wip 5cam mover
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230
Readme.md
230
Readme.md
@@ -363,3 +363,233 @@ $$$***
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!SAR-EXPMX3()
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```
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5 CAM mover commissioning EH60 27.3.18
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--------------------------------------
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```
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PPMAC=SAROP11-CPPM-MOT6765
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PPMAC=MOTTEST-CPPM-CRM0515
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PBInspect --host $PPMAC
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gpasciiCommander --host $PPMAC -i
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$$$***
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!common()
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PowerBrick[0].GpioData[0].17=1
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16 fail
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17 ok
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18 fail
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19 ok
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20 fail
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21 fail on box
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22 fail on box
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23 fail on box
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21 fail on box
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Testing on motor 2
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$$$***
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!common()
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!encoder_sim(enc=2,tbl=2,mot=2)
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!motor(mot=2,dirCur=1000,JogSpeed=1024)
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!encoder_ssi(enc=2,tbl=10,mot=10,numBits=18)
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PowerBrick[0].GpioData[0].17=1
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#2j:102400
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PowerBrick[0].GpioData[0].17=0
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#2k
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#2j:10240000 == 360 deg = 262037.6288 inc = 360000mdeg
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//the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear)
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//the ssi-encoder has 2**18=262144 steps per revolution
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//motor_u_steps/inc_enc_step=39.0625
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//the ssi-encoder has 2**18=262144 steps per revolution
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//10240000 ustep == 262144 encCnt == 360deg=360000mdeg
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//posSf = userUnits/encoder_steps=360000/262144=5625./4096.
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//servoSf=motor_u_steps/userUnits 10240000/360000=256./9.
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$$$***
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!common()
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!encoder_ssi(enc=2,numBits=18,posSf=5625./4096.)
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!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,HomeOffset=0)
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PowerBrick[0].GpioData[0].17=1
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#2j:360000
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PowerBrick[0].GpioData[0].17=0
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#2k
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!cm_brake(mot=2,curOn=1000,cs=1,delay=200,gpio=17)
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cpx r0=180000;call 20 //motor 2 180deg
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cpx r0=0 ;call 20 //motor 2 0 deg
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cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/
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gpasciiCommander --host $PPMAC -i
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$$$***
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!common()
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!SAR-EXPMX3()
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cpx call 15 //current on, open breaks
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#1..5j=180000
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#1..5j=0
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cpx call 16 //close breaks, current off
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&1
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cpx r0=180000;call 20 //motor 2 180deg
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open prog 10
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call15
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abslinear
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X(10) Y(0) U(0) V(0) W(0)
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call16
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close
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b10r
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open prog 11
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call15
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abslinear
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jog1=0
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jog2=0
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jog3=0
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jog4=0
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jog5=0
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call16
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close
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b11r
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open prog 12
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call15
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abslinear
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jog1=180000
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jog2=180000
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jog3=180000
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jog4=180000
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jog5=180000
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call16
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close
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b12r
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&1p
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```
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5 CAM coord trf EH60 27.3.18
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----------------------------
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```
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PPMAC=MOTTEST-CPPM-CRM0515
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ssh root@$PPMAC
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sendgetsends -1
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open prog 12
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call15
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abslinear
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jog1=180000
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jog2=180000
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jog3=180000
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jog4=180000
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jog5=180000
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call16
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close
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b12r
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&1p
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```
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5 CAM coord trf EH60 27.3.18
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----------------------------
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```
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PPMAC=MOTTEST-CPPM-CRM0515
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ssh root@$PPMAC
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sendgetsends -1
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$$$***
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!common()
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!SAR-EXPMX3()
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&1p -> execute forward kinematics
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cpx call 15
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#1..5j=0
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cpx abslinear X(0)Y(0)U(0)V(0)W(0) ->executes inverse kinematic
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cpx call 16
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L6=2000/3000
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L7=1000/1.41421356237
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L11=L7*sin(L1*1.74532925199e-05)
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L12=L7*sin(L2*1.74532925199e-05)
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L13=L7*sin(L3*1.74532925199e-05)
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L14=L7*sin(L4*1.74532925199e-05)
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L15=L7*sin(L5*1.74532925199e-05)
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$$$***
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!common()
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!SAR-EXPMX3()
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&1
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#1..5j/
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#1..5hmz
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open prog 1
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//homez1..5
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call 15
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jog1..5=0
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call 16
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L0 = Sys.Time + 2
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while (L0 > Sys.Time){}
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call 15
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jog1..5=180000
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call 16
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call 15
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abslinear X(1000)Y(0)U(0)V(0)W(0)
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dwell 100
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abslinear X(0)Y(1000)U(0)V(0)W(0)
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dwell 100
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abslinear X(0)Y(0)U(0)V(0)W(0)
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dwell 100
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jog1..5=0
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call 16
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close
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b1r
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cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16;
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cpx call15;jog1..5=0;call16;
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```
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towards IOC 29.3.18
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-------------------
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```
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PPMAC=MOTTEST-CPPM-CRM0515
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ssh root@$PPMAC
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cd /ioc/SAR-CPPM-EXPMX3
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iocsh startup.script
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dbl
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export EPICS_CA_ADDR_LIST="129.129.126.255"
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export EPICS_CA_ADDR_LIST=$PPMAC
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caQtDM -macro 'P=SAR-EXPMX' ESB_MX_exp
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caQtDM -macro 'P=SAR-EXPMX' ESB_MX_5cam
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PPMAC=SAR-CPPM-EXPMX2
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cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX
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PBInspect --host $PPMAC --cfg PBInspect2.pbi
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cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
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gpasciiCommander --host $PPMAC -i
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$$$***
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!common()
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!SAR-EXPMX2()
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```
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