add DET_Z motor

2022-05-20 16:09:32 +02:00
parent 8e5b15e0ac
commit f47e111e65
6 changed files with 45 additions and 60 deletions
--- a/2
+++ b/2
@@ -2,7 +2,7 @@ include /ioc/tools/driver.makefile
 MODULE = $(notdir $(shell pwd))
 BUILDCLASSES = Linux
 ARCH_FILTER = eldk42% SL6-x86_64
-EXCLUDE_VERSIONS = 3.14.8
+EXCLUDE_VERSIONS = 7
 #SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi python/*.py)
 SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi)
 #SOURCES+=src/DHVSaSub.cpp
--- a/SAR-EXPMX3.subs
+++ b/SAR-EXPMX3.subs
@@ -15,15 +15,16 @@

 file PPMACMotor.template {
 pattern
-{ 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 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 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 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 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 W", "$(P_M)", "MOT_GIR_W", "$(PORT_M)", 13  , 0  , 40  , 0.001, 3   , "mrad"}
+{ 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 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 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 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 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 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"  }
 }
--- a/add_EXPMX3.cmd
+++ b/add_EXPMX3.cmd
@@ -13,7 +13,7 @@ powerPmacCreateAxis($(PORT), 2)
 powerPmacCreateAxis($(PORT), 3)
 powerPmacCreateAxis($(PORT), 4)
 powerPmacCreateAxis($(PORT), 5)
-#powerPmacCreateAxis($(PORT), 6)
+powerPmacCreateAxis($(PORT), 6)
 #powerPmacCreateAxis($(PORT), 7)
 #powerPmacCreateAxis($(PORT), 8)

--- a/cfg/MX3_setup.cfg
+++ b/cfg/MX3_setup.cfg
@@ -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.,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')

@@ -89,13 +99,3 @@ open subprog SP_LockBrk
 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)
-
-
-
-
--- a/cfg/SAR-EXPMX3.cfg
+++ b/cfg/SAR-EXPMX3.cfg
@@ -38,7 +38,7 @@ Motor[5].IdCmd=0;Motor[5].InPosBand=10
 &1

 //initialization code
-open plc 0
+open plc 1
  homez1..5
  L0 = Sys.RunTime + .1
  while (Sys.RunTime < L0){} //wait .1 sec
@@ -55,9 +55,13 @@ open plc 0
    Motor[4].HomePos=Motor[4].HomePos-360000
  if (Motor[5].ActPos-Motor[5].HomePos<-180000)
    Motor[5].HomePos=Motor[5].HomePos-360000
-  disable plc 0
-close // plc 0
+  disable plc 1
+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])


--- a/qt/ESB_MX_exp.ui
+++ b/qt/ESB_MX_exp.ui
@@ -7,7 +7,7 @@
    <x>0</x>
    <y>0</y>
    <width>776</width>
-    <height>681</height>
+    <height>706</height>
   </rect>
  </property>
  <property name="windowTitle">
@@ -49,37 +49,17 @@
     <x>20</x>
     <y>70</y>
     <width>725</width>
-     <height>480</height>
+     <height>504</height>
    </rect>
   </property>
   <property name="macro">
-    <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>
+    <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=$(P),M=MOT_DET_Z</string>
   </property>
   <property name="filename" stdset="0">
    <string notr="true">ESB_MX_motor.ui</string>
   </property>
   <property name="numberOfItems" stdset="0">
-    <number>20</number>
+    <number>21</number>
   </property>
  </widget>
  <widget class="QWidget" name="horizontalLayoutWidget">
@@ -215,7 +195,7 @@ P=$(P),M=MOT_GIR_W</string>
   <property name="geometry">
    <rect>
     <x>20</x>
-     <y>590</y>
+     <y>620</y>
     <width>121</width>
     <height>22</height>
    </rect>
@@ -237,7 +217,7 @@ P=$(P),M=MOT_GIR_W</string>
   <property name="geometry">
    <rect>
     <x>160</x>
-     <y>590</y>
+     <y>620</y>
     <width>121</width>
     <height>24</height>
    </rect>
@@ -266,7 +246,7 @@ P=$(P),M=MOT_GIR_W</string>
   <property name="geometry">
    <rect>
     <x>170</x>
-     <y>560</y>
+     <y>590</y>
     <width>100</width>
     <height>22</height>
    </rect>
@@ -288,7 +268,7 @@ P=$(P),M=MOT_GIR_W</string>
   <property name="geometry">
    <rect>
     <x>30</x>
-     <y>620</y>
+     <y>650</y>
     <width>100</width>
     <height>22</height>
    </rect>
@@ -307,7 +287,7 @@ P=$(P),M=MOT_GIR_W</string>
   <property name="geometry">
    <rect>
     <x>20</x>
-     <y>560</y>
+     <y>590</y>
     <width>121</width>
     <height>22</height>
    </rect>
@@ -329,7 +309,7 @@ P=$(P),M=MOT_GIR_W</string>
   <property name="geometry">
    <rect>
     <x>160</x>
-     <y>620</y>
+     <y>650</y>
     <width>151</width>
     <height>30</height>
    </rect>
@@ -371,7 +351,7 @@ P=$(P),M=MOT_GIR_W</string>
   <property name="geometry">
    <rect>
     <x>340</x>
-     <y>620</y>
+     <y>650</y>
     <width>151</width>
     <height>30</height>
    </rect>
@@ -413,7 +393,7 @@ P=$(P),M=MOT_GIR_W</string>
   <property name="geometry">
    <rect>
     <x>340</x>
-     <y>580</y>
+     <y>610</y>
     <width>151</width>
     <height>30</height>
    </rect>
@@ -455,7 +435,7 @@ P=$(P),M=MOT_GIR_W</string>
   <property name="geometry">
    <rect>
     <x>510</x>
-     <y>580</y>
+     <y>610</y>
     <width>151</width>
     <height>30</height>
    </rect>