-require "HEXGIR" zamofing_t
+require "HEXGIR" alarcon_a
 
 # Load databse
 dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_motor.subs", "PORT_M=$(PORT),P_M=$(P),M1=1,M2=2,M3=3,M4=4,M5=5,E1=1,E2=2,E3=3,E4=4,E5=5")
-dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_girder.subs", "P_M=$(P)")
+#dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_girder.subs", "P_M=$(P)")
 dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_girder.subs", "P_M=$(P), X_OFFSET=$(OX),Y_OFFSET=$(OY),PITCH_OFFSET=$(OP),YAW_OFFSET=$(OYW),ROLL_OFFSET=$(OR)")

cfg/MX1_setup.cfg

@@ -76,7 +76,7 @@
 
 !encoder_sim(enc=3,tbl=11,mot=11,posSf=360000./32768)
 !encoder_biss(enc=3,tbl=3,mot=3,numBits=20,posSf=360000./1048576)
-Motor[3].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
+Motor[3].pPhaseEnc=Acc84B[0].Chan[2].SerialEncDataA.a
 !motor_servo(mot=3,ctrl='ServoCtrl',Kp=0.8,Kvfb=20,Ki=0.001,Kvff=40,Kaff=0,MaxInt=1000)
 !motor(mot=3,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)