tuning Servo Parameters of XY stage without load and horizontal on the table

Readme.md

@@ -79,4 +79,67 @@ Tested with shapepath.py: THE BEST TRAJECTORY RESULT IST WITH PVT MOTION
 
 
 
+Optimize/Test Parameters with Parker Stage
+------------------------------------------
+
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
+gpasciiCommander --host SAROP11-CPPM-MOT6871 -i
+!mx-stage()
+#1..3$
+&1
+#1..3j/
+
+load program prg/testPerfGrid.prg
+b2r
+
+cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo
+make #will install the user servo loop
+watch P3000 (average following error)
+tweak servo parameters ->!motor_servo(mot=3,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
+
+Same for motor 2 -> watcp P2000
+Increase load will need an increase of gains to compensate following error
+
+Motor[2].Servo.Kp=20
+Motor[2].Servo.Kvfb=1000
+Motor[2].Servo.Ki=0.07
+Motor[2].Servo.Kvff=1000
+Motor[2].Servo.Kaff=4000
+
+
+Motor[3].Servo.Kp=20
+Motor[3].Servo.Kvfb=220
+Motor[3].Servo.Ki=0.02
+Motor[3].Servo.Kvff=240
+Motor[3].Servo.Kaff=1500
+
+ ./shapepath.py --yx
+average error x 0.313575 um, y 0.461707 um, 0.629583 um
+
+./shapepath.py
+average error x 0.371877 um, y 0.317152 um, 0.542073 um
+
+
+
+Start motion on external signal
+-------------------------------
+
+open plc 1
+Coord[1].DesTimeBase=0       // freezes timebase at boot
+while(1)
+{
+  if(PowerBrick[0].GpioData[0].0.1==1)
+  {
+     PowerBrick[0].GpioData[0].16.8=255
+     Coord[1].DesTimeBase=Sys.ServoPeriod
+  }
+  else
+  {
+    PowerBrick[0].GpioData[0].16.8=7
+     Coord[1].DesTimeBase=0
+  }
+}
+close
+enable plc 1
+-> run motion program. press gpio 0 to run at 100%