213 lines
4.0 KiB
Markdown
213 lines
4.0 KiB
Markdown
|
|
|
|
```
|
|
|
|
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
|
|
>
|
|
|
|
|
|
```
|