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

ESB_MX.subs

@@ -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}
 }

add_device.cmd

@@ -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)")

cfg/mx-stage.cfg

@@ -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)
+//Mot 7: Stada Stepper:                           670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
-//Enc 6: Test Stepper: inc_enc                                1 rev = 1600 enc_step
+//Enc 7: Renishaw absolute BiSS
 
-//Mot 7: Test Stepper: Vextra PK244M                           200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
+//Mot 8: Stada Stepper:                           670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
-//Enc 7: Test Stepper: ssi_enc multiturn                       1 rev = 4096 enc_step
+//Enc 8: Renishaw absolute BiSS
 
 //$$$***
 //!common()

cfg/torqueCtrl.cfg

@@ -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])
+
+

logbook.md

@@ -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'
 
 
 

qt/ESB_MX_exp.ui

@@ -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>
+     <x>620</x>
-     <y>160</y>
+     <y>20</y>
      <width>100</width>
      <height>22</height>
     </rect>