prepare for beamtime

ESB_MX.subs

@@ -20,9 +20,11 @@
 
 file PPMACMotor.template {
 pattern {DESC    ,P       ,M             ,PORT       ,ADDR   ,DIR,VMAX,VELO,JVEL,HVEL,ACCL,JAR,MRES  ,PREC,EGU ,DHLM,DLLM}
-{ "Rotation Y"   ,"$(P_M)","MOTOR_ROT_Y1","$(PORT_M)","$(M1)",1  ,50  ,50  ,50  ,1   ,0.1 ,20 ,-0.001,3   ,"deg",0   ,0}
+{ "Rotation Y"   ,"$(P_M)","MOTOR_ROT_Y" ,"$(PORT_M)","$(M1)",1  ,50  ,50  ,50  ,1   ,0.1 ,20 ,-0.001,3   ,"deg",0   ,0}
-{ "Translation X","$(P_M)","MOTOR_X1"    ,"$(PORT_M)","$(M2)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+{ "Translation X","$(P_M)","MOTOR_FX"    ,"$(PORT_M)","$(M2)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
-{ "Translation Y","$(P_M)","MOTOR_Y1"    ,"$(PORT_M)","$(M3)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+{ "Translation Y","$(P_M)","MOTOR_FY"    ,"$(PORT_M)","$(M3)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
-{ "TransBase X",  "$(P_M)","MOTOR_AX"    ,"$(PORT_M)","$(M7)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+{ "CamBase X",    "$(P_M)","MOTOR_CAMX"  ,"$(PORT_M)","$(M4)",0  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
-{ "TransBase Z",  "$(P_M)","MOTOR_AZ"    ,"$(PORT_M)","$(M8)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+{ "CamBase Y",    "$(P_M)","MOTOR_CAMY"  ,"$(PORT_M)","$(M5)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+{ "TransBase X",  "$(P_M)","MOTOR_CX"    ,"$(PORT_M)","$(M7)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+{ "TransBase Z",  "$(P_M)","MOTOR_CZ"    ,"$(PORT_M)","$(M8)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
 }

add_device.cmd

@@ -12,18 +12,22 @@ require gpasciiCommander
 M1=1
 M2=$(M1)+1
 M3=$(M1)+2
-#M4=$(M1)+3
+M4=$(M1)+3
+M5=$(M1)+4
+M6=$(M1)+5
 M7=$(M1)+6
 M8=$(M1)+7
 
 powerPmacCreateAxis($(PORT), $(M1))
 powerPmacCreateAxis($(PORT), $(M2))
 powerPmacCreateAxis($(PORT), $(M3))
-#powerPmacCreateAxis($(PORT), $(M4))
+powerPmacCreateAxis($(PORT), $(M4))
+powerPmacCreateAxis($(PORT), $(M5))
+powerPmacCreateAxis($(PORT), $(M6))
 powerPmacCreateAxis($(PORT), $(M7))
 powerPmacCreateAxis($(PORT), $(M8))
 
 
 
 # Load databse
-dbLoadTemplate("$(ESB_MX_TEMPLATES)/ESB_MX.subs", "PORT_M=$(PORT),P_M=$(P),M1=$(M1),M2=$(M2),M3=$(M3),M7=$(M7),M8=$(M8)")
+dbLoadTemplate("$(ESB_MX_TEMPLATES)/ESB_MX.subs", "PORT_M=$(PORT),P_M=$(P),M1=$(M1),M2=$(M2),M3=$(M3),M4=$(M4),M5=$(M5),M6=$(M6),M7=$(M7),M8=$(M8)")

cfg/mx-stage.cfg

@@ -1,40 +1,3 @@
-// Here we use 'real encoder with direct PWM'. Further the axis are scaled
-// in this configuration, the PID gives 'torque' to iqCmd.
-// the phasePos is received from tne encoder on the motor shaft.
-// The idCmd is set to 0
-// the PID regulates the position by setting torque, if the motor is not at the desired position
-// Compared to 'real encoder with direct microstepping', following main elements have to be reconfigured:
-// SlipGain=0 (instead 0.25) ,PhasePosSf= calculated value (instead of 0)
-// look also at PwmSf,PhaseMode,PhaseCtrl,
-
-// -> PhasePosSf is calculated as follows:  (2048*pole_cycle)/(256*enc_step) = 8*pole_cycle/enc_step
-
-// e.g.   Motor[x].pPhaseEnc -> PowerBrick[.].Chan[.].PhaseCapt.a
-//        1 rev = 8192 phase_step = 4 pole_cycle = 512000 PhaseCapt =256*2000 (256=scaling of encTable, 2000=enc_step/rev)
-//        PhasePosSf 8*4/2000=0.016
-
-
-// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_step
-// changing the polarity from S-N-S (one pole cycle) are 2048 phase_step. phase_step is also called ustep
-
-//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 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 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)
-//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor             1 rev = 24 enc count (hall sensor encoder)
-
-//Mot 7: Stada Stepper:                           670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
-//Enc 7: Renishaw absolute BiSS
-
-//Mot 8: Stada Stepper:                           670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
-//Enc 8: Renishaw absolute BiSS
 
 //$$$***
 //!common()

cfg/torqueCtrl.cfg

@@ -26,6 +26,23 @@
 //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)
 
+//Enc 4: Interferometer 1
+
+//Enc 5: Interferometer 2
+
+
+
+
+//Mot 7: Stada Stepper:                           670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
+//Enc 7: Renishaw absolute BiSS
+
+//Mot 8: Stada Stepper:                           670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
+//Enc 8: Renishaw absolute BiSS
+
+
+
+
+
 //rot stage
 //---------
 //use 360'000 for 360 deg as motor unit
@@ -72,10 +89,28 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
 //PhaseFreq=20000,PhasePerServo=1 -> Kvfb=220*4 Ki/=4,Kvff*=4,Kaff*=4*4
 !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=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
 
-//Interferometer 1 Stage Y Parker MX80L (bottom stage)
+//Interferometer 1,2
-//----------------------------------------------------
+//------------------
-!encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000)
+//!encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000)
-!encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000)
+//!encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000)
+
+//Base plate
+//----------
+
+//102400000 ustep 200000 encCnt = 10mm = 10000um
+//posSf = userUnits/encoder_steps = 10000/200000 =1./20
+//servoSf=motor_u_steps/userUnits = 102400000/10000 = 10240./1
+!encoder_inc(enc=4,posSf=1./20)
+!motor(mot=4,dirCur=250,JogSpeed=.3,invDir=0,servoSf=10240.,InPosBand=1,HomeOffset=0)
+Motor[4].Pos2Sf=0 // Pos2Sf set to 0 to avoid programming leak values
+
+//-51200000 ustep = -200000 encCnt == 10mm =10000 um
+//posSf = userUnits/encoder_steps = 10000/-200000 =1/-20.
+//servoSf=motor_u_steps/userUnits = -51200000/10000 = -5120./1
+!encoder_inc(enc=5,posSf=1./20)
+!motor(mot=5,dirCur=250,JogSpeed=.3,invDir=0,servoSf=5120.,InPosBand=1,HomeOffset=0)
+Motor[5].Pos2Sf=0 // Pos2Sf set to 0 to avoid programming leak values
+
 
 //Stada stage
 //----------------------------------------------------

python/helicalscan.py

@@ -28,7 +28,8 @@ class HelicalScan:
         #fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
         #cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'.npz")']}
         #cfg = {"sequencer": ['test_find_rot_ctr()']}
-        cfg = {"sequencer": ['test_find_rot_ctr(n=5. ,per=1. ,phi=24.6  ,bias=2.31,ampl=4.12)']}
+        #cfg = {"sequencer": ['test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6)']}
+        cfg = {"sequencer": ['test_coord_trf()']}
 
       self.cfg=dotdict(cfg)
       self.args=args
@@ -51,7 +52,70 @@ class HelicalScan:
           if not dryrun:
             eval('self.' + cmd)
 
-    def meas_rot_ctr(self,y,per=1):
+    def test_coord_trf(self):
+      n = 3.; per = 1.; t = np.arange(n)
+      p=((2.3,2.31,4.12,24.6),(6.2,2.74,32.1,3.28))       #(y, bias, ampl, phi)
+      self.param=param=np.ndarray((len(p),5))
+      z=4.5 # fix z position
+      for i in range(2):
+        (y, bias, ampl, phi) =p[i]
+        x= ampl * np.cos(2 * np.pi * (per / n * t + phi / 360.)) + bias
+        print('yMeas_%d='%i+str(y)+' xMeas_%d='%i+str(x))
+        #param[i]=(z_i, y_i, x_i, r_i,phi_i)
+        param[i][0] =z
+        param[i][1] =y
+        param[i][2:]=HelicalScan.meas_rot_ctr(x) #(bias,ampl,phase)
+      pass
+      print param
+      #self.fwd_transform(param[0][1],0.,param[0][2],param[0][1])
+      #                  y_0        ,120deg    ,x_0        ,z_0)
+      self.fwd_transform(param[0][1],2*np.pi/3.,param[0][2],param[0][0])
+      #self.fwd_transform(param[1][1],0.,param[1][2],param[1][3])
+
+
+
+    def fwd_transform(self,y,w,cx,cz):
+      #cx,cy: coarse stage
+      #TODO: NOT WORKING AT ALL NOW...
+      param=self.param
+      # param[i]=(z_i, y_i, x_i, r_i,phi_i)
+      p=np.ndarray((param.shape[0], 3))
+      for i in range(2):
+        #p[i][0]=param[i][2]+param[i][3]*np.cos(param[i][4]+w) # x= x_i+r_i*cos(phi_i*w)+cx
+        p[i][0]=cx+param[i][3]*np.cos(param[i][4]+w) # x= x_i+r_i*cos(phi_i*w)+cx
+        p[i][1]=param[i][1] # y= y_i
+        #p[i][2]=param[i][2]+param[i][3]*np.sin(param[i][4]+w)  # z= z_i+r_i*sin(phi_i*w)
+        p[i][2] =cz + param[i][3] * np.sin(param[i][4] + w)  # z= z_i+r_i*sin(phi_i*w)
+      print p
+      v=p[1]-p[0]
+      v=v/np.sqrt(v.dot(v)) # v/|v|
+      v=v*(y-param[0][1])/(param[1][1]-param[0][1]) # v(y)=v*(v-y_0)/(y_1-y_0)
+      v=p[0]+v
+
+      #v=v/abs(v)
+      print v
+
+
+
+      #
+      #
+      #
+
+
+
+      #x,y,z
+      #returns y,w,dx,dz
+      pass
+
+    def inv_transform(y,phi,dx=0,dz=0):
+      #dx,dy: deviation from cristal center line
+      #ps= #x,y,z
+      #returns y,phi,cx,cz
+      pass
+
+
+    @staticmethod
+    def meas_rot_ctr(y,per=1):
       # find the amplitude bias and phase of an equidistant sampled sinus
       # it needs at least 3 measurements e.g. at 0,120 240 deg or 0 90 180 270 deg
       # per is the number of persiods, default is 1 period =360 deg
@@ -61,9 +125,10 @@ class HelicalScan:
       bias=np.absolute(f[0]/n)
       phase=np.angle(f[idx])
       ampl=np.absolute(f[idx])*2/n
-      return (bias,phase,ampl)
+      return (bias,ampl,phase)
 
-    def test_find_rot_ctr(self,n=3. ,per=1. ,phi=37  ,bias=4.1,ampl=2.4):
+    @staticmethod
+    def test_find_rot_ctr(n=3.,per=1.,bias=4.1,ampl=2.4,phi=37):
       # find the rotation center, amplitude out of n (niminum 3) measurements
       # n    number of equidistant measurements
       # per  number of periods (full rotation of all measurements nut be a interger value for precise measurements)
@@ -73,24 +138,18 @@ class HelicalScan:
 
       t = np.arange(n)
       y=ampl*np.cos(2*np.pi*(per/n*t+phi/360.))+bias
-      sp = np.fft.fft(y)
-      freq = np.fft.fftfreq(t.shape[-1])
       plt.figure(1)
       plt.subplot(311)
       plt.plot(t,y,'b.-')
-      plt.subplot(312)
-      #plt.plot(t, sp.real,'b.-', t, sp.imag,'r.-')
-      plt.step(t, sp.real,'b.-', t, sp.imag,'r.-', where='mid')
-      #plt.stem(t, sp.real,'b-')
-      #plt.plot(freq, sp.real,'b.-', freq, sp.imag,'r.-')
 
-      idx=int(per)
+      plt.subplot(312)
-      bias=np.absolute(sp[0]/n)
+      f = np.fft.fft(y)
-      phase=np.angle(sp[idx])
+      plt.step(t, f.real,'b.-', t, f.imag,'r.-', where='mid')
-      ampl=np.absolute(sp[idx]) * 2 / n
+
+      (bias,ampl,phase)=HelicalScan.meas_rot_ctr(y, per)
       print('bias: '+str(bias))
-      print('phase: '+str(phase*360./2/np.pi))
       print('amplitude: '+str(ampl))
+      print('phase: '+str(phase*360./2/np.pi))
 
       plt.subplot(313)
       t2 = np.linspace(0,2*np.pi,64)

python/helicalscan1.svg

@@ -18,6 +18,26 @@
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+     inkscape:current-layer="g3894"
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      inkscape:window-height="1176"
      inkscape:window-x="49"
      inkscape:window-y="24"
-     inkscape:window-maximized="1" />
+     inkscape:window-maximized="1"
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+     inkscape:bbox-paths="true"
+     inkscape:bbox-nodes="true"
+     inkscape:snap-bbox-edge-midpoints="true"
+     inkscape:snap-bbox-midpoints="true"
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+     inkscape:object-nodes="true"
+     inkscape:snap-smooth-nodes="true" />
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     <width>776</width>
-    <height>221</height>
+    <height>298</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -49,22 +49,24 @@
      <x>20</x>
      <y>70</y>
      <width>725</width>
-     <height>120</height>
+     <height>168</height>
     </rect>
    </property>
    <property name="macro">
     <string>
-P=$(P),M=MOTOR_AX;
+P=$(P),M=MOTOR_CX;
-P=$(P),M=MOTOR_AZ;
+P=$(P),M=MOTOR_CZ;
-P=$(P),M=MOTOR_ROT_Y1;
+P=$(P),M=MOTOR_ROT_Y;
-P=$(P),M=MOTOR_X1;
+P=$(P),M=MOTOR_FX;
-P=$(P),M=MOTOR_Y1</string>
+P=$(P),M=MOTOR_FY;
+P=$(P),M=MOTOR_CAMX;
+P=$(P),M=MOTOR_CAMY</string>
    </property>
    <property name="filename" stdset="0">
     <string notr="true">ESB_MX_motor.ui</string>
    </property>
    <property name="numberOfItems" stdset="0">
-    <number>5</number>
+    <number>7</number>
    </property>
   </widget>
   <widget class="QWidget" name="horizontalLayoutWidget">