adding cryojet and other stuff...

Readme.md

@@ -244,6 +244,7 @@ SAR-CPPM-EXPMX2: biss:n timing:n
   3: wedge3
   4: wedge4
   5: backlight
+  6: cryojet
 
 SAR-CPPM-EXPMX3: biss:n timing:y
   1: girder1
@@ -344,5 +345,21 @@ git@git.psi.ch:epics_ioc_modules/5CAM_SYSTEM.git
 
 copied the coordTrf.py from /home/zamofing_t/Documents/doc-ext/SwissFEL/Devices/5CAM
 to /cfg/MX3_coordTrf.py and modify it
+
+PPMAC=MOTTEST-CPPM-CRM0485
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX
+PBInspect --host $PPMAC --cfg PBInspect3.pbi
+
+PPMAC=MOTTEST-CPPM-CRM0485
+ssh root@$PPMAC
+sendgetsends -1
+
+
+
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
+gpasciiCommander --host $PPMAC -i
+$$$***
+!common()
+!SAR-EXPMX3()
 ```
 

SAR-EXPMX2.subs

@@ -26,4 +26,5 @@ pattern{ DESC       , P       , M           , PORT       , ADDR, DIR, VELO, HVEL
        { "Wedge A"  , "$(P_M)", "MOT_WEDGEA", "$(PORT_M)", 11  , 0  , 1.  , .5  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
        { "Wedge B"  , "$(P_M)", "MOT_WEDGEB", "$(PORT_M)", 12  , 0  , 1.  , .5  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
        { "Backlight", "$(P_M)", "MOT_BLGT"  , "$(PORT_M)", 5   , 1  , 40E3, 20E3, 0.1 , 20 , -1    , 0   , "usr", 0   , 0   }
+       { "Cryojet"  , "$(P_M)", "MOT_CRYO"  , "$(PORT_M)", 6   , 1  , 10.,  5.  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
 }

cfg/MX2_setup.cfg

@@ -44,4 +44,13 @@
 !motor(mot=5,dirCur=1800,JogSpeed=40,invDir=False)
 
 
-!holding_current(m1=[0,1000],m2=[0,1000],m3=[0,1000],m4=[0,1000],m5=[1400,1800])
+//Cryojet
+//---------
+//Max. 1.5A -1024000=-10mm
+//posSf = userUnits/encoder_steps =10000/1024000   =10./1024
+//servoSf=motor_u_steps/userUnits = 1024000/10000. = 102.4
+!encoder_sim(enc=6,posSf=10./1024)
+!motor(mot=6,dirCur=1500,JogSpeed=10,invDir=False,servoSf=102.4)
+
+
+!holding_current(m1=[0,1000],m2=[0,1000],m3=[0,1000],m4=[0,1000],m5=[1400,1800],m6=[0,500])

cfg/MX3_coordTrf.py

@@ -1,4 +1,4 @@
-def coordTrf(fileParser,kwargs):
+def MX3_coordTrf(fileParser,kwargs):
   from math import sqrt
   '''
   --- mandatory ---
@@ -49,84 +49,69 @@ S=D*X
 Coord[1].Ta=100
 Coord[1].Td=100
 Coord[1].AltFeedRate=1
-
-open forward
-define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
-define(r='L6',scl='L7')
-define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
-define(X='C6',Y='C7',U='C3',V='C4',W='C5')
-r=$height/$width
-scl=$exc/$sqrt2
-S1=scl*sin(AA1*$camSf)
-S2=scl*sin(AA2*$camSf)
-S3=scl*sin(AA3*$camSf)
-S4=scl*sin(AA4*$camSf)
-S5=scl*sin(AA5*$camSf)
-
-//debug code
-P1=S1
-P2=S2
-P3=S3
-P4=S4
-P5=S5
-P6=P6+1
-
-//X=D^-1*S
-X=+.5*S1     -.5*S2   +(r+.5)*S3    +(r-.5)*S4    +(.5-r)*$sqrt2*S5
-Y=+.5*S1     +.5*S2      +.25*S3       +.25*S4       +.25*$sqrt2*S5
-U=                        -.5*S3        -.5*S4         +.5$sqrt2*S5
-V=-.5*S1     +1.*S2      +1.5*S3        -.5*S4        -.5*$sqrt2*S5
-W=-.5*S1     -1.*S2       +.5*S3        +.5*S4        +.5*$sqrt2*S5
-
-D0=$$000000f8; //U=$$8 V=$$10 W=$$20 X=$$40 Y=$$80 hex(8+int('10',16)+int('20',16)+int('40',16)+int('80',16)) -> '0xf8'
-close
-
-open inverse
-define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
-define(r='L6',scl='L7')
-define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
-define(X='C6',Y='C7',U='C3',V='C4',W='C5')
-
-r=$height/$width
-
-S1=+.5*X          +.5*Y    +(0)       *U    -.5*V          +.5*W
-S2=-.5*X          +.5*Y    +(0)       *U    +.5*V          +.5*W
-S3=+.5*X          +.5*Y    -(.5)      *U    +.5*V          -.5*W
-S4=-.5*X          +.5*Y    -(.5)      *U    -.5*V          -.5*W
-S5=         .5*$sqrt2*Y     +.5*$sqrt2*U            -.5*$sqrt2*W
-
-//debug code
-P11=S1
-P12=S2
-P13=S3
-P14=S4
-P15=S5
-P16=P16+1
-
-scl=$sqrt2/$exc
-AA1=asin(S1*scl)/$camSf
-AA2=asin(S2*scl)/$camSf
-AA3=asin(S3*scl)/$camSf
-AA4=asin(S4*scl)/$camSf
-AA5=asin(S5*scl)/$camSf
-
-//debug code
-P21=AA1
-P22=AA2
-P23=AA3
-P24=AA4
-P25=AA5
-
-close
-
-//#1..5j/
-//#1..5hmz
-&1
-
-
 Motor[1].MaxSpeed=Motor[1].JogSpeed
 Motor[2].MaxSpeed=Motor[2].JogSpeed
 Motor[3].MaxSpeed=Motor[3].JogSpeed
 Motor[4].MaxSpeed=Motor[4].JogSpeed
 Motor[5].MaxSpeed=Motor[5].JogSpeed
+
+open forward
+  define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
+  define(r='L6',scl='L7')
+  define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
+  define(X='C6',Y='C7',U='C3',V='C4',W='C5')
+  r=$height/$width
+  scl=$exc/$sqrt2
+  S1=scl*sin(AA1*$camSf)
+  S2=scl*sin(AA2*$camSf)
+  S3=scl*sin(AA3*$camSf)
+  S4=scl*sin(AA4*$camSf)
+  S5=scl*sin(AA5*$camSf)
+
+  send 1"fwd_inp(%f)  %f %f %f %f %f\\n",D0,AA1,AA2,AA3,AA4,AA5
+  send 1"fwd_inp(%f)  %f %f %f %f %f\\n",D0,S1,S2,S3,S4,S5
+
+
+  //X=D^-1*S
+  X=+.5*S1     -.5*S2   +(r+.5)*S3    +(r-.5)*S4    +(.5-r)*$sqrt2*S5
+  Y=+.5*S1     +.5*S2      +.25*S3       +.25*S4       +.25*$sqrt2*S5
+  U=                        -.5*S3        -.5*S4        +.5*$sqrt2*S5
+  V=-.5*S1     +1.*S2      +1.5*S3        -.5*S4        -.5*$sqrt2*S5
+  W=-.5*S1     -1.*S2       +.5*S3        +.5*S4        +.5*$sqrt2*S5
+
+  send 1"fwd_res     %f %f %f %f %f\\n",X,Y,U,V,W
+
+  D0=$$000000f8; //U=$$8 V=$$10 W=$$20 X=$$40 Y=$$80 hex(8+int('10',16)+int('20',16)+int('40',16)+int('80',16)) -> '0xf8'
+close
+
+open inverse
+  define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
+  define(r='L6',scl='L7')
+  define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
+  define(X='C6',Y='C7',U='C3',V='C4',W='C5')
+
+  //if(D0>0)
+  //  send 1"Velocity calculation NOT SUPPORTED\\n"
+
+  send 1"inv_inp(%f)  %f %f %f %f %f\\n",D0,X,Y,U,V,W
+
+  r=$height/$width
+
+  S1=+.5*X          +.5*Y    +(0)       *U    -.5*V          +.5*W
+  S2=-.5*X          +.5*Y    +(0)       *U    +.5*V          +.5*W
+  S3=+.5*X          +.5*Y    -(.5)      *U    +.5*V          -.5*W
+  S4=-.5*X          +.5*Y    -(.5)      *U    -.5*V          -.5*W
+  S5=         .5*$sqrt2*Y     +.5*$sqrt2*U            -.5*$sqrt2*W
+
+  scl=$sqrt2/$exc
+  AA1=asin(S1*scl)/$camSf
+  AA2=asin(S2*scl)/$camSf
+  AA3=asin(S3*scl)/$camSf
+  AA4=asin(S4*scl)/$camSf
+  AA5=asin(S5*scl)/$camSf
+
+  send 1"inv_res     %f %f %f %f %f\\n",AA1,AA2,AA3,AA4,AA5
+
+close
+
 ''',kw)

cfg/MX3_setup.cfg

@@ -20,3 +20,31 @@ Motor[4].pLimits=0;Motor[4].AmpFaultLevel=0;Motor[4].pAmpEnable=0;Motor[4].pAmpF
 !encoder_sim(enc=5,tbl=5,mot=5)
 !motor(mot=5,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
 Motor[5].pLimits=0;Motor[5].AmpFaultLevel=0;Motor[5].pAmpEnable=0;Motor[5].pAmpFault=0
+
+
+//  //NEW:
+//  //the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear)
+//  //the ssi-encoder has 2**18=262144 steps per revolution
+//  //motor_u_steps/inc_enc_step=39.0625
+//  //JogSpeed=102.4 ustep/ms=102400ustep/s = 512*200= 1 rev/sec
+//    posSf        : position scale factor: encoder position to motor u-steps,  1 motor step is 512 motor u-steps
+//                   motor_u_steps=posSf*encoder_steps -> posSf = motor_u_steps/encoder_steps
+//                   default is 1.0 (1 motor_u_steps = 1 encoder_steps)
+
+//  !encoder_ssi(enc=1,numBits=18,posSf=39.0625)
+//  !encoder_ssi(enc=2,numBits=18,posSf=39.0625)
+//  !encoder_ssi(enc=3,numBits=18,posSf=39.0625)
+//  !encoder_ssi(enc=4,numBits=18,posSf=39.0625)
+//  !encoder_ssi(enc=5,numBits=18,posSf=39.0625)
+
+//  !motor(mot=1,dirCur=600,JogSpeed=102.4)
+//  !motor(mot=2,dirCur=600,JogSpeed=102.4)
+//  !motor(mot=3,dirCur=600,JogSpeed=102.4)
+//  !motor(mot=4,dirCur=600,JogSpeed=102.4)
+//  !motor(mot=5,dirCur=600,JogSpeed=102.4)
+
+//  !cm_brake(mot=1,curOn=600,cs=1,delay=200,gpio=16)
+//  !cm_brake(mot=2,curOn=600,cs=1,delay=200,gpio=17)
+//  !cm_brake(mot=3,curOn=600,cs=1,delay=200,gpio=18)
+//  !cm_brake(mot=4,curOn=600,cs=1,delay=200,gpio=19)
+//  !cm_brake(mot=5,curOn=600,cs=1,delay=200,gpio=20)

cfg/SAR-EXPMX3.cfg

@@ -1,4 +1,5 @@
 
 !MX3_setup()
 //!MX3_home()
-!MX3_coordTrf()
+//using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000
+!MX3_coordTrf(exc=1000,height=2000,width=3000,length=4000,camSf=1.7453292519943296e-05)

qt/ESB_MX_exp.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>776</width>
-    <height>643</height>
+    <height>681</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -49,7 +49,7 @@
      <x>20</x>
      <y>70</y>
      <width>725</width>
-     <height>456</height>
+     <height>480</height>
     </rect>
    </property>
    <property name="macro">
@@ -68,6 +68,7 @@ P=$(P),M=MOT_WEDGEY;
 P=$(P),M=MOT_WEDGEA;
 P=$(P),M=MOT_WEDGEB;
 P=$(P),M=MOT_BLGT;
+P=$(P),M=MOT_CRYO;
 P=$(P),M=MOT_GIRDER1;
 P=$(P),M=MOT_GIRDER2;
 P=$(P),M=MOT_GIRDER3;
@@ -78,7 +79,7 @@ P=$(P),M=MOT_GIRDER5</string>
     <string notr="true">ESB_MX_motor.ui</string>
    </property>
    <property name="numberOfItems" stdset="0">
-    <number>19</number>
+    <number>20</number>
    </property>
   </widget>
   <widget class="QWidget" name="horizontalLayoutWidget">
@@ -213,8 +214,8 @@ P=$(P),M=MOT_GIRDER5</string>
   <widget class="caMessageButton" name="camessagebutton">
    <property name="geometry">
     <rect>
-     <x>50</x>
+     <x>20</x>
-     <y>570</y>
+     <y>590</y>
      <width>121</width>
      <height>22</height>
     </rect>
@@ -235,8 +236,8 @@ P=$(P),M=MOT_GIRDER5</string>
   <widget class="caRelatedDisplay" name="carelateddisplay">
    <property name="geometry">
     <rect>
-     <x>190</x>
+     <x>160</x>
-     <y>570</y>
+     <y>590</y>
      <width>121</width>
      <height>24</height>
     </rect>
@@ -264,8 +265,8 @@ P=$(P),M=MOT_GIRDER5</string>
   <widget class="caToggleButton" name="catogglebutton">
    <property name="geometry">
     <rect>
-     <x>200</x>
+     <x>170</x>
-     <y>540</y>
+     <y>560</y>
      <width>100</width>
      <height>22</height>
     </rect>
@@ -286,8 +287,8 @@ P=$(P),M=MOT_GIRDER5</string>
   <widget class="caMessageButton" name="camessagebutton_2">
    <property name="geometry">
     <rect>
-     <x>60</x>
+     <x>30</x>
-     <y>600</y>
+     <y>620</y>
      <width>100</width>
      <height>22</height>
     </rect>
@@ -305,8 +306,8 @@ P=$(P),M=MOT_GIRDER5</string>
   <widget class="caMessageButton" name="camessagebutton_3">
    <property name="geometry">
     <rect>
-     <x>50</x>
+     <x>20</x>
-     <y>540</y>
+     <y>560</y>
      <width>121</width>
      <height>22</height>
     </rect>
@@ -327,8 +328,8 @@ P=$(P),M=MOT_GIRDER5</string>
   <widget class="caRelatedDisplay" name="caRelatedDisplay_9">
    <property name="geometry">
     <rect>
-     <x>190</x>
+     <x>160</x>
-     <y>600</y>
+     <y>620</y>
      <width>151</width>
      <height>30</height>
     </rect>

qt/ESB_MX_motor.ui

@@ -124,7 +124,10 @@
     </widget>
    </item>
    <item>
-    <widget class="caRelatedDisplay" name="carelateddisplay">
+    <widget class="caRelatedDisplay" name="carelateddisplay_2">
+     <property name="label">
+      <string notr="true">-$(M)</string>
+     </property>
      <property name="background">
       <color>
        <red>128</red>
@@ -133,13 +136,16 @@
       </color>
      </property>
      <property name="labels">
-      <string>$(M)</string>
+      <string>more;all</string>
      </property>
      <property name="files">
-      <string>motorx_all.ui</string>
+      <string>motorx_more.ui;motorx_all.ui</string>
      </property>
      <property name="args">
-      <string>P=$(P):,M=$(M)</string>
+      <string>P=$(P):,M=$(M);P=$(P):,M=$(M)</string>
+     </property>
+     <property name="stackingMode" stdset="0">
+      <enum>caRowColMenu::Menu</enum>
      </property>
     </widget>
    </item>