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bugfixing

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This commit is contained in:
zamofing_t
2017-01-19 13:40:04 +01:00
parent 3519c559a1
commit df42fa49b3
10 changed files with 129 additions and 51 deletions
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3
Readme.md
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@@ -13,6 +13,9 @@ Inductance mH 2.4
Max.BuxVoltage V 80
Continous Force 4N -> assume 1kg load -> acceleration=a=F/m=4m/s^2
Weight top stage: 250g=2.5N
Mecapion rot stage
------------------

6
cfg/mx-stage.cfg
View File

@@ -36,7 +36,7 @@
//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step
//$$$***
$$$***
//!common()
!common(PhaseFreq=20000,PhasePerServo=4)
//!common(PhaseFreq=40000)
@@ -50,8 +50,8 @@
//#3-> + .5X +1. Y + 0.01A
#1-> A
#2-> X
#3-> Y
#2-> Y
#3-> X
Coord[1].AltFeedRate=0
Coord[1].Tm=1 //1ms time

16
cfg/torqueCtrl.cfg
View File

@@ -20,11 +20,11 @@
//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step
//Enc 1: Rotation stage LS Mecapion 1 rev = 1048576 enc_steps
//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 2: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
//Enc 2: Stage Y Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
//Mot 3: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
//Enc 3: Stage Y Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
//Mot 3: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
//Enc 3: Stage X Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
//Mot 4: Test Servo: Trinamic QBL 4208 motor 8 poles 1 rev = 4*2048=8192 phase_step
//Enc 4: Test Servo: Incremental encoder mounted with motor 1 1 rev = 2000 enc count (500 inc_ quadrature encoder)
@@ -54,7 +54,7 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
!motor(mot=1,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)
//Stage X Parker MX80L
//Stage Y Parker MX80L
//--------------------
//Motor[2].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a
// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
@@ -64,10 +64,10 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
!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=16,Kvfb=800,Ki=0.001,Kvff=1000,Kaff=0,MaxInt=1000)
!motor(mot=2,dirCur=0,contCur=500,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)
!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)
//Stage Y Parker MX80L
//Stage X Parker MX80L (top stage, mounted on Y stage)
//--------------------
//Motor[3].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a
// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
@@ -77,7 +77,7 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
!encoder_sim(enc=3,tbl=11,mot=11,posSf=13000./2048)
!encoder_inc(enc=3,tbl=3,mot=3,posSf=13000./650000)
!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=220,Ki=0.001,Kvff=240,Kaff=0,MaxInt=1000)
!motor(mot=3,dirCur=0,contCur=500,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=2000,WarnFeLimit=100,InPosBand=2)
!motor(mot=3,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=2000,WarnFeLimit=100,InPosBand=2)
//Test Servo: Trinamic QBL 4208 motor

50
logbook.md
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@@ -346,10 +346,58 @@ Motor[3].LimitBits = 9 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144
Motor[3].DacShift=0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].AdcMask = $FFFC0000 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].ctrl=Sys.servoctrl // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].DtOverRotorTc = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].DtOverRotorTc = 0 // Hardware Interface //12/9/2016 0:8:53 AM - 129.129.144.138
Motor[3].IxCoupleGain = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].SlipGain = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].AdvGain = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].Stime = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
Motor[3].PhaseOffset =-683 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
BrickLV.Reset = 1 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138
*** 16.1.2017 ***
==================
Parker stage current step response
----------------------------------
Motor[2].IiGain=0
Motor[2].IpfGain=1
Motor[2].IpbGain=-1
Current step: Magnitude 4000 bits
Phasing 0
Dwell 10 ms
Motor 2 Phase pos at hard limit (towards kable)
> Motor[2].PhasePos;#2$
Motor[2].PhasePos=1317.26495427904138
Motor[2].PhasePos=1286.11002741653601
Motor[2].PhasePos=1310.62328616849777
Motor[2].PhasePos=1310.62328616849686
Motor[2].PhasePos=1307.26431089312473
Motor[2].PhasePos=1323.77420922660667
Motor[2].PhasePos=1323.77735999583911
Motor[2].PhasePos=1331.42989161901664
Motor[2].PhasePos=1332.17854273394619
Use Motor[2].PhasePos=1330
Use Motor[3].PhasePos=150 (or 1200???)
*** 19.1.2017 ***
==================
Friction force of Parker stage
X(top stage): 1N max 0.1N min.. depends on the magnetic poles
#3out20 -> Force 2N
#3out30 -> Force 3N (changes in torque at poles)
Weight: ca 250g
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

8
python/MAError.py
View File

@@ -133,8 +133,8 @@ class MAErrorFrame(wx.Frame):
err=doc.err
except AttributeError:
rec=doc.fh['rec']
errx = abs(rec[:, 1] - rec[:, 4])
erry = abs(rec[:, 2] - rec[:, 5])
errx = (rec[:, 2] - rec[:, 5])
erry = (rec[:, 1] - rec[:, 4])
errxy = np.sqrt(errx ** 2 + erry ** 2)
doc.err = err = (errx, erry, errxy)
canvas.InitChild(meta,err)
@@ -175,7 +175,7 @@ class MAErrorFrame(wx.Frame):
if msg == 0:
canvas = self.canvas
ax = canvas.ax
len = usrData
idx = usrData
err = self.doc.err
hl = canvas.hl
#hl[0].set_data(rec[:len, 4], rec[:len, 5])
@@ -185,7 +185,7 @@ class MAErrorFrame(wx.Frame):
x = (x[1] - x[0]) / 2;
#y = ax.get_ylim();
#y = (y[1] - y[0]) / 2;
ax.set_xlim(len-x, len + x,emit=True)
ax.set_xlim(idx-x, idx + x,emit=True)
#ax.set_ylim(rec[len, 2] - y, rec[len, 2] + y)
canvas.draw()

12
python/MAVelocity.py
View File

@@ -148,10 +148,10 @@ class MAVelocityFrame(wx.Frame):
#datapoint timebase: 2 ms () per data point
#velocity: um/ms (deltatau desVel= motor units per serco cycle)
rec=doc.fh['rec']
velxAct = np.diff(rec[:, 1])/tb
velxDes = np.diff(rec[:, 4])/tb
velyAct = np.diff(rec[:, 2])/tb
velyDes = np.diff(rec[:, 5])/tb
velxAct = np.diff(rec[:, 2])/tb
velxDes = np.diff(rec[:, 5])/tb
velyAct = np.diff(rec[:, 1])/tb
velyDes = np.diff(rec[:, 4])/tb
velAct = np.sqrt(velxAct**2+velyAct**2)
velDes = np.sqrt(velxDes**2+velyDes**2)
doc.vel = vel = (velxAct,velxDes,velyAct,velyDes,velAct,velDes)
@@ -194,7 +194,7 @@ class MAVelocityFrame(wx.Frame):
if msg == 0:
canvas = self.canvas
ax = canvas.ax
len = usrData
idx = usrData
hl = canvas.hl
#hl[0].set_data(rec[:len, 4], rec[:len, 5])
#hl[3].set_data(rec[:len, 1], rec[:len, 2])
@@ -203,7 +203,7 @@ class MAVelocityFrame(wx.Frame):
x = (x[1] - x[0]) / 2;
#y = ax.get_ylim();
#y = (y[1] - y[0]) / 2;
ax.set_xlim(len-x, len + x,emit=True)
ax.set_xlim(idx-x, idx + x,emit=True)
#ax.set_ylim(rec[len, 2] - y, rec[len, 2] + y)
canvas.draw()

14
python/MAxyPlot.py
View File

@@ -59,8 +59,8 @@ class MPLCanvasImg(FigureCanvas):
ax.add_collection(ec)
hl+=ax.plot(rec[:, 4], rec[:, 5], 'b-',label='recDesPos')
hl+=ax.plot(rec[:,1],rec[:,2],'g-',label='recActPos')
hl+=ax.plot(rec[:, 5], rec[:, 4], 'b-',label='recDesPos')
hl+=ax.plot(rec[:,2],rec[:,1],'g-',label='recActPos')
ax.xaxis.set_label_text('x-pos um')
ax.yaxis.set_label_text('y-pos um')
@@ -264,16 +264,16 @@ class MAxyPlotFrame(wx.Frame):
if msg==0:
canvas=self.canvas
ax=canvas.ax
len=usrData
idx=usrData
rec=self.doc.fh['rec']
hl=canvas.hl
hl[2].set_data(rec[:len, 4], rec[:len, 5])
hl[3].set_data(rec[:len, 1], rec[:len, 2])
hl[2].set_data(rec[:idx+1, 5], rec[:idx+1, 4])
hl[3].set_data(rec[:idx+1, 2], rec[:idx+1, 1])
#ax.draw_artist(hl[2])
x=ax.get_xlim();x=(x[1]-x[0])/2;
y=ax.get_ylim();y=(y[1]-y[0])/2;
ax.set_xlim(rec[len, 1]-x,rec[len, 1]+x)
ax.set_ylim(rec[len, 2]-y,rec[len, 2]+y)
ax.set_xlim(rec[idx, 2]-x,rec[idx, 2]+x)
ax.set_ylim(rec[idx, 1]-y,rec[idx, 1]+y)
canvas.draw()
@staticmethod

8
python/PBMotionAnalyzer.py
View File

@@ -21,6 +21,14 @@ from MAVelocity import *
import wxutils as ut
class MADoc():
'''
lenRec=fh['rec']
lenPts=fh['pts']
pts= X,Y array
#rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
#res=rot.ActPos,y.ActPos,x.ActPos,rot.DesPos,y.DesPos,x.DesPos
#idx 0 1 2 3 4 5
Implemented messages
0: The time slider has changed. usrData=index

59
python/shapepath.py
View File

@@ -83,10 +83,10 @@ class ShapePath:
#cfg = {"points": [[0, 0],[100, 0],[200, 0],[300, 0],[400, 0],[400, 100],[300, 100],[200, 100],[100, 100],[0, 100],[10, 200],[100, 200],[200, 200],[300, 200],[400, 200],[410, 300],[300, 300],[200, 300],[100, 300],[0, 300],[0, 400],[100, 400],[200, 400],[300, 400],[400, 400]],"sequencer": ['gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=-1)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=1000)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=2,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
cfg = {"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=100)','plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10)','plot_gather("'+fn+'.npz")']}
self.cfg=dotdict(cfg)
self.args=args
@@ -124,10 +124,16 @@ class ShapePath:
self.points=pts
def gen_prog(self,prgId=2,file=None,host=None,mode=0,**kwargs):
'''
kwargs:
acq_per : acquire period: acquire data all acq_per servo loops (default=1)
pt2pt_time : time to move from one point to the next point
'''
prg=[]
gather={"MaxSamples":1000000, "Period":1}
acq_frq=kwargs.get('acq_frq',1)
gather={"MaxSamples":1000000, "Period":acq_frq}
#Sys.ServoPeriod is dependent of !common() macro
ServoPeriod= .2
ServoPeriod= .2 #0.2ms
#ServoPeriod = .05
self.meta = {'timebase': ServoPeriod*gather['Period']}
#channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos"]
@@ -250,24 +256,26 @@ class ShapePath:
#if verb&2:
# self.plot_points(pts)
#sort points along y
pts=pts[pts[:, 1].argsort()]
#if verb&2:
# self.plot_points(pts)
#group sorting
cnt=pts.shape[0]
idx=np.ndarray(cnt,dtype=np.int32)
grp_cnt=int(np.sqrt(cnt))
grp_sz=int(np.ceil(float(cnt)/grp_cnt))
if self.args.yx==True:
idxA=0;idxB=1
else:
idxA=1;idxB=0
#sort points along idxA
pts=pts[pts[:,idxA].argsort()]
#group sorting along idxB
for i in range(grp_cnt):
a=i*grp_sz
#print a,a+grp_sz
if i%2:
idx[a:a+grp_sz]=a+pts[a:a+grp_sz,0].argsort()[::-1]
idx[a:a+grp_sz]=a+pts[a:a+grp_sz,idxB].argsort()[::-1]
else:
idx[a:a+grp_sz]=a+pts[a:a+grp_sz,0].argsort()
#print(idx)
idx[a:a+grp_sz]=a+pts[a:a+grp_sz,idxB].argsort()
#print(idx)
pts=pts[idx]
if verb&2:
@@ -294,8 +302,11 @@ class ShapePath:
def plot_gather(self,fnOut='/tmp/shapepath.npz',fnLoc='/tmp/gather.txt'):
meta=self.meta
pts=self.points
pts=self.points # X,Y array
rec = np.genfromtxt(fnLoc, delimiter=' ')
#rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
#res=rot.ActPos,y.ActPos,x.ActPos,rot.DesPos,y.DesPos,x.DesPos
#idx 0 1 2 3 4 5
if fnOut:
# time base:
# Gather.Period=10
@@ -308,8 +319,8 @@ class ShapePath:
#hl=ax[0].plot(x, y, color=col)
hl=ax.plot(pts[:,0],pts[:,1],'r.')
hl=ax.plot(pts[:,0],pts[:,1],'y--')
hl = ax.plot(rec[:, 4], rec[:, 5], 'b-')
hl=ax.plot(rec[:,1],rec[:,2],'g-')
hl = ax.plot(rec[:, 5], rec[:, 4], 'b-') # desired path
hl=ax.plot(rec[:,2],rec[:,1],'g-') # actual path
ax.xaxis.set_label_text('x-pos um')
ax.yaxis.set_label_text('y-pos um')
cid = fig.canvas.mpl_connect('button_press_event', self.onclick)
@@ -319,11 +330,18 @@ class ShapePath:
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
err=np.sqrt((rec[:,1]-rec[:,4])**2+(rec[:,1]-rec[:,4])**2)
hl = ax.plot(err, 'r-')
ax.xaxis.set_label_text('datapoint (timebase: %g ms per data point)' % meta['timebase'])
errx=rec[:,2]-rec[:,5]
erry=rec[:,1]-rec[:,4]
err=np.sqrt(errx**2+erry**2)
hl = []
hl += ax.plot(errx, 'b-',label='x-error')
hl += ax.plot(erry, 'g-',label='y-error')
hl += ax.plot(err, 'r-',label='error')
ax.xaxis.set_label_text('datapoint (timebase: %g ms per data point)'%meta['timebase'])
ax.yaxis.set_label_text('pos-error um')
print('average error %g um'%err.mean())
legend = ax.legend(loc='upper right', shadow=True)
print('average error x %g um, y %g um, %g um'%(np.abs(errx).mean(),np.abs(erry).mean(),err.mean()))
plt.show()
if __name__=='__main__':
@@ -358,6 +376,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0)
parser.add_option('-n', '--dryrun', action='store_true', help='dryrun to stdout')
parser.add_option('--yx', action='store_true', help='sort y,x instead x,y')
parser.add_option('--cfg', help='config file containing json configuration structure')
(args, other)=parser.parse_args()

4
src/usrServo/usrcode.c
View File

@@ -63,8 +63,8 @@ double user_pid_ctrl( struct MotorData *Mptr)
Mptr->Servo.Integrator+=Mptr->PosError*Mptr->Servo.Ki; // I term
ctrl_out+=Mptr->Servo.Integrator;
// Combine
if (ctrl_out>150)ctrl_out=150;
if (ctrl_out<-150)ctrl_out=-150;
if (ctrl_out>2000)ctrl_out=2000;
if (ctrl_out<-2000)ctrl_out=-2000;
return ctrl_out;
}
else {