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add DET_Z motor

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This commit is contained in:
zamofing_t
2022-05-20 16:09:32 +02:00
parent 8e5b15e0ac
commit f47e111e65
6 changed files with 45 additions and 60 deletions
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2
Makefile
View File

@@ -2,7 +2,7 @@ include /ioc/tools/driver.makefile
MODULE = $(notdir $(shell pwd)) MODULE = $(notdir $(shell pwd))
BUILDCLASSES = Linux BUILDCLASSES = Linux
ARCH_FILTER = eldk42% SL6-x86_64 ARCH_FILTER = eldk42% SL6-x86_64
EXCLUDE_VERSIONS = 3.14.8 EXCLUDE_VERSIONS = 7
#SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi python/*.py) #SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi python/*.py)
SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi) SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi)
#SOURCES+=src/DHVSaSub.cpp #SOURCES+=src/DHVSaSub.cpp

23
SAR-EXPMX3.subs
View File

@@ -15,15 +15,16 @@
file PPMACMotor.template { file PPMACMotor.template {
pattern pattern
{ DESC , P , M , PORT , ADDR, DIR, VELO, MRES , PREC, EGU } { DESC , P , M , PORT , ADDR, DIR, VELO, MRES , PREC, EGU }
{ "Girder 1", "$(P_M)", "MOT_GIR_1", "$(PORT_M)", 1 , 0 , 40 , 0.001, 3 , "deg" } { "Girder 1", "$(P_M)", "MOT_GIR_1", "$(PORT_M)", 1 , 0 , 40 , 0.001, 3 , "deg" }
{ "Girder 2", "$(P_M)", "MOT_GIR_2", "$(PORT_M)", 2 , 0 , 40 , 0.001, 3 , "deg" } { "Girder 2", "$(P_M)", "MOT_GIR_2", "$(PORT_M)", 2 , 0 , 40 , 0.001, 3 , "deg" }
{ "Girder 3", "$(P_M)", "MOT_GIR_3", "$(PORT_M)", 3 , 0 , 40 , 0.001, 3 , "deg" } { "Girder 3", "$(P_M)", "MOT_GIR_3", "$(PORT_M)", 3 , 0 , 40 , 0.001, 3 , "deg" }
{ "Girder 4", "$(P_M)", "MOT_GIR_4", "$(PORT_M)", 4 , 0 , 40 , 0.001, 3 , "deg" } { "Girder 4", "$(P_M)", "MOT_GIR_4", "$(PORT_M)", 4 , 0 , 40 , 0.001, 3 , "deg" }
{ "Girder 5", "$(P_M)", "MOT_GIR_5", "$(PORT_M)", 5 , 0 , 40 , 0.001, 3 , "deg" } { "Girder 5", "$(P_M)", "MOT_GIR_5", "$(PORT_M)", 5 , 0 , 40 , 0.001, 3 , "deg" }
{ "Girder X", "$(P_M)", "MOT_GIR_X", "$(PORT_M)", 9 , 0 , 40 , 0.001, 3 , "mm" } { "Girder X", "$(P_M)", "MOT_GIR_X", "$(PORT_M)", 9 , 0 , 40 , 0.001, 3 , "mm" }
{ "Girder Y", "$(P_M)", "MOT_GIR_Y", "$(PORT_M)", 10 , 0 , 40 , 0.001, 3 , "mm" } { "Girder Y", "$(P_M)", "MOT_GIR_Y", "$(PORT_M)", 10 , 0 , 40 , 0.001, 3 , "mm" }
{ "Girder U", "$(P_M)", "MOT_GIR_U", "$(PORT_M)", 11 , 0 , 40 , 0.001, 3 , "mrad"} { "Girder U", "$(P_M)", "MOT_GIR_U", "$(PORT_M)", 11 , 0 , 40 , 0.001, 3 , "mrad"}
{ "Girder V", "$(P_M)", "MOT_GIR_V", "$(PORT_M)", 12 , 0 , 40 , 0.001, 3 , "mrad"} { "Girder V", "$(P_M)", "MOT_GIR_V", "$(PORT_M)", 12 , 0 , 40 , 0.001, 3 , "mrad"}
{ "Girder W", "$(P_M)", "MOT_GIR_W", "$(PORT_M)", 13 , 0 , 40 , 0.001, 3 , "mrad"} { "Girder W", "$(P_M)", "MOT_GIR_W", "$(PORT_M)", 13 , 0 , 40 , 0.001, 3 , "mrad"}
{ "Detector Z", "$(P_M)", "MOT_DET_Z", "$(PORT_M)", 6 , 0 , 2 , 0.001, 3 , "mm" }
} }

2
add_EXPMX3.cmd
View File

@@ -13,7 +13,7 @@ powerPmacCreateAxis($(PORT), 2)
powerPmacCreateAxis($(PORT), 3) powerPmacCreateAxis($(PORT), 3)
powerPmacCreateAxis($(PORT), 4) powerPmacCreateAxis($(PORT), 4)
powerPmacCreateAxis($(PORT), 5) powerPmacCreateAxis($(PORT), 5)
#powerPmacCreateAxis($(PORT), 6) powerPmacCreateAxis($(PORT), 6)
#powerPmacCreateAxis($(PORT), 7) #powerPmacCreateAxis($(PORT), 7)
#powerPmacCreateAxis($(PORT), 8) #powerPmacCreateAxis($(PORT), 8)

20
cfg/MX3_setup.cfg
View File

@@ -27,6 +27,16 @@
//!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.) //!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=93168.) !motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=93168.)
// PKP266D14BA2 1.4A 1.8deb/step
//!encoder_sim(enc=6)
//!motor(mot=6,dirCur=1400,JogSpeed=40,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
// #6j=102400 -> 1 rev
//#6j=102400 == 1 rev == 102400 enc_cnt == 2000*1um
//servoSf : motorusteps/user_units = 102400./2000
//posSf : user_units/encoder_steps = 2000./102400
//!encoder_sim(enc=6,posSf=2000./102400,pos2Sf=0)
!encoder_sim(enc=6,posSf=2000./102400)
!motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=0.)
define(SP_RelBrk='15',SP_LockBrk='16') define(SP_RelBrk='15',SP_LockBrk='16')
@@ -89,13 +99,3 @@ open subprog SP_LockBrk
close close
//for motor #2
//PowerBrick[0].GpioData[0].17=1
//#2j:360000
//PowerBrick[0].GpioData[0].17=0
//#2k
//!cm_brake(mot=2,curOn=1000,cs=1,delay=200,gpio=17)

12
cfg/SAR-EXPMX3.cfg
View File

@@ -38,7 +38,7 @@ Motor[5].IdCmd=0;Motor[5].InPosBand=10
&1 &1
//initialization code //initialization code
open plc 0 open plc 1
homez1..5 homez1..5
L0 = Sys.RunTime + .1 L0 = Sys.RunTime + .1
while (Sys.RunTime < L0){} //wait .1 sec while (Sys.RunTime < L0){} //wait .1 sec
@@ -55,9 +55,13 @@ open plc 0
Motor[4].HomePos=Motor[4].HomePos-360000 Motor[4].HomePos=Motor[4].HomePos-360000
if (Motor[5].ActPos-Motor[5].HomePos<-180000) if (Motor[5].ActPos-Motor[5].HomePos<-180000)
Motor[5].HomePos=Motor[5].HomePos-360000 Motor[5].HomePos=Motor[5].HomePos-360000
disable plc 0 disable plc 1
close // plc 0 close // plc 1
enable plc 0 enable plc 1
//motor 1..5 use custom code to kill motor and use brake
!holding_current(m6=[0,700])

46
qt/ESB_MX_exp.ui
View File

@@ -7,7 +7,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>776</width> <width>776</width>
<height>681</height> <height>706</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@@ -49,37 +49,17 @@
<x>20</x> <x>20</x>
<y>70</y> <y>70</y>
<width>725</width> <width>725</width>
<height>480</height> <height>504</height>
</rect> </rect>
</property> </property>
<property name="macro"> <property name="macro">
<string> <string>P=$(P),M=MOT_FY;P=$(P),M=MOT_FX;P=$(P),M=MOT_ROT_Y;P=$(P),M=MOT_CX;P=$(P),M=MOT_CZ;P=$(P),M=MOT_WEDGE1;P=$(P),M=MOT_WEDGE2;P=$(P),M=MOT_WEDGE3;P=$(P),M=MOT_WEDGE4;P=$(P),M=MOT_WEDGEX;P=$(P),M=MOT_WEDGEY;P=$(P),M=MOT_WEDGEA;P=$(P),M=MOT_WEDGEB;P=$(P),M=MOT_BLGT;P=$(P),M=MOT_CRYO;P=$(P),M=MOT_GIR_X;P=$(P),M=MOT_GIR_Y;P=$(P),M=MOT_GIR_U;P=$(P),M=MOT_GIR_V;P=$(P),M=MOT_GIR_W;P=$(P),M=MOT_DET_Z</string>
P=$(P),M=MOT_FY;
P=$(P),M=MOT_FX;
P=$(P),M=MOT_ROT_Y;
P=$(P),M=MOT_CX;
P=$(P),M=MOT_CZ;
P=$(P),M=MOT_WEDGE1;
P=$(P),M=MOT_WEDGE2;
P=$(P),M=MOT_WEDGE3;
P=$(P),M=MOT_WEDGE4;
P=$(P),M=MOT_WEDGEX;
P=$(P),M=MOT_WEDGEY;
P=$(P),M=MOT_WEDGEA;
P=$(P),M=MOT_WEDGEB;
P=$(P),M=MOT_BLGT;
P=$(P),M=MOT_CRYO;
P=$(P),M=MOT_GIR_X;
P=$(P),M=MOT_GIR_Y;
P=$(P),M=MOT_GIR_U;
P=$(P),M=MOT_GIR_V;
P=$(P),M=MOT_GIR_W</string>
</property> </property>
<property name="filename" stdset="0"> <property name="filename" stdset="0">
<string notr="true">ESB_MX_motor.ui</string> <string notr="true">ESB_MX_motor.ui</string>
</property> </property>
<property name="numberOfItems" stdset="0"> <property name="numberOfItems" stdset="0">
<number>20</number> <number>21</number>
</property> </property>
</widget> </widget>
<widget class="QWidget" name="horizontalLayoutWidget"> <widget class="QWidget" name="horizontalLayoutWidget">
@@ -215,7 +195,7 @@ P=$(P),M=MOT_GIR_W</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>20</x> <x>20</x>
<y>590</y> <y>620</y>
<width>121</width> <width>121</width>
<height>22</height> <height>22</height>
</rect> </rect>
@@ -237,7 +217,7 @@ P=$(P),M=MOT_GIR_W</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>160</x> <x>160</x>
<y>590</y> <y>620</y>
<width>121</width> <width>121</width>
<height>24</height> <height>24</height>
</rect> </rect>
@@ -266,7 +246,7 @@ P=$(P),M=MOT_GIR_W</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>170</x> <x>170</x>
<y>560</y> <y>590</y>
<width>100</width> <width>100</width>
<height>22</height> <height>22</height>
</rect> </rect>
@@ -288,7 +268,7 @@ P=$(P),M=MOT_GIR_W</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>30</x> <x>30</x>
<y>620</y> <y>650</y>
<width>100</width> <width>100</width>
<height>22</height> <height>22</height>
</rect> </rect>
@@ -307,7 +287,7 @@ P=$(P),M=MOT_GIR_W</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>20</x> <x>20</x>
<y>560</y> <y>590</y>
<width>121</width> <width>121</width>
<height>22</height> <height>22</height>
</rect> </rect>
@@ -329,7 +309,7 @@ P=$(P),M=MOT_GIR_W</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>160</x> <x>160</x>
<y>620</y> <y>650</y>
<width>151</width> <width>151</width>
<height>30</height> <height>30</height>
</rect> </rect>
@@ -371,7 +351,7 @@ P=$(P),M=MOT_GIR_W</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>340</x> <x>340</x>
<y>620</y> <y>650</y>
<width>151</width> <width>151</width>
<height>30</height> <height>30</height>
</rect> </rect>
@@ -413,7 +393,7 @@ P=$(P),M=MOT_GIR_W</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>340</x> <x>340</x>
<y>580</y> <y>610</y>
<width>151</width> <width>151</width>
<height>30</height> <height>30</height>
</rect> </rect>
@@ -455,7 +435,7 @@ P=$(P),M=MOT_GIR_W</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>510</x> <x>510</x>
<y>580</y> <y>610</y>
<width>151</width> <width>151</width>
<height>30</height> <height>30</height>
</rect> </rect>