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cleanup and commission wedge mover

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This commit is contained in:
zamofing_t
2018-01-18 15:20:52 +01:00
parent 4d197eb204
commit 5ee34c5f11
3 changed files with 77 additions and 71 deletions
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11
Readme.md
View File

@@ -324,9 +324,12 @@ gpasciiCommander --host $PPMAC -i
$$$***
!common()
!SAR-EXPMX2()
Motor[1].pLimits=0
Motor[2].pLimits=0
Motor[3].pLimits=0
Motor[4].pLimits=0
```
!!! WATCH OUT !!!
if the send buffer overruns, the programs will abort in an unexplainable way:
send 1"inv_res %f %f %f %f\\n",qCX,qCZ,qW,qFY
without reading it with sendgetsends -1

99
cfg/MX2_home.cfg
View File

@@ -6,65 +6,62 @@ define(PLC_Homing='1')
//move both mottors at same time
//move to limit switch, gather data, move to other limit switch, gather stop. move back to first limit switch
//motID :P0 : Motor Number
//direction :P1 : Motion direction to first limit switch: -1 -> #1j- ,+1 -> #1j+
//status :P100: local status
//timer :P101: local timer
//timer :L0: local timer
open plc PLC_Homing
define(motID='L0',direction='P1',status='P100',timer='P101')
jog-1; jog-2; jog-3; jog-4;
Motor[1].HomeVel=0.5
Motor[2].HomeVel=0.5
Motor[3].HomeVel=0.5
Motor[4].HomeVel=0.5
status=10
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)){
status=11
break
}}}}
}
timer = Sys.RunTime + 2
status=100
while (Sys.RunTime < timer){} //wait 2 sec
status=101
jog1:1000; jog2:1000; jog3:1000; jog4:1000;
timer = Sys.RunTime + 2
status=200
while (Sys.RunTime < timer){} //wait 2 sec
status=201
while(1)
{
if(Motor[1].DesVelZero==1 && Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1)
define(status='P100',timer='L0')
jog-1; jog-2; jog-3; jog-4;
Motor[1].HomeVel=0.5
Motor[2].HomeVel=0.5
Motor[3].HomeVel=0.5
Motor[4].HomeVel=0.5
status=1
while(1)
{
status=12
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)){
status=2
break
}}}}
}
}
timer = Sys.RunTime + 2
while (Sys.RunTime < timer){}
home 1; home 2; home 3; home 4
status=13
while(1) //wait homing index found done
{
if(Motor[1].HomeComplete==1 && Motor[2].HomeComplete==1 && Motor[3].HomeComplete==1 && Motor[4].HomeComplete==1)
timer = Sys.RunTime + 2
while (Sys.RunTime < timer){} //wait 1 sec
status=3
jog1:1000; jog2:1000; jog3:1000; jog4:1000;
timer = Sys.RunTime + .1
while (Sys.RunTime < timer){} //wait 1 sec
status=4
while(1)
{
status=14
break
if(Motor[1].DesVelZero==1 && Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1)
{
status=5
break
}
}
}
while(1) //wait moving to zero position done
{
if(Motor[1].DesVelZero==1 && Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1)
timer = Sys.RunTime + .1
while (Sys.RunTime < timer){}
home 1; home 2; home 3; home 4
status=6
while(1) //wait homing index found done
{
status=15
break
if(Motor[1].HomeComplete==1 && Motor[2].HomeComplete==1 && Motor[3].HomeComplete==1 && Motor[4].HomeComplete==1)
{
status=7
break
}
}
}
disable plc PLC_Homing
while(1) //wait moving to zero position done
{
if(Motor[1].DesVelZero==1 && Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1)
{
status=8
break
}
}
disable plc PLC_Homing
close

38
python/helicalscan.py
View File

@@ -689,7 +689,7 @@ open forward
define(p1_x='L13', p1_y='L14', p1_z='L15')
define(scale='L16')
send 1"fwd_inp(%f) %f %f %f %f\\n",D0,qCX,qCZ,qW,qFY''')
//send 1"fwd_inp(%f) %f %f %f %f\\n",D0,qCX,qCZ,qW,qFY''')
for i in range(2):
#https://stackoverflow.com/questions/3471999/how-do-i-merge-two-lists-into-a-single-list
l=[j for i in zip((i,) * param.shape[1], list(param[i])) for j in i]
@@ -711,7 +711,7 @@ open forward
DX=qCX-p0_x
DZ=qCZ-p0_z
Y=qFY
send 1"fwd_res %f %f %f %f\\n",DX,DZ,W,Y
//send 1"fwd_res %f %f %f %f\\n",DX,DZ,W,Y
//P1001+=1
D0=$000001c2; //B=$2 X=$40 Y=$80 Z=$100 hex(2+int('40',16)+int('80',16)+int('100',16)) -> 0x1c2
close
@@ -732,10 +732,10 @@ open inverse
define(p_x='L16', p_y='L17', p_z='L18')
define(sclY='L19')
define(scl='L20')
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
else
send 1"inv_inp(%f) %f %f %f %f\\n",D0,DX,DZ,W,Y''')
//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
//else
// send 1"inv_inp(%f) %f %f %f %f\\n",D0,DX,DZ,W,Y''')
for i in range(2):
# https://stackoverflow.com/questions/3471999/how-do-i-merge-two-lists-into-a-single-list
l = [j for i in zip((i,) * param.shape[1], list(param[i])) for j in i]
@@ -770,10 +770,10 @@ open inverse
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
prg.append('''// send 1"inv_res %f:%f %f:%f %f:%f %f:%f\\n",qCX,vqCX,qCZ,vqCZ,qW,vqW,qFY,vqFY
}
else
send 1"inv_res %f %f %f %f\\n",qCX,qCZ,qW,qFY
//else
// send 1"inv_res %f %f %f %f\\n",qCX,qCZ,qW,qFY
//P1002+=1
close
''')
@@ -880,9 +880,11 @@ close
prg.append(' Gather.Enable=2')
prg.append(' Coord[1].AltFeedRate=0') # allow maximum speed
prg.append(' Coord[1].SegMoveTime=0') #to calculate every 1 ms the inverse kinematics
prg.append(' P2000=0')
for i in range(pt.shape[0]):
prg.append(' X%g Z%g B%g Y%g' % tuple(pt[i, :]))
prg.append(' dwell 100')
#prg.append(' P2000=%d'%(i,))
prg.append(' dwell 10')
prg.append(' Gather.Enable=0')
# ******** mode 1 ********
@@ -1096,8 +1098,8 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
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.param[0]=(-100, 100,0,50,0)#(z_i, y_i, x_i, r_i,phi_i)
hs.param[1]=(-100,-100,0,70,0)#(z_i, y_i, x_i, r_i,phi_i)
hs.test_coord_trf()
#hs.interactive_cx_cz_w_fy()
@@ -1107,7 +1109,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
#0:1 config simulated motors
#1:2 config real motors
#2:4 config coord trf
mode=6#6#5#4#0
mode=6#5#4#0
os.chdir(os.path.join(os.path.dirname(__file__),'../cfg'))
if mode&1:
hs.download(file='sim_8_motors.cfg')
@@ -1123,7 +1125,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
hs.download(['enable plc 0',])
time.sleep(.5)
hs.download(['#1..7j/',])
time.sleep(.5)
time.sleep(.5)
#hs.gen_prog(mode=-1)
#hs.gen_prog(mode=0,cntHor=1,cntVert=3,wRng=(120000,120000))
@@ -1135,8 +1137,12 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
#hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(0,360000))
#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,cntHor=3,cntVert=6,hRng=(-5,5),wRng=(00,120000),smt=0,pt2pt_time=10)
#hs.gen_prog(mode=0,cntHor=3,cntVert=10,hRng=(-5,5),wRng=(0,120000))
#hs.gen_prog(mode=0,cntHor=3,cntVert=25,hRng=(-5,5),wRng=(0,120000))
hs.gen_prog(mode=1,cntHor=3,cntVert=25,hRng=(-5,5),wRng=(0,120000),smt=0,pt2pt_time=300)
#hs.gen_prog(mode=1,cntHor=3,cntVert=20,hRng=(-5,5),wRng=(0,1200),smt=0,pt2pt_time=200)
#hs.gen_prog(mode=1, cntHor=2, cntVert=2, wRng=(0, 360000), smt=0)
#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=10,cntHor=3,hRng=(-30,30),wRng=(0,36000),yRng=(-50,-100))