towards measure the mass of the stage

logbook.md

@@ -401,3 +401,64 @@ Y(lower stage): 1N max 0.1N min.. depends on the magnetic poles
 #2out20 -> Force 2.5N iqCmd=402
 #2out30 -> Force 3N   iqCmd=603  (changes in torque at poles)
 Weight: ca 750g
+
+*** 27.1.2017 ***
+==================
+
+Friction force of Parker stage: see blue logbook.
+Calculate the current at a given force:
+
+import numpy as np
+import plt as matplotlib.pyplot
+
+F=np.array([+300, +100, 0.,-50,-100,-150,-200,-250,-300])
+i=np.array([+625, 214, 38.,-104,-207,-300,-400,-500,-600])
+
+plt.plot(i,F,'.-')
+
+average  Motor[3].iqMeas -610.949923065
+average  Motor[3].iaMeas 432.573485303
+average  Motor[3].ibMeas -699.459308138
+-> icMeas 432.573485303-699.459308138=-266.885822835
+
+
+Check cur_bits to current
+-------------------------
+
+Block motor 4
+set current to 10%:    #4out10
+Measure current with amp meter and ./move_record.py
+
+Motor[4].PhasePos=313
+
+gelb 293 mA
+idCmd=0
+average  Motor[4].iqMeas 452.897308732
+average  Motor[4].iaMeas -274.830633873
+average  Motor[4].ibMeas 523.056988602
+               -> icMeas 248.226
+
+rot 560 mA
+average  Motor[4].iqMeas 452.719438794
+average  Motor[4].iaMeas -264.325534893
+average  Motor[4].ibMeas 523.057788442
+               -> icMeas 258.73
+
+schwarz 290mA
+average  Motor[4].iqMeas 453.042713114
+average  Motor[4].iaMeas -252.726254749
+average  Motor[4].ibMeas 523.302539492
+               -> icMeas 270.57
+
+PhasePos=0    ia=-512 ib=260   ic=240
+PhasePos=682  ia=250  ib=250   ic=500
+PhasePos=1364 ia=320  ib=-500  ic=180
+
+https://de.wikipedia.org/wiki/D/q-Transformation
+ia=-sin(phi)*iq
+ib=-sin(phi-120deg)*iq
+ic=-sin(phi-240deg)*iq
+
+...cant yet figure out the scaling...
+
+measure the mass of the stage... c ant figure it out...

python/move_record.py

@@ -66,6 +66,8 @@ class MoveRecord:
       self.fnNpz=fn+'.npz'
       #cfg = {"sequencer": ['prog_1(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_1()']}
       cfg = {"sequencer": ['plot_1()']}
+      #cfg = {"sequencer": ['prog_2(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_2()']}
+      #cfg = {"sequencer": ['plot_2()']}
       self.cfg=dotdict(cfg)
       self.args=args
 
@@ -159,7 +161,8 @@ class MoveRecord:
       prg.append('jog3=1000')
       prg.append('dwell 100')
       prg.append('Gather.Enable=2')
-      for spd in (5,10,20,30,40):
+      #for spd in (5,10,20,30,40):
+      for spd in (20,20,20,20,20,20,20,20,20,20):
         prg.append('Motor[3].JogSpeed=%d'%spd)
         prg.append('jog3=27000')
         prg.append('dwell 100')
@@ -182,12 +185,14 @@ class MoveRecord:
       meta['HomePos']=-223.8   #Motor[3].HomePos
       meta['PhasePos']=1200  #Motor[3].PhasePos
 
+
     @staticmethod
     def onclick(event):
         print 'button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%(
             event.button, event.x, event.y, event.xdata, event.ydata)
         obj=event.canvas.figure.obj
 
+
     def plot_1(self):
       try:
         rec=self.rec
@@ -230,9 +235,133 @@ class MoveRecord:
       legend = ax.legend(loc='upper right', shadow=True)
       print 'abs average ',channels[4], np.abs(rec[:, 4]).mean()
 
+      fig=plt.figure();
+      fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
+      fig.canvas.set_window_title('overlay')
+      ax = fig.add_subplot(1,1,1)
+      hl=[]
+      sz=10; weights = np.repeat(1.0, sz) / sz
+
+      v = np.convolve(rec[:,4], weights, 'same')
+      hl+=ax.plot(rec[:,1],v,'r-',label=channels[4])
+      ax.xaxis.set_label_text(channels[1])
+      ax.yaxis.set_label_text('current in bits: '+channels[4])
+      legend = ax.legend(loc='upper right', shadow=True)
 
       plt.show()
 
+    def prog_2(self,prgId=2,host=None,acq_per=1):
+      '''
+      kwargs:
+        acq_per    : acquire period: acquire data all acq_per servo loops (default=1)
+        prgId      : used program number
+        file       : used filename to save if None, not saved
+        host       : host to send and execute program, if None, nothing is executed
+      '''
+      ServoPeriod= .2 #0.2ms Sys.ServoPeriod is dependent of !common() macro
+
+      self.prgId=prgId
+      self.file=file
+      self.host=host
+      self.gather={"MaxSamples":1000000, "Period":acq_per}
+      self.channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"]
+      self.meta=meta = {'timebase': ServoPeriod*self.gather['Period']}
+
+      self.prg=prg=[]
+      #prg.append('#1..3$')
+      #prg.append('#1..3j/')
+
+      self.prg_prolog()
+      prg=self.prg
+
+      prg.append('  linear abs')
+      prg.append('Motor[3].JogTs=0')
+      prg.append('Motor[3].JogSpeed=40')
+
+      prg.append('jog3=10000')
+      prg.append('dwell 100')
+      prg.append('Gather.Enable=2')
+      for acc in (-2.5,-1.25,-.5,-.25):
+        prg.append('Motor[3].JogTa=%g'%acc)
+        prg.append('jog3=17000')
+        prg.append('dwell 100')
+        prg.append('jog3=10000')
+        prg.append('dwell 100')
+      prg.append('Gather.Enable=0')
+
+      self.prg_epilog()
+      #  &1 #1->0
+      #  &1 #2->0
+      #  #3$
+      #  an anschlag (kabel) bewegen
+      #  #3hmz
+      #  Motor[3].PhasePos=1200
+      #  #3j/
+      #  &1p
+
+
+      #folgende parameter setzen: Motor[3].HomePos
+      meta['HomePos']=-223.8   #Motor[3].HomePos
+      meta['PhasePos']=1200  #Motor[3].PhasePos
+
+
+    def plot_2(self):
+      try:
+        rec=self.rec
+        prg=self.prg
+        channels=self.channels
+        meta=self.meta
+      except AttributeError:
+        fh=np.load(self.fnNpz)
+        rec=fh['rec']
+        prg=list(fh['prg'])
+        channels=list(fh['channels'])
+        meta=fh['meta'].item()
+
+      time=np.arange(0,rec.shape[0])*meta['timebase']
+
+      fig=plt.figure();
+      fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
+      fig.canvas.set_window_title('position')
+      ax = fig.add_subplot(1,1,1)
+      hl=[]
+      p_avg=rec[:,1].mean();
+      p=rec[:,0]-p_avg
+      hl+=ax.plot(time,p,'r-',label=channels[0])
+      #d=np.diff(p)*100
+      #hl+=ax.plot(time[1:],d,'r-',label='vel of '+channels[0])
+      #a=np.diff(d)*100
+      #hl+=ax.plot(time[2:],a,'r-',label='acc of '+channels[0])
+
+      p=rec[:,1]-p_avg
+      hl+=ax.plot(time,p,'g-',label=channels[1])
+      d=np.diff(p)*100
+      hl+=ax.plot(time[1:],d,'g-',label='vel of '+channels[0])
+      a=np.diff(d)*100
+      hl+=ax.plot(time[2:],a,'g-',label='acc of '+channels[0])
+
+      #hl+=ax.plot(time,rec[:,2],'b-',label=channels[2])
+      ax.xaxis.set_label_text('ms')
+      ax.yaxis.set_label_text('um')
+      legend = ax.legend(loc='upper right', shadow=True)
+
+      fig=plt.figure();
+      fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
+      fig.canvas.set_window_title('current')
+      ax = fig.add_subplot(1,1,1)
+      hl=[]
+      sz=100; weights = np.repeat(1.0, sz) / sz
+      v = np.convolve(rec[:,3], weights, 'same')
+      hl+=ax.plot(time,v,'r-',label=channels[3])
+      v = np.convolve(rec[:, 4], weights, 'same')
+      hl+=ax.plot(time,v,'g-',label=channels[4])
+      ax.xaxis.set_label_text('ms')
+      ax.yaxis.set_label_text('current in bits')
+      legend = ax.legend(loc='upper right', shadow=True)
+      print 'abs average ',channels[4], np.abs(rec[:, 4]).mean()
+      plt.show()
+
+
 if __name__=='__main__':
   from optparse import OptionParser, IndentedHelpFormatter
   class MyFormatter(IndentedHelpFormatter):