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

full stage tested with ioc. all 5 axis working with EPICS caqtdm ui

Browse Source
This commit is contained in:
zamofing_t
2017-08-02 11:20:46 +02:00
parent ede6671ff0
commit f6b3853550
6 changed files with 101 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
ESB_MX.subs
View File

@@ -23,4 +23,6 @@ pattern {DESC ,P ,M ,PORT ,ADDR ,DIR,VMAX,VELO,JVEL
{ "Rotation Y" ,"$(P_M)","MOTOR_ROT_Y1","$(PORT_M)","$(M1)",0 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"deg",0 ,0}
{ "Translation X","$(P_M)","MOTOR_X1" ,"$(PORT_M)","$(M2)",0 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0}
{ "Translation Y","$(P_M)","MOTOR_Y1" ,"$(PORT_M)","$(M3)",0 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0}
{ "TransBase X", "$(P_M)","MOTOR_AX" ,"$(PORT_M)","$(M7)",0 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0}
{ "TransBase Z", "$(P_M)","MOTOR_AZ" ,"$(PORT_M)","$(M8)",0 ,2 ,2 ,2 ,1 ,0.1 ,20 ,-0.001,3 ,"mm",0 ,0}
}

8
add_device.cmd
View File

@@ -13,11 +13,17 @@ M1=1
M2=$(M1)+1
M3=$(M1)+2
#M4=$(M1)+3
M7=$(M1)+6
M8=$(M1)+7
powerPmacCreateAxis($(PORT), $(M1))
powerPmacCreateAxis($(PORT), $(M2))
powerPmacCreateAxis($(PORT), $(M3))
#powerPmacCreateAxis($(PORT), $(M4))
powerPmacCreateAxis($(PORT), $(M7))
powerPmacCreateAxis($(PORT), $(M8))
# Load databse
dbLoadTemplate("$(ESB_MX_TEMPLATES)/ESB_MX.subs", "PORT_M=$(PORT),P_M=$(P),M1=$(M1),M2=$(M2),M3=$(M3)")
dbLoadTemplate("$(ESB_MX_TEMPLATES)/ESB_MX.subs", "PORT_M=$(PORT),P_M=$(P),M1=$(M1),M2=$(M2),M3=$(M3),M7=$(M7),M8=$(M8)")

8
cfg/mx-stage.cfg
View File

@@ -30,11 +30,11 @@
//Enc 4: Test Servo: Incremental encoder mounted with motor 1 1 rev = 2000 enc count (500 inc_ quadrature encoder)
//Enc 5: Test Servo: Trinamic QBL 4208 hall sensor 1 rev = 24 enc count (hall sensor encoder)
//Mot 6: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 6: Test Stepper: inc_enc 1 rev = 1600 enc_step
//Mot 7: Stada Stepper: 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 7: Renishaw absolute BiSS
//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step
//Mot 8: Stada Stepper: 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 8: Renishaw absolute BiSS
//$$$***
//!common()

19
cfg/torqueCtrl.cfg
View File

@@ -77,3 +77,22 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
!encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000)
!encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000)
//Stada stage
//----------------------------------------------------
//512000 ustep == 50000 encCnt == 2500um
//posSf = userUnits/encoder_steps
//servoSf=motor_u_steps/userUnits
!encoder_biss(enc=7,numBits=32,posSf=1./20)
!encoder_biss(enc=8,numBits=32,posSf=1./20)
!motor(mot=7,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8)
!motor(mot=8,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8)
//turn off servon and inpos below ... user units (here 1um)
Motor[7].InPosBand=1;Motor[7].Servo.BreakPosErr=Motor[7].InPosBand
Motor[8].InPosBand=1;Motor[8].Servo.BreakPosErr=Motor[8].InPosBand
//holding current
!holding_current(m7=[0,200],m8=[0,200])

63
logbook.md
View File

@@ -921,9 +921,70 @@ caput SAR-ESB_MX:ASYN.AOUT 'enable plc 1'
tweak param 13.6.2017
---------------------
with stada stage 21.7.2017
--------------------------
telnet SAR-CPPM-EXPMX1 50001
ctrl-T
ctrl-R
ctrl-X
$$$***
!common()
!mx-stage()
#7j:512000
511999.9988954368 49999
Motor8:#8,16p
511999.9922968491 49976
RL32-BAS050C15...
512000 ustep == 50000 encCnt == 2.5mm -> 50nm/encCnt
OpenLoop:
!encoder_sim(enc=7)
!encoder_sim(enc=8)
!encoder_biss(enc=7,tbl=15,mot=15)
!encoder_biss(enc=8,tbl=16,mot=16)
!motor(mot=7,current=200,JogSpeed=102.4*1,invDir=1,HomeOffset=39263)
!motor(mot=8,current=200,JogSpeed=102.4*1,invDir=1)//,HomeOffset=39762)
!encoder_biss(enc=7,tbl=15,mot=15)
!encoder_biss(enc=8,tbl=16,mot=16)
!motor(mot=7,current=200,JogSpeed=102.4*1,invDir=1)
!motor(mot=8,current=200,JogSpeed=102.4*1,invDir=1)
Status Review 2.8.2017
----------------------
cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX;PBInspect --cfg PBinspect.pbi --host SAR-CPPM-EXPMX1
cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/;gpasciiCommander --host SAR-CPPM-EXPMX1 -i
$$$***
!common()
!mx-stage()
enable plc 1 //homing
#1j:1000 //rotate 1 deg
#2j:1000 //x-stage parker 1000um
#3j:1000 //y-stage parker 1000um
#4,5p //position of interferometer (if connected)
#7,8j/
#7j:1000 //x-stage stada 1000um
#8j:1000 //z-stage stada 1000um
telnet SAR-CPPM-EXPMX1 50001
ctrl-T
ctrl-X
ssh x06mx-cons-1
cd /scratch/ESB_MX/ESB_MX/qt
caqtdm -macro 'P=SAR-ESB_MX' ESB_MX_exp.ui
Press homing or following line:
caput SAR-ESB_MX:ASYN.AOUT 'enable plc 1'

12
qt/ESB_MX_exp.ui
View File

@@ -47,13 +47,15 @@
<property name="geometry">
<rect>
<x>20</x>
<y>80</y>
<y>70</y>
<width>725</width>
<height>72</height>
<height>120</height>
</rect>
</property>
<property name="macro">
<string>
P=$(P),M=MOTOR_AX;
P=$(P),M=MOTOR_AZ;
P=$(P),M=MOTOR_ROT_Y1;
P=$(P),M=MOTOR_X1;
P=$(P),M=MOTOR_Y1</string>
@@ -62,7 +64,7 @@ P=$(P),M=MOTOR_Y1</string>
<string notr="true">ESB_MX_motor.ui</string>
</property>
<property name="numberOfItems" stdset="0">
<number>3</number>
<number>5</number>
</property>
</widget>
<widget class="QWidget" name="horizontalLayoutWidget">
@@ -197,8 +199,8 @@ P=$(P),M=MOTOR_Y1</string>
<widget class="caMessageButton" name="camessagebutton">
<property name="geometry">
<rect>
<x>640</x>
<y>160</y>
<x>620</x>
<y>20</y>
<width>100</width>
<height>22</height>
</rect>