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Thierry Zamofing 3fafe53c39 friction compensating user servo

2017-02-01 15:21:56 +01:00

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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/(1256213333.3333) 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/(1161440000.) 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 (= MaxPosErrKp) when moving at different position Motor[1].Servo.MaxPosErr=1000.0169 Motor[1].Servo.Kp=0.000512 1000.01690.000512=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=4.04241992000, Kvfb=160.436462000,Kvff=160.436462000,Kaff=3184.58182000) !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=4.04241992000, Kvfb=160.436462000,Kvff=160.436462000,Kaff=3184.58182000) !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= (42048)/(2562000) = (numPolesconst)/(2562000) 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 = 42048 Phase_uStep PhasePosSf=Phase_uStep/PhaseEnc_step=42048/512000==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()))

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