Thierry Zamofing
789224b83d
Here all IOCs were started without any hardware. So in the next steps the hardware must be tested.
283 lines
6.1 KiB
Markdown
283 lines
6.1 KiB
Markdown
Various motor documents
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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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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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export EPICS_CA_ADDR_LIST="129.129.109.255"
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export EPICS_CA_ADDR_LIST="129.129.126.255"
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caQtDm -macro 'P=SAR-ESB_MX' ESB_MX_exp
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HelicalScan
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-----------
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```
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PPMAC=MOTTEST-CPPM-CRM0485
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gpasciiCommander --host $PPMAC mx-stage_sim.cfg -i
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Coord[1].SegMoveTime=.05
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will calculate all 0.05 sec the inverse kinematic.
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default Coord[1].SegMoveTime=0, calculates inv kin. only at endpoints
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ssh root@$PPMAC sendgetsends -1
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send 1"SampleMessage\n"
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execute helicalscan.py
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SCRATCH
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-------
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&1p ->this will trigger:forward kinematic
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cpx pmatch ->this will trigger:forward kinematic
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cpx ;linear abs; X0Y0Z0B0 ->this will trigger: inverse
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#7j=0.1 //cx
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#8j=0.2 //cy
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#1j=0.3 //w
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#2j=0.4 //fx
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(cx,cz,w,fy) (2.6164986454377614, 17.758728111340563, 0.1, 4.3)
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(dx,dz,w,y) (0.2, 0.3, 0.1, 4.3)
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#7j=2.6164986454377614
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#8j=17.758728111340563
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#1j=5729.578 // 0.1*1000.*360./(2*pi)
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#2j=4.3
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&1p
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B0.1 X0.2 Y4.3 Z0.3
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cpx ;linear abs; X0.2 Z0.3, B0.1 Y4.3
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Motor[1,27,8].JogSpeed=8
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#1,2,7,8j=10000
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cpx ;linear abs; X0.2 Z0.3 B0.1 Y00000
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cpx ;linear abs; X0.2 Z0.3 B0.1 Y10000
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input : dx:0.2 dz:0.3 w:5.72958 fy:3.3
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inv_trf: cx:2.34244 cz:18.2563 w:5.72958 fy:3.3
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fwd_trf: dx:0.2 dz:0.3 w:5.72958 fy:3.3
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#7j=2.34244;#8j=18.2563;#1j=5729.58;#2j=3.3
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&1p
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```
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Motors final setup 20.12.17
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---------------------------
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```
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SAR-CPPM-EXPMX1: biss:y timing:y
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1: fy
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2: fx
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3: ry
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4: cx
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5: cy
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6: interfero y
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7: interfero x
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SAR-CPPM-EXPMX2: biss:n timing:n
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1: wedge1
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2: wedge2
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3: wedge3
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4: wedge4
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5: backlight
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SAR-CPPM-EXPMX3: biss:n timing:y
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1: girder1
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2: girder2
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3: girder3
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4: girder4
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5: girder5
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PPMAC=MOTTEST-CPPM-CRM0485
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ssh root@$PPMAC
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cd /ioc/SAR-CPPM-EXPMX1;iocsh startup.script
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ssh sf-lc
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caqtdm -macro "P=SAR-EXPMX" ESB_MX_exp.ui
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```
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