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zamofing_t
2018-11-27 11:24:39 +01:00
parent 53592c05a3
commit f08cba548e
6 changed files with 118 additions and 59 deletions
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2
Readme.md
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@@ -1139,7 +1139,7 @@ zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python$
cp -arL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py \ cp -arL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py \
~/Documents/prj/SwissFEL/PBTools/pbtools/ ~/Documents/prj/SwissFEL/PBTools/pbtools/ \
/sf/bernina/config/swissmx/zamofing_t/ /sf/bernina/config/swissmx/zamofing_t/
cp -arL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/PBMotionAnalyzer/*.py \ cp -arL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/PBMotionAnalyzer/*.py \
/sf/bernina/config/swissmx/zamofing_t/PBMotionAnalyzer/ /sf/bernina/config/swissmx/zamofing_t/PBMotionAnalyzer/

55
matlab/SCRATCH.m
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@@ -163,12 +163,59 @@ open('stage_closed_loop.slx')
controlSystemDesigner('bode',sys); controlSystemDesigner('bode',sys);
controlSystemDesigner(1,sys); % <<<<<<<<< This opens a transferfiûnction that can be edited controlSystemDesigner(1,sys); % <<<<<<<<< This opens a transferfiûnction that can be edited
1
num=[8.32795069e-11, 1.04317228e-08, 6.68431323e-05, 3.31861324e-03, 7.32824533e+00]; num=[8.32795069e-11, 1.04317228e-08, 6.68431323e-05, 3.31861324e-03, 7.32824533e+00];
den=[5.26156641e-18, 1.12897840e-14, 7.67853031e-12, 1.03201301e-08, 2.05154780e-06, 1.34279894e-03, 7.19229912e-02, 1.00000000e+00]; den=[5.26156641e-18, 1.12897840e-14, 7.67853031e-12, 1.03201301e-08, 2.05154780e-06, 1.34279894e-03, 7.19229912e-02, 1.00000000e+00];
mot2=tf(num,den); mot2=tf(num,den);
controlSystemDesigner('bode',mot2); controlSystemDesigner('bode',mot2);
end
m1=10; d1=10; k1=0;
m2=.3; d2=0.15; k2=100;
m3=1.2; d3=.04; k3=10;
%k2 determines resonance frequency k2 higher -> resfrq higher
%d2 determines the damping d2=0 no damping d2=10 strong damping
%m2 determines how much energy is in the resonance
%m1 is big compared to the other masses
%d1 is the speed dependant friction
%k1 can be set to 0, because these is no position for no force
%-> but this means for 1/s^2 the system is not observable any more
ks=k1+k2+k3;
ds=d1+d2+d3;
A=[ 0 1 0 0 0 0 ;
-ks/m1 -ds/m1 k2/m1 d2/m1 k3/m1 d3/m1 ;
0 0 0 1 0 0 ;
k2/m2 d2/m2 -k2/m2 -d2/m2 0 0 ;
0 0 0 0 0 1 ;
k3/m1 d3/m1 0 0 -k3/m3 -d3/m3 ];
B=[ 0 1 0 0 0 0]';
C=[ 1 0 0 0 0 0];
D=[0];
ss1=ss(A,B,C,D);
bodeplot(ss1,{.1,1000});
tf(ss1)
%simplified no resonance
A=[ 0 1 ;
-k1/m1 -d1/m1 ];
B=[ 0 1 ]';
C=[ 1 0 ];
D=[0];
ss1=ss(A,B,C,D);
bodeplot(ss1,{.1,1000});
tf(ss1)
chkCtrlObsv(ss1,'')
%but with k1=0 or d1=0 the system is neither controllable nor observable
%-> the
p = eig(A);
disp(p);
K = place(A,B,[-5 -10]);
end

61
python/MXMotion.py
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@@ -73,11 +73,13 @@ class MotionBase:
self.sync_prg = prg self.sync_prg = prg
self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId) self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
if mode==2: if mode==2:
#frequence jitter 50Hz Swissgrid:
#https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
notFlag1 = 'Gate3[1].Chan[1].UserFlag!=0' notFlag1 = 'Gate3[1].Chan[1].UserFlag!=0'
try: try:
prop=kwargs['prop'] #proportional value to adapt speed prop=kwargs['prop'] #proportional value to adapt speed
except KeyError: except KeyError:
prop = 1E-4 prop = .5E-4
try: try:
maxJitter = kwargs['maxJitter'] # proportional value to adapt speed maxJitter = kwargs['maxJitter'] # proportional value to adapt speed
except KeyError: except KeyError:
@@ -86,58 +88,67 @@ class MotionBase:
disable plc {plcId} disable plc {plcId}
open plc {plcId} open plc {plcId}
Coord[1].DesTimeBase=Sys.ServoPeriod //reset to 100% timebase Coord[1].DesTimeBase=Sys.ServoPeriod //reset to 100% timebase
Coord[1].Q[0]=0 //set CryPos counter to 0 Coord[1].Q[0]=0 //set syncCnt counter to 0
while({flag0}){{}} //wait Jungfrau start Trigger while({flag0}){{}} //wait Jungfrau start Trigger
while({flag1}){{}} //ESx detector trigger while({flag1}){{}} //ESx detector trigger
L0=0 //CryPos counter {syncCnt}=0 //sync counter, sent when motion is on a crystal
//L1 ServoCount event 1 //{evnt} current PhaseCount event
//L2 jitter: neg:motion lags trigger,pos:motion leads trigger //{jitter} jitter: neg:motion lags trigger,pos:motion leads trigger
//{syncEnvt} Prev syncEnvt PhaseCount
{sync2sync}=0 // last syncEnvt-syncEnvt PhaseCount
{dtb}=Sys.ServoPeriod //DesTimeBase
//{tmp} temp variable
while(L0>=0) //as long we are not at the last point while({syncCnt}>=0) //as long we are not at the last point
{{ {{
L0=Coord[1].Q[0] //CryPos counter {syncCnt}=Coord[1].Q[0] //sync counter
while({flag1} && L0==Coord[1].Q[0]){{}} //wait for event while({flag1} && {syncCnt}==Coord[1].Q[0]){{}} //wait for event
L1=Sys.ServoCount //a event happened {evnt}=Sys.PhaseCount //a event happened
L2=1000 {jitter}=1000
//send 1"event\\n" //send 1"event\\n"
if(L0==Coord[1].Q[0]) if({syncCnt}==Coord[1].Q[0])
{{//it was a trigger {{//it was a trigger
//send 1"trigger %d %d\\n",L0,L1 //send 1"trigger %d %d %d\\n",{syncCnt},{evnt},{sync2sync}
while(Sys.ServoCount<L1+{maxJitter}) //wait half a trigger period for event while(Sys.PhaseCount<{evnt}+{maxJitter}) //wait half a trigger period for event
{{ {{
if(L0!=Coord[1].Q[0]) if({syncCnt}!=Coord[1].Q[0])
{{//event CryPos counter {{//event syncCnt
L2=L1-Sys.ServoCount //jitter: neg:motion lags trigger {tmp}=Sys.PhaseCount
{sync2sync}={tmp}-{syncEnvt};{syncEnvt}={tmp}
{jitter}={evnt}-{tmp} //jitter: neg:motion lags trigger
break break
}} }}
}} }}
}} }}
else else
{{//it was a CryPos counter {{//it was a syncCnt
//send 1"CryPos%d %d\\n",L0,L1 {sync2sync}={evnt}-{syncEnvt};{syncEnvt}={evnt}
while(Sys.ServoCount<L1+{maxJitter}) //wait half a trigger period for event //send 1"syncCnt %d %d %d\\n",{syncCnt},{evnt},{sync2sync}
while(Sys.PhaseCount<{evnt}+{maxJitter}) //wait half a trigger period for event
{{ {{
if({notFlag1}) if({notFlag1})
{{//event trigger {{//event trigger
L2=Sys.ServoCount-L1 //jitter: pos:motion leads trigger {jitter}=Sys.PhaseCount-{evnt} //jitter: pos:motion leads trigger
break break
}} }}
}} }}
}} }}
if(L2!=1000) if({jitter}!=1000 && {sync2sync}>0)
{{ {{
L3=Sys.ServoPeriod*(1-{prop}*L2) {dtb}=Sys.ServoPeriod*(1-{prop}*{jitter})
//send 1"jitter %d timebase: %f\\n",L2,L3 //{dtb}={dtb}*(1-{jitter}/{sync2sync}*.5)
Coord[1].DesTimeBase=L3 //send 1"syncCnt %d jitter %d sync2sync %d timebase: %f\\n",{syncCnt},{jitter},{sync2sync},{dtb}
Coord[1].DesTimeBase={dtb}
}} }}
}} }}
disable plc {plcId} disable plc {plcId}
close close
enable plc {plcId} enable plc {plcId}
'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1, notFlag1=notFlag1, prop=prop, maxJitter=maxJitter) '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1, notFlag1=notFlag1, prop=prop, maxJitter=maxJitter,
syncCnt='L0', evnt='L1', jitter='L2', syncEnvt='L3', sync2sync='L4', dtb='L5', tmp='L6')
comm=self.comm comm=self.comm
if comm is not None: if comm is not None:
gpascii=comm.gpascii gpascii=comm.gpascii

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python/MXTuningDoc/fastStageTune.odt
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35
python/helicalscan.py
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@@ -354,7 +354,7 @@ class HelicalScanGui():
def update_anim(self,frm): def update_anim(self,frm):
rec=self.helScn.rec rec=self.helScn.rec
(cx, cz, w, fy)=rec[int(frm),:4];cx=-cx;cz=-cz (cx, cz, w, fy)=rec[int(frm),:4];cx=-cx;cz=-cz #change sign because axes have neg direction
w*=d2r/1000 # scale from deg to rad w*=d2r/1000 # scale from deg to rad
if self.manip: if self.manip:
param = self.helScn.param param = self.helScn.param
@@ -781,7 +781,6 @@ a
#1->I #1->I
''' '''
pbParam=param.copy() pbParam=param.copy()
pbParam[:,(0,2)]=-pbParam[:,(0,2)] #change sign of x_0,x_1,z_0,z_1, because axes have neg direction
sh=pbParam.shape sh=pbParam.shape
s = ('z', 'y', 'x', 'r', 'phi') s = ('z', 'y', 'x', 'r', 'phi')
a = np.ones(sh[1], dtype=np.uint8).reshape(1, -1) a = np.ones(sh[1], dtype=np.uint8).reshape(1, -1)
@@ -790,7 +789,7 @@ a
subsParam=dict(map(lambda k, i, v: (k + '_' + str(i), v), s * sh[0], c, pbParam.reshape(-1))) subsParam=dict(map(lambda k, i, v: (k + '_' + str(i), v), s * sh[0], c, pbParam.reshape(-1)))
subsParam['d2r']=d2r/1000. subsParam['d2r']=d2r/1000.
subsParam['r2d']=1000./d2r subsParam['r2d']=1000./d2r
subsParam['cmt']='//' subsParam['cmt']='' #'//'
subs={'qCX':'L4', 'qCZ':'L5', 'qW':'L3', 'qFY':'L1', subs={'qCX':'L4', 'qCZ':'L5', 'qW':'L3', 'qFY':'L1',
@@ -1003,6 +1002,7 @@ close
elif mode==1: #### pvt motion elif mode==1: #### pvt motion
#y=2.3 6.2 dx=0, dz=0 w=0..3600000 # 10 rev #y=2.3 6.2 dx=0, dz=0 w=0..3600000 # 10 rev
cnt= kwargs.get('cnt', 1) #move path multiple times cnt= kwargs.get('cnt', 1) #move path multiple times
sync_frq=kwargs.get('sync_frq',10) # synchronization mark all n points
cntVert = kwargs.get('cntVert', 12) cntVert = kwargs.get('cntVert', 12)
cntHor = kwargs.get('cntHor', 4) cntHor = kwargs.get('cntHor', 4)
hRng = kwargs.get('hRng', (-.2,.2)) hRng = kwargs.get('hRng', (-.2,.2))
@@ -1010,6 +1010,7 @@ close
yRng = kwargs.get('yRng', self.param[:,1]) yRng = kwargs.get('yRng', self.param[:,1])
pt2pt_time = kwargs.get('pt2pt_time', 100) pt2pt_time = kwargs.get('pt2pt_time', 100)
smt = kwargs.get('smt', 1) # SegMoveTime, default = 1ms -> velocity calc not yet 100% correct (smt=0 not 100% working) smt = kwargs.get('smt', 1) # SegMoveTime, default = 1ms -> velocity calc not yet 100% correct (smt=0 not 100% working)
numPt=cntVert*cntHor numPt=cntVert*cntHor
pt=np.zeros((numPt,4)) pt=np.zeros((numPt,4))
if cntHor>1: if cntHor>1:
@@ -1049,7 +1050,8 @@ close
prg.append(' Coord[1].SegMoveTime=%d'%smt) #to calculate every 1 ms the inverse kinematics prg.append(' Coord[1].SegMoveTime=%d'%smt) #to calculate every 1 ms the inverse kinematics
prg.append(' pvt%g abs'%pt2pt_time) #100ms to next position prg.append(' pvt%g abs'%pt2pt_time) #100ms to next position
for idx in range(1,pv.shape[0]): for idx in range(1,pv.shape[0]):
#prg.append(' P2000=%d'%idx) if sync_frq is not None and idx%sync_frq==0:
prg.append('Coord[1].Q[0]=%d'%(idx))
prg.append(' X%g:%g Z%g:%g B%g:%g Y%g:%g' % tuple(pv[idx, (0,4,1,5,2,6,3,7)])) prg.append(' X%g:%g Z%g:%g B%g:%g Y%g:%g' % tuple(pv[idx, (0,4,1,5,2,6,3,7)]))
#prg.append('Y%g:%g' % tuple(pv[idx, (5, 7)])) #prg.append('Y%g:%g' % tuple(pv[idx, (5, 7)]))
#prg.append('B%g:%g' %(idx*1000,0)) #prg.append('B%g:%g' %(idx*1000,0))
@@ -1065,9 +1067,9 @@ close
prg.append(' }') prg.append(' }')
else: else:
prg.append(' dwell 1000') prg.append(' dwell 1000')
if sync_frq is not None:
prg.append('Coord[1].Q[0]=-1')
prg.append(' Gather.Enable=0') prg.append(' Gather.Enable=0')
prg.append(' P1000=1')
prg.append('close') prg.append('close')
#prg.append('&1\nb%dr\n'%prgId) #prg.append('&1\nb%dr\n'%prgId)
@@ -1100,7 +1102,7 @@ close
if __name__=='__main__': if __name__=='__main__':
def run_test(args): def run_test(args):
test=args.test test=args.test
args.host=None #args.host=None
if args.host is None: if args.host is None:
comm=gather=None comm=gather=None
@@ -1123,10 +1125,19 @@ if __name__=='__main__':
HelicalScanTests.calcParamSim(hs) HelicalScanTests.calcParamSim(hs)
hs.setup_motion(mode=1,cntHor=5,cntVert=15,hRng=(-50,50),wRng=(0,120000),smt=0,pt2pt_time=200) hs.setup_motion(mode=1,cntHor=5,cntVert=15,hRng=(-50,50),wRng=(0,120000),smt=0,pt2pt_time=200)
hs.setup_coord_trf()
hs.setup_sync(mode=0) # None: no sync at all mode=1: sync on timing UserFlag
hs.setup_gather()
hs.run()
print('wait until gather finished:')
fn = '/tmp/helicalscan'
hs.gather_upload(fn + '.npz')
hs.load_rec(fn + '.npz')
for manip in (False,True): for manip in (False,True):
hsg=HelicalScanGui(hs);hsg.interactive_cx_cz_w_fy(manip=manip) hsg=HelicalScanGui(hs);hsg.interactive_cx_cz_w_fy(manip=manip)
hsg=HelicalScanGui(hs);hsg.interactive_dx_dz_w_y(manip=manip) hsg=HelicalScanGui(hs);hsg.interactive_dx_dz_w_y(manip=manip)
#hsg=HelicalScanGui(hs);hsg.interactive_anim(manip=manip) hsg=HelicalScanGui(hs);hsg.interactive_anim(manip=manip)
return return
elif test==3: elif test==3:
@@ -1153,9 +1164,9 @@ if __name__=='__main__':
#cpx X0 Z0 B0 Y258 #cpx X0 Z0 B0 Y258
#cpx X0 Z0 B120000 Y258 #cpx X0 Z0 B120000 Y258
#hs.calcParam(x = ((-1154.4, 216.3, -250.7), ( -1330.2, 340.9, -230.4)), hs.calcParam(x = ((-1154.4, 216.3, -250.7), ( -1330.2, 340.9, -230.4)),
# y = (1405.7,1019.2), y = (1405.7,1019.2),
# z = ((-1309.6, -1010.9, -2410.3),( -1219.4, -918.8, -2510.4))) z = ((-1309.6, -1010.9, -2410.3),( -1219.4, -918.8, -2510.4)))
### use simulation motors ### ### use simulation motors ###
@@ -1171,7 +1182,7 @@ if __name__=='__main__':
eval(s) eval(s)
hs.setup_coord_trf() hs.setup_coord_trf()
hs.setup_sync(mode=2) # None: no sync at all mode=1: sync on timing UserFlag hs.setup_sync(mode=0) # None: no sync at all mode=1: sync on timing UserFlag
hs.setup_gather() hs.setup_gather()
#hs.gen_prog(mode=-1) #hs.gen_prog(mode=-1)

24
python/shapepath.py
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@@ -224,20 +224,10 @@ class ShapePath(MotionBase):
prg.append('dwell 100') prg.append('dwell 100')
prg.append('Gather.Enable=0') prg.append('Gather.Enable=0')
elif mode==1: #### pvt motion elif mode==1: #### pvt motion
try: pt2pt_time=kwargs.get('pt2pt_time', 100)
pt2pt_time=kwargs['pt2pt_time'] #how many ms to move to next point (pt2pt_time)
except KeyError:
print('missing pt2pt_time, use default=100ms')
pt2pt_time=100.
self.meta['pt2pt_time']=pt2pt_time self.meta['pt2pt_time']=pt2pt_time
try: cnt=kwargs.get('cnt', 1) # move path multiple times
cnt=kwargs['cnt'] #move path multiple times sync_frq=kwargs.get('sync_frq', 10) # synchronization mark all n points
except KeyError:
cnt=1
try:
sync_frq=kwargs['sync_frq'] #synchronization mark all n points
except KeyError:
sync_frq=10
try: try:
pt=self.ptsCorr pt=self.ptsCorr
except AttributeError: except AttributeError:
@@ -639,9 +629,9 @@ if __name__=='__main__':
#sp.setup_gather(acq_per=1) #Gather.MaxLines=116508 580pts #sp.setup_gather(acq_per=1) #Gather.MaxLines=116508 580pts
sp.setup_gather(acq_per=2) sp.setup_gather(acq_per=2)
#setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs): #setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
sp.setup_sync() #no sync at all #sp.setup_sync() #no sync at all
#sp.setup_sync(mode=1) #sync with timing system (PROG) #sp.setup_sync(mode=1) #sync with timing system (PROG)
#sp.setup_sync(mode=2) #sync with timing system and PLC to sync speed (PROG) sp.setup_sync(mode=2) #sync with timing system and PLC to sync speed (PROG)
#sp.gen_grid_points(w=2,h=2,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1) #sp.gen_grid_points(w=2,h=2,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
#sp.gen_swissmx_points(width=1000,ofs=(-500,0));sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40,acq_per=1) #sp.gen_swissmx_points(width=1000,ofs=(-500,0));sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40,acq_per=1)
@@ -650,8 +640,8 @@ if __name__=='__main__':
#sp.gen_grid_points(w=2,h=20,pitch=50,rnd=0);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1) #sp.gen_grid_points(w=2,h=20,pitch=50,rnd=0);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
#sp.gen_rand_points(n=500, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1) #sp.gen_rand_points(n=500, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
#sp.gen_grid_points(w=30,h=30,pitch=50,rnd=0.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40) sp.gen_grid_points(w=30,h=30,pitch=50,rnd=0.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
sp.gen_rand_points(n=400, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10) #sp.gen_rand_points(n=400, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10)
#>>>setup gather and sync<<< #>>>setup gather and sync<<<