183 lines
4.4 KiB
Markdown
183 lines
4.4 KiB
Markdown
Various motor documents
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-----------------------
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- /home/zamofing_t/Documents/doc-ext/SwissFEL/ESB-MX-Stage
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Parker stage
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------------
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```
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- encoder is incremental encoder
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25mm or 50mm travel stage
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Stall Current Continuous 0.8
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Peak Current Amps RMS 2.4 (->sqrt(2)*2.4=3.39A_peak)
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Resistance Ohms 8.8
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Inductance mH 2.4
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Max.BuxVoltage V 80
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Continous Force 4N -> assume 1kg load -> acceleration=a=F/m=4m/s^2
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Weight top stage: 250g=2.5N
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```
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Mecapion rot stage
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------------------
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```
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http://www.lsmecapion.com/eng/
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http://www.lsmecapion.com/eng/contents/sub01/sub02_03.php
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http://www.a2v.fr/program/mdm-dc06d.htm
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http://www.parkem.ch/medien/produkte/direktantriebstechnik/pdf/MDM_Rundtisch_katalog.pdf
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http://www.goto.si/wp-content/uploads/2016/kat/L7%20Series%20catalog.pdf
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http://farasys.ir/wp-content/uploads/2015/Direct%20Drive%20Rotary%20Motors.pdf
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http://www.inmoco.co.uk/Upload/product/1037_DD_Series_Motors_79.pdf
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- encoder is biss 20 bit
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- Rated Current 1.46 Arms
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- Max Current 4.38 Arms
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- 32 pole (16 einraster per rev)
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```
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Servo Test Motor QBL 4208-41-04-006
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-----------------------------------
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```
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8 pole (4 lock position per rev)
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24 V rated voltage
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1.79 A rated phase current
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5.4 A max peak current
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4000 rpm rated speed
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1.8 ohm line to line resistance
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2.6 mH line to line inductance
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```
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2Phase Stepper Test Motor Vextra PK244M
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---------------------------------------
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```
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- 200 pole (100 einraster per rev)
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******* Path shaping test *****************
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cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
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gpasciiCommander --host SAR-CPPM-EXPMX1 -i
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!mx-stage()
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#1..3$
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&1
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#1..3j/
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cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
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./shapepath.py -v255
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```
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Testing ServoFrq.
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-----------------
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```
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!common(PhaseFreq=20000,PhasePerServo=4) -> 25000points, 20um error leads the trajectory in x
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!common(PhaseFreq=20000,PhasePerServo=2) -> 25000points, 6.6um error
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!common(PhaseFreq=20000,PhasePerServo=1) -> 25000points, 6.1um error ossilates in y, x is quite good
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-> the servo loop has to be optimized!
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```
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Testing linear,pvt,spline moves
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-------------------------------
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```
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Tested with shapepath.py: THE BEST TRAJECTORY RESULT IST WITH PVT MOTION
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```
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Optimize/Test Parameters with Parker Stage
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------------------------------------------
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```
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cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
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gpasciiCommander --host SAR-CPPM-EXPMX1 -i
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!mx-stage()
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#1..3$
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&1
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#1..3j/
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load program prg/testPerfGrid.prg
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b2r
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cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo
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make #will install the user servo loop
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watch P3000 (average following error)
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tweak servo parameters ->!motor_servo(mot=3,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
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Same for motor 2 -> watcp P2000
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Increase load will need an increase of gains to compensate following error
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Motor[2].Servo.Kp=20
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Motor[2].Servo.Kvfb=1000
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Motor[2].Servo.Ki=0.07
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Motor[2].Servo.Kvff=1000
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Motor[2].Servo.Kaff=4000
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Motor[3].Servo.Kp=20
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Motor[3].Servo.Kvfb=220
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Motor[3].Servo.Ki=0.02
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Motor[3].Servo.Kvff=240
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Motor[3].Servo.Kaff=1500
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./shapepath.py --yx
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average error x 0.313575 um, y 0.461707 um, 0.629583 um
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./shapepath.py
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average error x 0.371877 um, y 0.317152 um, 0.542073 um
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```
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Start motion on external signal
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-------------------------------
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```
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open plc 1
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Coord[1].DesTimeBase=0 // freezes timebase at boot
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while(1)
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{
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if(PowerBrick[0].GpioData[0].0.1==1)
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{
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PowerBrick[0].GpioData[0].16.8=255
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Coord[1].DesTimeBase=Sys.ServoPeriod
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}
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else
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{
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PowerBrick[0].GpioData[0].16.8=7
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Coord[1].DesTimeBase=0
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}
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}
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close
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enable plc 1
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-> run motion program. press gpio 0 to run at 100%
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```
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29.9.17 Testing in MX-LAB
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-------------------------
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```
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Start the powerbrick. ioc is started automatically
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zamofing_t@ganymede:~$ ssh x06mx-cons-1
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caget SAR-ESB_MX:MOTOR_AX
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cd /net/slsfs-crtl/export/sf/common/config/qt/
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startDM -macro 'P=SAR-ESB_MX' ESB_MX_exp
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press homing button
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-> all axes can be moved.
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(on thierrys laptop only)
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cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
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./shapepath.py
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will execute the custom motion. No problems with EPICS
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(on other machines)
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module is installed in:
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ls /net/slsfs-crtl/export/sf/ioc/modules/ESB_MX/zamofing_t/R3.14.12/
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PATH=/net/slsfs-crtl/export/sf/controls/bin/:$PATH
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source /opt/gfa/python-2.7/2.3.0/bin/activate xblpython > /dev/null 2>&1
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cd /net/slsfs-crtl/export/sf/ioc/modules/ESB_MX/zamofing_t/R3.14.12/
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./shapepath.py
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```
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