From 672e4353445899d40d90aff08b1ff1b52f69c42f Mon Sep 17 00:00:00 2001
From: Thierry Zamofing <thierry.zamofing@psi.ch>
Date: Tue, 29 Nov 2016 16:20:16 +0100
Subject: [PATCH] first configuration

---
 Readme.md        | 13 ++++++++++++
 cfg/mx-stage.cfg | 54 ++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 67 insertions(+)
 create mode 100644 cfg/mx-stage.cfg

diff --git a/Readme.md b/Readme.md
index 59866ab..304a3e8 100644
--- a/Readme.md
+++ b/Readme.md
@@ -1,3 +1,7 @@
+Various motor documents
+-----------------------
+- /home/zamofing_t/Documents/doc-ext/SwissFEL/ESB-MX-Stage
+
 Parker stage
 ------------
 - encoder is incremental encoder
@@ -22,6 +26,15 @@ http://www.inmoco.co.uk/Upload/product/1037_DD_Series_Motors_79.pdf
 Test servo motor
 ----------------
 ```
+QBL 4208-41-04-006
+No. of Pole 8
+No. of Phase 3
+Rated Voltage 24V
+Rated Phase Current 1.79A
+Rated Speed 4000RPM
+
+
+
 Hall sensors are setup to be used as encoder:
 encctrl=7 # x4 quadrature decode CCW
 encctrl=3 # x4 quadrature decode CW
diff --git a/cfg/mx-stage.cfg b/cfg/mx-stage.cfg
new file mode 100644
index 0000000..6c84ce8
--- /dev/null
+++ b/cfg/mx-stage.cfg
@@ -0,0 +1,54 @@
+//Mot 1: Trinamic QBL 4208 motor
+//Enc 1: Trinamic QBL 4208 hall sensor
+//Enc 2: Incremental encoder mounted with motor 1
+
+//Mot 5: Rotation stage
+//Enc 5: Rotation stage
+
+//Mot 6: Stage X
+//Enc 6: Stage X
+
+//Mot 7: Stage Y
+//Enc 7: Stage Y
+
+//JogSpeed=MotorUnits/millisecond
+//encoder_sim units is 1 motor step (pole change)
+
+
+//Trinamic
+//--------
+
+!encoder_sim(enc=1,tbl=1,mot=1)
+!encoder_inc(enc=1,tbl=9,mot=9,encctrl=11) //encctrl=15 Hall sensor encoder
+!encoder_inc(enc=2,tbl=10,mot=10,posSf=1.) // incremental encoder
+
+//real limits in closed loop (does not work with simulated encoder)
+//!motor(mot=1,dirCur=0,contCur=1790,peakCur=5400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
+!motor(mot=1,dirCur=100,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
+
+//use e.g. #1out 10 to set speed of motor without using the PID loop
+//check how current and switch speed correlates
+
+
+//rot stage
+//---------
+
+!encoder_sim(enc=5,tbl=5,mot=5)
+!encoder_biss(enc=5,tbl=13,mot=13,numBits=26,posSf=1.)
+//real limits in closed loop (does not work with simulated encoder)
+//!motor(mot=5,dirCur=0,contCur=1460,peakCur=4380,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
+!motor(mot=5,dirCur=100,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
+
+
+//xy stage
+//--------
+
+!encoder_sim(enc=6,tbl=6,mot=6)
+!encoder_inc(enc=6,tbl=14,mot=14,posSf=1.)
+//!motor(mot=5,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
+!motor(mot=5,dirCur=100,contCur=200,peakCur=400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
+
+!encoder_sim(enc=7,tbl=7,mot=7)
+!encoder_inc(enc=7,tbl=15,mot=15,posSf=1.)
+//!motor(mot=5,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
+!motor(mot=5,dirCur=100,contCur=200,peakCur=400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)