From f85e14e875f117f68bee9069f4dfec9e06b845cf Mon Sep 17 00:00:00 2001 From: Thierry Zamofing Date: Tue, 24 Sep 2024 16:04:18 +0200 Subject: [PATCH] SFELPHOTON-1337: SwissMX split/ cleanup/move repositories --- Helical1.pbi | 113 --- MX3_coordTrf.md | 212 ----- Makefile | 20 - PBInspect.pbi | 184 ----- PBInspect1.pbi | 191 ----- PBInspect2.pbi | 153 ---- PBInspect3.pbi | 153 ---- PPMACMotor.template | 21 - Readme.md | 1536 +------------------------------------ ReadmeMCS.md | 82 -- asyn.template | 8 - cfg/MX1_coordTrf.cfg | 28 - cfg/MX1_home.cfg | 170 ---- cfg/MX1_setup.cfg | 153 ---- cfg/MX2_coordTrf.cfg | 27 - cfg/MX2_home.cfg | 67 -- cfg/MX2_setup.cfg | 56 -- cfg/MX3_coordTrf.py | 129 ---- cfg/MX3_setup.cfg | 83 -- cfg/MX3_setup_sim.cfg | 19 - cfg/SAR-EXPMX1.cfg | 10 - cfg/SAR-EXPMX2.cfg | 4 - cfg/SAR-EXPMX3.cfg | 60 -- cfg/sim_8_motors.cfg | 42 - evr_PCIe-300DC.subs | 471 ------------ generate.py | 485 ------------ logbook.md | 1023 ------------------------ python/shapepath.py | 2 +- qt/ESB_MX_5cam.ui | 1164 ---------------------------- qt/ESB_MX_SmarAct.ui | 132 ---- qt/ESB_MX_SmarAct_home.py | 154 ---- qt/ESB_MX_exp.ui | 247 ------ 32 files changed, 3 insertions(+), 7196 deletions(-) delete mode 100644 Helical1.pbi delete mode 100644 MX3_coordTrf.md delete mode 100644 Makefile delete mode 100644 PBInspect.pbi delete mode 100644 PBInspect1.pbi delete mode 100644 PBInspect2.pbi delete mode 100644 PBInspect3.pbi delete mode 100644 PPMACMotor.template delete mode 100644 ReadmeMCS.md delete mode 100644 asyn.template delete mode 100644 cfg/MX1_coordTrf.cfg delete mode 100644 cfg/MX1_home.cfg delete mode 100644 cfg/MX1_setup.cfg delete mode 100644 cfg/MX2_coordTrf.cfg delete mode 100644 cfg/MX2_home.cfg delete mode 100644 cfg/MX2_setup.cfg delete mode 100644 cfg/MX3_coordTrf.py delete mode 100644 cfg/MX3_setup.cfg delete mode 100644 cfg/MX3_setup_sim.cfg delete mode 100644 cfg/SAR-EXPMX1.cfg delete mode 100644 cfg/SAR-EXPMX2.cfg delete mode 100644 cfg/SAR-EXPMX3.cfg delete mode 100644 cfg/sim_8_motors.cfg delete mode 100644 evr_PCIe-300DC.subs delete mode 100755 generate.py delete mode 100644 logbook.md delete mode 100644 qt/ESB_MX_5cam.ui delete mode 100644 qt/ESB_MX_SmarAct.ui delete mode 100755 qt/ESB_MX_SmarAct_home.py delete mode 100644 qt/ESB_MX_exp.ui diff --git a/Helical1.pbi b/Helical1.pbi deleted file mode 100644 index 152a1f6..0000000 --- a/Helical1.pbi +++ /dev/null @@ -1,113 +0,0 @@ -[ - [ - "StatusGblListCtrl", - [], - "name=g;caption=global;state=67377148;dir=4;layer=0;row=0;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=41;floaty=486;floatw=208;floath=377;notebookid=-1;transparent=255" - ], - [ - "MotorListCtrl", - [ - 1, - 2, - 3, - 4, - 5, - 6, - 7, - 8, - 9, - 10, - 11, - 12, - 13, - 14, - 15, - 16 - ], - "name=p;caption=motor pos;state=67377148;dir=4;layer=0;row=0;pos=1;prop=100000;bestw=200;besth=350;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1;notebookid=-1;transparent=255" - ], - [ - "WatchListCtrl", - [ - [ - "EncTable[1].PrevEnc", - null - ], - [ - "EncTable[9].PrevEnc", - null - ], - [ - "Motor[1].idCmd", - null - ], - [ - "Motor[1].Ctrl", - null - ], - [ - "Motor[1].pos", - null - ], - [ - "Motor[1].ServoOut", - null - ], - [ - "P1000", - null - ], - [ - "Gather.Samples", - null - ], - [ - "Gather.MaxLines", - null - ] - ], - "name=w;caption=watch;state=67377148;dir=4;layer=0;row=1;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=221;floaty=858;floatw=208;floath=377;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 1 - ], - "name=m1;caption=motor1;state=67377148;dir=4;layer=0;row=4;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=485;floaty=810;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 2 - ], - "name=m2;caption=motor2;state=67377148;dir=4;layer=0;row=4;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=520;floaty=734;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusCoordListCtrl", - [ - 1 - ], - "name=c1;caption=coord1;state=67377148;dir=4;layer=0;row=2;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=350;floaty=493;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 3 - ], - "name=m3;caption=motor3;state=67377148;dir=4;layer=0;row=5;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1490;floaty=556;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 4 - ], - "name=m4;caption=motor4;state=67377148;dir=4;layer=0;row=5;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1528;floaty=501;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 5 - ], - "name=m5;caption=motor5;state=67377148;dir=4;layer=0;row=6;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1588;floaty=238;floatw=208;floath=677;notebookid=-1;transparent=255" - ] -] \ No newline at end of file diff --git a/MX3_coordTrf.md b/MX3_coordTrf.md deleted file mode 100644 index 2ba408b..0000000 --- a/MX3_coordTrf.md +++ /dev/null @@ -1,212 +0,0 @@ - - -``` - -telnet SAR-CPPM-EXPMX3 50001 - -zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX$ PBInspect --host SAR-CPPM-EXPMX3 --cfg PBInspect3.pbi - - - -ssh root@SAR-CPPM-EXPMX3 -sendgetsends -1 - - -gpasciiCommander --host SAR-CPPM-EXPMX3 -i -//!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05) -!MX3_coordTrf(exc=5000,height=0,width=377500,length=600000,camSf=1.7453292519943296e-05) -!MX3_coordTrf(exc=5000,height=0,width=377500,length=600000,camSf=1.7453292519943296e-05,q=-.8) -Coord[1].Ta=10 -Coord[1].Td=10 -Coord[1].AltFeedRate=1000 -Coord[1].Tm=-10000 //1000um/FeedTime -> 1mm/sec -Coord[1].FeedTime=1000 //default value 1000um - - -list subProg10 -call15 -jog1=(L0) -call16 - -open prog 1 -call15 -abslinear -X(0) Y(0) U(0) V(0) w(0) -call16 -close -&1b1r - -open prog 1 -call15 -abslinear -X(2000) Y(0) U(0) V(0) w(0) -dwell 1000 -X(-2000) Y(0) U(0) V(0) w(0) -dwell 1000 -X(0) Y(0) U(0) V(0) w(0) -call16 -close - -open prog 2 -call15 -abslinear -X(0) Y(2000) U(0) V(0) w(0) -dwell 1000 -X(0) Y(-2000) U(0) V(0) w(0) -dwell 1000 -X(0) Y(0) U(0) V(0) w(0) -call16 -close - -open prog 3 -call15 -abslinear -X(0) Y(0) U(2000) V(0) w(0) -dwell 1000 -X(0) Y(0) U(-2000) V(0) w(0) -dwell 1000 -X(0) Y(0) U(0) V(0) w(0) -call16 -close - -open prog 4 -call15 -abslinear -X(0) Y(0) U(0) V(2000) w(0) -dwell 1000 -X(0) Y(0) U(0) V(-2000) w(0) -dwell 1000 -X(0) Y(0) U(0) V(0) w(0) -call16 -close - -open prog 5 -call15 -abslinear -X(0) Y(0) U(0) V(0) w(2000) -dwell 1000 -X(0) Y(0) U(0) V(0) w(-2000) -dwell 1000 -X(0) Y(0) U(0) V(0) w(0) -call16 -close - -&1b1r -&1b2r -&1b3r -&1b4r -&1b5r - - - - - - - - -open prog 2 -call15 -abslinear -X(2000) Y(0) U(0) V(0) w(0) -dwell 1000 -X(0) Y(0) U(0) V(0) w(0) -dwell 1000 -X(0) Y(2000) U(0) V(0) w(0) -dwell 1000 -X(0) Y(0) U(0) V(0) w(0) -dwell 1000 -X(0) Y(0) U(2000) V(0) w(0) -dwell 1000 -X(0) Y(0) U(0) V(0) w(0) -dwell 1000 -X(0) Y(0) U(0) V(2000) w(0) -dwell 1000 -X(0) Y(0) U(0) V(0) w(0) -dwell 1000 -X(0) Y(0) U(0) V(0) w(2000) -dwell 1000 -X(0) Y(0) U(0) V(0) w(0) -call16 -close -&1b2r - -cpx call 15 -#1..5j=90000 -cpx call 16 - - - -Koordinate U is wrong - - - -fwd_inp(0) 90000 90000 90000 90000 90000 -fwd_inp(0) 2.16489e-13 2.16489e-13 2.16489e-13 2.16489e-13 2.16489e-13 -fwd_res -3.17041e-14 4.01274e-13 1.26816e-13 6.34082e-14 -6.34082e-14 -inv_inp(0) 2000 0 0 0 0 -inv_res 73570.1 106430 73570.1 106430 90000 -inv_inp(0) 0 0 0 0 0 -inv_res 90000 90000 90000 90000 90000 -inv_inp(0) 0 2000 0 0 0 -inv_res 73570.1 73570.1 73570.1 73570.1 66421.8 -inv_inp(0) 0 0 0 0 0 -inv_res 90000 90000 90000 90000 90000 -inv_inp(0) 0 0 2000 0 0 -inv_res 81869.9 98130.1 81869.9 81869.9 101537 -inv_inp(0) 0 0 0 0 0 -inv_res 90000 90000 90000 90000 90000 -inv_inp(0) 0 0 0 2000 0 -inv_res 98130.1 81869.9 81869.9 98130.1 90000 -inv_inp(0) 0 0 0 0 0 -inv_res 90000 90000 90000 90000 90000 -inv_inp(0) 0 0 0 0 2000 -inv_res 98130.1 98130.1 81869.9 81869.9 78463 -inv_inp(0) 0 0 0 0 0 -inv_res 90000 90000 90000 90000 90000 - - - - - - - - - - - - - - -> list forward -list forward -L6=118000/377500 -L7=5000/1.4142135623700001 -L11=L7*cos(L2*0.0000174532925199) -L12=L7*cos(L1*0.0000174532925199) -L13=L7*cos(L4*0.0000174532925199) -L14=L7*cos(L5*0.0000174532925199) -L15=L7*cos(L3*0.0000174532925199) -C6=0.5*L11-0.5*L12+(L6+0.25)*L13+(L6-0.75)*L14+(0.25-L6)*1.4142135623700001*L15 -C7=0.5*L11+0.5*L12+0.25*L13+0.25*L14+0.25*1.4142135623700001*L15 -C3=1*L13+1*L14-1*1.4142135623700001*L15 -C4=-1*L11+1*L12+1.5*L13-0.5*L14-0.5*1.4142135623700001*L15 -C5=-1*L11-1*L12+0.5*L13+0.5*L14+0.5*1.4142135623700001*L15 -D0=248 -> list inverse -list inverse -L6=118000/377500 -L11=0.5*C6+0.5*C7+(0.25-0.5*L6)*C3-0.25*C4-0.25*C5 -L12=-0.5*C6+0.5*C7+(0.5*L6-0.25)*C3+0.25*C4-0.25*C5 -L13=0.5*C6+0.5*C7+(0.25-0.5*L6)*C3+0.25*C4+0.25*C5 -L14=-0.5*C6+0.5*C7+(0.25+0.5*L6)*C3-0.25*C4+0.25*C5 -L15=0.5*1.4142135623700001*C7-0.25*1.4142135623700001*C3+0.25*1.4142135623700001*C5 -L7=1.4142135623700001/5000 -L2=acos(L11*L7)/0.0000174532925199 -L1=acos(L12*L7)/0.0000174532925199 -L4=acos(L13*L7)/0.0000174532925199 -L5=acos(L14*L7)/0.0000174532925199 -L3=acos(L15*L7)/0.0000174532925199 -> - - -``` diff --git a/Makefile b/Makefile deleted file mode 100644 index 45b3957..0000000 --- a/Makefile +++ /dev/null @@ -1,20 +0,0 @@ -include /ioc/tools/driver.makefile -MODULE = $(notdir $(shell pwd)) -BUILDCLASSES = Linux -ARCH_FILTER = ARCH_FILTER = $(EPICS_HOST_ARCH) RHEL7-x86_64 eldk42% -EXCLUDE_VERSIONS = 3.14 # 7.0.6 -#EPICS_VERSIONS = 7.0.7 - -#SCRIPTS+=$(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 -#DBDS+=src/DHVSaSub.dbd -USR_CXXFLAGS+= -fno-operator-names - -.PHONY: install_ioc generate - -install_ioc: generate - cd gen/ioc;make install - -generate: - /opt/gfa/python-3.8/latest/bin/python generate.py -m 0xf diff --git a/PBInspect.pbi b/PBInspect.pbi deleted file mode 100644 index 788b605..0000000 --- a/PBInspect.pbi +++ /dev/null @@ -1,184 +0,0 @@ -[ - [ - "MotorListCtrl", - [ - 1, - 2, - 3, - 4, - 5, - 6, - 7, - 8, - 9, - 10, - 11, - 12, - 13, - 14, - 15, - 16 - ], - "name=p;caption=motor pos;state=67377148;dir=4;layer=0;row=0;pos=1;prop=100000;bestw=200;besth=350;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1;notebookid=-1;transparent=255" - ], - [ - "WatchListCtrl", - [ - [ - "Motor[1].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[1].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[1].idMeas", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[1].iqMeas", - "lambda v: '%.8g'%float(v)" - ], - [ - "EncTable[2].PrevEnc", - null - ], - [ - "Motor[2].Pos", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].DesPos", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].PosError", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].Servo.Integrator", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].idMeas", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].iqMeas", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].iaMeas", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].ibMeas", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].I2tSum", - "lambda v: '%.8g'%float(v)" - ], - [ - "EncTable[3].PrevEnc", - null - ], - [ - "Motor[3].Pos", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].DesPos", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].PosError", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].Servo.Integrator", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].idMeas", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].iqMeas", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].iaMeas", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].ibMeas", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].I2tSum", - "lambda v: '%.8g'%float(v)" - ], - [ - "P2000", - null - ], - [ - "P3000", - null - ] - ], - "name=w;caption=watch;state=67377148;dir=4;layer=0;row=1;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=221;floaty=858;floatw=208;floath=377;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 1 - ], - "name=m1;caption=motor1;state=67377148;dir=4;layer=0;row=2;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=485;floaty=810;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 3 - ], - "name=m3;caption=motor3;state=67377148;dir=4;layer=0;row=5;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=694;floaty=941;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusGblListCtrl", - [], - "name=g;caption=global;state=67377148;dir=4;layer=0;row=0;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=2058;floaty=457;floatw=208;floath=377;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 2 - ], - "name=m2;caption=motor2;state=67377148;dir=4;layer=0;row=4;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=2588;floaty=946;floatw=208;floath=677;notebookid=-1;transparent=255" - ] -] \ No newline at end of file diff --git a/PBInspect1.pbi b/PBInspect1.pbi deleted file mode 100644 index 322c7cd..0000000 --- a/PBInspect1.pbi +++ /dev/null @@ -1,191 +0,0 @@ -[ - [ - "StatusGblListCtrl", - [], - "name=g;caption=global;state=67377148;dir=4;layer=0;row=0;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=41;floaty=486;floatw=208;floath=377;notebookid=-1;transparent=255" - ], - [ - "MotorListCtrl", - [ - 1, - 2, - 3, - 4, - 5, - 6, - 7, - 8, - 9, - 10, - 11, - 12, - 13, - 14, - 15, - 16 - ], - "name=p;caption=motor pos;state=67377148;dir=4;layer=0;row=0;pos=1;prop=100000;bestw=200;besth=350;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1;notebookid=-1;transparent=255" - ], - [ - "WatchListCtrl", - [ - [ - "EncTable[9].PrevEnc", - null - ], - [ - "EncTable[10].PrevEnc", - null - ], - [ - "EncTable[11].PrevEnc", - null - ], - [ - "EncTable[12].PrevEnc", - null - ], - [ - "EncTable[13].PrevEnc", - null - ], - [ - "EncTable[14].PrevEnc", - null - ], - [ - "EncTable[15].PrevEnc", - null - ], - [ - "EncTable[16].PrevEnc", - null - ], - [ - "Motor[1].idCmd", - null - ], - [ - "Motor[2].idCmd", - null - ], - [ - "Motor[1].ServoOut", - null - ], - [ - "Motor[2].ServoOut", - null - ], - [ - "Motor[1].iqCmd", - null - ], - [ - "Motor[2].iqCmd", - null - ] - ], - "name=w;caption=watch;state=67377148;dir=4;layer=0;row=2;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=221;floaty=858;floatw=208;floath=377;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 1 - ], - "name=m1;caption=motor1;state=67377148;dir=4;layer=0;row=3;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=485;floaty=810;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 2 - ], - "name=m2;caption=motor2;state=67377148;dir=4;layer=0;row=3;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=520;floaty=734;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "WatchListCtrl", - [ - [ - "P2010", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2011", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2012", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2013", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2014", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2015", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2016", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2017", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2018", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2019", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2020", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2021", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2022", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2023", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2024", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2025", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2026", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2027", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2028", - "lambda v: '%.5g'%float(v)" - ], - [ - "P2029", - "lambda v: '%.5g'%float(v)" - ] - ], - "name=w-1;caption=watch;state=67377148;dir=4;layer=0;row=1;pos=0;prop=129863;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=464;floaty=580;floatw=208;floath=377;notebookid=-1;transparent=255" - ] -] \ No newline at end of file diff --git a/PBInspect2.pbi b/PBInspect2.pbi deleted file mode 100644 index c3ec8b9..0000000 --- a/PBInspect2.pbi +++ /dev/null @@ -1,153 +0,0 @@ -[ - [ - "StatusGblListCtrl", - [], - "name=g;caption=global;state=67377148;dir=4;layer=0;row=0;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=41;floaty=486;floatw=208;floath=377;notebookid=-1;transparent=255" - ], - [ - "MotorListCtrl", - [ - 1, - 2, - 3, - 4, - 5, - 6, - 7, - 8, - 9, - 10, - 11, - 12, - 13, - 14, - 15, - 16 - ], - "name=p;caption=motor pos;state=67377148;dir=4;layer=0;row=0;pos=1;prop=100000;bestw=200;besth=350;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1;notebookid=-1;transparent=255" - ], - [ - "WatchListCtrl", - [ - [ - "Motor[1].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[1].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[1].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[4].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[4].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[4].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[5].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[5].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[5].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "P1000", - null - ], - [ - "P2000", - null - ], - [ - "Gather.Samples", - null - ], - [ - "Gather.MaxLines", - null - ] - ], - "name=w;caption=watch;state=67377148;dir=4;layer=0;row=1;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=221;floaty=858;floatw=208;floath=377;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 1 - ], - "name=m1;caption=motor1;state=67377148;dir=4;layer=0;row=4;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=485;floaty=810;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 2 - ], - "name=m2;caption=motor2;state=67377148;dir=4;layer=0;row=4;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=520;floaty=734;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusCoordListCtrl", - [ - 1 - ], - "name=c1;caption=coord1;state=67377148;dir=4;layer=0;row=2;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=350;floaty=493;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 4 - ], - "name=m4;caption=motor4;state=67377148;dir=4;layer=0;row=5;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=991;floaty=738;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 5 - ], - "name=m5;caption=motor5;state=67377148;dir=4;layer=0;row=6;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1181;floaty=512;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 3 - ], - "name=m3;caption=motor3;state=67377148;dir=4;layer=0;row=5;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1168;floaty=473;floatw=208;floath=677;notebookid=-1;transparent=255" - ] -] \ No newline at end of file diff --git a/PBInspect3.pbi b/PBInspect3.pbi deleted file mode 100644 index c3ec8b9..0000000 --- a/PBInspect3.pbi +++ /dev/null @@ -1,153 +0,0 @@ -[ - [ - "StatusGblListCtrl", - [], - "name=g;caption=global;state=67377148;dir=4;layer=0;row=0;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=41;floaty=486;floatw=208;floath=377;notebookid=-1;transparent=255" - ], - [ - "MotorListCtrl", - [ - 1, - 2, - 3, - 4, - 5, - 6, - 7, - 8, - 9, - 10, - 11, - 12, - 13, - 14, - 15, - 16 - ], - "name=p;caption=motor pos;state=67377148;dir=4;layer=0;row=0;pos=1;prop=100000;bestw=200;besth=350;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1;notebookid=-1;transparent=255" - ], - [ - "WatchListCtrl", - [ - [ - "Motor[1].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[1].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[1].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[2].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[3].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[4].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[4].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[4].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[5].iqCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[5].idCmd", - "lambda v: '%.8g'%float(v)" - ], - [ - "Motor[5].ServoOut", - "lambda v: '%.8g'%float(v)" - ], - [ - "P1000", - null - ], - [ - "P2000", - null - ], - [ - "Gather.Samples", - null - ], - [ - "Gather.MaxLines", - null - ] - ], - "name=w;caption=watch;state=67377148;dir=4;layer=0;row=1;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=221;floaty=858;floatw=208;floath=377;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 1 - ], - "name=m1;caption=motor1;state=67377148;dir=4;layer=0;row=4;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=485;floaty=810;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 2 - ], - "name=m2;caption=motor2;state=67377148;dir=4;layer=0;row=4;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=520;floaty=734;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusCoordListCtrl", - [ - 1 - ], - "name=c1;caption=coord1;state=67377148;dir=4;layer=0;row=2;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=350;floaty=493;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 4 - ], - "name=m4;caption=motor4;state=67377148;dir=4;layer=0;row=5;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=991;floaty=738;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 5 - ], - "name=m5;caption=motor5;state=67377148;dir=4;layer=0;row=6;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1181;floaty=512;floatw=208;floath=677;notebookid=-1;transparent=255" - ], - [ - "StatusMotorListCtrl", - [ - 3 - ], - "name=m3;caption=motor3;state=67377148;dir=4;layer=0;row=5;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1168;floaty=473;floatw=208;floath=677;notebookid=-1;transparent=255" - ] -] \ No newline at end of file diff --git a/PPMACMotor.template b/PPMACMotor.template deleted file mode 100644 index 01b9845..0000000 --- a/PPMACMotor.template +++ /dev/null @@ -1,21 +0,0 @@ -record(motor,"$(P):$(M)") -{ - field(DESC,"$(DESC)") - field(DTYP,"asynMotor") - field(OUT,"@asyn($(PORT=PPMAC),$(ADDR))") - field(DIR,"$(DIR=0)") - field(VMAX,"$(VMAX=0)") - field(VELO,"$(VELO)") -# field(JVEL,"$(JVEL=$(VELO)") - field(HVEL,"$(HVEL=1)") - field(ACCL,"$(ACCL=.1)") - field(JAR, "$(JAR=20)") - field(MRES,"$(MRES=1)") - field(PREC,"$(PREC=0)") - field(EGU,"$(EGU=ustep)") - field(DHLM,"$(DHLM=0)") - field(DLLM,"$(DLLM=0)") - field(MDEL,"$(MDEL=0.001)") - field(TWV,"$(TWV=0.1)") - field(RTRY,"0") -} diff --git a/Readme.md b/Readme.md index a777a0b..3060e3e 100644 --- a/Readme.md +++ b/Readme.md @@ -2,1541 +2,9 @@ Various motor documents ----------------------- - /home/zamofing_t/Documents/doc-ext/SwissFEL/ESB-MX-Stage -Parker stage ------------- -``` -- encoder is incremental encoder -25mm or 50mm travel stage -Stall Current Continuous 0.8 -Peak Current Amps RMS 2.4 (->sqrt(2)*2.4=3.39A_peak) -Resistance Ohms 8.8 -Inductance mH 2.4 -Max.BuxVoltage V 80 -Continous Force 4N -> assume 1kg load -> acceleration=a=F/m=4m/s^2 -Weight top stage: 250g=2.5N -``` - - -Mecapion rot stage ------------------- -``` -http://www.lsmecapion.com/eng/ -http://www.lsmecapion.com/eng/contents/sub01/sub02_03.php -http://www.a2v.fr/program/mdm-dc06d.htm -http://www.parkem.ch/medien/produkte/direktantriebstechnik/pdf/MDM_Rundtisch_katalog.pdf -http://www.goto.si/wp-content/uploads/2016/kat/L7%20Series%20catalog.pdf -http://farasys.ir/wp-content/uploads/2015/Direct%20Drive%20Rotary%20Motors.pdf -http://www.inmoco.co.uk/Upload/product/1037_DD_Series_Motors_79.pdf - -- encoder is biss 20 bit -- Rated Current 1.46 Arms -- Max Current 4.38 Arms -- 32 pole (16 einraster per rev) -``` - -Testing ServoFrq. ------------------ -``` -!common(PhaseFreq=20000,PhasePerServo=4) -> 25000points, 20um error leads the trajectory in x -!common(PhaseFreq=20000,PhasePerServo=2) -> 25000points, 6.6um error -!common(PhaseFreq=20000,PhasePerServo=1) -> 25000points, 6.1um error ossilates in y, x is quite good - --> the servo loop has to be optimized! -``` - -Testing linear,pvt,spline moves -------------------------------- -``` -Tested with shapepath.py: THE BEST TRAJECTORY RESULT IST WITH PVT MOTION -``` - - -Optimize/Test Parameters with Parker Stage ------------------------------------------- -``` -used ESB_MX/python/move_record.py to record and plot friction -used src/usrServo/usrcode.c to filter the following error of the stage - -Check Simulink project at /home/zamofing_t/afs/ESB-MX -subl /home/zamofing_t/afs/ESB-MX/Readme.md - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg -gpasciiCommander --host SAR-CPPM-EXPMX1 -i -!mx-stage() -#1..3$ -&1 -#1..3j/ - -load program prg/testPerfGrid.prg -b2r - -cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo -make #will install the user servo loop -watch P3000 (average following error) -tweak servo parameters ->!motor_servo(mot=3,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000) - -Same for motor 2 -> watcp P2000 -Increase load will need an increase of gains to compensate following error - -Motor[2].Servo.Kp=20 -Motor[2].Servo.Kvfb=1000 -Motor[2].Servo.Ki=0.07 -Motor[2].Servo.Kvff=1000 -Motor[2].Servo.Kaff=4000 - - -Motor[3].Servo.Kp=20 -Motor[3].Servo.Kvfb=220 -Motor[3].Servo.Ki=0.02 -Motor[3].Servo.Kvff=240 -Motor[3].Servo.Kaff=1500 - - ./shapepath.py --yx -average error x 0.313575 um, y 0.461707 um, 0.629583 um - -./shapepath.py -average error x 0.371877 um, y 0.317152 um, 0.542073 um -``` - -Start motion on external signal -------------------------------- -``` -open plc 1 -Coord[1].DesTimeBase=0 // freezes timebase at boot -while(1) -{ - if(PowerBrick[0].GpioData[0].0.1==1) - { - PowerBrick[0].GpioData[0].16.8=255 - Coord[1].DesTimeBase=Sys.ServoPeriod - } - else - { - PowerBrick[0].GpioData[0].16.8=7 - Coord[1].DesTimeBase=0 - } -} -close -enable plc 1 --> run motion program. press gpio 0 to run at 100% - -``` - -29.9.17 Testing in MX-LAB -------------------------- -``` -Start the powerbrick. ioc is started automatically -zamofing_t@ganymede:~$ ssh x06mx-cons-1 - -caget SAR-ESB_MX:MOTOR_AX -cd /net/slsfs-crtl/export/sf/common/config/qt/ -startDM -macro 'P=SAR-ESB_MX' ESB_MX_exp -press homing button --> all axes can be moved. - -(on thierrys laptop only) -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python -./shapepath.py -will execute the custom motion. No problems with EPICS - -(on other machines) -module is installed in: -ls /net/slsfs-crtl/export/sf/ioc/modules/ESB_MX/zamofing_t/R3.14.12/ -PATH=/net/slsfs-crtl/export/sf/controls/bin/:$PATH -source /opt/gfa/python-2.7/2.3.0/bin/activate xblpython > /dev/null 2>&1 -cd /net/slsfs-crtl/export/sf/ioc/modules/ESB_MX/zamofing_t/R3.14.12/ -./shapepath.py - -``` - - -export EPICS_CA_ADDR_LIST="129.129.109.255" -export EPICS_CA_ADDR_LIST="129.129.126.255" -caQtDm -macro 'P=SAR-ESB_MX' ESB_MX_exp - -HelicalScan ------------ -``` -PPMAC=MOTTEST-CPPM-CRM0485 - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX -PBInspect --host $PPMAC --cfg PBInspect1.pbi - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg -gpasciiCommander --host $PPMAC sim_8_motors.cfg -i - -ssh root@$PPMAC -sendgetsends -1 -cpx send 1"SampleMessage\n" - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python -./helicalscan.py -``` - -fwd/inv kinematic stuff ------------------------ -``` -Coord[1].SegMoveTime=.05, will calculate all 0.05 sec the inverse kinematic. -default Coord[1].SegMoveTime=0, calculates inv kin. only at endpoints - -&1p ->this will trigger:forward kinematic -cpx pmatch ->this will trigger:forward kinematic - -cpx ;linear rel; X0Y0Z0B0 ->this will trigger: inverse - -test_coord_trf() (w is in mdeg) -> Output: -input : cx:0.2 cz:0.3 w:5729.58 fy:0.4 -fwd_trf: dx:-1.14768 dz:-19.0991 w:5729.58 fy:0.4 -inv_trf: cx:0.2 cz:0.3 w:5729.58 fy:0.4 - -input : dx:0.2 dz:0.3 w:5729.58 fy:0.4 -inv_trf: cx:1.54768 cz:19.6991 w:5729.58 fy:0.4 -fwd_trf: dx:0.2 dz:0.3 w:5729.58 fy:0.4 - -#4j=0.2 //cx -#5j=0.3 //cz -#3j=5729.58 //w -#1j=0.4 //fy -&1p -forward kinematic 0.199997 0.300003 5729.58 0.399994 -forward result -1.14769 -19.0991 5729.58 0.399994 - -cpx ;linear abs; X.2Y.4Z.3B5729.58 -inverse kinematic 0.2 0.3 5729.58 0.4 -inverse result 1.54579 19.7026 5729.58 0.4 - - -input : cx:10 cz:20 w:171887 fy:40 -fwd_trf: dx:28.9419 dz:-5.52304 w:171887 fy:40 -inv_trf: cx:10 cz:20 w:171887 fy:40 -#4j=10 //cx -#5j=20 //cz -#3j=171887 //w -#1j=40 //fy -&1p -forward kinematic 10 20 171887 40 -forward result 28.942 -5.52296 171887 40 - -input : dx:10 dz:20 w:171887 fy:40 -inv_trf: cx:-8.94193 cz:45.523 w:171887 fy:40 -fwd_trf: dx:10 dz:20 w:171887 fy:40 - -cpx ;linear abs; X10 Z20 B171887 Y40 -inverse kinematic 10 20 171887 40 -inverse result -8.94198 45.523 171887 40 -``` - -Motors final setup 20.12.17 ---------------------------- -``` -SAR-CPPM-EXPMX1: biss:y timing:y - 1: fy - 2: fx - 3: ry - 4: cx - 5: cz - 6: interfero y - 7: interfero x - -labels: -MOT_FY EXPMX1.1 MOT_FX EXPMX1.2 MOT_ROT_Y EXPMX1.3 MOT_CX EXPMX1.4 MOT_CZ EXPMX1.5 -ENC_FY EXPMX1.1 ENC_FX EXPMX1.2 ENC_ROT_Y EXPMX1.3 ENC_CX EXPMX1.4 ENC_CZ EXPMX1.5 -IFR_FY EXPMX1.6 IFR_FX EXPMX1.7 - -SAR-CPPM-EXPMX2: biss:n timing:n - 1: wedge1 - 2: wedge2 - 3: wedge3 - 4: wedge4 - 5: backlight - 6: cryojet - -SAR-CPPM-EXPMX3: biss:n timing:y - 1: girder1 - 2: girder2 - 3: girder3 - 4: girder4 - 5: girder5 - - -PPMAC=MOTTEST-CPPM-CRM0485 -ssh root@$PPMAC -cd /ioc/SAR-CPPM-EXPMX1;iocsh startup.script -sendgetsends -1 - - -ssh x06mx-cons-1 -export CAQTDM_DISPLAY_PATH=/net/slsfs-crtl/export/sf/common/config/qt/:/net/slsfs-crtl/export/sf/controls/config/qt/ - - -export EPICS_CA_ADDR_LIST="129.129.126.255" -caqtdm -macro "P=SAR-EXPMX" ESB_MX_exp.ui - -``` - -TODO 5.1.18 ------------ -``` -Fwd/inv kinematic is not yet fully correct for PVT moves: -Inverse kinematic need to calculate velocities: -Now a simplified approach with no dependencies is implemented: - vqCX=vDX - vqCZ=vDZ - vqW=vW - vqFY=vY - -To see the differences compare: - hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100) - hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100,smt=0) - - hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(0,360000)) - hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(0,360000),smt=0) - -When using segmented mode (SegMoveTime>0) the velocities are not needed. -With SegMoveTime=0 these velocities are needed and will result in a non optimal trajectory (with the current buggy calculation). -``` - - -Testing Helicalscan with real motors 8.1.18 -------------------------------------------- -``` -PPMAC=SAR-CPPM-EXPMX1 -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg -gpasciiCommander --host $PPMAC -i - -$$$*** -!common() -!SAR-EXPMX1() -enable plc 1 - -export EPICS_CA_ADDR_LIST=$PPMAC -caQtDM -macro 'P=SAR-EXPMX' ESB_MX_exp - -do homing (or call plc 1) -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python -./helicalscan.py -``` - - -Testing Wedge mover -------------------- -``` -PPMAC=SAR-CPPM-EXPMX2 -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX -PBInspect --host $PPMAC --cfg PBInspect2.pbi - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg -gpasciiCommander --host $PPMAC -i -$$$*** -!common() -!SAR-EXPMX2() - -``` - -``` -!!! WATCH OUT !!! -if the send buffer overruns, the programs will abort in an unexplainable way: - send 1"inv_res %f %f %f %f\\n",qCX,qCZ,qW,qFY -without reading it with sendgetsends -1 -``` - - -5 CAM mover ------------ -``` -/home/zamofing_t/Documents/doc-ext/SwissFEL/Devices/5CAM -/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/5CAM_SYSTEM/ -git@git.psi.ch:epics_ioc_modules/5CAM_SYSTEM.git - -copied the coordTrf.py from /home/zamofing_t/Documents/doc-ext/SwissFEL/Devices/5CAM -to /cfg/MX3_coordTrf.py and modify it - -PPMAC=MOTTEST-CPPM-CRM0485 -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX -PBInspect --host $PPMAC --cfg PBInspect3.pbi - -PPMAC=MOTTEST-CPPM-CRM0485 -ssh root@$PPMAC -sendgetsends -1 - - - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg -gpasciiCommander --host $PPMAC -i -$$$*** -!common() -!SAR-EXPMX3() -``` - -5 CAM mover commissioning EH60 27.3.18 --------------------------------------- -``` -PPMAC=SAROP11-CPPM-MOT6765 -PPMAC=MOTTEST-CPPM-CRM0515 -PBInspect --host $PPMAC - -gpasciiCommander --host $PPMAC -i -$$$*** -!common() -PowerBrick[0].GpioData[0].17=1 -16 fail -17 ok -18 fail -19 ok -20 fail -21 fail on box -22 fail on box -23 fail on box -21 fail on box - -Testing on motor 2 - -$$$*** -!common() -!encoder_sim(enc=2,tbl=2,mot=2) -!motor(mot=2,dirCur=1000,JogSpeed=1024) -!encoder_ssi(enc=2,tbl=10,mot=10,numBits=18) - -PowerBrick[0].GpioData[0].17=1 -#2j:102400 -PowerBrick[0].GpioData[0].17=0 -#2k - -#2j:10240000 == 360 deg = 262037.6288 inc = 360000mdeg - - -//the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear) -//the ssi-encoder has 2**18=262144 steps per revolution - - -//motor_u_steps/inc_enc_step=39.0625 -//the ssi-encoder has 2**18=262144 steps per revolution - -//10240000 ustep == 262144 encCnt == 360deg=360000mdeg -//posSf = userUnits/encoder_steps=360000/262144=5625./4096. -//servoSf=motor_u_steps/userUnits 10240000/360000=256./9. - - -$$$*** -!common() -!encoder_ssi(enc=2,numBits=18,posSf=5625./4096.) -!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,HomeOffset=0) -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) - - - -cpx r0=180000;call 20 //motor 2 180deg -cpx r0=0 ;call 20 //motor 2 0 deg - - - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/ -gpasciiCommander --host $PPMAC -i -$$$*** -!common() -!SAR-EXPMX3() -cpx call 15 //current on, open breaks -#1..5j=180000 -#1..5j=0 -cpx call 16 //close breaks, current off -&1 -cpx r0=180000;call 20 //motor 2 180deg - -open prog 10 -call15 -abslinear -X(10) Y(0) U(0) V(0) W(0) -call16 -close -b10r - -open prog 11 -call15 -abslinear -jog1=0 -jog2=0 -jog3=0 -jog4=0 -jog5=0 -call16 -close -b11r - -open prog 12 -call15 -abslinear -jog1=180000 -jog2=180000 -jog3=180000 -jog4=180000 -jog5=180000 -call16 -close -b12r -&1p -``` - -5 CAM coord trf EH60 27.3.18 ----------------------------- -``` -PPMAC=MOTTEST-CPPM-CRM0515 -ssh root@$PPMAC -sendgetsends -1 - - -open prog 12 -call15 -abslinear -jog1=180000 -jog2=180000 -jog3=180000 -jog4=180000 -jog5=180000 -call16 -close -b12r -&1p -``` - -5 CAM coord trf EH60 27.3.18 ----------------------------- -``` -PPMAC=MOTTEST-CPPM-CRM0515 -ssh root@$PPMAC -sendgetsends -1 - -$$$*** -!common() -!SAR-EXPMX3() - - -&1p -> execute forward kinematics - -cpx call 15 -#1..5j=0 -cpx abslinear X(0)Y(0)U(0)V(0)W(0) ->executes inverse kinematic -cpx call 16 - - - - - L6=2000/3000 - L7=1000/1.41421356237 - L11=L7*sin(L1*1.74532925199e-05) - L12=L7*sin(L2*1.74532925199e-05) - L13=L7*sin(L3*1.74532925199e-05) - L14=L7*sin(L4*1.74532925199e-05) - L15=L7*sin(L5*1.74532925199e-05) - - -$$$*** -!common() -!SAR-EXPMX3() -&1 -#1..5j/ -#1..5hmz - -open prog 1 - //homez1..5 - call 15 - jog1..5=0 - call 16 - L0 = Sys.Time + 2 - while (L0 > Sys.Time){} - call 15 - jog1..5=180000 - call 16 - call 15 - abslinear X(1000)Y(0)U(0)V(0)W(0) - dwell 100 - abslinear X(0)Y(1000)U(0)V(0)W(0) - dwell 100 - abslinear X(0)Y(0)U(0)V(0)W(0) - dwell 100 - jog1..5=0 - call 16 -close -b1r -cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16; -cpx call15;jog1..5=0;call16; -``` - - - -towards IOC 29.3.18 -------------------- -``` -PPMAC=MOTTEST-CPPM-CRM0515 -ssh root@$PPMAC -cd /ioc/SAR-CPPM-EXPMX3 -iocsh startup.script -dbl - -export EPICS_CA_ADDR_LIST="129.129.126.255" - -export EPICS_CA_ADDR_LIST=$PPMAC -caQtDM -macro 'P=SAR-EXPMX' ESB_MX_exp -caQtDM -macro 'P=SAR-EXPMX' ESB_MX_5cam - - - - -PPMAC=SAR-CPPM-EXPMX2 -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX -PBInspect --host $PPMAC --cfg PBInspect2.pbi - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg -gpasciiCommander --host $PPMAC -i -$$$*** -!common() -!SAR-EXPMX3() - -caput SAR-EXPMX3:ASYN.AOUT '&1;#1..5j/;cpx call 15' -caput SAR-EXPMX3:ASYN.AOUT '&1;cpx jog1..5=000;call 16' -caput SAR-EXPMX3:ASYN.AOUT '&1;#1..5j/;cpx call 15' -caput SAR-EXPMX3:ASYN.AOUT '&1;cpx jog1..5=10000;call 16' -caput SAR-EXPMX3:ASYN.AOUT cpx call 16 -caput SAR-EXPMX3:ASYN.AOUT cpx call 15 -caput SAR-EXPMX3:ASYN.debug cpx call 16 -caput SAR-EXPMX3:ASYN.debug0 cpx call 16 - -see also: - -/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/SARES20-CSSU-ESB1_startup.script -/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/SARES20-CSSU-ESB1_hexpodPI.subs -/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/hpod.template -/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/cfg/hpod.proto - -caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynRecord.ui -caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynSerialPortSetup.ui -caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynOctet.ui -caQtDM -macro "P=SAR-EXPMX:,R=debug0" asynOctet.ui - - -caput SAR-EXPMX:asyn.AOUT '&1;#1..5j/;cpx call 15' -caput SAR-EXPMX:asyn.AOUT '&1;#1..5j/;cpx call 16' - -caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call 15;jog1..5=0; call 16' -caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call 15;jog1..5=10000; call 16' - - -caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' - -caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' -caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16' -caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' -caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16' -caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' - - -SAR-EXPMX:MOT_GIR_W.SPMG -Plugin: epics3 : loaded & connected -===================================== -Description: Stop -TimeStamp: Apr 04, 2018 11:57:02.623574449 -Type: DBF_ENUM -Count: 1 -Value: 0 -nbStates: 4 -States: - 0 Stop - 1 Pause - 2 Move - 3 Go -``` - - -Check some coord trf 4.4.18 ---------------------------- -``` -$$$*** -!common() -!SAR-EXPMX3() //with !MX3_setup_sim() - - -using trf: -!MX3_coordTrf(exc=5000,height=2000,width=500000,length=1000000,camSf=1.7453292519943296e-05) - -open forward -// define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5') -// define(r='L6',scl='L7') -// define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15') -// define(X='C6',Y='C7',U='C3',V='C4',W='C5') - L6=2000/500000 - L7=5000/1.41421356237 - L11=L7*sin(L1*1.74532925199e-05) - L12=L7*sin(L2*1.74532925199e-05) - L13=L7*sin(L3*1.74532925199e-05) - L14=L7*sin(L4*1.74532925199e-05) - L15=L7*sin(L5*1.74532925199e-05) - - send 1"fwd_inp(%f) %f %f %f %f %f\n",D0,L1,L2,L3,L4,L5 - send 1"fwd_inp(%f) %f %f %f %f %f\n",D0,L11,L12,L13,L14,L15 - - - //C6=D^-1*S - C6=+.5*L11 -.5*L12 +(L6+.5)*L13 +(L6-.5)*L14 +(.5-L6)*1.41421356237*L15 - C7=+.5*L11 +.5*L12 +.25*L13 +.25*L14 +.25*1.41421356237*L15 - C3= -.5*L13 -.5*L14 +.5*1.41421356237*L15 - C4=-.5*L11 +1.*L12 +1.5*L13 -.5*L14 -.5*1.41421356237*L15 - C5=-.5*L11 -1.*L12 +.5*L13 +.5*L14 +.5*1.41421356237*L15 - - send 1"fwd_res %f %f %f %f %f\n",C6,C7,C3,C4,C5 - - D0=$000000f8; //C3=$8 C4=$10 C5=$20 C6=$40 C7=$80 hex(8+int('10',16)+int('20',16)+int('40',16)+int('80',16)) -> '0xf8' -close - -open inverse -// define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5') -// define(r='L6',scl='L7') -// define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15') -// define(X='C6',Y='C7',U='C3',V='C4',W='C5') - - //if(D0>0) - // send 1"Velocity calculation NOT SUPPORTED\n" - - send 1"inv_inp(%f) %f %f %f %f %f\n",D0,C6,C7,C3,C4,C5 - - L6=2000/500000 - - L11=+.5*C6 +.5*C7 +(0) *C3 -.5*C4 +.5*C5 - L12=-.5*C6 +.5*C7 +(0) *C3 +.5*C4 +.5*C5 - L13=+.5*C6 +.5*C7 -(.5) *C3 +.5*C4 -.5*C5 - L14=-.5*C6 +.5*C7 -(.5) *C3 -.5*C4 -.5*C5 - L15= .5*1.41421356237*C7 +.5*1.41421356237*C3 -.5*1.41421356237*C5 - - L7=1.41421356237/5000 - L1=asin(L11*L7)/1.74532925199e-05 - L2=asin(L12*L7)/1.74532925199e-05 - L3=asin(L13*L7)/1.74532925199e-05 - L4=asin(L14*L7)/1.74532925199e-05 - L5=asin(L15*L7)/1.74532925199e-05 - - send 1"inv_res %f %f %f %f %f\n",L1,L2,L3,L4,L5 - -close - - -&1;cpx abs linear;jog1=0;jog2=0;jog3=0;jog4=0;jog5=0 -&1;cpx abs linear;jog1=10000;jog2=20000;jog3=30000;jog4=40000;jog5=50000 - -&1;cpx abs linear;X(1365.89)Y(2879.23)U(-105.071)V(502.495)W(2419.1) - -&1;cpx abs linear;X(-10.000000)Y(200.000000)U(3.00000)V(4.00000)W(5.00000) - - -&1;cpx abs linear;X(0.000000)Y(0.000000)U(0.00000)V(0.00000)W(0.00000) -&1;cpx abs linear;X(-10.000000)Y(200.000000)U(3.00000)V(4.00000)W(5.00000) - - - - -#1..5p - -&1p -pmatch - -fwd_inp(0) 0 0 0 0 0 -fwd_inp(0) 0 0 0 0 0 -fwd_res 0 0 0 0 0 -inv_inp(0) 0 0 0 0 0 -inv_res 0 0 0 0 0 - -fwd_inp(0) 10000 20000 30000 40000 50000 -fwd_inp(0) 613.939 1209.22 1767.77 2272.6 2708.38 -fwd_res 1365.89 2879.23 -105.071 502.495 2419.1 - -fwd_res 1365.89 2879.23 -105.071 502.495 2419.1 -inv_inp(0) 1365.89 2879.23 -105.071 502.495 2419.1 -inv_res 60621.7 38843.4 20130.6 -10620.2 4072.1 - - -``` - - - - -Checking Homeoffset init bug ----------------------------- -``` -//the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear) -//the ssi-encoder has 2**18=262144 steps per revolution -//posSf = userUnits/encoder_steps -//servoSf=motor_u_steps/userUnits - -512*200*100/262144 - - -cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=-1000;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0 -!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) - -cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=361000;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0 -!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) - -cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=1000;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0 -!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) - -cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=0;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0 -!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) - - - -$$$*** -!common() -!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) -!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.) -#1hmz - -$$$*** -!common() -!encoder_ssi(enc=1,numBits=18,posSf=1.) -!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf= 39.0625,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.) -#1hmz - - - -cpx PowerBrick[1].GpioData[0].16.5=$1f;jog1=-1000;PowerBrick[1].GpioData[0].16.5=$0 -Motor[1].idCmd=0 - -EncTable[1].PrevEnc -Motor[1].HomeOffset -Motor[1].HomePos -Motor[1].ActPos - -EncTable[1].PrevEnc=-2490368 - - -!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) -!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.) -#1hmz - - -!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) -!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-20907.) -#1hmz - - - -Motor[1].HomeOffset=-20907 -Motor[1].HomePos=-1100471.57226169435 -Motor[1].ActPos=-1100474.61749599339 - -!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) -> reate wrong values - - - -Motor[1].HomeOffset=0 -Motor[1].HomePos=-1439342.11669405433 -Motor[1].ActPos=-1100474.61749599339 - -!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-20907.) - - - - -Motor[1].HomeOffset=-20907 -Motor[1].HomePos=-372569.750242860231 -Motor[1].ActPos=-8.86266251358743773e-17 -#1p 372569.7502428602 -but should be -8000 - -#1p=Motor[1].ActPos-Motor[1].HomePos - -open plc 0 - if (Motor[1].ActPos-Motor[1].HomePos>180000) - Motor[1].HomePos=Motor[1].HomePos+360000 - if (Motor[2].ActPos-Motor[2].HomePos>180000) - Motor[2].HomePos=Motor[2].HomePos+360000 - if (Motor[3].ActPos-Motor[3].HomePos>180000) - Motor[3].HomePos=Motor[3].HomePos+360000 - if (Motor[4].ActPos-Motor[4].HomePos>180000) - 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 - -enable plc 0 -``` - - -29.5.18 Calibration ID Lab +23.09.24 Restructure repos -------------------------- ``` -PPMAC=MOTTEST-CPPM-CRM0515 -ssh root@$PPMAC -cd /ioc/SAR-CPPM-EXPMX3 -iocsh startup.script -dbl - -export EPICS_CA_ADDR_LIST=$PPMAC -caQtDM -macro 'P=SAR-EXPMX' ESB_MX_exp -caQtDM -macro 'P=SAR-EXPMX' ESB_MX_5cam - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX -PBInspect --host $PPMAC --cfg PBInspect2.pbi - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg -gpasciiCommander --host $PPMAC -i -$$$*** -!common() -!SAR-EXPMX3() - -caput SAR-EXPMX3:ASYN.AOUT '&1;#1..5j/;cpx call 15' -caput SAR-EXPMX3:ASYN.AOUT '&1;cpx jog1..5=000;call 16' -caput SAR-EXPMX3:ASYN.AOUT '&1;#1..5j/;cpx call 15' -caput SAR-EXPMX3:ASYN.AOUT '&1;cpx jog1..5=10000;call 16' -caput SAR-EXPMX3:ASYN.AOUT cpx call 16 -caput SAR-EXPMX3:ASYN.AOUT cpx call 15 -caput SAR-EXPMX3:ASYN.debug cpx call 16 -caput SAR-EXPMX3:ASYN.debug0 cpx call 16 - -#1..5p --204709.6252433953 -242008.2092276345 -269883.2702626893 -124867.8588862641 -189315.0329582951 - --19000 -Motor[1].pLimits=PowerBrick[0].Chan[0].Status.a -Motor[2].pLimits=PowerBrick[0].Chan[1].Status.a - -``` - -29.5.18 Commissioning ESC -------------------------- -``` -[saresb-cons-01 ~]$ caqtdm -macro 'P=SAR-EXPMX' ESB_MX_exp - - -SAR-EXPMX:MOT_CX ok -SAR-EXPMX:MOT_CZ ok -SAR-EXPMX:MOT_FX encoder ok, failed phasing... cabeling issue. old cable ok. -SAR-EXPMX:MOT_FY encoder ok, failed phasing... cabeling issue. old cable ok. -SAR-EXPMX:MOT_ROT_Y ok - -SAR-EXPMX:MOT_BLGT hotor ok, homing fails -> check if ho,ing switsch is on correct pins? -SAR-EXPMX:MOT_CRYO ok -SAR-EXPMX:MOT_WEDGE1 motor ok, encoder cable issue. old incr. cable works -SAR-EXPMX:MOT_WEDGE2 motor ok, encoder cable issue. old incr. cable works -SAR-EXPMX:MOT_WEDGE3 motor ok, encoder cable issue. old incr. cable works -SAR-EXPMX:MOT_WEDGE4 motor ok, encoder cable issue. old incr. cable works - -Backlight: check register Gate3[1].Chan[0].Status when pressing home button... - -``` - - -``` -Wedge mover: -#3,4 -#3,4j=-17000 up limit -#3,4j=18000 down limit -#3j=350;#4j=-350 left right -#3j=-2900;#4j=2900 left right - - -#1j=-13000;#2j=0 up limit -#1j=1000;#2j=14000 down limit - -#1j=-6000;#2j=7000 start - -#1j=-8500;#2j=9500 left right -#1j=-6000;#2j=7000 also limit ? - - - -do this multiple times until motor 2 is far enough -> #1j-;#2j- -> #1j+;#2j- -then home motor 2 -#1j-;#2hm - -Measured distances schieblehre: -m1:67.85 -m2:67:42 -m3:66.73 -m4:68.97 - - -Alles bündig bei je 67mm - -m3 -330 -m4 1900 - -Wedge Mover Limits: -X -2.13 .. 1.5 -Y -1.68 .. 2.28 - -Individual motor limits: -Y-Min (moving until all limits kick in) -#1..4p -19594 16978 22575.5 21962 - -Y-Max -#1..4p --23962.5 -23414 -22669 -22413 - -right: -#1..4p --2023 2049 -3362 3379 - -left -#1..4p -3017 -3170 1415.5 -1693 - - -Y: -1.67 -``` - -Motor 1,2 tuning ----------------- -``` -Current loop: -rise time: 0.25ms -overshot 2.74% -damping: 0.753 -natural frq:1487Hz - -=>system 2ter Ordnung - -k*1/(1+T1*s+t2*s^2) - - -``` - -EVR ---- -``` -check git modules: -mrfioc2 -> EVR config -PB_BSREAD -> sample how to configure user Flags - -Gate3[1].Chan[0].UserFlag -> is set to 0 when event triggered (mapped to output FronUnivOut4 in the EVR) - -EVR output powerBrick register $(USR_FLAG_ID) -FrontUnivOut4 Gate3[1].Chan[0].UserFlag 5 -FrontUnivOut5 Gate3[1].Chan[1].UserFlag 6 -FrontUnivOut6 Gate3[1].Chan[2].UserFlag 7 - -Event 254 -> Pulser 0 -> FrontUnivOut4 Gate3[1].Chan[0].UserFlag -Event 40 -> Pulser 1 -> FrontUnivOut5 Gate3[1].Chan[1].UserFlag -Event 22 -> Pulser 2 -> FrontUnivOut6 Gate3[1].Chan[2].UserFlag - -caput SAR-CVME-TIFALL5-EVG0:SoftEvt-EvtCode-SP 254 - - -Sample test code for sync: - -open prog 2 -Gate3[0].GpioData[0].16.1=0 -linearabs -//X50Y-0 -dwell10 -while(Gate3[1].Chan[0].UserFlag==0){} -while(1) -{ -if(Gate3[1].Chan[1].UserFlag==0) -{ -break -} -} -Gather.Enable=2 -Gate3[0].GpioData[0].16.1=1 -//pvt40abs -//X50:443.604Y-0:0 -dwell1000 -Gather.Enable=0 -close -b2r -``` - - -Testing Helical Coord Trf -------------------------- -``` -B0.3504637004371034 X-13.68414496427224 Y-8.029999999998836 Z-1483.096457761122 - - -&1p ->this will trigger:forward kinematic -cpx pmatch ->this will trigger:forward kinematic - -cpx ;linear rel; X0Y0Z0B0 -cpx ;linear abs; X-13.68 Y-8.03 Z-1483.1 B0.35 - ->this will trigger: inverse - -&1;cpx abs linear;jog1=0;jog2=0;jog3=0;jog4=0;jog5=0 - - --1:fwd_inp(0) 0.45 -1103.7 0.350464 -7.98 --1:fwd_res -13.5538 -1481 0.350464 -7.98 - - -//motors CX CZ RY FY -// 4 5 3 1 - - -&1;cpx abs linear;jog1=0;jog2=0;jog3=0;jog4=0;jog5=0 - - def calcParam(self,x=((.468,-.627,-.523),(.357,-1.349,.351)), - y=(.557,-.008), - z=((1.73,.93,2.129),(2.13,.03,1.103))): - - -&1;cpx abs linear;jog1=557;jog3=0;jog4=-468;jog5=-1730 - -&1;cpx abs linear;jog1=-8;jog3=240000;jog4=-351;jog5=-1103 - - -caQtDM -macro "NAME=ESB-MX-CAM,CAMNAME=ESB-MX-CAM" /sf/controls/config/qt/Camera/CameraMiniView - -#1,3,4,5p -point 1 0,120,240 deg -575.5 0 -241.5 -1401.3 -575.5 120000 96.7 -1401.7 -575.5 240000 -53.8 -1802.4 - -point 2 0,120,240 deg -175.5 0 -162.3 -1802.5 -175.5 120000 -293.2 -1303.7 -175.5 240000 246.4 -1402.25 - - -#1j=575.5; #3j=0 ; #4j=-241.5; #5j=-1401.3 -#1j=575.5; #3j=120000; #4j= 96.7; #5j=-1401.7 -#1j=575.5; #3j=240000; #4j= -53.8; #5j=-1802.4 -#1j=175.5; #3j=0 ; #4j=-162.3; #5j=-1802.5 -#1j=175.5; #3j=120000; #4j=-293.2; #5j=-1303.7 -#1j=175.5; #3j=240000; #4j= 246.4; #5j=-1402.25 - - -pixel center 1110 1090 - -#1j=575.5; #3j=0 ; #4j=-241.5; #5j=-1401.3 -cpx pmatch - - --1:fwd_inp(0) -241.5 -1401.3 0 575.5 --1:fwd_res -88.9829 308.514 0 575.5 - - -cpx ;linear abs; X0 Z0 Y575 B0 -cpx ;linear abs; X0 Z0 Y575 B100000 -``` - -Software esbMX deploy ---------------------- -``` -zamofing_t@ganymede:~$ ll /sf/bernina/config/swissmx/zamofing_t/ - /sf/bernina/config/swissmx/ -ssh saresb-cons-01 - ssh sf-cons-01 -source /opt/gfa/python -source activate /sf/bernina/config/swissmx/conda/envs/b440_clone -zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python$ - - -cp -farL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py \ - ~/Documents/prj/SwissFEL/PBTools/pbtools/ \ - ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/triggerSync/triggerSync \ - /sf/bernina/config/swissmx/zamofing_t/ - -cp -farL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/ShapePathAnalyser/*.py \ - /sf/bernina/config/swissmx/zamofing_t/ShapePathAnalyser/ - -#scp -r pc9477:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py /sf/bernina/config/swissmx/zamofing_t/ - - - ->alternatives but not recommanded -#scp -r ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py ganymede:~/Documents/prj/SwissFEL/PBTools/pbtools/ /sf/bernina/config/swissmx/zamofing_t/ -#rsync -abuv --exclude 'records/' ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/PBMotionAnalyzer/ ~/Documents/prj/SwissFEL/PBTools/pbtools/ /sf/bernina/config/swissmx/zamofing_t/ -``` - - -Sync Start ----------- -``` -caput SAR-CVME-TIFALL5-EVG0:SoftEvt-EvtCode-SP 254 - - -``` - - - -Try to find encoder count loss ------------------------------- -``` -//set incEncFrq to 25MHz, (default was to low: 3.125MHz) - -Gate3[0].EncClockDiv=2 -Gate3[1].EncClockDiv=2 - -``` - -Helicalscan setup ------------------ -``` -calcParam( - x=((-34.05489905551743, 208.10204385266277, -606.4416461908648), - (22.139508829306088, 158.83214548238513, -618.6408606756819)), - y=(1700.0, 1252.0231362790232), - z=((-1200.0, -2000.0000000000005, -1900.0000000000005), - (-1200.0, -2000.0000000000005, -1800.0000000000002))) - -cpx X0 Z0 B0 Y1700.0 -cpx X0 Z0 B120000 Y1700.0 -cpx X0 Z0 B240000 Y1700.0 - -cpx X0 Z0 B0 Y1252.0 -cpx X0 Z0 B120000 Y1252.0 -cpx X0 Z0 B240000 Y1252.0 - -send 1"fwd_inp(%f) %f %f %f %f\\n",D0,{qCX},{qCZ},{qW},{qFY} -send 1"fwd_res %f %f %f %f\\n",{DX},{DZ},{W},{Y} -send 1"inv_inp(%f) %f %f %f %f\\n",D0,{DX},{DZ},{W},{Y} -send 1"inv_res %f %f %f %f\\n",{qCX},{qCZ},{qW},{qFY} - - -``` - - -Oct. 2019 Measure backlash wedge movers ---------------------------------------- -``` -Wedge Mover 1 Mover 2 Plate 1 Plate 2 - 0 0 0 0 0 --.1 -0.1030 -0.0990 -0.0990 -0.0990 --.2 -0.2045 -0.1990 -0.1985 -0.2000 --.3 -0.3060 -0.3005 -0.2990 -0.3000 --.2 -0.2040 -0.2000 -0.2015 -0.2030 --.1 -0.1030 -0.0990 -0.1020 -0.1030 - 0 0.0020 0.0025 0.0030 0.0020 - .1 0.0985 0.1030 0.0965 0.0980 - .2 0.1980 0.2015 0.1955 0.1980 - .3 0.2975 0.3020 0.2950 0.2960 - .2 0.1995 0.2035 0.1980 0.2020 - .1 0.0980 0.1045 0.0990 0.1010 - 0 0.0020 0.0045 0.0000 0.0010 - - -Mover 1/2 on the black metal block with the name -Plate 1/2 above mover 1/2 on aluminum border ob bread board - --> no backlash (ca. 10um) could be measured. - -``` - - -16.5.22 tunneling ------------------ -``` ---host=localhost:10001:10002 - -PPMAC=SAR-CPPM-EXPMX1 - -rsync -va ~/Documents/prj/SwissFEL/PBTools/pbtools/gather/gather_server root@$PPMAC:/tmp/ -ssh root@$PPMAC -LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/gather_server - - -ssh -L 10001:localhost:22 root@$PPMAC 'uname -a' -ssh -L 10002:localhost:2332 root@$PPMAC 'uname -a' --> this tunnels port 22 and 2332 of $PPMAC to 10001 and 10002 of localhost - -Tests: -nc localhost 10001 -nc localhost 10002 - -list close ssh tunnel ---------------------- -lsof -i -n | grep '127.0.0.1:1000' - -. - -Make z to move over the grid. - -&0 -#1->0 -#2->0 -#3->0 -#4->0 -#5->0 -#6->0 -#7->0 -#8->0 -&1 -#1->y -#2->x -#5->.1x+.1y-1400 - - -?? what are the PV for the camera, zoom etc ??? -``` - - -30.9.22 Debug Synchronization -============================= - -https://docs.google.com/document/d/1soSuCZYyfGf_ntcgG_Y1_WeGuo_687OuFn0s4sMj1uY/edit - - -remote ssh tunnel + start gather_server ---------------------------------------- -``` -PPMAC=SAR-CPPM-EXPMX1 -rsync -va ~/Documents/prj/SwissFEL/PBTools/pbtools/gather/gather_server root@$PPMAC:/tmp/ -lsof -i -n | grep '127.0.0.1:1000' -ssh -L 10001:localhost:22 root@$PPMAC 'uname -a' -ssh -L 10002:localhost:2332 root@$PPMAC 'uname -a' -ssh root@$PPMAC -LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/gather_server -``` - -cleanup /tmp/ -------------- -``` -PPMAC=SAR-CPPM-EXPMX1 -ssh root@$PPMAC rm /tmp/gather_server /tmp/triggerSync -ssh root@$PPMAC ls -l /tmp -``` - -start debug tools ------------------ -``` -PPMAC=SAR-CPPM-EXPMX1 -PBInspect --host=$PPMAC& -gpasciiCommander --host $PPMAC -i -``` - -restart IOC ------------ -``` -ssh saresc-cons-03 -PPMAC=SAR-CPPM-EXPMX1 -telnet $PPMAC 50001 -Ctrl-X -dbgf SAR-CPPM-EXPMX1:MOD_VER - - -``` - -checking versions ------------------ -``` -git: 7a968aac967 -caget SAR-CPPM-EXPMX1:MOD_VER -asyn 427.0.2 -motorBase alpha_220518 -asynMotor alpha_220518 -powerPmac alpha_220518 -PB_COMMON 2.0.1 -gpasciiCommander 0.9.0 -ESB_MX 0.0.2 -``` - -zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX$ -git loggraph -10 -* 7a968aa 2022-09-20 (HEAD -> master, tag: latest, tag: 0.0.2, psigithub/master) change speeds and directions [Thierry Zamofing] -* 00588f8 2022-09-16 minor changes [Thierry Zamofing] -* d52a6ce 2022-08-30 minor changes [Thierry Zamofing] -* f47e111 2022-05-20 (tag: 0.0.1) add DET_Z motor [Thierry Zamofing] -* 8e5b15e 2022-05-20 wip [Thierry Zamofing] -* 399282c 2019-03-20 enhance triggering [Thierry Zamofing] -* eda8caf 2019-03-19 wip [Thierry Zamofing] -* 0c45705 2019-03-08 optimize [Thierry Zamofing] -* c962ebd 2019-03-06 documentation [Thierry Zamofing] - -git reset --hard 7a968aa -rmake -e LIBVERSION=42.42.42 uninstall install --> restart IOC - -ssh root@$PPMAC rm /tmp/triggerSync -cd python -git dt latest -- shapepath.py -./shapepath.py --host=localhost:10001:10002 - -removing test verion -ssh sf-lc7 ls -l /ioc/modules/ESB_MX/ -ssh sf-lc7 rm -rf /ioc/modules/ESB_MX/42.42.42 - - -IOC locations -------------- -``` -~/Documents/prj/SwissFEL/epics_ioc_boot_sf/ESC_all/ESB_MX_PowerBrick -They are just using the new alphy driver. That should have no impact on the motion config. -``` - - -Current (old) Synchronization ------------------------------ -``` -default: -/ESB_MX/src/triggerSync/triggerSync.c -> read usage -simulate start trigger -> pshm->Coord[1].Q[10]=1 to simulate a Jungfrau aquire start\n\ -simulate frame trigger -> pshm->Coord[1].Q[11] -Coord[1].Q[0] is incremented at each trigger - -Coord[1].DesTimeBase is adjusted at each frame trigger - -Coord[1].pDesTimeBase=Coord[1].DesTimeBase.a - - -gpascii: set Gather.Enable=1 -PMAC: LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/triggerSync 10 0 11 -> wait for start trigger -gpascii: set Start trigger: pshm->Coord[1].Q[10]=1 or set EVR that generates the trigger -PMAC: start Gather (Gather.Enable=2) - count and sync frames: - Coord[1].Q[0] = frame counter -gpascii: stop Gather -> Gather.Enable=0 -PMAC: triggerSync stops when Gather.Enable=0 - - -``` - -Enhanced Synchronization ------------------------- -``` -(to be tested) -Coord[1].pDesTimeBase=Coord[1].DesTimeBase.a -For “external time base”, in which the coordinate system’s time base value is proportional to the -frequency of an incoming encoder signal or pulse train, Coord[x].pDesTimeBase should be set -to EncTable[i].DeltaPos.a - -Setup EncTable: -EncTable[n].type = (3)Software 1/T encoder extension (5)Four-byte read 32 bit int (11) Float 32f or 64f - -The ERV are mapped to -//Power PMAC Software Reference Manual.pdf Gate3[i].Chan[j].Status -> page 919 UserFlag -(gate3_1->Chan[0].Status&0x800) = Gate3[1].Chan[0].UserFlag Trigger start -(gate3_1->Chan[1].Status&0x800) = Gate3[1].Chan[1].UserFlag Trigger frame - - -Use EncTable 20 as Frame counter -Gate3[1].Chan[1].EncCtrl = $encctrl -EncTable[20].type = 3 -EncTable[20].pEnc = Gate3[1].Chan[1].UserFlag.a (is same as Gate3[1].Chan[1].Status) thus it will not work -EncTable[20].pEnc1 = Gate3[1].Chan[0].TimerA.a -EncTable[20].index1 = 0 -EncTable[20].index2 = 0 -EncTable[20].index3 = 0 -EncTable[20].index4 = 0 -EncTable[20].index5 = 0 -EncTable[20].ScaleFactor = 1/256 --> THIS DOES NOT WORK WITH CURRENT CONNECTIONS ! --> ONE PHYSICAL ENCODER WOULD NEED PULSE AND DIRECTION INPUT AND SET Gate3[1].Chan[1].EncCtrl TO 'pulse and direction' mode - - -> Sys.Ddata[0]=Sys.Ddata[0]+10 - -Use EncTable 20 as Frame counter -Gate3[1].Chan[1].EncCtrl = $encctrl -EncTable[20].type = 11 //loating point read -EncTable[20].pEnc = Sys.Ddata[0].a -EncTable[20].pEnc1 = Gate3[1].Chan[0].TimerA.a -EncTable[20].index1 = 0 -EncTable[20].index2 = 0 -EncTable[20].index3 = 0 -EncTable[20].index4 = 0 -EncTable[20].index5 = 99 //multiply with 100 -EncTable[20].index5 = 1 //float64 -EncTable[20].ScaleFactor = 1/256 -EncTable[20].ScaleFactor=1E-3 - - -Use EncTable 20 as Frame counter -EncTable[20].type = 1 //32 Bit uint -EncTable[20].pEnc = Sys.Udata[0].a -EncTable[20].index1 = 0 -EncTable[20].index2 = 0 -EncTable[20].index3 = 0 -EncTable[20].index4 = 0 -EncTable[20].index5 = 0 -EncTable[20].index5 = 0 -EncTable[20].ScaleFactor=1E-3 - -Sys.Udata[0];EncTable[20].PrevEnc - - -2.1 trigger zu spät -1.9 trigger zu früh -``` - -23.11.23 Changing stages ------------------------- -``` -https://jira.psi.ch/browse/SFELPHOTON-888 - -recommissioning exchanged stages. The software must not be changed. -the cabeling has to change so that it fits as it worked before. - SAR-EXPMX:MOT_FX: stages behave totally different not working - SAR-EXPMX:MOT_FY: stages behave totally different not working.encoder counts inverse? - SAR-EXPMX:MOT_CX: moves in closed loop, limitswitch +- must be swapped - SAR-EXPMX:MOT_CZ: moves in closed loop, limitswitch +- must be swapped - SAR-EXPMX:MOT_CY: before commissioning check encoder signal Level TTL? - -> we need the old stage to be able to check and compare each motor step by step. - now working and new stage CY is roughly commissined -``` - -24.11.23 Tweak CY stages ------------------------- -``` -stage without load: slowest open loop motion: -#3out-14 -#3out 15 -(14-15% of nominal curttent ~275mA) - -sometimes stuck and needs up to 35% !!! of nominal current to start mofing againg. -This is the drawback of brushes that do not provide a smooth current switching and continous torque - - -> #3out15 -> Motor[3].ServoOut -Motor[3].ServoOut=290.403002929687489 - -Motor[3].Servo.OutDbOn -Motor[3].Servo.OutDbOff -Motor[3].Servo.OutDbSeed - -Motor[3].Servo.OutDbOn=200 -Motor[3].Servo.OutDbOff=400 -Motor[3].Servo.OutDbSeed=0 - -Motor[3].Servo.OutDbOn=200 -Motor[3].Servo.OutDbOff=400 -Motor[3].Servo.OutDbSeed=200 - -Motor[3].Servo.Kp=50 -Motor[3].Servo.BreakPosErr=5 -Motor[3].Servo.Ki=.0004 - -./PBGatherPlot.py -r2 --ssh_tunnel -p '{"motId":3,"address":"Sys.ServoCount,Motor[{motId}].DesPos,Motor[{motId}].PosError,Motor[{motId}].ServoOut,Motor[{motId}].IaMeas,Motor[{motId}].Integrator"}' - - pp={ - 'openloop':False, - 'file' :fn, - 'motor' :3, - #'amp' :40, # openloop: % of maximal amplitude - 'amp' :100, # closed loop: um amplitude - 'minFrq' :1, - 'maxFrq' :20, - 'tSec' :6., - 'mode' :1, - } - tune.bode_chirp(**pp) - fig=plt.figure(1) - fig.suptitle('CY closedloop 6 sec. 1-20Hz amp=100um') - plt.show() - -./PBGatherPlot.py -r0 --ssh_tunnel - -./PBGatherPlot.py -r3 --ssh_tunnel -p '{"motId":3,"rng":[0,5000 ]}' - -./PBGatherPlot.py -r3 --ssh_tunnel -p '{"motId":3,"rng":[0,2000 ],"wait":0.2, "repeat":3}' -d2 - - - +https://jira.psi.ch/browse/SFELPHOTON-1337 ``` diff --git a/ReadmeMCS.md b/ReadmeMCS.md deleted file mode 100644 index 57b56c9..0000000 --- a/ReadmeMCS.md +++ /dev/null @@ -1,82 +0,0 @@ -asynReport 255 -asynSetTraceIOMask -asynSetTraceInfoMask -asynSetTraceMask -/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/SASE_RIXS/Readme.md - -asynReport -asynReport 3 MCS -asynReport 3 asynMCS - - -asynSetTraceMask asynMCS 0 0xff -asynSetTraceIOMask asynMCS 0 0xff - -asynSetTraceMask asynMCS,0, error|device|filter|driver|flow|warning -asynSetTraceIOMask asynMCS,0, nodata|ascii|escape|hex -asynSetTraceInfoMask asynMCS,0, time|port|source|thread - -#quite/default asyn communication -asynSetTraceMask asynMCS,0, error -asynSetTraceIOMask asynMCS,0, escape -asynSetTraceInfoMask asynMCS,0, time|port|source -asynSetTraceMask MCS,0, error -asynSetTraceIOMask MCS,0, escape -asynSetTraceInfoMask MCS,0, time|port|source - - -#good debugging for asyn communication -asynSetTraceMask asynMCS,0, error|driver -asynSetTraceIOMask asynMCS,0, escape -asynSetTraceInfoMask asynMCS,0, time|port|source - -#good debugging for motor record tracing -asynSetTraceMask MCS,0, error|device|filter|driver|flow|warning -asynSetTraceIOMask MCS,0, escape -asynSetTraceInfoMask MCS,0, time|port|source - - -/home/zamofing_t/Documents/doc-ext/SmaractMCS/MCSrs232InterfaceDocumentation.pdf -ncat 129.129.244.32 5000 -->resut :ID4049801502 - -:GSI -:GIV -:GNC - -:GCT0 - -:MPA0,123000,2000 -:GP0 -->:P0,123000\n -:MPA0,987,2000 -:GST0 -:ST0,1 - -#good debugging for motor record tracing -asynSetTraceMask asynS1,0, 0x09 -asynSetTraceIOMask asynS1,0, 0x02 -asynSetTraceInfoMask asynS1,0, 0x07 - - - -add a ASYn record - -caqtdm -macro 'S=SARES30-SMX,M=MCS,T=MCS' ESB_MX_SmarAct - -caqtdm -macro 'P=SARES30-SMX:,R=ASYN' asynOctet - -caput SARES30-SMX:ASYN.AOUT :GSI -caput SARES30-SMX:ASYN.AOUT :GP0 -caput SARES30-SMX:ASYN.AOUT :MPA0,123000,2000 -caput SARES30-SMX:ASYN.AOUT :GST0 - - - -caget SARES30-SMX:ASYN.TINP - - - -/home/zamofing_t/Documents/prj/SwissFEL/driver_modules_epics/motorBase/motorApp/MotorSrc/asynMotorController.h - -if the position can not be reached, the $(S):$(M).MISS is set to 1 \ No newline at end of file diff --git a/asyn.template b/asyn.template deleted file mode 100644 index d56eb09..0000000 --- a/asyn.template +++ /dev/null @@ -1,8 +0,0 @@ -record(asyn,"$(P):$(R=asyn)") -{ - field(DTYP,"asynRecordDevice") - field(PORT,"$(PORT)") - field(ADDR,"0") - field(OMAX,"100") - field(IMAX,"100") -} diff --git a/cfg/MX1_coordTrf.cfg b/cfg/MX1_coordTrf.cfg deleted file mode 100644 index de56f90..0000000 --- a/cfg/MX1_coordTrf.cfg +++ /dev/null @@ -1,28 +0,0 @@ - -&1 -//#1-> 0.00001X+ 0.00001Y + A -//#2-> +1. X + .5Y + 0.01A -//#3-> + .5X +1. Y + 0.01A - -#1-> Y -#2-> X -#3-> A - -Coord[1].AltFeedRate=0 -Coord[1].Tm=1 //1ms time -Coord[1].Ta=1 -Coord[1].Td=1 -Coord[1].Ts=0 - -//Parker: Continous Force 4N -> assume 1kg load -> acceleration=a=F/m=4m/s^2 -//do not use time to accelerate but acceleration -//4m/s^2=4um/(ms)^2 Motor units=um -> JogTa= -1ms^2/4mu -2.5-> 4m/s^2 -25->0.4m/s^2 -Motor[1].JogTs=0 -Motor[1].JogTa=-2.5 -Motor[2].JogTs=0 -Motor[2].JogTa=-2.5 - - -Motor[1].MaxSpeed=50 -Motor[2].MaxSpeed=50 -Motor[3].MaxSpeed=360 diff --git a/cfg/MX1_home.cfg b/cfg/MX1_home.cfg deleted file mode 100644 index f773cac..0000000 --- a/cfg/MX1_home.cfg +++ /dev/null @@ -1,170 +0,0 @@ -define(PLC_Homing='1') -define(PLC_HomingCY='2') -define(statusHoming='P100') -statusHoming=0 - -//statusHoming: -// 1: M1 phased -// 2: M2 phased -// 4: M1 pos limit found -// 8: M2 pos limit found -// 16: M1 homed -// 32: M2 homed -// 256: homing failed - - -open plc PLC_Homing - define(timer='L1') - statusHoming=0 - L10=Motor[1].MaxDac - Motor[1].MaxDac=500 - L11=Motor[1].FatalFeLimit - Motor[1].FatalFeLimit=2000 - L12=Motor[1].JogSpeed - Motor[1].JogSpeed=1 - L13=Motor[1].pEncLoss - Motor[1].pEncLoss=0 - - L20=Motor[2].MaxDac - Motor[2].MaxDac=500 - L21=Motor[2].FatalFeLimit - Motor[2].FatalFeLimit=2000 - L22=Motor[2].JogSpeed - Motor[2].JogSpeed=1 - L23=Motor[2].pEncLoss - Motor[2].pEncLoss=0 - - - Motor[1].PhaseFindingStep=1 - Motor[2].PhaseFindingStep=1 - while(Motor[1].PhaseFindingStep>0 || Motor[2].PhaseFindingStep>0){} - if (Motor[1].PhaseFound==1) - { - statusHoming|=1 - cmd "#1j/" - send 1"phasing Y_Achse ok\n" - } - else - { - send 1"phasing Y Achsde error!\n" - goto 0 //ERROR_END - } - if (Motor[2].PhaseFound==1) - { - statusHoming|=2 - cmd "#2j/" - send 1"phasing X_Achse ok\n" - } - else - { - send 1"phasing X Achse error!\n" - statusHoming|=256 - goto 0 //ERROR_END - } - - - //move until FeWarn - Motor[1].JogSpeed=6 - Motor[2].JogSpeed=6 - timer = Sys.RunTime + .5;while (Sys.RunTime < timer){} //wait .5 sec - jog+1 - jog+2 - while(1) - { - if(Motor[1].FeWarn && (statusHoming&4)==0) - { - cmd "#1j/" - send 1"Y_Achse +limit\n" - statusHoming|=4 - } - if(Motor[2].FeWarn && (statusHoming&8)==0) - { - cmd "#2j/" - send 1"X_Achse +limit\n" - statusHoming|=8 - } - if((statusHoming&12)==12) - break - } - timer = Sys.RunTime + .5;while (Sys.RunTime < timer){} //wait .5 sec - - Motor[1].HomeVel=-3 - Motor[2].HomeVel=-3 - home1 - home2 - timer = Sys.RunTime + .5;while (Sys.RunTime < timer){} //wait .5 sec - while(Motor[1].HomeInProgress || Motor[2].HomeInProgress){} - - if(Motor[1].HomeComplete) - statusHoming=statusHoming|16 - else - { - statusHoming|=256 - send 1"Y_Achse home failed\n" - } - - if(Motor[2].HomeComplete) - statusHoming=statusHoming|32 - else - { - statusHoming|=256 - send 1"X_Achse home failed\n" - } - - //Motor[1].PhasePos=560 // 555 581 593 558 - //Motor[2].PhasePos=1540 //1549 1531 1543 1537 - homez6,7 - - goto 1 - -N0: //ERROR_END - statusHoming|=256 - -N1: //ENDPLC - Motor[1].MaxDac=L10 - Motor[1].FatalFeLimit=L11 - Motor[1].JogSpeed=L12 - Motor[1].pEncLoss=L13 - - Motor[2].MaxDac=L20 - Motor[2].FatalFeLimit=L21 - Motor[2].JogSpeed=L22 - Motor[2].pEncLoss=L23 - send 1"homeing done\n" - - disable plc PLC_Homing -close - - -open plc PLC_HomingCY - define(timer='L1') - statusHoming=0 - if (Motor[3].PlusLimit==1){ - jog3:-2000 // move out of limit switch - statusHoming|=16 - while(Motor[3].DesVelZero!=0){} - } - - Motor[3].pLimits=0 - Motor[3].HomeVel=1 - Motor[3].HomeOffset=-1500 - timer = Sys.RunTime + 2. ;while (Sys.RunTime < timer){} //wait x sec - statusHoming|=1 - home3 //homing to +lim, moving to relative position HomeOffset=-1000 and set this position to 0 - timer = Sys.RunTime + .5 ;while (Sys.RunTime < timer){} //wait x sec - while(Motor[3].HomeInProgress){} - if(Motor[3].HomeComplete) - statusHoming=statusHoming|2 - else - { - statusHoming|=256 - send 1"CY_Achse home failed\n" - } - - statusHoming|=4 - timer = Sys.RunTime + 1.;while (Sys.RunTime < timer){} //wait x sec - Motor[3].pLimits=PowerBrick[0].Chan[2].Status.a //seset limit switches - Motor[3].HomePos-=29000 //set this position to 29000um - statusHoming|=8 - disable plc PLC_HomingCY -close \ No newline at end of file diff --git a/cfg/MX1_setup.cfg b/cfg/MX1_setup.cfg deleted file mode 100644 index 6dce791..0000000 --- a/cfg/MX1_setup.cfg +++ /dev/null @@ -1,153 +0,0 @@ -//servoSf : motorusteps/user_units -//posSf : user_units/encoder_steps -//because of many problems with pos2Sf, selt them to 0 - -// Here we use 'real encoder with direct PWM'. Further the axis are scaled -// in this configuration, the PID gives 'torque' to iqCmd. -// the phasePos is received from tne encoder on the motor shaft. -// The idCmd is set to 0 -// the PID regulates the position by setting torque, if the motor is not at the desired position -// Compared to 'real encoder with direct microstepping', following main elements have to be reconfigured: -// SlipGain=0 (instead 0.25) ,PhasePosSf= calculated value (instead of 0) -// look also at PwmSf,PhaseMode,PhaseCtrl, - -// -> PhasePosSf is calculated as follows: (2048*pole_cycle)/(256*enc_step) = 8*pole_cycle/enc_step - -// e.g. Motor[x].pPhaseEnc -> PowerBrick[.].Chan[.].PhaseCapt.a -// 1 rev = 8192 phase_step = 4 pole_cycle = 512000 PhaseCapt =256*2000 (256=scaling of encTable, 2000=enc_step/rev) -// PhasePosSf 8*4/2000=0.016 - - -// x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_step -// changing the polarity from S-N-S (one pole cycle) are 2048 phase_step. phase_step is also called ustep - -//Mot 1: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step -//Enc 1: Stage Y Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step) - -//Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step -//Enc 2: Stage X Parker MX80L D11 inc_enc 20nm one pole cycle = 13mm = 650000 enc_step (20nm/enc_step) - -//OLD Stage 3 -//Mot 3: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step -//Enc 3: Rotation stage LS Mecapion 1 rev = 1048576 enc_steps - -// OWIS stage HMV 10N-303HiDS 42.N00.30WJ (DC-Mot. mech Endswitch Norm.Closed) -// 30mm max 12mm/s max 35V max 2.1A 500um/rev 2000enc_cnt/rev Incr. enc with home mark TTL level -//Mot 3: Stage Y DC-Motor (Brushed DC) -//Enc 3: Stage Y Incr. Encoder - - -//Mot 4: Stage X Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor) -//Enc 4: Renishaw absolute BiSS - -//Mot 5: Stage Z Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor) -//Enc 5: Renishaw absolute BiSS - -//Enc 6: Interferometer Y - -//Enc 7: Interferometer X - -//Stage Y Parker MX80L -//-------------------- -//Motor[1].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a -// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable) -// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05 -//2048 phase_step =166400000 PhaseCapt -> PhasePosSf = 2048/166400000= 2048./(256*650000) -//use um as motor unit -!encoder_sim(enc=1,tbl=9,mot=9,posSf=13000./2048) -!encoder_inc(enc=1,tbl=1,mot=1,posSf=13000./650000) -!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=350,Ki=0.02,Kvff=350,Kaff=1615,MaxInt=1000,Kfff=10) -!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index') -//turn off encoder loss: Motor[1].pEncLoss=PowerBrick[0].Chan[0].Status.a -Motor[1].pEncLoss=0 - -//Stage X Parker MX80L (top stage, mounted on Y stage) -//---------------------------------------------------- -//Motor[2].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a -// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable) -// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05 -//2048 phase_step =166400000 PhaseCapt -> PhasePosSf = 2048/166400000= 2048./(256*650000) -//PhaseFreq=20000,PhasePerServo=1 -> Kvfb=220*4 Ki/=4,Kvff*=4,Kaff*=4*4 - -!encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048) -!encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000) -!motor_servo(mot=2,ctrl='ServoCtrl',Kp=22,Kvfb=450,Ki=0.02,Kvff=450,Kaff=4517,MaxInt=1000,Kfff=10) -!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index') -//turn off encoder loss: Motor[2].pEncLoss=PowerBrick[0].Chan[1].Status.a -Motor[2].pEncLoss=0 - - - -//rot stage (decomissioned) -//------------------------- -//use 360'000 for 360 deg as motor unit -//1 rev = 16*2048=32768 phase_step = 1048576 enc_steps -//PhasePosSf= 8*el_cycle/enc_step =8*16/1048576=1./8192 -//Motor[1].pPhaseEnc=EncTable[1].pEnc=Acc84B[0].Chan[0].SerialEncDataA.a -// -> PhasePosSf is calculated as follows: (2048*pole_cycle)/(256*enc_step) = 8*pole_cycle/enc_step -//PhasePosSf = (2048*pole_cycle)/(SerialEncDataA)=8*16/1048576=1/32 -// Motor 3: 0dB at 18.8Hz Friction 70curr_bits -// Kaff= 1/((18.8*2*np.pi)**2/5000**2 ) = 1791.6970285327388 - -//!encoder_sim(enc=3,tbl=11,mot=11,posSf=360000./32768) -//!encoder_biss(enc=3,tbl=3,mot=3,numBits=20,posSf=360000./1048576) -//Motor[3].pPhaseEnc=Acc84B[0].Chan[2].SerialEncDataA.a -//!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=220,Ki=0.001,Kvff=220,Kaff=1792,MaxInt=1000,Kfff=5) -//!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=2,IpfGain=12,IpbGain=12,JogSpeed=180.,numPhase=3,invDir=False,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987) - - -//Y stage OWIS -//------------ -//2000enc/rev 500um/rev -//1 rev = 2000 enc_cnt = 500um -> posSf=500um/2000=0.25 -//measured: 30mm=119640.5 enc_cnt posSf=30000/119640.5=0.2507 -// max. 2.1A 36V 12mm/s - -//!encoder_inc(enc=3,tbl=11,mot=11,posSf=1) -!encoder_inc(enc=3,tbl=3,mot=3,posSf=0.25) -!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=0,Ki=0.0,Kvff=0,Kaff=0,MaxInt=1000,Kfff=0) -!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1,IpfGain=3,IpbGain=3,JogSpeed=12.,numPhase=2,invDir=False,servo=None,PhasePosSf=0,PhaseFindingDac=0,PhaseFindingTime=0,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=50,homing='hi-limit') -Motor[3].Servo.Kp=20 -Motor[3].Servo.BreakPosErr=1 -Motor[3].Servo.KBreak=10 -Motor[3].Servo.Ki=0 -Motor[3].Servo.OutDbOn=50 -Motor[3].Servo.OutDbOff=50 - -//Motor[3].Servo.Kp=80 -//Motor[3].Servo.BreakPosErr=0 -//Motor[3].Servo.KBreak=2 -//Motor[3].Servo.Ki=0 -//Motor[3].Servo.OutDbOn=150 -//Motor[3].Servo.OutDbOff=150 - -//Motor[3].Servo.Kp=50 -//Motor[3].Servo.BreakPosErr=5 -//Motor[3].Servo.Ki=.0005 -//Motor[3].Servo.OutDbOn=200 -//Motor[3].Servo.OutDbOff=200 - - -//Stada stage -//----------- -//512000 ustep == 50000 encCnt == 2500um -//posSf = userUnits/encoder_steps -//servoSf=motor_u_steps/userUnits - -!encoder_biss(enc=4,numBits=32,posSf=-1./20) -!encoder_biss(enc=5,numBits=32,posSf=-1./20) -!motor(mot=4,current=200,JogSpeed=0.5,invDir=0,servoSf=204.8,InPosBand=1,HomeOffset=-39278) -!motor(mot=5,current=200,JogSpeed=0.5,invDir=0,servoSf=204.8,InPosBand=1,HomeOffset=-39736) - - -//Interferometer 1,2 -//------------------ -!encoder_inc(enc=6,tbl=6,mot=6 ,posSf=.01) //1 incr=10nm -> posSf=.01 to scale to um -!encoder_inc(enc=7,tbl=7,mot=7 ,posSf=-.01) //1 incr=10nm,inverse direction -> posSf=.01 to scale to um - -#4,5hmz - -//holding current -!holding_current(m4=[0,240],m5=[0,240]) - - diff --git a/cfg/MX2_coordTrf.cfg b/cfg/MX2_coordTrf.cfg deleted file mode 100644 index eee31e4..0000000 --- a/cfg/MX2_coordTrf.cfg +++ /dev/null @@ -1,27 +0,0 @@ -// ---------- Coordinate System/Transformation ---------- - -//These values influence the speed of axis X,Y,Z and also A,B -Coord[1].Ta=100 -Coord[1].Td=100 -Coord[1].AltFeedRate=1000 -Coord[1].Tm=-1000 //1000um/FeedTime -> 1mm/sec -Coord[1].FeedTime=1000 //default value 1000um - - -//Coordinate Transformation -&1 -#1-> -1.X -10.Y +0.5A +5.B -#2-> +1.X -10.Y -0.5A +5.B //motor 2 has opposite direction -#3-> -1.X -10.Y -0.5A -5.B -#4-> +1.X -10.Y +0.5A -5.B //motor 4 has opposite direction - -//PITCH YAW are not exposed directly, because these would need -//inverse and forward kinematics due to the angle functions - -Motor[1].MaxSpeed=Motor[1].JogSpeed -Motor[2].MaxSpeed=Motor[2].JogSpeed -Motor[3].MaxSpeed=Motor[3].JogSpeed -Motor[4].MaxSpeed=Motor[4].JogSpeed - - - diff --git a/cfg/MX2_home.cfg b/cfg/MX2_home.cfg deleted file mode 100644 index 1cc69ef..0000000 --- a/cfg/MX2_home.cfg +++ /dev/null @@ -1,67 +0,0 @@ -define(PLC_Homing='1') - -//Homing: -//Move all motors left bottom -//move 1mm up -//move both mottors at same time - -//move to limit switch, gather data, move to other limit switch, gather stop. move back to first limit switch -//status :P100: local status -//timer :L0: local timer - -open plc PLC_Homing - define(status='P100',timer='L0') - jog-1; jog-2; jog-3; jog-4; - Motor[1].HomeVel=0.5 - Motor[2].HomeVel=0.5 - Motor[3].HomeVel=0.5 - Motor[4].HomeVel=0.5 - status=1 - - while(1) - { - if((Motor[1].LimitStop==1 || Motor[1].FeFatal==1)){ - if((Motor[2].LimitStop==1 || Motor[2].FeFatal==1)){ - if((Motor[3].LimitStop==1 || Motor[3].FeFatal==1)){ - if((Motor[4].LimitStop==1 || Motor[4].FeFatal==1)){ - status=2 - break - }}}} - } - timer = Sys.RunTime + 2 - while (Sys.RunTime < timer){} //wait 1 sec - status=3 - jog1:1000; jog2:1000; jog3:1000; jog4:1000; - timer = Sys.RunTime + .1 - while (Sys.RunTime < timer){} //wait 1 sec - status=4 - while(1) - { - if(Motor[1].DesVelZero==1 && Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1) - { - status=5 - break - } - } - timer = Sys.RunTime + .1 - while (Sys.RunTime < timer){} - home 1; home 2; home 3; home 4 - status=6 - while(1) //wait homing index found done - { - if(Motor[1].HomeComplete==1 && Motor[2].HomeComplete==1 && Motor[3].HomeComplete==1 && Motor[4].HomeComplete==1) - { - status=7 - break - } - } - while(1) //wait moving to zero position done - { - if(Motor[1].DesVelZero==1 && Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1) - { - status=8 - break - } - } - disable plc PLC_Homing -close diff --git a/cfg/MX2_setup.cfg b/cfg/MX2_setup.cfg deleted file mode 100644 index 004afb4..0000000 --- a/cfg/MX2_setup.cfg +++ /dev/null @@ -1,56 +0,0 @@ - - -//Wedge Movers -//-------------- -//Nanotec 2 ph motor 42.3mm 1.8deg, Planetgetriebe 1.5Nm I=1:12, Spindel 2mm steigung -//ST4118L1804-B 42 mm 17 50 Ncm 1.8 deg/step 1.8 A/Wicklung 49 mm €34.10 - -//102400*12=1228800 == 2mm -//#1j:1228800 -> 1 rev = 2mm = 2000inc -//posSf = userUnits/encoder_steps =1 -//servoSf=motor_u_steps/userUnits = 1228800/2000. = 614.4 - -//#1 = wedge 1a -//#2 = wedge 1b -//#3 = wedge 2a -//#4 = wedge 2b - -//steigung Keil: 11.4212deg = arctan(0.2)=11.31deg -> Steigung 1:5 -//on 146mm from 35 to 21.5mm 146/(35-21.5)=10.81 -//on 280mm from 61mm to 38 mm 280/(61-38)= - -//!encoder_sim(enc=1) -//!encoder_inc(enc=1,tbl=9,mot=9,posSf=1) -//!motor(mot=1,dirCur=120,JogSpeed=102.4*1,invDir=False) -//Motor[1].pLimits=0 - -!encoder_inc(enc=1,posSf=1.) -!motor(mot=1,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1,FaultMode=0) - -!encoder_inc(enc=2,posSf=1.) -!motor(mot=2,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1,FaultMode=0) - -!encoder_inc(enc=3,posSf=1.) -!motor(mot=3,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1,FaultMode=0) - -!encoder_inc(enc=4,posSf=1.) -!motor(mot=4,dirCur=1000,JogSpeed=1.,HomeVel=.5,servoSf=614.4,homing='enc-index',invDir=False,HomeOffset=0,InPosBand=1,FaultMode=0) - - -//Backlight -//--------- -//#5j=0 //down #5j=-31000 //up -!encoder_sim(enc=5) -!motor(mot=5,dirCur=1800,JogSpeed=40,invDir=False) - - -//Cryojet -//--------- -//Max. 1.5A -1024000=-10mm -//posSf = userUnits/encoder_steps =10000/1024000 =10./1024 -//servoSf=motor_u_steps/userUnits = 1024000/10000. = 102.4 -!encoder_sim(enc=6,posSf=10./1024) -!motor(mot=6,dirCur=1500,JogSpeed=10,invDir=False,servoSf=102.4) - - -!holding_current(m1=[0,1000],m2=[0,1000],m3=[0,1000],m4=[0,1000],m5=[1400,1800],m6=[0,1000]) diff --git a/cfg/MX3_coordTrf.py b/cfg/MX3_coordTrf.py deleted file mode 100644 index 44a19fe..0000000 --- a/cfg/MX3_coordTrf.py +++ /dev/null @@ -1,129 +0,0 @@ -def MX3_coordTrf(fileParser,kwargs): - from math import sqrt - ''' - --- mandatory --- - exc : excentricity of cam - height: Height of the beam above moved plane - width : x-distance of P2 to P3 - length: y-distance of P1 to P2,P3 - camSf : scale factor to convert cam encoder to rotation angle (360deg=2*pi) - --- optional --- - ... - - Documentation: - /home/zamofing_t/Documents/doc-ext/SwissFEL/Devices/5CAM/cam_mov7.pdf - 'Cam Movers for SLS undulators' (21.5.2013, Calvi, Bruegger, Zimoch) - home/zamofing_t/Documents/doc-ext/DeltaTau/Training/TrainingSlides/22-Power PMAC Cam Tables 2014-04.ppt - Ref Manual: 96-106,488, 527-528, 655 - - - Coordinate Transformation - ------------------------- - L1-5: AA1-5 : Cam Angle = Motor position - L11-15: S1-5 : Linear shift of the cam S.= E/sqrt(2)*sin(AA.) - C3-7: X,Y,U,V,W : X,Y positions and rotation around axes X,Y,Z - -open forward -L1-L5 are input motor positions, C3-C7 are output coordinate -X=D^-1*S - - - -open inverse -L1-L5 are output motor positions, C3-C7 are input coordinate -S=D*X - - ''' - - kw=kwargs - - if not kw.has_key('q'): - kw['q']=0. - - kw['sqrt2']=sqrt(2.) - fileParser.parse_txt(''' -// ---------- Coordinate System/Transformation ---------- -// Set the motors as inverse kinematic axes in CS 1 -&1 -#1->I -#2->I -#3->I -#4->I -#5->I - -Coord[1].Ta=10 -Coord[1].Td=10 -Coord[1].AltFeedRate=1000 -Coord[1].Tm=-10000 //1000um/FeedTime -> 1mm/sec -Coord[1].FeedTime=1000 //default value 1000um -Motor[1].MaxSpeed=Motor[1].JogSpeed -Motor[2].MaxSpeed=Motor[2].JogSpeed -Motor[3].MaxSpeed=Motor[3].JogSpeed -Motor[4].MaxSpeed=Motor[4].JogSpeed -Motor[5].MaxSpeed=Motor[5].JogSpeed - -open forward - //define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5') - define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3') - - define(r='L6',scl='L7',q='L8') - define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15') - define(X='C6',Y='C7',U='C3',V='C4',W='C5') - r=$height/$width - q=$q - scl=$exc/$sqrt2 - S1=scl*cos(AA1*$camSf) - S2=scl*cos(AA2*$camSf) - S3=scl*cos(AA3*$camSf) - S4=scl*cos(AA4*$camSf) - S5=scl*cos(AA5*$camSf) - - //send 1"fwd_inp(%f) %f %f %f %f %f\\n",D0,AA1,AA2,AA3,AA4,AA5 - //send 1"fwd_inp(%f) %f %f %f %f %f\\n",D0,S1,S2,S3,S4,S5 - - - //X=D^-1*S - X= +.5*S1 -.5*S2 +(r+.75)*S3 +(r-.25)*S4 -(r+.25)*$sqrt2*S5 - Y=(1.+q)*.5*S1 +(1.+q)*.5*S2 +(1.-q)*.25*S3 +(1.-q)*.25*S4 +(1.-q)*.25*$sqrt2*S5 - U= +1.*S3 +1.*S4 -1.*$sqrt2*S5 - V= -1.*S1 +1.*S2 +.5*S3 -1.5*S4 +.5*$sqrt2*S5 - W= -1.*S1 -1.*S2 +.5*S3 +.5*S4 +.5*$sqrt2*S5 - - //send 1"fwd_res %f %f %f %f %f\\n",X,Y,U,V,W - - D0=$$000000f8; //U=$$8 V=$$10 W=$$20 X=$$40 Y=$$80 hex(8+int('10',16)+int('20',16)+int('40',16)+int('80',16)) -> '0xf8' -close - -open inverse - //define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5') - define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3') - define(r='L6',scl='L7',q='L8') - define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15') - define(X='C6',Y='C7',U='C3',V='C4',W='C5') - - //if(D0>0) - // send 1"Velocity calculation NOT SUPPORTED\\n" - - //send 1"inv_inp(%f) %f %f %f %f %f\\n",D0,X,Y,U,V,W - - r=$height/$width - q=$q - - S1=+.5*X +.5*Y -(.25+.5*r)*U -.25*V -.25*(1-q)*W - S2=-.5*X +.5*Y +(.25+.5*r)*U +.25*V -.25*(1-q)*W - S3=+.5*X +.5*Y +(.25-.5*r)*U +.25*V +.25*(1+q)*W - S4=-.5*X +.5*Y +(.25+.5*r)*U -.25*V +.25*(1+q)*W - S5= .5*$sqrt2*Y -.25*$sqrt2*U +.25*$sqrt2*(1+q)*W - - scl=$sqrt2/$exc - AA1=acos(S1*scl)/$camSf - AA2=acos(S2*scl)/$camSf - AA3=acos(S3*scl)/$camSf - AA4=acos(S4*scl)/$camSf - AA5=acos(S5*scl)/$camSf - - //send 1"inv_res %f %f %f %f %f\\n",AA1,AA2,AA3,AA4,AA5 - -close - -''',kw) diff --git a/cfg/MX3_setup.cfg b/cfg/MX3_setup.cfg deleted file mode 100644 index 0ce890c..0000000 --- a/cfg/MX3_setup.cfg +++ /dev/null @@ -1,83 +0,0 @@ -//the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear) -//the ssi-encoder has 2**18=262144 steps per revolution -//calibration values such that 0 mdeg is the highest point (+5mm) and 180000mdeg = lowest point (-5mm) -//#1: homeoffset: -20907.5928142 -//#2: homeoffset: 102320.329068 -//#3: homeoffset: 168946.772022 -//#4: homeoffset: -87830.7554146 -//#5: homeoffset: -47956.2759182 - -!encoder_ssi(enc=1,numBits=18,posSf=-5625./4096) -!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=65477.,FaultMode=0) - -!encoder_ssi(enc=2,numBits=18,posSf=-5625./4096) -!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-154370.,FaultMode=0) - -!encoder_ssi(enc=3,numBits=18,posSf=-5625./4096) -!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-5248.,FaultMode=0) - -!encoder_ssi(enc=4,numBits=18,posSf=-5625./4096) -!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-46620.,FaultMode=0) - -!encoder_ssi(enc=5,numBits=18,posSf=-5625./4096) -!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=93168.,FaultMode=0) - -Motor[1].Servo.BreakPosErr=0 -Motor[2].Servo.BreakPosErr=0 -Motor[3].Servo.BreakPosErr=0 -Motor[4].Servo.BreakPosErr=0 -Motor[5].Servo.BreakPosErr=0 - - -// PKP266D14BA2 1.4A 1.8deb/step -// encoder: Renishaw: RL26BAT050B050A 26 bit, 50nm/enc_cnt -//!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 -//#6j=102400 steps == 1 rev == 2000*20 enc_cnt == 2000*1um -//servoSf : motorusteps/user_units = 102400./2000 -//posSf : user_units/encoder_steps = 0.05nm/1enc_cnt=1/20 -//Open loop -//!encoder_sim(enc=6,posSf=2000./102400,pos2Sf=0) -//!encoder_biss(enc=6,tbl=16,mot=16,numBits=26,posSf=1./20) -//!motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=0.) -//Closed loop -!encoder_sim(enc=6,tbl=16,mot=16,posSf=2000./102400) -!encoder_biss(enc=6,numBits=26,posSf=1./20) -!motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=1684405.) - - -// break configuration -// at the beginning brakes were handeled with 'custom motion', but this has been removed, -// as it was possible to cofigure simple brake handling with the motor on a better approach -// s.a. following implementation -// ~/Documents/prj/SwissFEL/epics_ioc_modules/PBPG/cfg/motEnc-PBPG050.cfg -//!holding_current template not needed. The brake stuff below turns off the amplifiers -// brake -// PowerBrick[0].GpioData[0].16 is GPIO-OUT[1] - -Motor[1].pBrakeOut = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!! -Motor[1].BrakeOutBit = 16 -Motor[1].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered -Motor[1].BrakeOnDelay = 100 // delay in ms before the amplifier is disabled after motion has stopped - -Motor[2].pBrakeOut = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!! -Motor[2].BrakeOutBit = 17 -Motor[2].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered -Motor[2].BrakeOnDelay = 100 // delay in ms before the amplifier is disabled after motion has stopped - -Motor[3].pBrakeOut = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!! -Motor[3].BrakeOutBit = 18 -Motor[3].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered -Motor[3].BrakeOnDelay = 100 // delay in ms before the amplifier is disabled after motion has stopped - -Motor[4].pBrakeOut = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!! -Motor[4].BrakeOutBit = 19 -Motor[4].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered -Motor[4].BrakeOnDelay = 100 // delay in ms before the amplifier is disabled after motion has stopped - -Motor[5].pBrakeOut = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!! -Motor[5].BrakeOutBit = 20 -Motor[5].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered -Motor[5].BrakeOnDelay = 100 // delay in ms before the amplifier is disabled after motion has stopped diff --git a/cfg/MX3_setup_sim.cfg b/cfg/MX3_setup_sim.cfg deleted file mode 100644 index 3aff032..0000000 --- a/cfg/MX3_setup_sim.cfg +++ /dev/null @@ -1,19 +0,0 @@ -!encoder_sim(enc=1,tbl=1,mot=1) -!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=100.,numPhase=3,invDir=True) -Motor[1].pLimits=0;Motor[1].AmpFaultLevel=0;Motor[1].pAmpEnable=0;Motor[1].pAmpFault=0 - -!encoder_sim(enc=2,tbl=2,mot=2) -!motor(mot=2,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=100.,numPhase=3,invDir=True) -Motor[2].pLimits=0;Motor[2].AmpFaultLevel=0;Motor[2].pAmpEnable=0;Motor[2].pAmpFault=0 - -!encoder_sim(enc=3,tbl=3,mot=3) -!motor(mot=3,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=100.,numPhase=3,invDir=True) -Motor[3].pLimits=0;Motor[3].AmpFaultLevel=0;Motor[3].pAmpEnable=0;Motor[3].pAmpFault=0 - -!encoder_sim(enc=4,tbl=4,mot=4) -!motor(mot=4,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=100.,numPhase=3,invDir=True) -Motor[4].pLimits=0;Motor[4].AmpFaultLevel=0;Motor[4].pAmpEnable=0;Motor[4].pAmpFault=0 - -!encoder_sim(enc=5,tbl=5,mot=5) -!motor(mot=5,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=100.,numPhase=3,invDir=True) -Motor[5].pLimits=0;Motor[5].AmpFaultLevel=0;Motor[5].pAmpEnable=0;Motor[5].pAmpFault=0 diff --git a/cfg/SAR-EXPMX1.cfg b/cfg/SAR-EXPMX1.cfg deleted file mode 100644 index 82facd8..0000000 --- a/cfg/SAR-EXPMX1.cfg +++ /dev/null @@ -1,10 +0,0 @@ - -//$$$*** -//!common() -//!common(PhaseFreq=20000,PhasePerServo=4) -//!common(PhaseFreq=20000,PhasePerServo=1) -//!common(PhaseFreq=40000) - -!MX1_setup() -!MX1_home() -!MX1_coordTrf() \ No newline at end of file diff --git a/cfg/SAR-EXPMX2.cfg b/cfg/SAR-EXPMX2.cfg deleted file mode 100644 index 20d208c..0000000 --- a/cfg/SAR-EXPMX2.cfg +++ /dev/null @@ -1,4 +0,0 @@ - -!MX2_setup() -!MX2_home() -!MX2_coordTrf() \ No newline at end of file diff --git a/cfg/SAR-EXPMX3.cfg b/cfg/SAR-EXPMX3.cfg deleted file mode 100644 index bd6de05..0000000 --- a/cfg/SAR-EXPMX3.cfg +++ /dev/null @@ -1,60 +0,0 @@ - -!MX3_setup() -//!MX3_setup_sim() // comment out !MX3_setup() when this is active -//!MX3_home() -//using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000 -//excentricity= 5mm -//height = 90+28mm = 118 -//width = (450+305)/2=377.5 -//length = 600mm -//pivotpoint q= -.7 0= center 1=mover upstream -1=mover downstream ca. 100mm from downstream -//!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05) -!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05,q=-.7) - -//Motor 1 -> AA2 -//Motor 2 -> AA1 -//Motor 3 -> AA5 -//Motor 4 -> AA3 -//Motor 5 -> AA4 - -// define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5') -// define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3') - -Coord[1].Ta=10 -Coord[1].Td=10 -Coord[1].AltFeedRate=1000 -Coord[1].Tm=-10000 //1000um/FeedTime -> 1mm/sec -Coord[1].FeedTime=1000 //default value 1000um - -&1 - -//initialization code -open plc 1 - homez1..5 - L0 = Sys.RunTime + .1 - while (Sys.RunTime < L0){} //wait .1 sec - jog/1..5 - while (Sys.RunTime < L0){} //wait .1 sec - - if (Motor[1].ActPos-Motor[1].HomePos<-180000) - Motor[1].HomePos=Motor[1].HomePos-360000 - if (Motor[2].ActPos-Motor[2].HomePos<-180000) - Motor[2].HomePos=Motor[2].HomePos-360000 - if (Motor[3].ActPos-Motor[3].HomePos<-180000) - Motor[3].HomePos=Motor[3].HomePos-360000 - if (Motor[4].ActPos-Motor[4].HomePos<-180000) - Motor[4].HomePos=Motor[4].HomePos-360000 - if (Motor[5].ActPos-Motor[5].HomePos<-180000) - Motor[5].HomePos=Motor[5].HomePos-360000 - disable plc 1 -close // plc 1 - -enable plc 1 - -#1..5dkill - -#6hmz -//motor 1..5 use break setup to kill motor -!holding_current(m6=[0,700]) - - diff --git a/cfg/sim_8_motors.cfg b/cfg/sim_8_motors.cfg deleted file mode 100644 index 5444aee..0000000 --- a/cfg/sim_8_motors.cfg +++ /dev/null @@ -1,42 +0,0 @@ -//simulated 8 motors without needing real ones -//$$$*** -//!common() - -//use some step and direction lines to setup simulate motors -// /afs/psi.ch/user/h/humar_t/public/Modules/XMI/cfg/xmi.cfg - -!encoder_sim(enc=1,tbl=1,mot=1) -!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True) -Motor[1].pLimits=0;Motor[1].AmpFaultLevel=0;Motor[1].pAmpEnable=0;Motor[1].pAmpFault=0 - -!encoder_sim(enc=2,tbl=2,mot=2) -!motor(mot=2,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True) -Motor[2].pLimits=0;Motor[2].AmpFaultLevel=0;Motor[2].pAmpEnable=0;Motor[2].pAmpFault=0 - -!encoder_sim(enc=3,tbl=3,mot=3) -!motor(mot=3,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True) -Motor[3].pLimits=0;Motor[3].AmpFaultLevel=0;Motor[3].pAmpEnable=0;Motor[3].pAmpFault=0 - -!encoder_sim(enc=4,tbl=4,mot=4) -!motor(mot=4,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True) -Motor[4].pLimits=0;Motor[4].AmpFaultLevel=0;Motor[4].pAmpEnable=0;Motor[4].pAmpFault=0 - -!encoder_sim(enc=5,tbl=5,mot=5) -!motor(mot=5,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True) -Motor[5].pLimits=0;Motor[5].AmpFaultLevel=0;Motor[5].pAmpEnable=0;Motor[5].pAmpFault=0 - -!encoder_sim(enc=6,tbl=6,mot=6) -!motor(mot=6,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True) -Motor[6].pLimits=0;Motor[6].AmpFaultLevel=0;Motor[6].pAmpEnable=0;Motor[6].pAmpFault=0 - -!encoder_sim(enc=7,tbl=7,mot=7) -!motor(mot=7,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True) -Motor[7].pLimits=0;Motor[7].AmpFaultLevel=0;Motor[7].pAmpEnable=0;Motor[7].pAmpFault=0 - -!encoder_sim(enc=8,tbl=8,mot=8) -!motor(mot=8,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True) -Motor[8].pLimits=0;Motor[8].AmpFaultLevel=0;Motor[8].pAmpEnable=0;Motor[8].pAmpFault=0 - -Motor[3].JogSpeed=1000 //used for joging -Motor[3].MaxSpeed=1000 //used for motion program -#1..8j/ diff --git a/evr_PCIe-300DC.subs b/evr_PCIe-300DC.subs deleted file mode 100644 index a2c0e43..0000000 --- a/evr_PCIe-300DC.subs +++ /dev/null @@ -1,471 +0,0 @@ -file "$(mrfioc2_TEMPLATES=db)/evr-pcie-300DC.db" -{ - { - - ## Global settings - ExtInhib-Sel=0, #0 = Use Inhibit, 1 = Always permitt : Use HW trigger inhibit (EVRTG only) - Link-Clk-SP=142.8, #50-150 : Event Link speed (MHz) - Time-Src-Sel=0, #0 = Event clk, 1 = Mapped codes, 2 = DBus4 : Source for timestamping clock. - Time-Clock-SP=0.0, #50-150 : Timestamp tick rate (MHz) - PLL-Bandwidth-Sel=4, #0 = HM, 1 = HL, 2 = MH, 3 = MM, 4 = ML: PLL Bandwidth Select (see Silicon Labs Si5317 datasheet) - - ## Delay compensation - DlyCompensation-Enabled-Sel=1, #0 = Disabled, 1 = Enabled: Enables or disables delay compensation - DlyCompensation-Target-SP=5000, # Delay compensation value in [ns]. Should be set to max(path + someDelta) of all receivers in the timing system. This value can also be retrieved from an external record (see macro below). - DlyCompensation-Source="SIN-TIMAST-TMA:EvrDC-SP CP", # delay compensation target value is sourced from the record referenced here. - # this value must be set the same for all EVRs in the timing network. This is why we have a single record which acts as a source for all EVRs in the same timing network. - # NOTE: The value of DlyCompensation-Source needs to include CP to ensure the value is updated when the source changes. - # The CP can not be hidden in the template file because this would lead to an invalid input link CP when no substitution value for DlyCompensation-Source is provided. - # Recommended setting for SwissFEL is SIN-TIMAST-TMA:EvrDC-SP CP - DlyCompensation-Source-Disa=0, #0 = Enabled, 1 = Disabled: enables or disables sourcing the delay compensation target value from record specified with 'DlyCompensation-Source' macro - - ## Prescalers - PS0-Div-SP=2, #2-4294967295 :Integer divisor between the Event Clock and the sub-unit output. - PS0-PulserMap-L-SP=0, #0-65535 :Trigger a pulser on prescaler rising edge. Pulsers 0-15 are bit-wise selectable - PS0-PulserMap-H-SP=0, #0-255 :Trigger a pulser on prescaler rising edge. Pulsers 16-23 are bit-wise selectable - PS1-Div-SP=2, #2-4294967295 :Integer divisor between the Event Clock and the sub-unit output. - PS1-PulserMap-L-SP=0, #0-65535 :Trigger a pulser on prescaler rising edge. Pulsers 0-15 are bit-wise selectable - PS1-PulserMap-H-SP=0, #0-255 :Trigger a pulser on prescaler rising edge. Pulsers 16-23 are bit-wise selectable - PS2-Div-SP=2, #2-4294967295 :Integer divisor between the Event Clock and the sub-unit output. - PS2-PulserMap-L-SP=0, #0-65535 :Trigger a pulser on prescaler rising edge. Pulsers 0-15 are bit-wise selectable - PS2-PulserMap-H-SP=0, #0-255 :Trigger a pulser on prescaler rising edge. Pulsers 16-23 are bit-wise selectable - PS3-Div-SP=2, #2-4294967295 :Integer divisor between the Event Clock and the sub-unit output. - PS3-PulserMap-L-SP=0, #0-65535 :Trigger a pulser on prescaler rising edge. Pulsers 0-15 are bit-wise selectable - PS3-PulserMap-H-SP=0, #0-255 :Trigger a pulser on prescaler rising edge. Pulsers 16-23 are bit-wise selectable - PS4-Div-SP=2, #2-4294967295 :Integer divisor between the Event Clock and the sub-unit output. - PS4-PulserMap-L-SP=0, #0-65535 :Trigger a pulser on prescaler rising edge. Pulsers 0-15 are bit-wise selectable - PS4-PulserMap-H-SP=0, #0-255 :Trigger a pulser on prescaler rising edge. Pulsers 16-23 are bit-wise selectable - PS5-Div-SP=2, #2-4294967295 :Integer divisor between the Event Clock and the sub-unit output. - PS5-PulserMap-L-SP=0, #0-65535 :Trigger a pulser on prescaler rising edge. Pulsers 0-15 are bit-wise selectable - PS5-PulserMap-H-SP=0, #0-255 :Trigger a pulser on prescaler rising edge. Pulsers 16-23 are bit-wise selectable - PS6-Div-SP=2, #2-4294967295 :Integer divisor between the Event Clock and the sub-unit output. - PS6-PulserMap-L-SP=0, #0-65535 :Trigger a pulser on prescaler rising edge. Pulsers 0-15 are bit-wise selectable - PS6-PulserMap-H-SP=0, #0-255 :Trigger a pulser on prescaler rising edge. Pulsers 16-23 are bit-wise selectable - PS7-Div-SP=2, #2-4294967295 :Integer divisor between the Event Clock and the sub-unit output. - PS7-PulserMap-L-SP=0, #0-65535 :Trigger a pulser on prescaler rising edge. Pulsers 0-15 are bit-wise selectable - PS7-PulserMap-H-SP=0, #0-255 :Trigger a pulser on prescaler rising edge. Pulsers 16-23 are bit-wise selectable - - ## Distributed bus - PulserMap-Dbus0-SP=0, #0-16777215 :Trigger a pulser on DBus bit rising edge. Pulsers 0-23 are bit-wise selectable - PulserMap-Dbus1-SP=0, #0-16777215 :Trigger a pulser on DBus bit rising edge. Pulsers 0-23 are bit-wise selectable - PulserMap-Dbus2-SP=0, #0-16777215 :Trigger a pulser on DBus bit rising edge. Pulsers 0-23 are bit-wise selectable - PulserMap-Dbus3-SP=0, #0-16777215 :Trigger a pulser on DBus bit rising edge. Pulsers 0-23 are bit-wise selectable - PulserMap-Dbus4-SP=0, #0-16777215 :Trigger a pulser on DBus bit rising edge. Pulsers 0-23 are bit-wise selectable - PulserMap-Dbus5-SP=0, #0-16777215 :Trigger a pulser on DBus bit rising edge. Pulsers 0-23 are bit-wise selectable - PulserMap-Dbus6-SP=0, #0-16777215 :Trigger a pulser on DBus bit rising edge. Pulsers 0-23 are bit-wise selectable - PulserMap-Dbus7-SP=0, #0-16777215 :Trigger a pulser on DBus bit rising edge. Pulsers 0-23 are bit-wise selectable - - - ## Pulsers - Pul0-Name-I="Pulser 0" #Description of the pulser. Maximum 40 characters allowed! - Pul0-Name-I.DESC="Pulse for WSC readout." #Secondary description of the pulser. Maximum 40 characters allowed! - Pul0-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul0-Polarity-Sel=1, #0 = Active High, 1 = Active Low - Pul0-Delay-SP=0, #Pulser delay in us (DI 1 event at 5400, need to trigger for bunch at 7500) - Pul0-Width-SP=5000, #Pulser width in us - Pul0-Prescaler-SP=1, #0-65535 : Pulser prescaler - - Pul1-Name-I="Pulser 1" #Description of the pulser. Maximum 40 characters allowed! - Pul1-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul1-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul1-Polarity-Sel=1, #0 = Active High, 1 = Active Low - Pul1-Delay-SP=750, #Pulser delay in us - Pul1-Width-SP=5000, #Pulser width in us - Pul1-Prescaler-SP=1, #0-65535 : Pulser prescaler - - Pul2-Name-I="Pulser 2" #Description of the pulser. Maximum 40 characters allowed! - Pul2-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul2-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul2-Polarity-Sel=1, #0 = Active High, 1 = Active Low - Pul2-Delay-SP=0, #Pulser delay in us - Pul2-Width-SP=5000, #Pulser width in us - Pul2-Prescaler-SP=1, #0-65535 : Pulser prescaler - - Pul3-Name-I="Pulser 3" #Description of the pulser. Maximum 40 characters allowed! - Pul3-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul3-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul3-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul3-Delay-SP=0, #Pulser delay in us - Pul3-Width-SP=0, #Pulser width in us - Pul3-Prescaler-SP=1, #0-65535 : Pulser prescaler - - Pul4-Name-I="Pulser 4" #Description of the pulser. Maximum 40 characters allowed! - Pul4-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul4-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul4-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul4-Delay-SP=0, #Pulser delay in us - Pul4-Width-SP=0, #0-65535 : Width in us - - Pul5-Name-I="Pulser 5" #Description of the pulser. Maximum 40 characters allowed! - Pul5-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul5-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul5-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul5-Delay-SP=0, #Pulser delay in us - Pul5-Width-SP=0, #0-65535 : Width in us - - Pul6-Name-I="Pulser 6" #Description of the pulser. Maximum 40 characters allowed! - Pul6-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul6-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul6-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul6-Delay-SP=0, #Pulser delay in us - Pul6-Width-SP=0, #0-65535 : Width in us - - Pul7-Name-I="Pulser 7" #Description of the pulser. Maximum 40 characters allowed! - Pul7-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul7-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul7-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul7-Delay-SP=0, #Pulser delay in us - Pul7-Width-SP=0, #0-65535 : Width in us - - Pul8-Name-I="Pulser 8" #Description of the pulser. Maximum 40 characters allowed! - Pul8-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul8-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul8-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul8-Delay-SP=0, #Pulser delay in us - Pul8-Width-SP=0, #0-65535 : Width in us - - Pul9-Name-I="Pulser 9" #Description of the pulser. Maximum 40 characters allowed! - Pul9-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul9-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul9-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul9-Delay-SP=0, #Pulser delay in us - Pul9-Width-SP=0, #0-65535 : Width in us - - Pul10-Name-I="Pulser 10" #Description of the pulser. Maximum 40 characters allowed! - Pul10-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul10-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul10-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul10-Delay-SP=0, #Pulser delay in us - Pul10-Width-SP=0, #0-65535 : Width in us - - Pul11-Name-I="Pulser 11" #Description of the pulser. Maximum 40 characters allowed! - Pul11-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul11-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul11-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul11-Delay-SP=0, #Pulser delay in us - Pul11-Width-SP=0, #0-65535 : Width in us - - Pul12-Name-I="Pulser 12" #Description of the pulser. Maximum 40 characters allowed! - Pul12-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul12-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul12-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul12-Delay-SP=0, #Pulser delay in us - Pul12-Width-SP=0, #0-65535 : Width in us - - Pul13-Name-I="Pulser 13" #Description of the pulser. Maximum 40 characters allowed! - Pul13-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul13-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul13-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul13-Delay-SP=0, #Pulser delay in us - Pul13-Width-SP=0, #0-65535 : Width in us - - Pul14-Name-I="Pulser 14" #Description of the pulser. Maximum 40 characters allowed! - Pul14-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul14-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul14-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul14-Delay-SP=0, #Pulser delay in us - Pul14-Width-SP=0, #0-65535 : Width in us - - Pul15-Name-I="Pulser 15" #Description of the pulser. Maximum 40 characters allowed! - Pul15-Name-I.DESC="" #Secondary description of the pulser. Maximum 40 characters allowed! - Pul15-Ena-Sel=1, #0 = Disabled, 1 = Enabled - Pul15-Polarity-Sel=0, #0 = Active High, 1 = Active Low - Pul15-Delay-SP=0, #Pulser delay in us - Pul15-Width-SP=0, #0-65535 : Width in us - - - ## Front panel outputs - # Available -Src-SP choices: - # 0 Pulser 0 - # 1 Pulser 1 - # 2 Pulser 2 - # 3 Pulser 3 - # 4 Pulser 4 - # 5 Pulser 5 - # 6 Pulser 6 - # 7 Pulser 7 - # 8 Pulser 8 - # 9 Pulser 9 - # 10 Pulser 10 - # 11 Pulser 11 - # 12 Pulser 12 - # 13 Pulser 13 - # 14 Pulser 14 - # 15 Pulser 15 - # 32 DBus 0 - # 33 DBus 1 - # 34 DBus 2 - # 35 DBus 3 - # 36 DBus 4 - # 37 DBus 5 - # 38 DBus 6 - # 39 Dbus 7 - # 40 Prescaler 0 - # 41 Prescaler 1 - # 42 Prescaler 2 - # 43 Prescaler 3 - # 44 Prescaler 4 - # 45 Prescaler 5 - # 46 Prescaler 6 - # 47 Prescaler 7 - # 63 Force Low - # 62 Force High - - - # Universal outputs - # Slot 0 - FrontUnivOut0-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut0-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut0-Ena-SP=1, # Default to enabled - FrontUnivOut0-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut0-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - FrontUnivOut1-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut1-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut1-Ena-SP=1, # Default to enabled - FrontUnivOut1-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut1-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - # Slot 1 - FrontUnivOut2-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut2-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut2-Ena-SP=1, # Default to enabled - FrontUnivOut2-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut2-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - FrontUnivOut3-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut3-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut3-Ena-SP=1, # Default to enabled - FrontUnivOut3-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut3-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - # Slot 2 - FrontUnivOut4-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut4-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut4-Ena-SP=1, # Default to enabled - FrontUnivOut4-Src-SP=0, # Use pulser 0 which generates 5000 us long pulse - FrontUnivOut4-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - FrontUnivOut5-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut5-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut5-Ena-SP=1, # Default to enabled - FrontUnivOut5-Src-SP=1, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut5-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - # Slot 3 - FrontUnivOut6-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut6-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut6-Ena-SP=1, # Default to enabled - FrontUnivOut6-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut6-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - FrontUnivOut7-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut7-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut7-Ena-SP=1, # Default to enabled - FrontUnivOut7-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut7-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - # Slot 4 - FrontUnivOut8-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut8-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut8-Ena-SP=1, # Default to enabled - FrontUnivOut8-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut8-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - FrontUnivOut9-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut9-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut9-Ena-SP=1, # Default to enabled - FrontUnivOut9-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut9-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - # Slot 5 - FrontUnivOut10-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut10-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut10-Ena-SP=1, # Default to enabled - FrontUnivOut10-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut10-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - FrontUnivOut11-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut11-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut11-Ena-SP=1, # Default to enabled - FrontUnivOut11-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut11-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - # Slot 6 - FrontUnivOut12-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut12-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut12-Ena-SP=1, # Default to enabled - FrontUnivOut12-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut12-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - FrontUnivOut13-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut13-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut13-Ena-SP=1, # Default to enabled - FrontUnivOut13-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut13-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - # Slot 7 - FrontUnivOut14-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut14-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut14-Ena-SP=1, # Default to enabled - FrontUnivOut14-Src-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut14-Src2-SP=63, # Defaults to Force low (if enabled -> Ena-SP) - - FrontUnivOut15-Name-I="" # Description of the output. Maximum 40 characters allowed! - FrontUnivOut15-Name-I.DESC="" # Secondary description of the output. Maximum 40 characters allowed! - FrontUnivOut15-Ena-SP=1, # Default to enabled - FrontUnivOut15-Src-SP=63 # Defaults to Force low (if enabled -> Ena-SP) - FrontUnivOut15-Src2-SP=63 # Defaults to Force low (if enabled -> Ena-SP) - - } - } - -## Mapping between hardware event code and a software (EPICS) database event -## In addition to firing an EPICS database event on each occurance of hardware event, a counter for the specific EVT is increased. -# -# Macros: -# SYS = System name (auto expanded by parent) -# DEVICE = Event receiver / timing card name (same as mrmEvrSetupVME()) Eg. EVR0. (auto expanded by parent) -# EVT = Event code (hardware). Set EVT=0 to disable. -# CODE = EPICS database event number (software) -# FLNK = If provided, forward links to the record after all records from this template are processed -# -file "$(mrfioc2_TEMPLATES=db)/evr-softEvent.template"{ -pattern { EVT, CODE, FLNK } - { "22", "22", "" } # ESA laser diag-1 - { "28", "28", "" } # BeamSync read-1 -} -# If you want to enable measuring the jitter on received events comment out the previous substitution and use this one instead -# -# Additinal macros: -# HIST_LEN = number of histogram bins created from frequency measurements. Default 200. -# HIST_ULIM = histogram upper limit. Default 12. -# HIST_LLIM = histogram lower limit. Default 8. -# -# NOTE: make sure your system supports the 'histogram' record before using this template! -# -#file "$(mrfioc2_TEMPLATES=db)/evr-softEvent-measure.template"{ -#pattern { EVT, CODE, FLNK } -# { "1", "1", "" } -# { "2", "2", "" } -# { "3", "3", "" } -#} - -## Mapping between hardware event code and a special function of the EVR -## Each event can be mapped only to one function! -## There are some default events, that allways trigger specific functions! -## Available functions: -## - Blink : An LED on the EVRs front panel will blink when the code is received. -## - Forward : The received code will be immediately retransmitted on the upstream event link. -## - Stop Log (default event 121): Freeze the circular event log buffer. An CPU interrupt will be raised which will cause the buffer to be downloaded. This might be a useful action to map to a fault event. -## - Log : Include this event code in the circular event log. -## - Heartbeat (default event 122): This event resets the heartbeat timeout timer. -## - Reset PS (default event 123): Resets the phase of all prescalers. -## - TS reset (default event 124): Transfers the seconds timestamp from the shift register and zeros the sub-seconds part. -## - TS tick (default event 125): When the timestamp source is 'Mapped code' then any event with this mapping will cause the sub-seconds part of the timestamp to increment. -## - Shift 1 (default event 113): Shifts the current value of the seconds timestamp shift register up by one bit and sets the low bit to 1. -## - Shift 0 (default event 112): Shifts the current value of the seconds timestamp shift register up by one bit and sets the low bit to 0. -## - FIFO : Bypass the automatic allocation mechanism and always include this code in the event FIFO. -# -# Macros: -# SYS = System name (auto expanded by parent) -# DEVICE = Event receiver / timing card name (same as mrmEvrSetupVME()) Eg. EVR0. (auto expanded by parent) -# EVT = Event code (hardware). Set EVNT=0 to disable. -# FUNC = Function to be mapped -# Choices are: "FIFO", "Latch TS", "Blink", "Forward", -# "Stop Log", "Log", "Heartbeat", "Reset PS", -# "TS reset", "TS tick", "Shift 1", "Shift 0", -# -file "$(mrfioc2_TEMPLATES=db)/evr-specialFunctionMap.template"{ -pattern { EVT, FUNC } - {"1", "Blink"} -} - -## Control for mapping a Pulser geneator to an event code in hardware. -## Each pulser-function combination can be mapped to multiple events. -## Available functions: -## - Trig : causes a received event to trigger a pulser. A Pulser based on pulser polarity, delay and width will be outputted. -## - Set : causes a received event to force a pulser into set state(based on pulser polarity). -## - Reset: causes a received event to force a pulser into reset state(based on pulser polarity). -# -## Pulser polarity defines the pulser set and reset state: -## - Active high: Output is logic high in set state and logic low in reset state -## - Active low: Output is logic low in set state and logic high in reset state -# -# Macros: -# SYS = system name (auto expanded by parent) -# DEVICE = Event receiver / timing card name (same as mrmEvrSetupVME()) Eg. EVR0. (auto expanded by parent) -# PID = Pulser ID # -# F = Pulser generator function -# Choices are: "Trig", "Set", "Reset" -# EVT = Initial event code -# ID = Mappings must have unique ID for each PID-F combination. -# Only mappings with ID=0 are displayed in the GUI -# -file "$(mrfioc2_TEMPLATES=db)/evr-pulserMap.template"{ -pattern {PID F, EVT, ID} - {0, Trig, 214, 0 } # ESB JF-Start - {1, Trig, 40, 0 } # ESB JF-Acquire frame - {2, Trig, 22, 0 } # ESA laser diag-1 - {3, Trig, 0, 0 } - {4, Trig, 0, 0 } - {5, Trig, 0, 0 } - {6, Trig, 0, 0 } - {7, Trig, 0, 0 } - {8, Trig, 0, 0 } - {9, Trig, 0, 0 } - {10, Trig, 0, 0 } - {11, Trig, 0, 0 } - {12, Trig, 0, 0 } - {13, Trig, 0, 0 } - {14, Trig, 0, 0 } - {15, Trig, 0, 0 } - - - {0, Set, 0, 0 } - {1, Set, 0, 0 } - {2, Set, 0, 0 } - {3, Set, 0, 0 } - {4, Set, 0, 0 } - {5, Set, 0, 0 } - {6, Set, 0, 0 } - {7, Set, 0, 0 } - {8, Set, 0, 0 } - {9, Set, 0, 0 } - {10, Set, 0, 0 } - {11, Set, 0, 0 } - {12, Set, 0, 0 } - {13, Set, 0, 0 } - {14, Set, 0, 0 } - {15, Set, 0, 0 } - - - {0, Reset, 0, 0 } - {1, Reset, 0, 0 } - {2, Reset, 0, 0 } - {3, Reset, 0, 0 } - {4, Reset, 0, 0 } - {5, Reset, 0, 0 } - {6, Reset, 0, 0 } - {7, Reset, 0, 0 } - {8, Reset, 0, 0 } - {9, Reset, 0, 0 } - {10, Reset, 0, 0 } - {11, Reset, 0, 0 } - {12, Reset, 0, 0 } - {13, Reset, 0, 0 } - {14, Reset, 0, 0 } - {15, Reset, 0, 0 } -} - -## Flash access support -## Uncomment this substitution to load records that expose read and write access to the flash chip on the device. -# -# Macros: -# SYS = System name (auto expanded by parent) -# DEVICE = Event receiver / timing card name (same as mrmEvrSetupVME()) Eg. EVR0. (auto expanded by parent) -# -#file "$(mrfioc2_TEMPLATES=db)/flash.template" -#{ -# {} -#} diff --git a/generate.py b/generate.py deleted file mode 100755 index d5e96b3..0000000 --- a/generate.py +++ /dev/null @@ -1,485 +0,0 @@ -#!/usr/bin/env python -#*-----------------------------------------------------------------------* -#| | -#| Copyright (c) 2019 by Paul Scherrer Institute (http://www.psi.ch) | -#| | -#| Author Thierry Zamofing (thierry.zamofing@psi.ch) | -#*-----------------------------------------------------------------------* -''' -generate .subs and _startup.script files - mode bits: - 0x001: genYAML() - 0x002: genIOC() - 0x004: genLauncher() - -Long Doc''' -from __future__ import print_function - -import logging, sys, os, json -import string - -class Generate: - yamlParam={ - # ioc : ( host , port , ver , arch , osys , osys_id , - # 'SAR-CSSU-EXPMX1' : ('SAR-CSSU-EXPMX1' , 50001 , '3.14.12' , 'moxa42-armv6l' , 'moxa42-armv6l' , 'moxa42-armv6l' , ) , - 'SAR-CPPM-EXPMX1' : ('SAR-CPPM-EXPMX1' , 50001 , '7.0.7' , 'eldk42-ppc4xxFP' , 'eldk42-ppc4xxFP' , 'eldk42-ppc4xxFP' , ) , - 'SAR-CPPM-EXPMX2' : ('SAR-CPPM-EXPMX2' , 50001 , '7.0.7' , 'eldk42-ppc4xxFP' , 'eldk42-ppc4xxFP' , 'eldk42-ppc4xxFP' , ) , - 'SAR-CPPM-EXPMX3' : ('SAR-CPPM-EXPMX3' , 50001 , '7.0.7' , 'eldk42-ppc4xxFP' , 'eldk42-ppc4xxFP' , 'eldk42-ppc4xxFP' , ) , - 'SAR-CPPM-EXPMX4' : ('SAR-CPPM-EXPMX4' , 50001 , '7.0.7' , 'eldk42-ppc4xxFP' , 'eldk42-ppc4xxFP' , 'eldk42-ppc4xxFP' , ) , - 'SARES30-CPCL-MCSSMX' : ('saresc-vserv-01' , 50001 , '7.0.7' , 'x86_64' , 'RHEL8' , 'rhel' , ) , - } - - iocSmarAct={ - 'SARES30-CPCL-MCSSMX': - { - 'port':'MCS', - 'host':'129.129.244.32', # 00:04:a3:a2:71:35, MCS0060 Serial: 3762 - 'prefix':'SARES30-SMX', - 'loc':'EH.057 MobRack', - 'fmt':'{{{PORT:5},{S:14},{M:6},{ADDR:>4},{DESC:14},{DIR:3},{VELO:4},{DHLM:>6},{DLLM:>6},{EGU:4},{PTYP:4},{RTRY:4}}}\n', - 'motLst':( - # dir: Pos:0 Neg:1 - ( 'DESC' , 'M' , 'ADDR', 'DHLM', 'DLLM', 'DIR', 'EGU', 'PTYP'), - ('COLLI:TX' , 'MCS1' , 0 , 12 , -10 , 1 , 'mm' , 'S' ) , - ('COLLI:TY' , 'MCS2' , 1 , 12 , -10 , 1 , 'mm' , 'S' ) , - ('Motor3' , 'MCS3' , 2 , 10 , -10 , 0 , 'mm' , 'S' ) , - ('POSTTUBE:TX1', 'MCS4' , 3 , 10 , -10 , 0 , 'mm' , 'S' ) , - ('POSTTUBE:TX2', 'MCS5' , 4 , 10 , -10 , 0 , 'mm' , 'S' ) , - ('POSTTUBE:TY1', 'MCS6' , 5 , 15 , -20 , 0 , 'mm' , 'S' ) , - ('POSTTUBE:TY2', 'MCS7' , 6 , 15 , -20 , 0 , 'mm' , 'S' ) , - ('POSTTUBE:TZ' , 'MCS8' , 7 , 10 , -10 , 1 , 'mm' , 'S' ) , - ('Motor9' , 'MCS9' , 8 , 10 , -10 , 0 , 'mm' , 'S' ) , - ('SLITS:X1' , 'MCS10', 9 , 10 , -10 , 1 , 'mm' , 'S' ) , - ('SLITS:X2' , 'MCS11', 10 , 10 , -10 , 1 , 'mm' , 'S' ) , - ('SLITS:Y1' , 'MCS12', 11 , 10 , -10 , 1 , 'mm' , 'S' ) , - ('SLITS:Y2' , 'MCS13', 12 , 10 , -10 , 1 , 'mm' , 'S' ) , - ('unused' , 'MCS14', 13 , 10 , -10 , 0 , 'mm' , 'S' ) , - ('unused' , 'MCS15', 14 , 10 , -10 , 0 , 'mm' , 'S' ) , - ), - } - } - - iocPowerBrick={ - # HOST runScript - 'SAR-CPPM-EXPMX1':{ - 'port':'PPMAC', - 'prefix':'SAR-EXPMX', - 'loc':'EH.057 MobRack', - 'fmt': - '{{{P:10},{M:10},{ADDR:4},{DESC:19},{DIR:3},{VELO:4},{HVEL:4},{MRES:5},{PREC:4},{EGU:4}}}\n', - 'motLst':( - ( 'DESC' , 'M' , 'ADDR' , 'DIR' , 'VELO' , 'HVEL' , 'MRES' , 'PREC' , 'EGU' ) , - ( '"Sample F-Trans Y"' , 'MOT_FY' , 1 , 0 , 16 , 2 , 0.001 , 4 , 'mm' ) , - ( '"Sample F-Trans X"' , 'MOT_FX' , 2 , 0 , 16 , 2 , 0.001 , 4 , 'mm' ) , - ( '"Sample C-Trans Y"' , 'MOT_CY' , 3 , 0 , 12 , 4 , 0.001 , 4 , 'mm' ) , - ( '"Sample C-Trans X"' , 'MOT_CX' , 4 , 0 , 2 , 2 , 0.001 , 4 , 'mm' ) , - ( '"Sample C-Trans Z"' , 'MOT_CZ' , 5 , 0 , 2 , 2 , 0.001 , 4 , 'mm' ) , - ( '"Interfero Y"' , 'ENC_FY' , 6 , 0 , 2 , 2 , 0.001 , 4 , 'mm' ) , - ( '"Interfero X"' , 'ENC_FX' , 7 , 0 , 2 , 2 , 0.001 , 4 , 'mm' ) , - ), - }, - 'SAR-CPPM-EXPMX2':{ - 'port':'PPMAC', - 'prefix':'SAR-EXPMX', - 'loc':'EH.057 MobRack', - 'fmt': - '{{{P:10},{M:10},{ADDR:4},{DESC:12},{DIR:3},{VELO:4},{HVEL:4},{MRES:5},{PREC:4},{EGU:4}}}\n', - 'motLst':( - ( 'DESC' , 'M' , 'ADDR' , 'DIR' , 'VELO' , 'HVEL' , 'MRES' , 'PREC' , 'EGU' ) , - ( '"Wedge 1"' , 'MOT_WEDGE1' , 1 , 0 , 1. , .5 , 0.001 , 3 , 'mm' ) , - ( '"Wedge 2"' , 'MOT_WEDGE2' , 2 , 0 , 1. , .5 , 0.001 , 3 , 'mm' ) , - ( '"Wedge 3"' , 'MOT_WEDGE3' , 3 , 0 , 1. , .5 , 0.001 , 3 , 'mm' ) , - ( '"Wedge 4"' , 'MOT_WEDGE4' , 4 , 0 , 1. , .5 , 0.001 , 3 , 'mm' ) , - ( '"Wedge X"' , 'MOT_WEDGEX' , 9 , 1 , 1. , .5 , 0.001 , 3 , 'mm' ) , - ( '"Wedge Y"' , 'MOT_WEDGEY' , 10 , 0 , 1. , .5 , 0.001 , 3 , 'mm' ) , - ( '"Wedge A"' , 'MOT_WEDGEA' , 11 , 0 , 1. , .5 , 0.001 , 3 , 'mm' ) , - ( '"Wedge B"' , 'MOT_WEDGEB' , 12 , 1 , 1. , .5 , 0.001 , 3 , 'mm' ) , - ( '"Backlight"' , 'MOT_BLGT' , 5 , 1 , 40E3 , 20E3 , 1 , 0 , 'usr' ) , - ( '"Cryojet"' , 'MOT_CRYO' , 6 , 1 , 10. , 5. , 0.001 , 3 , 'mm' ) , - ), - }, - 'SAR-CPPM-EXPMX3':{ - 'port':'PPMAC', - 'prefix':'SAR-EXPMX', - 'loc':'EH.057 MobRack', - 'fmt': - '{{{P:10},{M:10},{ADDR:4},{DESC:13},{DIR:3},{VELO:4},{MRES:5},{PREC:4},{EGU:4}}}\n', - 'motLst':( - ( 'DESC' , 'M' , 'ADDR' , 'DIR' , 'VELO' , 'MRES' , 'PREC' , 'EGU' ) , - ( '"Girder 1"' , 'MOT_GIR_1' , 1 , 0 , 40 , 0.001 , 3 , 'deg' ) , - ( '"Girder 2"' , 'MOT_GIR_2' , 2 , 0 , 40 , 0.001 , 3 , 'deg' ) , - ( '"Girder 3"' , 'MOT_GIR_3' , 3 , 0 , 40 , 0.001 , 3 , 'deg' ) , - ( '"Girder 4"' , 'MOT_GIR_4' , 4 , 0 , 40 , 0.001 , 3 , 'deg' ) , - ( '"Girder 5"' , 'MOT_GIR_5' , 5 , 0 , 40 , 0.001 , 3 , 'deg' ) , - ( '"Girder X"' , 'MOT_GIR_X' , 9 , 0 , 40 , 0.001 , 3 , 'mm' ) , - ( '"Girder Y"' , 'MOT_GIR_Y' , 10 , 0 , 40 , 0.001 , 3 , 'mm' ) , - ( '"Girder U"' , 'MOT_GIR_U' , 11 , 0 , 40 , 0.001 , 3 , 'mrad' ) , - ( '"Girder V"' , 'MOT_GIR_V' , 12 , 0 , 40 , 0.001 , 3 , 'mrad' ) , - ( '"Girder W"' , 'MOT_GIR_W' , 13 , 0 , 40 , 0.001 , 3 , 'mrad' ) , - ( '"Detector Z"' , 'MOT_DET_Z' , 6 , 1 , 4 , 0.001 , 3 , 'mm' ) , - ), - }, - 'SAR-CPPM-EXPMX4':{ - 'port':'PPMAC', - 'prefix':'SAR-EXPMX', - 'loc':'EH.057 MobRack', - 'fmt': - '{{{P:10},{M:10},{ADDR:4},{DESC:27},{DIR:3},{VELO:4},{MRES:5},{PREC:4},{EGU:4}}}\n', - 'motLst':( - ('DESC', 'M', 'ADDR', 'DIR', 'VELO', 'MRES', 'PREC', 'EGU'), - # desc , m , addr , dir , velo , hvel , accl , jar , mres , prec , egu , dhlm , dllm , - # NOT YET ANY MOTOR - ), - }, - } - - tplYaml='''\ -ioc_host: {host} -ioc_port: {port} -epics_version: {ver} -cpu_architecture: {arch} -os: {osys} -os_id: {osys_id} -''' - - # /home/zamofing_t/Documents/doc-ext/SmaractMCS/MCS2PositionerTypes.pdf Positioner Types Cross Reference - lutPSENS={ # abrev_(MCS2code, MCS1code) - 'S':(300,1),'SD':(301,21),'SP':(302,5),'SC':(303,6),'SCD':(304,24),'SC500':(307,18),'SR20':(309,8), - 'SR':(312,2),'SR2':(313,23),'SR77':(316,20),'SR120':(320,37),'G605DS':(325,48),'G775DS':(328,49), - 'LE':(342,43),'LED':(343,44),'L':(345,41),'LD':(346,42),'LC':(348,38),'LCD':(349,40),'LR':(354,39), - 'M':(357,9),'MD':(358,32),'GD':(363,11),'GE':(366,12),'G605L':(381,50),'G775L':(383,51),'G605LE':(387,53), - 'G775LE':(389,54),'G605LC':(396,57),'G775LC':(398,58),'G775LE':(389,54), - } - - tplMcsCtrl='''\ -################################################################### -# DO NOT EDIT: Generated with epics_ioc_modules/ESB_MX/generate.py -# This is the IOC {ioc} on {ioc_host}:{ioc_port} -################################################################## - -epicsEnvSet("ENGINEER", "zamofing_t") -epicsEnvSet("LOCATION", "{loc}") - -###### require modules ############ -# motorSmarAct community driver -# smarActMot PSI templates and other files -require motorSmarAct -require smarActMot -require ESB_MX - -###### initialize device ############ -drvAsynIPPortConfigure("asyn{port}", "{host}:5000", 0, 0, 0) -#ctrlPort, asynPort, number of axes, active poll period (ms), idle poll period ms), [default debug lvl] -MCSCreateController("{port}", "asyn{port}", {num_ax}, 100, 1000, 0x00) - -''' - - mcsSubsHdr='''\ -file asyn.template {{{{P={prefix}, PORT=asyn{port}}}}} - -##### MCS -file $(smarActMot_DIR)/db/MCS_axis.template -{{ - pattern -''' - - tplPwrBrkCtrl='''\ -########################################## -# DO NOT EDIT: Generated with generate.py -# This is the IOC on host {ioc} -########################################## -# PPMAC responsible: Thierry Zamofing -########################################## - -###### initialize device ############ -require PB_COMMON -{req} - -#powerPmacCreateController(, , ) -powerPmacCreateController("{port}", 200, 1000) - -###### initialize axes ############ -''' - - tplPwrBrkAxis='''\ -powerPmacCreateAxis({PORT}, {ADDR}) -''' - - tplEXPMX1=''' -###### initialize EVR ############ -# https://git.psi.ch/epics_driver_modules/mrfioc2 -require mrfioc2 -runScript $(mrfioc2_DIR)/mrfioc2_evr-PCIe.cmd, "DEVICE=EVR0,EVR_SUBS=$(ESB_MX_DIR)/db/evr_PCIe-300DC.subs,EVR_DOMAIN=0x2,EVR_BUS=0x21,SYS=SAR-EXPMX" - -###### initialize EVR data buffer ############ -# https://git.psi.ch/epics_driver_modules/mrfioc2_regDev -require mrfioc2_regDev -runScript $(mrfioc2_regDev_DIR)/mrfioc2_regDev_pulseID_RX.cmd, "DEVICE=EVR0,SYS=SAR-EXPMX" - -require PB_EXTRA -dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=SAR-EXPMX, PORT=PPMAC, M=MOT_FY, M_NO=1") -dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=SAR-EXPMX, PORT=PPMAC, M=MOT_FX, M_NO=2") -dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=SAR-EXPMX, PORT=PPMAC, M=MOT_CY, M_NO=3") -dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=SAR-EXPMX, PORT=PPMAC, M=MOT_CX, M_NO=4") -dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=SAR-EXPMX, PORT=PPMAC, M=MOT_CZ, M_NO=5") - -dbLoadRecords("$(PB_EXTRA_TEMPLATES)killOne.db" "SYS=SAR-EXPMX, PORT=PPMAC, M=MOT_FY, M_NO=1") -dbLoadRecords("$(PB_EXTRA_TEMPLATES)killOne.db" "SYS=SAR-EXPMX, PORT=PPMAC, M=MOT_FX, M_NO=2") -dbLoadRecords("$(PB_EXTRA_TEMPLATES)killOne.db" "SYS=SAR-EXPMX, PORT=PPMAC, M=MOT_CY, M_NO=3") -dbLoadRecords("$(PB_EXTRA_TEMPLATES)killOne.db" "SYS=SAR-EXPMX, PORT=PPMAC, M=MOT_CX, M_NO=4") -dbLoadRecords("$(PB_EXTRA_TEMPLATES)killOne.db" "SYS=SAR-EXPMX, PORT=PPMAC, M=MOT_CZ, M_NO=5") -''' - - tplEXPMX2=''' -#powerPmacCreateVirtualAxis(, , , ,, , , ,1: - motLst=v['motLst'][1:] - else: - motLst=tuple() - param= {k: v[k] for k in {'port','prefix','loc'}} - param['ioc']=ioc - param['idx']=ioc[-1] - param['num_ax']=len(motLst) - param['req']='require ESB_MX\n\n! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/{prefix}{idx}.cfg'.format(**param) - #print(param) - - fn=f'gen/ioc/{ioc}_startup.script' - print('generate '+fn+' ...') - fh_ss=open(fn,'w') - - fn=f'gen/ioc/{ioc}_gen.subs' # with a name _* the .subs file is recognize by the 'ioc install' tool - print('generate '+fn+' ...') - fh_sb=open(fn,'w') - - #fn=f'gen/ioc/cfg/{ioc}_sr.req' - #print('generate '+fn+' ...') - #fh_sr=open(fn,'w') - - fh_ss.write(tplCtrl.format(**param)) - - fh_sb.write(subsHdr.format(**param)) - port=param['port'] - prefix=param['prefix'] - motPar=dict(zip(hdr, hdr)) - motPar['PORT']='PORT' - motPar['P']='P' - fh_sb.write(fmt.format(**motPar)) - for motPar in motLst: - motPar=dict(zip(hdr, motPar)) - motPar['PORT']=v['port'] - motPar['P']=v['prefix'] - fh_sb.write(fmt.format(**motPar)) - if motPar['ADDR']<=8: - fh_ss.write(tplAxis.format(**motPar)) - fh_sb.write('}\n\n') - - if ioc=='SAR-CPPM-EXPMX1': - fh_ss.write(Generate.tplEXPMX1) - elif ioc=='SAR-CPPM-EXPMX2': - fh_ss.write(Generate.tplEXPMX2) - elif ioc=='SAR-CPPM-EXPMX3': - fh_ss.write(Generate.tplEXPMX3) - - fh_ss.close() - fh_sb.close() - - - def genSmarActIOC(self): - tplCtrl=Generate.tplMcsCtrl - #tplAxis=Generate.tplMcsAxis - #tplAxSR=Generate.tplMcsAxisSaveRestore - subsHdr=Generate.mcsSubsHdr - lutPSENS=Generate.lutPSENS - os.makedirs('gen/ioc/cfg/',exist_ok=True) - for ioc,v in Generate.iocSmarAct.items(): - # fh_ss startup script - # fh_sb substitution - # fh_sr save restore - fmt=' '+v['fmt'] - hdr=v['motLst'][0] - if len(v['motLst'])>1: - motLst=v['motLst'][1:] - else: - motLst=tuple() - param= {k: v[k] for k in {'port','host','prefix','loc'}} - try: - ioc_host,ioc_port=Generate.yamlParam[ioc][:2] - except KeyError as e: - _log.warning(repr(e)+': skipped');continue - param['ioc']=ioc - param['ioc_host']=ioc_host - param['ioc_port']=ioc_port - param['num_ax']=len(motLst) - #print(param) - - fn=f'gen/ioc/{ioc}_startup.script' - print('generate '+fn+' ...') - fh_ss=open(fn,'w') - - fn=f'gen/ioc/{ioc}_gen.subs' # with a name _* the .subs file is recognize by the 'ioc install' tool - print('generate '+fn+' ...') - fh_sb=open(fn,'w') - - #fn=f'gen/ioc/cfg/{ioc}_sr.req' - #print('generate '+fn+' ...') - #fh_sr=open(fn,'w') - - fh_ss.write(tplCtrl.format(**param)) - fh_sb.write(subsHdr.format(**param)) - h=hdr+('PORT','S','VELO','RTRY') - motPar=dict(zip(h, h)) - fh_sb.write(fmt.format(**motPar)) - for motPar in motLst: - motPar=dict(zip(hdr, motPar)) - try: - motPar['PTYP']=lutPSENS[motPar['PTYP']][1] #idx1 is for MCS1 - except KeyError as e: - if motPar['PTYP']!=0: - _log.info(f'{motPar["PTYP"]} not in lookup table') - motPar['PORT']=v['port'] - motPar['S']=v['prefix'] - motPar['VELO']=2 - motPar['RTRY']=1 - fh_sb.write(fmt.format(**motPar)) - #fh_ss.write(tplAxis.format(**motPar)) - #fh_sr.write(tplAxSR.format(**motPar)) - fh_sb.write('}\n\n') - fh_ss.close() - fh_sb.close() - #fh_sr.close() - - #fn='gen/ioc/asyn.template' - #print('generate '+fn+' ...') - #with open(fn,'w') as fh: - # fh.write(Generate.tpl_asyn) - -if __name__=='__main__': - def parse_args(): - import argparse - (h, t)=os.path.split(sys.argv[0]);cmd='\n '+(t if len(h)>20 else sys.argv[0])+' ' - #print(sys.argv,h,t) - exampleCmd=('', '-m0xf -v0' ) - epilog=__doc__+'\nExamples:'+''.join(map(lambda s:cmd+s, exampleCmd))+'\n' - - parser = argparse.ArgumentParser(epilog=epilog,formatter_class=argparse.RawDescriptionHelpFormatter) - parser.add_argument('-m', '--mode', type=lambda x: int(x,0), help='mode bits', default=0xff) - args = parser.parse_args() - #print(args) - - obj=Generate() - if args.mode&0x1: - obj.genYAML() - if args.mode&0x2: - obj.genIOC() - if args.mode&0x4: - obj.genLauncher() - - parse_args() - diff --git a/logbook.md b/logbook.md deleted file mode 100644 index b193092..0000000 --- a/logbook.md +++ /dev/null @@ -1,1023 +0,0 @@ -Text that was in readme and not used any more is stored here -============================================================ - - -*** 14.12.2016 *** -================== - -Parker stage -============ - -Using IDE ---------- -1 detect current sensor direction - Motor[1].PhaseOffset 683 - Motor[1].PwmSf 2154 -2 current bias - Motor[1].IaBias=0 - Motor[1].IbBias=0 -3 Voltage six step - Motor[1].PhaseOffset -683 - Motor[1].PwmSf -2154 - Motor[1].PhasePosSf=2048/(1*256*213333.3333) -4 Tune Current Loop (Mag=200, dur=50) - Motor[1].IiGain 10.5 - Motor[1].IpfGain=0 - Motor[1].IpbGain=14.7 -5 Current six step - Motor[1].PhasePosSf=2048/(1*1*61440000.) -6 Phase ref search - Motor[1].PhaseFindingDac=160.95 - Motor[1].PhaseFindingTime=50 - - - -Open Loop ---------- -20mm = 1003994 enc_step -20mm = 1'000'000 enc_step -> 20nm/enc step -1 pole= 600'000 enc_step -> 12mm - - ->>>>>>>>>> DONT FORGET <<<<<<<<<<< -$$$*** -!common() - ->>> open loop with encoder counts <<< -!encoder_sim(enc=1,tbl=1,mot=1) -!encoder_inc(enc=1,tbl=9,mot=9,encctrl=7,posSf=1./1) -!motor(mot=1,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True) -#1j/ -#1,9hmz - -#1j:2048 -> moves one pole= 650'000 enc_step =13mm (Electrical Pitch in MX80 doc) - -512= 90deg -> check phase * - - * o x * o x - * * o o x x * * o o x x - * o* xo x * o* xo x - * o * x o x * o * x o x - * o x * o x * o x * o x -*------o------x-----*------o------x-----*------o------x-----*------o------x-----*------o------x-----*------o------x - * o x * o x * o x * o x * o x * o x - * o * x o x * o * x o x * o * x o x - * o* xo x * o* xo x * o* xo x - * * o o x x * * o o x x * * o o x x - * o x * o x * o x -0 512 1024 1536 2048 - ->>> scaling encoder etc to um <<< -!encoder_sim(enc=1,tbl=1,mot=1,posSf=12000./2048) -!encoder_inc(enc=1,tbl=9,mot=9,encctrl=7,posSf=12000./600000) -!motor(mot=1,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.*12000./2048,numPhase=3,invDir=True) - -JogSpeed=1.*12000./2048 6um/ms =6mm/s - - ->>> close the loop with inc-encoder <<< -servoSf : motorusteps/userUnits - -!encoder_sim(enc=1,tbl=9,mot=9,posSf=12000./2048) -!encoder_inc(enc=1,tbl=1,mot=1,encctrl=7,posSf=12000./600000) -!motor(mot=1,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=6.,numPhase=3,invDir=True,servoSf=2048/12000.) - ->>> close the loop with inc-encoder removing direct current<<< -$$$*** -!common() -!encoder_sim(enc=1,tbl=9,mot=9,posSf=12000./2048) -!encoder_inc(enc=1,tbl=1,mot=1,encctrl=7,posSf=12000./600000) -!motor(mot=1,dirCur=0,contCur=500,peakCur=800,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=6.,numPhase=3,invDir=True,servoSf=2048/12000.) - -Motors are not moving, because no current will be set due to some wrong parameters. -But the servoloop is running and gives output: -ServoOut set value from 0.5099 to -0.5099 (= MaxPosErr*Kp) when moving at different position -Motor[1].Servo.MaxPosErr=1000.0169 -Motor[1].Servo.Kp=0.000512 -1000.0169*0.000512=0.5120086528 - -Motor[1].Servo.Kp=0.0007 -Motor[1].Servo.MaxPosErr=1000.0169 -1000.0169*0.0007=0.70001183 - -Now some elements have to be reconfigured: -SlipGain,PwmSf,PhaseMode,PhaseCtrl,PhasePosSf - - -Motor[1].pPhaseEnc = PowerBrick[0].Chan[0].PhaseCapt.a //is default -use configuration open loop with encoder counts -#1j/ -Read PowerBrick[0].Chan[0].PhaseCapt 130559 -move one pole (13mm) -Read PowerBrick[0].Chan[0].PhaseCapt 166599808 -difference = 166599808-130559= 166469249 - 166469249/256 = 650270 =650000incr = 13mm -1 commutation cycle=163537664 PhaseCapt = 2048 com_cycl_units -PhasePosSf= 2048./166469249 = 1.2303e-05 or precise: 2048/(256*650000)=1.23077e-05 - -servoSf : motorusteps/userUnits - -servoSf=2048/12000.,PhaseCtrl=4,SlipGain=0,PhasePosSf=1.23077e-05 - - -******************************* -****** WORKS !!!!!!!!!!!! ***** -** But positioning has very bad performance ** -******************************* - -// controlling speed/velocity on iqCmd and constant current(=torque) on idCmd -//precission +-1 step in steady state -$$$*** -!common() -!encoder_inc(enc=1,tbl=1,mot=1,encctrl=7,posSf=12000./600000) -!motor(mot=1,dirCur=300,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=6.,numPhase=3,invDir=True,servoSf=2048/12000.) - - -// controlling torque(=current) on iqCmd and idCmd=0 -//precission +-100 and more step in steady state -$$$*** -!common() -!encoder_inc(enc=1,tbl=1,mot=1,encctrl=7,posSf=12000./600000) -!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=6.,numPhase=3,invDir=True,servoSf=2048/12000.,PhaseCtrl=4,SlipGain=0,PhasePosSf=1.23077e-05,PhaseMode=0,PhaseFindingDac=200,PhaseFindingTime=22.586512) - -#1out10 -!!! HOLD BY HAND TO LIMIT THE SPEED !!! - Motor[1].Servo.Kp=1 -Motor[1].InPosBand=0 -Motor[1].Servo.BreakPosErr=0 -#1j/ -#1j:1000 -******************************* - - - --> Tadejs input: use simulated encoder for the phasing - - -Motor[1].Servo.BreakPosErr=0 -Motor[3].Servo.Kp=2000 - -///Motor[3].Servo.BreakPosErr=0 -//Motor[3].Servo.Kp=2000 -//#3out5 - - -Testing IDE with QBL test motor -=============================== - ->>> close the loop with inc-encoder removing direct current<<< - --> the current/speed must be set with that PWM-scale factor - -Motor idx 1 3 -Motor[x].AdvGain 0.020479999 0 -Motor[x].PhasePosSf 0 0.0160000000000000003 -Motor[x].PhaseCtrl 6 4 -Motor[x].PhaseMode 1 0 -Motor[x].PwmSf -15134.891 4309 -Motor[x].SlipGain 0.25 0 -Motor[x].PhaseFindingDac 0 95.976563 -Motor[x].PhaseFindingTime 0 22.586512 - ->>> origin setup by ide+ tweaks <<< -!encoder_inc(enc=3,tbl=3,mot=3,encctrl=7,posSf=1./2000) -!motor_servo(mot=3,ctrl='ServoCtrl',Kp=4.0424199*2000, Kvfb=160.43646*2000,Kvff=160.43646*2000,Kaff=3184.5818*2000) -!motor(mot=3,numPhase=3,servo=None, homing=None,dirCur=0,contCur=1790,peakCur=5400,timeAtPeak=1,IiGain=1.0628819,IpfGain=0,IpbGain=6.5684085,AdvGain=0,FatalFeLimit=2000,WarnFeLimit=1000,InPosBand=0,PhasePosSf=0.016,PhaseCtrl=4,PhaseMode=0,PwmSf=4309,SlipGain=0,PhaseFindingDac=95.976563,PhaseFindingTime=22.586512) - -AdvGain -PhasePosSf 0 does not work at all -> must be calculated correctly as below -PhaseCtrl 6 not working. must be 4 for phase feedback and 6 for direct microstepping -PhaseMode 0,1 both are working, should be 0 for 3 phase -PwmSf 0 2000 4309 -> the higher, the more torque on error -SlipGain 0.25 squeezing -PhaseFindingDac 0 no change -PhaseFindingTime 0 no change -$$$*** -!common() -!encoder_inc(enc=3,tbl=3,mot=3,encctrl=7,posSf=1./2000) -!motor_servo(mot=3,ctrl='ServoCtrl',Kp=4.0424199*2000, Kvfb=160.43646*2000,Kvff=160.43646*2000,Kaff=3184.5818*2000) -!motor(mot=3,numPhase=3,servo=None, homing=None,dirCur=0,contCur=1790,peakCur=5400,timeAtPeak=1,IiGain=1.0628819,IpfGain=0,IpbGain=6.5684085,AdvGain=0,FatalFeLimit=2000,WarnFeLimit=1000,InPosBand=0,PhasePosSf=0.016,PhaseCtrl=6,PhaseMode=1,PwmSf=1000,SlipGain=0,PhaseFindingDac=0,PhaseFindingTime=0) -!sh sleep 1 -#3j/ -!sh sleep 10 -#3j:100 - -#3out10 sets directly the Motor[3].ServoOut value , sets to 10% of Motor[x].MaxDac -Motor[3].MaxDac=4526.9282 - Out ServoOut iqCmd IqVolts -#3out100 -> 4526.9 set to 100 %of Motor[x].MaxDac -#3out50 -> 2263.46411 2263.4641 -#3out10 -> 452.692822 452.69281 - -iqMeas=iqCmd if motor is blocked, when motor moves, iqCmd stays and iqMeas drops -PwmSf IqCmd iqMeas(when blocked) -Motor[3].PwmSf;Motor[3].IqCmd;Motor[3].IqMeas;Motor[3].IqVolts -PwmSf=500 IqCmd=2263.4641 IqMeas=232.44925 IqVolts=34406.398 -PwmSf=1000 IqCmd=2263.4641 IqMeas=779.05316 IqVolts=34406.398 -PwmSf=2000 IqCmd=2263.4641 IqMeas=1944.9929 IqVolts=34406.398 -PwmSf=3000 IqCmd=2263.4641 IqMeas=2234.2734 IqVolts=34406.398 - - -Motor[x].PhasePosSf scale factor to convert encoder position to phase position -Motor[3].pPhaseEnc=PowerBrick[0].Chan[2].PhaseCapt.a -Motor[3].PhaseEncLeftShift=0 -Motor[3].PhaseEncRightShift=0 -1 rev=2000*256 enc_steps (PowerBrick[0].Chan[2].PhaseCapt) - -4 Pole magnet, 2000 enc_steps/rev -encoder configured to have 1 enc_step per revolution -PhasePosSf=0.016=1/62.5=32/2000= (4*2048)/(256*2000) = (numPoles*const)/(256*2000) -const=Power PMAC divides a commutation cycle into 2048 parts - -Motor[3].PhasePos position of the phase: 0..2048 this does not change if the motor is blocked - - ->>>>>>find PhasePosSf <<<<<<<<<<< -$$$*** -!common() -!encoder_sim(enc=3,tbl=3,mot=3) -!encoder_inc(enc=3,tbl=11,mot=11,encctrl=7,posSf=1./2000) -!motor(mot=3,numPhase=3, dirCur=500,contCur=1790,peakCur=2400,timeAtPeak=1,IiGain=1.0628819,IpfGain=0,IpbGain=6.5684085,AdvGain=0,FatalFeLimit=2000,WarnFeLimit=1000,InPosBand=0,PhasePosSf=0.0,PhaseCtrl=4,PhaseMode=0,SlipGain=0) - -Do manually one revolution -feeling 4 pole changes -> 8 poles (locks on N-S S-N positions, moves on N-N S-S position) -Motor[3].pPhaseEnc -> Motor[3].pPhaseEnc=PowerBrick[0].Chan[2].PhaseCapt.a - -PowerBrick[0].Chan[2].PhaseCapt after one revolution -1535488-1022464=513024=512000 - -Phase_step = change pole from N->S->N -1 Phase_step = 2048 Phase_uStep -512000 PhaseEnc_step == 4 pole changes = 4*2048 Phase_uStep -PhasePosSf=Phase_uStep/PhaseEnc_step=4*2048/512000==0.016 - - -!encoder_inc(enc=3,tbl=3,mot=3,encctrl=7,posSf=1./2000) -!motor(mot=3,numPhase=3, dirCur=0,contCur=1790,peakCur=2400,timeAtPeak=1,IiGain=1.0628819,IpfGain=0,IpbGain=6.5684085,AdvGain=0,FatalFeLimit=2000,WarnFeLimit=1000,InPosBand=0,servoSf=2000./1,PhasePosSf=0.016,PhaseCtrl=4,PhaseMode=0,PwmSf=4309,SlipGain=0,PhaseFindingDac=95.976563,PhaseFindingTime=22.586512) -Motor[3].Servo.BreakPosErr=0 -Motor[3].Servo.Kp=2000 -#3out5 - - - - - - - -#3j/ - - -PowerBrick[0].AdcAmpCtrl = $f00cfe00 $f00cfe00 -PowerBrick[0].Chan[0].InCtrl = $47 $47 -PowerBrick[0].Chan[0].OutCtrl = $f000001 $f000101 -PowerBrick[1].AdcAmpCtrl = $f00cfe00 $f00cfe00 -Motor[1].Servo.Kp = 4.0424199 4.0424199 -Motor[1].Servo.Kvifb = 0 0 -Motor[1].Servo.Kviff = 0 0 -Motor[1].Servo.Kvfb = 160.43646 40.951927 -Motor[1].Servo.Kvff = 160.43646 40.951927 -Motor[1].Servo.Kafb = 0 0 -Motor[1].Servo.Kaff = 3184.5818 207.48897 -Motor[1].Servo.Ki = 2.6301687e-4 0.0010304153 -Motor[1].Servo.Kfff = 0 0 -Motor[1].PhasePosSf = 0.0160000000000000003 1.59999999999999993e-5 -Motor[1].IiGain = 1.0628819 0.2278125 -Motor[1].IpbGain = 6.5684085 0.0099999998 -Motor[1].MotorTa = -10 -10 -Motor[1].MotorTs = -50 -50 -Motor[1].I2tSet = 1499.7477 418.92395 -Motor[1].I2tTrip = 18220758 2632459 -Motor[1].JogOffset = 0 0 -Motor[1].AdcMask = $fffc0000 $fffc0000 -Motor[1].PhaseOffset = 683 -683 -Motor[1].Stime = 0 0 -Motor[1].PwmSf = 4309 -2154 -Motor[1].MaxDac = 4524.3784 1675.6958 -Motor[1].PhaseFindingDac = 95.976563 0 -Motor[1].PhaseFindingTime = 22.586512 1 -Motor[1].TraceSize = 0 0 -Motor[1].Control[0] = $14000100 $14000100 -Motor[1].Control[1] = $0 $0 -Node15[0].MasterNum = 255 255 -Node15[1].MasterNum = 255 255 -Node15[2].MasterNum = 255 255 -Node15[3].MasterNum = 255 255 - - - - -IDE Setup -> changed variables ------------------------------- -*Command/Feedback(3) -Motor[3].pAbsPhasePos=0 // Encoder //12/9/2016 :8:51 AM - 129.129.144.138 -Motor[3].AbsPhasePosFormat=0 // Encoder //12/9/2016 :8:51 AM - 129.129.144.138 -Motor[3].AbsPhasePosSf=0 // Encoder //12/9/2016 :8:51 AM - 129.129.144.138 -Motor[3].AbsPhasePosOffset=0 // Encoder //12/9/2016 :8:51 AM - 129.129.144.138 -Motor[3].PhaseFindingTime=1 // Encoder //12/9/2016 :8:51 AM - 129.129.144.138 -Motor[3].PhaseFindingDac=0 // Encoder //12/9/2016 :8:51 AM - 129.129.144.138 - -*Hardware Interface -Motor[3].pLimits=PowerBrick[0].Chan[2].Status.a // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].pEnc= EncTable[3].a // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].pEnc2= EncTable[3].a // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].EncType= 5 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].pDac=PowerBrick[0].Chan[2].Pwm[0].a // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].pAdc=PowerBrick[0].Chan[2].AdcAmp[0].a // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].pAmpEnable=PowerBrick[0].Chan[2].OutCtrl.a // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].ServoCtrl = 1 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].PhaseCtrl = 4 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Gate3[0].Chan[2].PackIndata = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Gate3[0].Chan[2].PackOutdata = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].PhaseMode = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].pPhaseEnc=PowerBrick[0].Chan[2].PhaseCapt.a // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -BrickLV.Chan[2].TwoPhaseMode=0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].PhaseSplineCtrl = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].pSineTable = Sys.SineTable[0].a // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].pVoltSineTable = Sys.SineTable[0].a // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].PwmDbComp = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].PwmDbI = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -PowerBrick[0].Chan[2].OutputMode = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].PwmSf =7618.5 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].AmpEnableBit = 8 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].AmpFaultBit = 7 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].AmpFaultLevel = 1 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].pAmpFault=PowerBrick[0].Chan[2].Status.a // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].LimitBits = 9 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].DacShift=0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].AdcMask = $FFFC0000 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].ctrl=Sys.servoctrl // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].DtOverRotorTc = 0 // Hardware Interface //12/9/2016 0:8:53 AM - 129.129.144.138 -Motor[3].IxCoupleGain = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].SlipGain = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].AdvGain = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].Stime = 0 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -Motor[3].PhaseOffset =-683 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 -BrickLV.Reset = 1 // Hardware Interface //12/9/2016 :8:53 AM - 129.129.144.138 - - - -*** 16.1.2017 *** -================== - -Parker stage current step response ----------------------------------- - -Motor[2].IiGain=0 -Motor[2].IpfGain=1 -Motor[2].IpbGain=-1 - -Current step: Magnitude 4000 bits -Phasing 0 -Dwell 10 ms - -Motor 2 Phase pos at hard limit (towards kable) - -> Motor[2].PhasePos;#2$ -Motor[2].PhasePos=1317.26495427904138 -Motor[2].PhasePos=1286.11002741653601 -Motor[2].PhasePos=1310.62328616849777 -Motor[2].PhasePos=1310.62328616849686 -Motor[2].PhasePos=1307.26431089312473 -Motor[2].PhasePos=1323.77420922660667 -Motor[2].PhasePos=1323.77735999583911 -Motor[2].PhasePos=1331.42989161901664 -Motor[2].PhasePos=1332.17854273394619 - -Use Motor[2].PhasePos=1330 -Use Motor[3].PhasePos=150 (or 1200???) - -*** 19.1.2017 *** -================== - -Friction force of Parker stage - -X(top stage): 1N max 0.1N min.. depends on the magnetic poles -#3out20 -> Force 2N -#3out30 -> Force 3N (changes in torque at poles) -Weight: ca 250g - - -Y(lower stage): 1N max 0.1N min.. depends on the magnetic poles -#2out20 -> Force 2.5N iqCmd=402 -#2out30 -> Force 3N iqCmd=603 (changes in torque at poles) -Weight: ca 750g - -*** 27.1.2017 *** -================== - -Friction force of Parker stage: see blue logbook. -Calculate the current at a given force: - -import numpy as np -import plt as matplotlib.pyplot - -F=np.array([+300, +100, 0.,-50,-100,-150,-200,-250,-300]) -i=np.array([+625, 214, 38.,-104,-207,-300,-400,-500,-600]) - -plt.plot(i,F,'.-') - -average Motor[3].iqMeas -610.949923065 -average Motor[3].iaMeas 432.573485303 -average Motor[3].ibMeas -699.459308138 --> icMeas 432.573485303-699.459308138=-266.885822835 - - -Check cur_bits to current -------------------------- - -Block motor 4 -set current to 10%: #4out10 -Measure current with amp meter and ./move_record.py - -Motor[4].PhasePos=313 - -gelb 293 mA -idCmd=0 -average Motor[4].iqMeas 452.897308732 -average Motor[4].iaMeas -274.830633873 -average Motor[4].ibMeas 523.056988602 - -> icMeas 248.226 - -rot 560 mA -average Motor[4].iqMeas 452.719438794 -average Motor[4].iaMeas -264.325534893 -average Motor[4].ibMeas 523.057788442 - -> icMeas 258.73 - -schwarz 290mA -average Motor[4].iqMeas 453.042713114 -average Motor[4].iaMeas -252.726254749 -average Motor[4].ibMeas 523.302539492 - -> icMeas 270.57 - -PhasePos=0 ia=-512 ib=260 ic=240 -PhasePos=682 ia=250 ib=250 ic=500 -PhasePos=1364 ia=320 ib=-500 ic=180 - -https://de.wikipedia.org/wiki/D/q-Transformation -ia=-sin(phi)*iq -ib=-sin(phi-120deg)*iq -ic=-sin(phi-240deg)*iq - -...cant yet figure out the scaling... - - -Measuring position depenmdent friction(=current) ------------------------------------------------- - ./move_record.py cfg = {"sequencer": ['prog_1(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_1()']} - -Avg current forward: 37.2596025196 Avg current backward: -68.9828819531 -lut [[ 1.00000000e+03 -2.70746096e+01] - [ 1.31399384e+03 -3.76975094e+01] - [ 1.71398707e+03 -5.78253228e+01] -... - [ 2.57135808e+04 -1.09363816e+01] - [ 2.61135740e+04 -1.42231517e+01] - [ 2.65135673e+04 -1.19655511e+01] - [ 2.69135605e+04 -6.38521106e+01]] - - - - -Python to Matlab ----------------- - -import numpy as np, scipy.io -fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/prog_1.npz' -fh=np.load(fn) -scipy.io.savemat(fn[:-3]+'mat',mdict=dict(fh.iteritems())) - - -compensate position depenmdent friction 1.2.2017 ------------------------------------------------- - -Git tag: 3fafe53 -gpasciiCommander --host SAROP11-CPPM-MOT6871 -i -!mx-stage() -&1 #1->0 -&1 #2->0 -#3$ -an anschlag (kabel) bewegen -#3hmz -Motor[3].PhasePos=1200 -#3j/ - -./move_record.py -abs average pos Error 2.1890901307 - -Motor[3].Servo.Kp=10 -Motor[3].Servo.Kvfb=100 -Motor[3].Servo.Kvff=100 -abs average pos Error 1.89392140871 - -/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo/usrcode.c -line 100: c=0.f; //no friction compensation at all -abs average pos Error 1.82212631688 - -line 85: c=0.f; //do not use friction lut -abs average pos Error 1.47794399154 - -using friction lut: -abs average pos Error 0.893315213359 - -But if it is put vertically, the value becomes bad again. -check friction on vertical stage - -average PosError to P3000 2.2.2017 ----------------------------------- - -modify programm generated by ./move_record.py: - -open prog 2 -N0: -linearabs -X505.488Y7.15189 -dwell10 -pvt10abs -X505.488:2526.97Y7.15189:-85.15309999999999 -X556.028:4937.42Y5.44883:-34.6476 -... -X508.588:0Y954.585:0 -X508.588Y954.585 -dwell10 -goto 0 -close - - - - -modify user servo to average PosError to P3000 2.2.2017 -tweak parameters: -Motor[3].Servo.Kp -Motor[3].Servo.Kvfb -Motor[3].Servo.Ki -Motor[3].Servo.Kvff -Motor[3].Servo.Kaff - -Kp = 10 10 10 10 10 10 20 -Kvfb = 220 220 220 220 220 220 220 -Ki = 0.001 0.01 0.02 0.01 0 0 0.02 -Kvff = 240 240 240 240 240 240 240 -Kaff = 0 0 0 20 1500 1500 1500 - 1.3 .53 .43 0.52 1.88 0.7 0.1 - A - -A: Higher Ki than 0.02 do not help - -Set Ki to 0 and seek optimal Kvff -Kvff =240 local minimum -Kvfb =220 local minimum -Kaff =1500 Kaff does not change the error amount, but makes the error smoother at 1500 -Kp =20 average error becomes smaller - - -Motor[3].Servo.Kvff - -commit after: 3fafe53 -./move_record.py ->>>>>>>> abs average pos Error 0.353193239442 <<<<<<< - -./shapepath.py gen_rand_points(n=400, scale=1000) -Random path at speed: -%100 average error x 1.32075 um, y 0.940694 um, 1.84578 um -%50 average error x 0.336186 um, y 0.259554 um, 0.478149 um -%25 average error x 0.177138 um, y 0.077619 um, 0.209937 um - - -./shapepath.py gen_grid_points(w=20,h=20,pitch=50,rnd=0.2) -Grid path at speed: -%100 average error x 0.363065 um, y 0.314149 um, 0.536246 um -%50 average error x 0.246374 um, y 0.0985771 um, 0.283925 um -%25 average error x 0.150303 um, y 0.0429124 um, 0.163468 um - - - -Interferometer 11.4.2017 ------------------------- - - -adding to torqueCtrl lines: -!encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000) -!encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000) - -gpasciiCommander --host SAR-CPPM-EXPMX1 -i -!mx-stage() -#1..3$ -&1 -#1..3j/ - -both interferometer works -homing and move: - -#2..5p --0.04000000000000008 0.0200000000000023 -298.8984375 39.890625 -> #2j=10000;#3j=0000 -#2j=10000;#3j=0000 -> #2..5p -#2..5p -10000 2.380040609040179e-15 -500672.5625 4334.390625 -> #2j=0000;#3j=0000 -#2j=0000;#3j=0000 -> #2j=0000;#3j=10000 -#2j=0000;#3j=10000 -> #2..5p -#2..5p --0.02000000000000006 10000 -3559.06640625 -499752.609375 - - - - -#2..5p --0.08000000000000007 -0.003515624999636202 -0.5 7.2890625 - -#2j=10000 -#2..5p -9999.980000000001 -0.01000000000021828 4290.96875 -500362.453125 -#2j=0;#3j=10000 -#2..5p -0 9999.992812500001 -499789.3984375 -3260.984375 - -Interferometer have 500000 counts per 10000um = 50 counts per um =20nm -at Motor[2].JogSpeed=10 the interferometer can not follow the motion. -It will not loose steps, but the maximum frequency is limiting during motion. -at Motor[2].JogSpeed=10 the interferometer and the encoder delivers similar values. - - -interfero_move_rec.py - self.gather={"MaxSamples":1000000, "Period":acq_per} - self.channels=channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"] - -Gather.Enable=0 -Gather.Items=6 -Gather.MaxSamples=1000000 -Gather.Period=10 -Gather.Addr[0]=Motor[2].DesPos.a -Gather.Addr[1]=Motor[3].DesPos.a -Gather.Addr[2]=Motor[2].ActPos.a -Gather.Addr[3]=Motor[3].ActPos.a -Gather.Addr[4]=Motor[4].ActPos.a -Gather.Addr[5]=Motor[5].ActPos.a -open prog 2 - linear abs - X0 Y0 - dwell 10 - Gather.Enable=2 - X10000 Y0 - dwell 100 - X0 Y0 - dwell 100 - X0 Y10000 - dwell 100 - X0 Y0 - dwell 1000 -Gather.Enable=0 -close -&1 -b2r - -download data with -PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 - -cat /tmp/gather.txt - -Motor[2].MaxSpeed=50 -Motor[3].MaxSpeed=50 -->gather50.txt - -Motor[2].MaxSpeed=5 -Motor[3].MaxSpeed=5 -->gather5.txt - -Motor[2].MaxSpeed=1 -Motor[3].MaxSpeed=1 -->gather1.txt - -Changing encoder frequency on atto cube makes it run even at high speed - - -28. 4.2017 prepare for vibration measurement --------------------------------------------- -PPMAC=SAR-CPPM-EXPMX1 - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX -PBInspect --host $PPMAC --cfg PBinspect.pbi - -cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo -make - - -cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg -gpasciiCommander --host SAR-CPPM-EXPMX1 -i -!mx-stage() -#1..3$ -&1 -#1..3j/ - -#1j=360000 //360deg gegenuhrzeiger - -#2j:100 //100 um right -#3j:100 //100 um up - -move bottom left -#2,3$ -Motor[2].PhasePos;Motor[3].PhasePos - -Motor[2].PhasePos=310;Motor[3].PhasePos=1210 -#2,3hmz -Motor[3].HomePos=Motor[3].HomePos+15000 - - -Motor 2 vibriert mit 76ms =13.15 Hz - - -b2r -Load is now Alublock + mirrors - -at 50 Hz peak to peak 200um -at 100Hz peak to Peak 50um -at 200Hz peak to Peak 13um -at 400Hz peak to Peak 1.5um - - - -2. 5.2017 Vertical stage with load ----------------------------------- - - scale=0.83832 #np.sqrt(3)/2*32767/33.850/1000 - -Motor[3].I2tSet=670.65601 -670.65601/0.83832 = 800.000 - -ohne Platte iqCmd = 625 -Platte 133.2g iqCmd = 910 -Platte 156.8g iqCmd = 965 - -Motor[3].IaMeas=-660 -Motor[3].IbMeas=580 -Motor[3].IqMeas=634.15991 - - -Motor[3].IaMeas=-708 -Motor[3].IbMeas=256 - - - -Motor[3].IaMeas=436 =520 -Motor[3].IbMeas=-632 =-753 -Motor[3].IqMeas=566.46863 = 675 - - -Claude messungen: -Phase 1: 330mA -Phase 2: 125mA -Phase 3: 694mA - -Stromzange: 650 mA - - - -Interferometer 29.5.2017 ------------------------- -cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX;PBInspect --cfg PBinspect.pbi --host SAR-CPPM-EXPMX1 - -gpasciiCommander --host SAR-CPPM-EXPMX1 -i -!mx-stage() -#1..3$ -&1 -#1..3j/ - -zero to neative inc values -move motor 2,3 from 500 to 28500 -#1..5hmz - -read acquire statements and program at to of plot_interfero.py - - -Motor[2].MaxSpeed=30;Motor[3].MaxSpeed=30 -Motor[2].MaxSpeed=10;Motor[3].MaxSpeed=10 - -PPMAC=SAR-CPPM-EXPMX1 -PBGatherPlot -m24 -v7 --host $PPMAC --dat gather1.txt - - -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather0.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather1.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather2.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather3.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather4.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather5.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather6.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather7.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather8.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather9.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather10.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather11.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather12.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather13.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather14.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather15.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather16.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather17.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather18.txt -b2r -!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather19.txt - - -Konstantfeder 2.6.2017 ----------------------- - -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 -!mx-stage() - -//#1..3$ -//move bottom left -#2,3$ -Motor[2].PhasePos;Motor[3].PhasePos - -Motor[2].PhasePos=310;Motor[3].PhasePos=1210 -#2,3hmz -Motor[2].HomePos=Motor[2].HomePos+5000 -Motor[3].HomePos=Motor[3].HomePos+5000 - - -&1 - -#1..3j/ -#2..3j=0 -L2=Motor[2].MaxDac -L3=Motor[3].MaxDac - - -Motor[2].MaxDac=500 -#2j+ - -enable plc 1 - -Motor[2].HomeVel=2 -Motor[3].HomeVel=2 -#2,3$ - -Homing 12.6.2017 ---------------- - -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 -!mx-stage() -//!init() -//!init_limit() - -enable plc 1 - - - -cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/qt -CAQTDM_DISPLAY_PATH=/sf/controls/config/qt -EPICS_CA_ADDR_LIST='sf-cagw SAR-CPPM-EXPMX1' -EPICS_CA_ADDR_LIST=SAR-CPPM-EXPMX1 -$ caget SAR-ESB_MX:MOTOR_X1 - -root@:/ioc/SAR-CPPM-EXPMX1# service shellbox status -pid port user dir command -STOPPED 50001 ioc /ioc/SAR-CPPM-EXPMX1 iocsh startup.script -root@:/ioc/SAR-CPPM-EXPMX1# service shellbox start -Starting shellbox service: -Starting: 50001 ioc /ioc/SAR-CPPM-EXPMX1 iocsh startup.script - -dbl -dbpf SAR-ESB_MX:MOTOR_Y1 10 -dbpf SAR-ESB_MX:MOTOR_X1 10 - -dbpf SAR-ESB_MX:ASYN.AOUT 'enable plc 1' - -Boot time of SAR-CPPM-EXPMX1 ca.4min. -telnet SAR-CPPM-EXPMX1 50001 - -ssh x06mx-cons-1 -cd /scratch/ESB_MX/ESB_MX/qt -caqtdm -macro 'P=SAR-ESB_MX' ESB_MX_exp.ui -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-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' -``` - -Recommissioning 13.4.2022 -------------------------- -``` -MCS: - -Purchased On: 2017/12/18 -Part Type Name: MCS-3CC-ETHA-MOD -MAC 1: 00:04:A3:A2:71:35 -Purchase Number: 5200119415 - -root@SAR-CSSU-EXPMX1:~# echo -ne "\xff" > /dev/ttyM0 --> it worked but Zan can not make it run any more - - - -caput SAR-EXPMX1:ASYN.AOUT '#1p' -caget SAR-EXPMX1:ASYN.TINP - -caput SAR-EXPMX1:ASYN.AOUT 'BrickLV.Reset=1' - --> Motor 4 has a short cirquit, therefore the motion and shapepath is not possible. - - -caput SAR-EXPMX1:ASYN.AOUT '&0#4->0' -caput SAR-EXPMX1:ASYN.AOUT '&0#5->0' -caput SAR-EXPMX1:ASYN.AOUT '&0#6->0' -caput SAR-EXPMX1:ASYN.AOUT '&0#7->0' -caput SAR-EXPMX1:ASYN.AOUT '&0#8->0' - -caput SAR-EXPMX1:ASYN.AOUT '#1..3j/' -caput SAR-EXPMX1:ASYN.AOUT '#4j/' - - -``` diff --git a/python/shapepath.py b/python/shapepath.py index 73dc423..7b28497 100755 --- a/python/shapepath.py +++ b/python/shapepath.py @@ -70,7 +70,7 @@ hostname=socket.gethostname() if hostname=='ganymede': sys.path.insert(0, os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/')) else: - sys.path.insert(0, os.path.expanduser('/sf/cristallina/applications/mx/zamofing_t/PBTools/')) + sys.path.insert(0, os.path.expanduser('/sf/cristallina/applications/SwissMX/PBTools/')) from pbtools.misc.pp_comm import PPComm from pbtools.misc.gather import Gather diff --git a/qt/ESB_MX_5cam.ui b/qt/ESB_MX_5cam.ui deleted file mode 100644 index 41ab3b4..0000000 --- a/qt/ESB_MX_5cam.ui +++ /dev/null @@ -1,1164 +0,0 @@ - - - Form - - - - 0 - 0 - 720 - 620 - - - - Form - - - - - 20 - 10 - 721 - 28 - - - - - 18 - 75 - true - - - - ESB MX 5 cam girder $(P) - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - - 160 - 160 - 164 - - - - - - - 10 - 50 - 700 - 274 - - - - P=$(P),M=MOT_GIR_1;P=$(P),M=MOT_GIR_2;P=$(P),M=MOT_GIR_3;P=$(P),M=MOT_GIR_4;P=$(P),M=MOT_GIR_5;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 - - - motor_1m.ui - - - 10 - - - 6 - - - - - - 20 - 582 - 411 - 31 - - - - $(P):debug3.VAL - - - caLineEdit::string - - - - - - 20 - 532 - 451 - 41 - - - - type motion code as: -'&1;#1..5j/;cpx abslinear X(1000)Y(0)U(0)V(0)W(0)' - - - - - - 20 - 332 - 341 - 194 - - - - - - 180 - 120 - 10 - 10 - - - - - 51 - 153 - 0 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 51 - 153 - 0 - - - - caGraphics::IfNotZero - - - A - - - $(P):MOT_GIR_3.MOVN - - - caGraphics::Circle - - - - - - 50 - 36 - 25 - 25 - - - - - 14 - - - - x - - - - - - 57 - 146 - 10 - 10 - - - - - 120 - 120 - 120 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 120 - 120 - 120 - - - - caGraphics::IfZero - - - A - - - $(P):MOT_GIR_2.MOVN - - - caGraphics::Circle - - - - - - 230 - 146 - 10 - 10 - - - - - 51 - 153 - 0 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 51 - 153 - 0 - - - - caGraphics::IfNotZero - - - A - - - $(P):MOT_GIR_5.MOVN - - - caGraphics::Circle - - - - - - 57 - 146 - 10 - 10 - - - - - 51 - 153 - 0 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 51 - 153 - 0 - - - - caGraphics::IfNotZero - - - A - - - $(P):MOT_GIR_2.MOVN - - - caGraphics::Circle - - - - - - 270 - 118 - 15 - 24 - - - - 2 - - - caGraphics::Arc - - - 35 - - - 50 - - - 226 - - - 243 - - - - - - 80 - 165 - 10 - 10 - - - - - 51 - 153 - 0 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 51 - 153 - 0 - - - - caGraphics::IfNotZero - - - A - - - $(P):MOT_GIR_1.MOVN - - - caGraphics::Circle - - - - - - 140 - 66 - 191 - 141 - - - - caGraphics::Filled - - - caGraphics::Arrow - - - 10 - - - caGraphics::Double - - - 172 - - - - - - 320 - 126 - 25 - 25 - - - - - 14 - - - - z - - - - - - 33 - 146 - 20 - 16 - - - - M2 - - - Qt::AlignAbsolute|Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - QFrame::NoFrame - - - - - - 84 - 89 - 10 - 12 - - - - caGraphics::Filled - - - caGraphics::Arrow - - - 4 - - - caGraphics::Single - - - 212 - - - - - - 80 - 76 - 21 - 21 - - - - 2 - - - caGraphics::Arc - - - 35 - - - 50 - - - 357 - - - 243 - - - - - - 60 - 60 - 91 - 91 - - - - caGraphics::Filled - - - caGraphics::Arrow - - - 8 - - - caGraphics::Double - - - 51 - - - - - - 180 - 120 - 10 - 10 - - - - - 120 - 120 - 120 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 120 - 120 - 120 - - - - caGraphics::IfZero - - - A - - - $(P):MOT_GIR_3.MOVN - - - caGraphics::Circle - - - - - - 93 - 12 - 100 - 141 - - - - caGraphics::Filled - - - caGraphics::Arrow - - - 8 - - - caGraphics::Double - - - 90 - - - - - - 230 - 146 - 10 - 10 - - - - - 120 - 120 - 120 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 120 - 120 - 120 - - - - caGraphics::IfZero - - - A - - - $(P):MOT_GIR_5.MOVN - - - caGraphics::Circle - - - - - - 270 - 140 - 51 - 16 - - - - - 9 - - - - roll - - - - - - 160 - 116 - 20 - 16 - - - - M3 - - - Qt::AlignAbsolute|Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - QFrame::NoFrame - - - - - - 264 - 119 - 19 - 10 - - - - caGraphics::Filled - - - caGraphics::Arrow - - - 9 - - - caGraphics::Single - - - 291 - - - - - - 160 - 41 - 51 - 16 - - - - - 9 - - - - yaw - - - - - - 80 - 165 - 10 - 10 - - - - - 120 - 120 - 120 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 120 - 120 - 120 - - - - caGraphics::IfZero - - - A - - - $(P):MOT_GIR_1.MOVN - - - caGraphics::Circle - - - - - - 50 - 86 - 51 - 16 - - - - - 9 - - - - pitch - - - - - - 270 - 76 - 51 - 21 - - - - - 11 - - - - Beam - - - - - - 196 - 142 - 20 - 16 - - - - M4 - - - Qt::AlignAbsolute|Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - QFrame::NoFrame - - - - - - 130 - 56 - 31 - 18 - - - - 2 - - - caGraphics::Arc - - - 35 - - - 50 - - - 105 - - - 243 - - - - - - 150 - -4 - 25 - 25 - - - - - 14 - - - - y - - - - - - 153 - 59 - 15 - 8 - - - - caGraphics::Filled - - - caGraphics::Arrow - - - 11 - - - caGraphics::Single - - - 99 - - - - - - 10 - 86 - 281 - 111 - - - - - 0 - 5 - 0 - - - - caPolyLine::Solid - - - 2 - - - 28,37;62,62;244,39;172,19;30,38;39,61;69,92;62,61;240,39;243,39;236,72;70,92 - - - caPolyLine::Outline - - - caPolyLine::Polyline - - - - - - 250 - 86 - 61 - 41 - - - - - 255 - 255 - 0 - - - - caGraphics::Filled - - - 4 - - - - 255 - 255 - 0 - - - - caGraphics::Arrow - - - 16 - - - caGraphics::Single - - - 171 - - - 226 - - - 243 - - - - - - 217 - 141 - 10 - 10 - - - - - 51 - 153 - 0 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 51 - 153 - 0 - - - - caGraphics::IfNotZero - - - A - - - $(P):MOT_GIR_4.MOVN - - - caGraphics::Circle - - - - - - 230 - 161 - 20 - 16 - - - - M5 - - - Qt::AlignAbsolute|Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - QFrame::NoFrame - - - - - - 217 - 141 - 10 - 10 - - - - - 120 - 120 - 120 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 120 - 120 - 120 - - - - caGraphics::IfZero - - - A - - - $(P):MOT_GIR_4.MOVN - - - caGraphics::Circle - - - - - - 78 - 177 - 20 - 16 - - - - M1 - - - Qt::AlignAbsolute|Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - QFrame::NoFrame - - - capolyline - m3move - label_7 - m5move - cagraphics_9 - m1move - cagraphics_4 - label_8 - caLabel_10 - cagraphics_5 - cagraphics_2 - cagraphics_3 - m3stop - cagraphics - m5stop - label_11 - caLabel_11 - cagraphics_10 - label_10 - m1stop - label_9 - label_12 - caLabel_12 - cagraphics_7 - label_6 - cagraphics_8 - cagraphics_6 - m4move - caLabel_13 - m4stop - caLabel_9 - m2move - m2stop - - - - - 450 - 342 - 161 - 31 - - - - Reset $(P)3 - - - $(P):debug3 - - - Reset $(P)3 - - - BrickLV.Reset=1;#1..8j/ - - - - - - caTextEntry - caLineEdit -
caTextEntry
- - - caMessageButton - QPushButton -
caMessageButton
- - - caFrame - QFrame -
caFrame
- 1 - - - caLabel - QLabel -
caLabel
- - - caGraphics - QWidget -
caGraphics
- - - caPolyLine - QWidget -
caPolyLine
- - - caInclude - QWidget -
caInclude
- - - caLineEdit - QLineEdit -
caLineEdit
- - - - - diff --git a/qt/ESB_MX_SmarAct.ui b/qt/ESB_MX_SmarAct.ui deleted file mode 100644 index b2566f1..0000000 --- a/qt/ESB_MX_SmarAct.ui +++ /dev/null @@ -1,132 +0,0 @@ - - - Form - - - - 0 - 0 - 610 - 735 - - - - Form - - - false - - - - - 0 - 0 - 781 - 26 - - - - Expert - - - Smaract Controller $(P):$(M) - - - Qt::AlignLeading - - - - 0 - 0 - 0 - - - - - 0 - 0 - 0 - - - - caLabel::Default - - - QFrame::NoFrame - - - - - - 5 - 53 - 590 - 672 - - - - P=$(P),T=$(T),M=$(M)1;P=$(P),T=$(T),M=$(M)2;P=$(P),T=$(T),M=$(M)3;P=$(P),T=$(T),M=$(M)4;P=$(P),T=$(T),M=$(M)5;P=$(P),T=$(T),M=$(M)6;P=$(P),T=$(T),M=$(M)7;P=$(P),T=$(T),M=$(M)8;P=$(P),T=$(T),M=$(M)9;P=$(P),T=$(T),M=$(M)10;P=$(P),T=$(T),M=$(M)11;P=$(P),T=$(T),M=$(M)12;P=$(P),T=$(T),M=$(M)13;P=$(P),T=$(T),M=$(M)14;P=$(P),T=$(T),M=$(M)15 - - - motor_exp.ui - - - 15 - - - 3 - - - caInclude::NoFrame - - - - - - 480 - 10 - 109 - 24 - - - - -Homing - - - - 128 - 136 - 255 - - - - Homing - - - python /ioc/modules/qt/ESB_MX_SmarAct_home.py - - - $(P):$(M) - - - - - - caLabel - QLabel -
caLabel
- - - caInclude - QWidget -
caInclude
- - - caShellCommand - QWidget -
caShellCommand
- - - - - diff --git a/qt/ESB_MX_SmarAct_home.py b/qt/ESB_MX_SmarAct_home.py deleted file mode 100755 index 7d651d6..0000000 --- a/qt/ESB_MX_SmarAct_home.py +++ /dev/null @@ -1,154 +0,0 @@ -#!/usr/bin/env python -#*-----------------------------------------------------------------------* -#| | -#| Copyright (c) 2014 by Paul Scherrer Institute (http://www.psi.ch) | -#| | -#| Author Thierry Zamofing (thierry.zamofing@psi.ch) | -#*-----------------------------------------------------------------------* -''' -Homing procedure for PPRM. - -Long Doc''' -#for ID in 1 2 3 4 5 6 -#do -#caput MYPREFIX:MOTOR_$ID.RLV 55 -#caput MYPREFIX:MOTOR_$ID.SET Set -#caput MYPREFIX:MOTOR_$ID.VAL 0 -#caput MYPREFIX:MOTOR_$ID.SET Use -#done - -#for ID in 1 2 3 4 5 6 -#do -#caput MYPREFIX:MOTOR_$ID.RLV -10 -#done - - -import logging, sys, os, json -import CaChannel,time - -class SwissMxSmarAct: - - def __init__(self, args): - self.args=args - prefix=self.args.var[0] - if prefix[-1]==':':prefix[:-1] - self.prefix=prefix - self.pv=pvDict=dict() - for i in range(1,16): - #SARES30-ESBMX1:FRM_FORW.PROC - #SARES30-ESBMX1:DRIVE - s1=prefix+'%i'%i - for j in ('.VAL','.RBV','.HOMF','.HOMR','.MSTA','_AUTOZERO'): - s2=s1+j - print(s2) - pv = CaChannel.CaChannel(s2) - pv.setTimeout(10.0) - pv.search() - pvDict[s2]=pv - CaChannel.ca.pend_io(10.0) - #print(pvDict) - #pvDict['cryorbv'] = CaChannel.CaChannel("SAR-EXPMX:MOT_CRYO.RBV") - #pvDict['cryorbv'].search() - - def home(self,idx,fwd): - print('home motor %i fwd:%d...'%(idx,fwd)) - pv=self.pv[self.prefix+'%i'%idx+'_AUTOZERO'] - pv.putw(1) #set autozero on - if fwd: - pv=self.pv[self.prefix+'%i'%idx+'.HOMF'] - else: - pv=self.pv[self.prefix+'%i'%idx+'.HOMR'] - #print('aaa') - pv.putw(1) #set position and move - #print('bbb') - CaChannel.ca.pend_event(0.1) - #print('ccc') - - def waitHomed(self,idx): - #print('ddd') - pv=self.pv[self.prefix+'%i'%idx+'.MSTA'] - #print('eee',pv,self.prefix+'%i'%idx+'.MSTA') - while pv.getw()==0: - print('wait motor %i homing done ...'%idx) - CaChannel.ca.pend_event(0.2) - #print('fff') - - def moveAbs(self,idx,val): - pv=self.pv[self.prefix+'%i'%idx+'.VAL'] - pv.putw(val) #set position and move - - - def check_pos(self, idx, val, tolerance=0.1): - pvrbv = self.pv[self.prefix+'%i'%idx+'.RBV'] - pvst = self.pv[self.prefix+'%i'%idx+'.MSTA'] - - CaChannel.ca.pend_event(0.2) - while pvst.getw(): - CaChannel.ca.pend_event(0.2) - rbv=pvrbv.getw() - if abs(val - rbv) > tolerance: - raise Exception("failed to reach target value %g,%g,%g"%(val,rbv,tolerance)) - - def homing(self): - #start homing in desired direction - #cryorbv = self.pv['cryorbv'] - #if cryorbv.getw() < 4.9: - # raise Exception("Cryojet is too close, move it to 5.0 mm") - - # home Colli Y first and move it to the TOP - ###self.home(2, True) - ###CaChannel.ca.pend_event(0.5) - ###self.waitHomed(2) - ###CaChannel.ca.pend_event(0.5) - ###self.moveAbs(2, 10.0) - ###self.check_pos(2, 10.0) - - ###for idx,fwd in ((1,True),(4,True),(5,True),(6,True),(7,True),(8,True),(10,True),(11,True),(12,True),(13,True),(14,True),(15,True),): - for idx,fwd in ((1,True),(2,True),(3,True),(4,True),(5,True),(6,True),(7,True),(8,True),(9,True),(10,True),(11,True),(12,True),(13,True),(14,True),(15,True),): - self.home(idx,fwd) - CaChannel.ca.pend_event(0.5) - ####wait homing done - ###for idx in (1,4,5,6,7,8,10,11,12,13,14,15,): - ### self.waitHomed(idx) - - ####move to desired position - ###for idx,val in ((1,-10),(4,.4),(5,.5),(6,.6),(7,.7),(8,.8),(10,1.0),(11,1.1),(12,1.2),(13,1.3),(14,1.4),(15,1.5),): - ### self.moveAbs(idx,val) - print('Homing done') - -if __name__=='__main__': - from optparse import OptionParser, IndentedHelpFormatter - class MyFormatter(IndentedHelpFormatter): - 'helper class for formating the OptionParser' - - def __init__(self): - IndentedHelpFormatter.__init__(self) - - def format_epilog(self, epilog): - if epilog: - return epilog - else: - return "" - - def parse_args(): - 'main command line interpreter function' - #usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg - (h, t)=os.path.split(sys.argv[0]);cmd='\n '+(t if len(h)>3 else sys.argv[0])+' ' - exampleCmd=('SARES30-ESBMX', - ) - epilog=__doc__+''' -Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n ' - - fmt=MyFormatter() - parser=OptionParser(epilog=epilog, formatter=fmt) - #parser.add_option('', '--host', dest='host', help='hostname (or none to use locally)', metavar='HOST') - #parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0) - (args, other)=parser.parse_args() - print(args,other) - args.var=other - smrct=SwissMxSmarAct(args) - smrct.homing() - - #os.environ['EPICS_CA_ADDR_LIST']='localhost' - parse_args() - diff --git a/qt/ESB_MX_exp.ui b/qt/ESB_MX_exp.ui deleted file mode 100644 index 4ef853b..0000000 --- a/qt/ESB_MX_exp.ui +++ /dev/null @@ -1,247 +0,0 @@ - - - Form - - - - 0 - 0 - 720 - 695 - - - - Form - - - - - 10 - 10 - 721 - 28 - - - - - 18 - 75 - true - - - - ESB MX $(P) - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - - 160 - 160 - 164 - - - - - - - 10 - 50 - 700 - 582 - - - - P=$(P),M=MOT_FY;P=$(P),M=MOT_FX;P=$(P),M=MOT_CY;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 - - - motor_1m.ui - - - 21 - - - 6 - - - - - - 130 - 640 - 120 - 22 - - - - Homing wedge stage - - - $(P):asyn2.AOUT - - - Homing wedge stage - - - enable plc 1 - - - - - - 350 - 640 - 100 - 22 - - - - Backlight - - - $(P):MOT_BLGT - - - -29000 - - - 0 - - - - - - 250 - 640 - 90 - 22 - - - - Home BkLight - - - $(P):MOT_BLGT.HOMR - - - 1 - - - - - - 10 - 640 - 120 - 22 - - - - Homing fast stage - - - $(P):asyn1.AOUT - - - Homing fast stage - - - enable plc 1 - - - - - - 510 - 640 - 180 - 31 - - - - -related panels - - - - 0 - 0 - 0 - - - - - 89 - 126 - 225 - - - - SmarAct;Girder;EVR;EVR-simple - - - ESB_MX_SmarAct.ui;ESB_MX_5cam.ui;G_EVR_main.ui;S_LAS-TMAIN.ui - - - P=SARES30-SMX,M=MCS,T=MCS;P=$(P);SYS=$(P),DEVICE=EVR0,FF=PCIe;SYS=$(P),DEVICE=EVR0,FF=PCIe - - - caRowColMenu::Menu - - - false;false;false;false;false;false;false;false;false;false;false;false;false;false;false;false - - - - - - 10 - 660 - 120 - 22 - - - - Homing CY stage - - - $(P):asyn1.AOUT - - - Homing CY stage - - - enable plc 2 - - - - - - caRelatedDisplay - QWidget -
caRelatedDisplay
- - - caMessageButton - QPushButton -
caMessageButton
- - - caToggleButton - QCheckBox -
caToggleButton
- - - caLabel - QLabel -
caLabel
- - - caInclude - QWidget -
caInclude
- - - - -