towards recabeling and reconfiguring all Powerbricks and Smaracts devices

Here all IOCs were started without any hardware.
So in the next steps the hardware must be tested.

cfg/MX1_setup.cfg

@@ -0,0 +1,106 @@
+// Here we use 'real encoder with direct PWM'. Further the axis are scaled
+// in this configuration, the PID gives 'torque' to iqCmd.
+// the phasePos is received from tne encoder on the motor shaft.
+// The idCmd is set to 0
+// the PID regulates the position by setting torque, if the motor is not at the desired position
+// Compared to 'real encoder with direct microstepping', following main elements have to be reconfigured:
+// SlipGain=0 (instead 0.25) ,PhasePosSf= calculated value (instead of 0)
+// look also at PwmSf,PhaseMode,PhaseCtrl,
+
+// -> PhasePosSf is calculated as follows:  (2048*pole_cycle)/(256*enc_step) = 8*pole_cycle/enc_step
+
+// e.g.   Motor[x].pPhaseEnc -> PowerBrick[.].Chan[.].PhaseCapt.a
+//        1 rev = 8192 phase_step = 4 pole_cycle = 512000 PhaseCapt =256*2000 (256=scaling of encTable, 2000=enc_step/rev)
+//        PhasePosSf 8*4/2000=0.016
+
+
+// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_step
+// changing the polarity from S-N-S (one pole cycle) are 2048 phase_step. phase_step is also called ustep
+
+//Mot 1: Stage Y Parker MX80L D11 25mm               one pole cycle = 13mm = 2048 phase_step
+//Enc 1: Stage Y Parker MX80L D11 inc_enc 20nm       one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
+
+//Mot 2: Stage X Parker MX80L D11 25mm               one pole cycle = 13mm = 2048 phase_step
+//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm       one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
+
+//Mot 3: Rotation stage LS Mecapion MDM-DC06DNC0H    32 poles = 1 rev = 16*2048=32768 phase_step
+//Enc 3: Rotation stage LS Mecapion                  1 rev = 1048576 enc_steps
+
+//Mot 4: Stage X Stada Stepper                       670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
+//Enc 4: Renishaw absolute BiSS
+
+//Mot 5: Stage Y Stada Stepper                       670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
+//Enc 5: Renishaw absolute BiSS
+
+//Enc 6: Interferometer Y
+
+//Enc 7: Interferometer X
+
+//Stage Y Parker MX80L
+//--------------------
+//Motor[1].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a
+// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
+// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05
+//2048 phase_step =166400000 PhaseCapt -> PhasePosSf =  2048/166400000= 2048./(256*650000)
+//use um as motor unit
+!encoder_sim(enc=1,tbl=9,mot=9,posSf=13000./2048)
+!encoder_inc(enc=1,tbl=1,mot=1,posSf=13000./650000)
+//!motor_servo(mot=1,ctrl='ServoCtrl',Kp=20,Kvfb=1000,Ki=0.07,Kvff=1000,Kaff=4000,MaxInt=1000)
+//!motor_servo(mot=1,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
+!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
+!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
+
+
+//Stage X Parker MX80L (top stage, mounted on Y stage)
+//----------------------------------------------------
+//Motor[2].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a
+// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
+// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05
+//2048 phase_step =166400000 PhaseCapt -> PhasePosSf =  2048/166400000= 2048./(256*650000)
+
+!encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048)
+!encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000)
+!motor_servo(mot=2,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
+//PhaseFreq=20000,PhasePerServo=1 -> Kvfb=220*4 Ki/=4,Kvff*=4,Kaff*=4*4
+!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
+
+
+//rot stage
+//---------
+//use 360'000 for 360 deg as motor unit
+//1 rev = 16*2048=32768 phase_step = 1048576 enc_steps
+//PhasePosSf= 8*el_cycle/enc_step =8*16/1048576=1./8192
+//Motor[1].pPhaseEnc=EncTable[1].pEnc=Acc84B[0].Chan[0].SerialEncDataA.a
+// -> PhasePosSf is calculated as follows:  (2048*pole_cycle)/(256*enc_step) = 8*pole_cycle/enc_step
+//PhasePosSf = (2048*pole_cycle)/(SerialEncDataA)=8*16/1048576=1/32
+
+!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_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)
+
+
+//Stada stage
+//-----------
+//512000 ustep == 50000 encCnt == 2500um
+//posSf = userUnits/encoder_steps
+//servoSf=motor_u_steps/userUnits
+
+!encoder_biss(enc=4,numBits=32,posSf=1./20)
+!encoder_biss(enc=5,numBits=32,posSf=1./20)
+!motor(mot=4,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8,InPosBand=1,HomeOffset=39278)
+!motor(mot=5,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8,InPosBand=1,HomeOffset=39736)
+
+
+//Interferometer 1,2
+//------------------
+!encoder_inc(enc=6,tbl=6,mot=6)# ,posSf=13000./650000)
+!encoder_inc(enc=7,tbl=7,mot=7)# ,posSf=13000./650000)
+
+#3,4,5hmz
+
+//holding current
+!holding_current(m4=[0,240],m5=[0,240])
+
+