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working so far. have to test helicalscan also on the real system

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zamofing_t
2018-01-04 16:04:30 +01:00
parent 57b6ff3a2c
commit e58047f2b0
8 changed files with 483 additions and 146 deletions
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102
Readme.md
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@@ -153,58 +153,71 @@ HelicalScan
-----------
```
PPMAC=MOTTEST-CPPM-CRM0485
gpasciiCommander --host $PPMAC mx-stage_sim.cfg -i
Coord[1].SegMoveTime=.05
will calculate all 0.05 sec the inverse kinematic.
default Coord[1].SegMoveTime=0, calculates inv kin. only at endpoints
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX
PBInspect --host $PPMAC --cfg PBInspect2.pbi
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
gpasciiCommander --host $PPMAC sim_8_motors.cfg -i
ssh root@$PPMAC sendgetsends -1
send 1"SampleMessage\n"
cpx send 1"SampleMessage\n"
execute helicalscan.py
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
./helicalscan.py
```
SCRATCH
-------
fwd/inv kinematic stuff
-----------------------
```
Coord[1].SegMoveTime=.05, will calculate all 0.05 sec the inverse kinematic.
default Coord[1].SegMoveTime=0, calculates inv kin. only at endpoints
&1p ->this will trigger:forward kinematic
cpx pmatch ->this will trigger:forward kinematic
cpx ;linear rel; X0Y0Z0B0 ->this will trigger: inverse
cpx ;linear abs; X0Y0Z0B0 ->this will trigger: inverse
test_coord_trf() (w is in mdeg) -> Output:
input : cx:0.2 cz:0.3 w:5729.58 fy:0.4
fwd_trf: dx:-1.14768 dz:-19.0991 w:5729.58 fy:0.4
inv_trf: cx:0.2 cz:0.3 w:5729.58 fy:0.4
#7j=0.1 //cx
#8j=0.2 //cy
#1j=0.3 //w
#2j=0.4 //fx
input : dx:0.2 dz:0.3 w:5729.58 fy:0.4
inv_trf: cx:1.54768 cz:19.6991 w:5729.58 fy:0.4
fwd_trf: dx:0.2 dz:0.3 w:5729.58 fy:0.4
(cx,cz,w,fy) (2.6164986454377614, 17.758728111340563, 0.1, 4.3)
(dx,dz,w,y) (0.2, 0.3, 0.1, 4.3)
#7j=2.6164986454377614
#8j=17.758728111340563
#1j=5729.578 // 0.1*1000.*360./(2*pi)
#2j=4.3
#4j=0.2 //cx
#5j=0.3 //cz
#3j=5729.58 //w
#1j=0.4 //fy
&1p
B0.1 X0.2 Y4.3 Z0.3
cpx ;linear abs; X0.2 Z0.3, B0.1 Y4.3
forward kinematic 0.199997 0.300003 5729.58 0.399994
forward result -1.14769 -19.0991 5729.58 0.399994
Motor[1,27,8].JogSpeed=8
cpx ;linear abs; X.2Y.4Z.3B5729.58
inverse kinematic 0.2 0.3 5729.58 0.4
inverse result 1.54579 19.7026 5729.58 0.4
#1,2,7,8j=10000
cpx ;linear abs; X0.2 Z0.3 B0.1 Y00000
cpx ;linear abs; X0.2 Z0.3 B0.1 Y10000
input : dx:0.2 dz:0.3 w:5.72958 fy:3.3
inv_trf: cx:2.34244 cz:18.2563 w:5.72958 fy:3.3
fwd_trf: dx:0.2 dz:0.3 w:5.72958 fy:3.3
#7j=2.34244;#8j=18.2563;#1j=5729.58;#2j=3.3
input : cx:10 cz:20 w:171887 fy:40
fwd_trf: dx:28.9419 dz:-5.52304 w:171887 fy:40
inv_trf: cx:10 cz:20 w:171887 fy:40
#4j=10 //cx
#5j=20 //cz
#3j=171887 //w
#1j=40 //fy
&1p
forward kinematic 10 20 171887 40
forward result 28.942 -5.52296 171887 40
input : dx:10 dz:20 w:171887 fy:40
inv_trf: cx:-8.94193 cz:45.523 w:171887 fy:40
fwd_trf: dx:10 dz:20 w:171887 fy:40
cpx ;linear abs; X10 Z20 B171887 Y40
inverse kinematic 10 20 171887 40
inverse result -8.94198 45.523 171887 40
```
Motors final setup 20.12.17
@@ -242,6 +255,7 @@ SAR-CPPM-EXPMX3: biss:n timing:y
PPMAC=MOTTEST-CPPM-CRM0485
ssh root@$PPMAC
cd /ioc/SAR-CPPM-EXPMX1;iocsh startup.script
sendgetsends -1
ssh x06mx-cons-1
@@ -252,25 +266,3 @@ export CAQTDM_DISPLAY_PATH=/net/slsfs-crtl/export/sf/common/config/qt/:/net/slsf
caqtdm -macro "P=SAR-EXPMX" ESB_MX_exp.ui
```
SCRATCH
--------
PPMAC=SAR-CPPM-EXPMX1
gpasciiCommander --host $PPMAC -i
$$$***
!common()
!SAR-EXPMX1()
PPMAC=SAR-CPPM-EXPMX1
PBInspect --host $PPMAC -i
Coord[1].SegMoveTime=.05
will calculate all 0.05 sec the inverse kinematic.
default Coord[1].SegMoveTime=0, calculates inv kin. only at endpoints
ssh root@$PPMAC sendgetsends -1
send 1"SampleMessage\n"