try to enhance CY

Readme.md

@@ -1022,8 +1022,8 @@ 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 -> FrontUnivOut4 Gate3[1].Chan[1].UserFlag
+Event  40 -> Pulser 1 -> FrontUnivOut5 Gate3[1].Chan[1].UserFlag
-Event  22 -> Pulser 2 -> FrontUnivOut4 Gate3[1].Chan[2].UserFlag
+Event  22 -> Pulser 2 -> FrontUnivOut6 Gate3[1].Chan[2].UserFlag
 
 caput SAR-CVME-TIFALL5-EVG0:SoftEvt-EvtCode-SP 254
 
@@ -1477,7 +1477,66 @@ the cabeling has to change so that it fits as it worked before.
     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
+
+
 
 ```

cfg/MX1_setup.cfg

@@ -107,9 +107,25 @@ Motor[2].pEncLoss=0
 !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=10,homing='enc-index')
-Motor[3].Servo.Kp=50
+Motor[3].Servo.Kp=20
-Motor[3].Servo.BreakPosErr=5
+Motor[3].Servo.BreakPosErr=1
-Motor[3].Servo.Ki=.0004
+Motor[3].Servo.KBreak=10
+Motor[3].Servo.Ki=0
+Motor[3].Servo.OutDbOn=150
+Motor[3].Servo.OutDbOff=150
+
+//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

generate.py

@@ -70,7 +70,7 @@ class Generate:
       '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      , 1     , 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'  ) ,
@@ -215,6 +215,19 @@ runScript $(mrfioc2_DIR)/mrfioc2_evr-PCIe.cmd, "DEVICE=EVR0,EVR_SUBS=$(ESB_MX_DI
 # 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='''