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 :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