sf-mx/PBSwissMX
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
zamofing_t
2017-02-03 11:40:31 +01:00
parent 3fafe53c39
commit ebad56c0d1
12 changed files with 1219 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

76
python/move_record.py
View File

@@ -26,7 +26,7 @@ import numpy as np
import matplotlib as mpl
import matplotlib.pyplot as plt
import subprocess as sprc
import telnetlib
import telnetlib, re
from utilities import *
os.environ['PATH']='/home/zamofing_t/scripts/:'+os.environ['PATH']
@@ -38,8 +38,9 @@ class MoveRecord:
self.fnNpz=fn+'.npz'
#cfg = {"sequencer": ['prog_1(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_1()']}
#cfg = {"sequencer": ['plot_1()']}
cfg = {"sequencer": ['prog_2(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_2()']}
#cfg = {"sequencer": ['prog_2(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_2()']}
#cfg = {"sequencer": ['plot_2()']}
cfg = {"sequencer": ['prog_3(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_2()']}
self.cfg=dotdict(cfg)
self.args=args
@@ -98,7 +99,7 @@ class MoveRecord:
meta = self.meta
channels = self.channels
fnLoc='/tmp/gather.txt'
rec = np.genfromtxt(fnLoc, delimiter=' ')
self.rec=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
@@ -119,7 +120,7 @@ class MoveRecord:
self.file=file
self.host=host
self.gather={"MaxSamples":1000000, "Period":acq_per}
self.channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"]
self.channels=channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"]
self.meta=meta = {'timebase': ServoPeriod*self.gather['Period']}
self.prg=prg=[]
@@ -130,21 +131,27 @@ class MoveRecord:
prg=self.prg
prg.append(' linear abs')
prg.append('jog3=100')
prg.append('jog3=300')
prg.append('dwell 100')
prg.append('Gather.Enable=2')
#for spd in (5,10,20,30,40):
#for spd in (10,20):
for spd in (10,10,10,10,20,20,20,20,20,20):
prg.append('Motor[3].JogSpeed=%d'%spd)
#prg.append('jog3=27000')
prg.append('jog3=28500')
prg.append('dwell 100')
prg.append('jog3=100')
prg.append('jog3=300')
prg.append('dwell 100')
prg.append('Gather.Enable=0')
meta['HomePos']=-4885.72 #set the value of Motor[3].HomePos
self.prg_epilog()
rec=self.rec
meta['HomePos']=rec[0,1]-300 #rec[0,1]= first DesPos, 300 um is the start position of the motion
print meta
if self.fnNpz:
np.savez_compressed(self.fnNpz, rec=rec, prg=prg, channels=channels, meta=meta)
#!mx-stage()
# &1 #1->0
# &1 #2->0
@@ -170,6 +177,7 @@ class MoveRecord:
channels=self.channels
meta=self.meta
except AttributeError:
print 'load file %s'%self.fnNpz
fh=np.load(self.fnNpz)
rec=fh['rec']
prg=list(fh['prg'])
@@ -385,6 +393,60 @@ class MoveRecord:
plt.show()
def prog_3(self,prgId=2,host=None,acq_per=1):
'''
kwargs:
acq_per : acquire period: acquire data all acq_per servo loops (default=1)
prgId : used program number
file : used filename to save if None, not saved
host : host to send and execute program, if None, nothing is executed
'''
ServoPeriod= .2 #0.2ms Sys.ServoPeriod is dependent of !common() macro
self.prgId=prgId
self.file=file
self.host=host
self.gather={"MaxSamples":1000000, "Period":acq_per}
self.channels=channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"]
self.meta=meta = {'timebase': ServoPeriod*self.gather['Period']}
self.prg=prg=[]
#prg.append('#1..3$')
#prg.append('#1..3j/')
self.prg_prolog()
prg=self.prg
fh=open('/tmp/shapepath.prg','r')
lines=fh.read().splitlines()
fh.close()
prg.extend(lines[11:-3])
self.prg_epilog()
#print '\n'.join(prg)
rec=self.rec
lines[12]
x0=float(re.match('X(\S+)\sY\S+',lines[12]).group(1))
meta['HomePos']=rec[0,1]-x0 #rec[0,1]= first DesPos is x0, the start position of the motion
print meta
if self.fnNpz:
np.savez_compressed(self.fnNpz, rec=rec, prg=prg, channels=channels, meta=meta)
# &1 #1->0
# &1 #2->0
# #3$
# an anschlag (kabel) bewegen
# #3hmz
# Motor[3].PhasePos=1200 # or for motor 2: Motor[2].PhasePos=300
# #3j/
# &1p
#folgende parameter setzen: Motor[3].HomePos
meta['HomePos']=-223.8 #Motor[3].HomePos
meta['PhasePos']=1200 #Motor[3].PhasePos
if __name__=='__main__':
from optparse import OptionParser, IndentedHelpFormatter
class MyFormatter(IndentedHelpFormatter):