calibrating 5Cam in ID lab

2018-05-29 14:38:58 +02:00
parent c889da80aa
commit db8e9e8636
6 changed files with 119 additions and 54 deletions
--- a/cfg/MX3_coordTrf.py
+++ b/cfg/MX3_coordTrf.py
@@ -56,17 +56,19 @@ 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(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
+  define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3')
+
  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*$camSf)
+  S1=scl*cos(AA1*$camSf)
+  S2=scl*cos(AA2*$camSf)
+  S3=scl*cos(AA3*$camSf)
+  S4=scl*cos(AA4*$camSf)
+  S5=scl*cos(AA5*$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
@@ -85,7 +87,8 @@ open forward
 close

 open inverse
-  define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
+  //define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
+  define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3')
  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')
@@ -104,11 +107,11 @@ open inverse
  S5=       .5*$sqrt2*Y   -.25*$sqrt2*U           +.25*$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)/$camSf
+  AA1=acos(S1*scl)/$camSf
+  AA2=acos(S2*scl)/$camSf
+  AA3=acos(S3*scl)/$camSf
+  AA4=acos(S4*scl)/$camSf
+  AA5=acos(S5*scl)/$camSf

  //send 1"inv_res     %f %f %f %f %f\\n",AA1,AA2,AA3,AA4,AA5

--- a/cfg/MX3_setup.cfg
+++ b/cfg/MX3_setup.cfg
@@ -7,25 +7,25 @@
 //#4: homeoffset: -87830.7554146
 //#5: homeoffset: -47956.2759182

-!encoder_ssi(enc=1,numBits=18,posSf=-5625./4096.)
-//!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
+!encoder_ssi(enc=1,numBits=18,posSf=-5625./4096)
+//!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
+!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=65477.)

-!encoder_ssi(enc=2,numBits=18,posSf=-5625./4096.)
-//!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
+!encoder_ssi(enc=2,numBits=18,posSf=-5625./4096)
+//!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
+!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-154370.)

-!encoder_ssi(enc=3,numBits=18,posSf=-5625./4096.)
-//!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
+!encoder_ssi(enc=3,numBits=18,posSf=-5625./4096)
+//!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
+!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-5248.)

-!encoder_ssi(enc=4,numBits=18,posSf=-5625./4096.)
-//!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
+!encoder_ssi(enc=4,numBits=18,posSf=-5625./4096)
+//!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
+!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-46620.)

-!encoder_ssi(enc=5,numBits=18,posSf=-5625./4096.)
-//!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
+!encoder_ssi(enc=5,numBits=18,posSf=-5625./4096)
+//!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
+!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=93168.)


 define(SP_RelBrk='15',SP_LockBrk='16')
--- a/cfg/SAR-EXPMX3.cfg
+++ b/cfg/SAR-EXPMX3.cfg
@@ -4,11 +4,19 @@
 //!MX3_home()
 //using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000
 //excentricity= 5mm
-//height      = 2mm ?
-//width       = 50cm ?
-//length      = 100cm ?
-!MX3_coordTrf(exc=5000,height=2000,width=500000,length=1000000,camSf=1.7453292519943296e-05)
+//height      = 90+28mm = 118
+//width       = (450+305)/2=377.5
+//length      = 600mm
+!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05)

+//Motor 1 -> AA2
+//Motor 2 -> AA1
+//Motor 3 -> AA5
+//Motor 4 -> AA3
+//Motor 5 -> AA4
+
+//  define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
+//  define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3')

 Coord[1].Ta=10
 Coord[1].Td=10
@@ -16,8 +24,6 @@ Coord[1].AltFeedRate=1000
 Coord[1].Tm=-10000  //1000um/FeedTime -> 1mm/sec
 Coord[1].FeedTime=1000 //default value 1000um

-
-
 //motor current off (as cpxcall 16)
 Motor[1].IdCmd=0;Motor[1].InPosBand=10
 Motor[2].IdCmd=0;Motor[2].InPosBand=10
@@ -25,22 +31,28 @@ Motor[3].IdCmd=0;Motor[3].InPosBand=10
 Motor[4].IdCmd=0;Motor[4].InPosBand=10
 Motor[5].IdCmd=0;Motor[5].InPosBand=10

-#1..5hmz
-#1..5j/
+//#1..5hmz
+//#1..5j/
 &1

 //initialization code
 open plc 0
-  if (Motor[1].ActPos-Motor[1].HomePos>180000)
-    Motor[1].HomePos=Motor[1].HomePos+360000
-  if (Motor[2].ActPos-Motor[2].HomePos>180000)
-    Motor[2].HomePos=Motor[2].HomePos+360000
-  if (Motor[3].ActPos-Motor[3].HomePos>180000)
-    Motor[3].HomePos=Motor[3].HomePos+360000
-  if (Motor[4].ActPos-Motor[4].HomePos>180000)
-    Motor[4].HomePos=Motor[4].HomePos+360000
-  if (Motor[5].ActPos-Motor[5].HomePos>180000)
-    Motor[5].HomePos=Motor[5].HomePos+360000
+  homez1..5
+  L0 = Sys.RunTime + .1
+  while (Sys.RunTime < L0){} //wait .1 sec
+  jog/1..5
+  while (Sys.RunTime < L0){} //wait .1 sec
+
+  if (Motor[1].ActPos-Motor[1].HomePos<-180000)
+    Motor[1].HomePos=Motor[1].HomePos-360000
+  if (Motor[2].ActPos-Motor[2].HomePos<-180000)
+    Motor[2].HomePos=Motor[2].HomePos-360000
+  if (Motor[3].ActPos-Motor[3].HomePos<-180000)
+    Motor[3].HomePos=Motor[3].HomePos-360000
+  if (Motor[4].ActPos-Motor[4].HomePos<-180000)
+    Motor[4].HomePos=Motor[4].HomePos-360000
+  if (Motor[5].ActPos-Motor[5].HomePos<-180000)
+    Motor[5].HomePos=Motor[5].HomePos-360000
  disable plc 0
 close // plc 0