From f47e111e65374c236dfb7012459e947daa360286 Mon Sep 17 00:00:00 2001 From: Thierry Zamofing Date: Fri, 20 May 2022 16:09:32 +0200 Subject: [PATCH] add DET_Z motor --- Makefile | 2 +- SAR-EXPMX3.subs | 23 ++++++++++++----------- add_EXPMX3.cmd | 2 +- cfg/MX3_setup.cfg | 20 ++++++++++---------- cfg/SAR-EXPMX3.cfg | 12 ++++++++---- qt/ESB_MX_exp.ui | 46 +++++++++++++--------------------------------- 6 files changed, 45 insertions(+), 60 deletions(-) diff --git a/Makefile b/Makefile index 935f6da..6e6a76b 100644 --- a/Makefile +++ b/Makefile @@ -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+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi) #SOURCES+=src/DHVSaSub.cpp diff --git a/SAR-EXPMX3.subs b/SAR-EXPMX3.subs index 105eacb..295a21e 100644 --- a/SAR-EXPMX3.subs +++ b/SAR-EXPMX3.subs @@ -15,15 +15,16 @@ file PPMACMotor.template { pattern -{ DESC , P , M , PORT , ADDR, DIR, VELO, MRES , PREC, EGU } -{ "Girder 1", "$(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", "$(PORT_M)", 6 , 0 , 2 , 0.001, 3 , "mm" } } diff --git a/add_EXPMX3.cmd b/add_EXPMX3.cmd index 28f141c..8493ee3 100644 --- a/add_EXPMX3.cmd +++ b/add_EXPMX3.cmd @@ -13,7 +13,7 @@ powerPmacCreateAxis($(PORT), 2) powerPmacCreateAxis($(PORT), 3) powerPmacCreateAxis($(PORT), 4) powerPmacCreateAxis($(PORT), 5) -#powerPmacCreateAxis($(PORT), 6) +powerPmacCreateAxis($(PORT), 6) #powerPmacCreateAxis($(PORT), 7) #powerPmacCreateAxis($(PORT), 8) diff --git a/cfg/MX3_setup.cfg b/cfg/MX3_setup.cfg index 4dbf5f1..8271625 100644 --- 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) - - - - diff --git a/cfg/SAR-EXPMX3.cfg b/cfg/SAR-EXPMX3.cfg index e0d1c6e..7aadec4 100644 --- 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]) diff --git a/qt/ESB_MX_exp.ui b/qt/ESB_MX_exp.ui index 57fb708..7300c89 100644 --- a/qt/ESB_MX_exp.ui +++ b/qt/ESB_MX_exp.ui @@ -7,7 +7,7 @@ 0 0 776 - 681 + 706 @@ -49,37 +49,17 @@ 20 70 725 - 480 + 504 - -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_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 ESB_MX_motor.ui - 20 + 21 @@ -215,7 +195,7 @@ P=$(P),M=MOT_GIR_W 20 - 590 + 620 121 22 @@ -237,7 +217,7 @@ P=$(P),M=MOT_GIR_W 160 - 590 + 620 121 24 @@ -266,7 +246,7 @@ P=$(P),M=MOT_GIR_W 170 - 560 + 590 100 22 @@ -288,7 +268,7 @@ P=$(P),M=MOT_GIR_W 30 - 620 + 650 100 22 @@ -307,7 +287,7 @@ P=$(P),M=MOT_GIR_W 20 - 560 + 590 121 22 @@ -329,7 +309,7 @@ P=$(P),M=MOT_GIR_W 160 - 620 + 650 151 30 @@ -371,7 +351,7 @@ P=$(P),M=MOT_GIR_W 340 - 620 + 650 151 30 @@ -413,7 +393,7 @@ P=$(P),M=MOT_GIR_W 340 - 580 + 610 151 30 @@ -455,7 +435,7 @@ P=$(P),M=MOT_GIR_W 510 - 580 + 610 151 30