84 lines
4.3 KiB
INI
84 lines
4.3 KiB
INI
//the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear)
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//the ssi-encoder has 2**18=262144 steps per revolution
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//calibration values such that 0 mdeg is the highest point (+5mm) and 180000mdeg = lowest point (-5mm)
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//#1: homeoffset: -20907.5928142
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//#2: homeoffset: 102320.329068
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//#3: homeoffset: 168946.772022
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//#4: homeoffset: -87830.7554146
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//#5: homeoffset: -47956.2759182
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!encoder_ssi(enc=1,numBits=18,posSf=-5625./4096)
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!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=65477.,FaultMode=0)
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!encoder_ssi(enc=2,numBits=18,posSf=-5625./4096)
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!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-154370.,FaultMode=0)
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!encoder_ssi(enc=3,numBits=18,posSf=-5625./4096)
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!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-5248.,FaultMode=0)
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!encoder_ssi(enc=4,numBits=18,posSf=-5625./4096)
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!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-46620.,FaultMode=0)
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!encoder_ssi(enc=5,numBits=18,posSf=-5625./4096)
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!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=93168.,FaultMode=0)
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Motor[1].Servo.BreakPosErr=0
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Motor[2].Servo.BreakPosErr=0
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Motor[3].Servo.BreakPosErr=0
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Motor[4].Servo.BreakPosErr=0
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Motor[5].Servo.BreakPosErr=0
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// PKP266D14BA2 1.4A 1.8deb/step
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// encoder: Renishaw: RL26BAT050B050A 26 bit, 50nm/enc_cnt
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//!encoder_sim(enc=6)
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//!motor(mot=6,dirCur=1400,JogSpeed=40,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
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// #6j=102400 -> 1 rev
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//#6j=102400 == 1 rev == 102400 enc_cnt == 2000*1um
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//#6j=102400 steps == 1 rev == 2000*20 enc_cnt == 2000*1um
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//servoSf : motorusteps/user_units = 102400./2000
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//posSf : user_units/encoder_steps = 0.05nm/1enc_cnt=1/20
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//Open loop
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//!encoder_sim(enc=6,posSf=2000./102400,pos2Sf=0)
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//!encoder_biss(enc=6,tbl=16,mot=16,numBits=26,posSf=1./20)
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//!motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=0.)
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//Closed loop
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!encoder_sim(enc=6,tbl=16,mot=16,posSf=2000./102400)
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!encoder_biss(enc=6,numBits=26,posSf=1./20)
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!motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=1516405.)
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// break configuration
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// at the beginning brakes were handeled with 'custom motion', but this has been removed,
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// as it was possible to cofigure simple brake handling with the motor on a better approach
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// s.a. following implementation
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// ~/Documents/prj/SwissFEL/epics_ioc_modules/PBPG/cfg/motEnc-PBPG050.cfg
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//!holding_current template not needed. The brake stuff below turns off the amplifiers
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// brake
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// PowerBrick[0].GpioData[0].16 is GPIO-OUT[1]
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Motor[1].pBrakeOut = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
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Motor[1].BrakeOutBit = 16
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Motor[1].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
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Motor[1].BrakeOnDelay = 100 // delay in ms before the amplifier is disabled after motion has stopped
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Motor[2].pBrakeOut = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
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Motor[2].BrakeOutBit = 17
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Motor[2].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
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Motor[2].BrakeOnDelay = 100 // delay in ms before the amplifier is disabled after motion has stopped
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Motor[3].pBrakeOut = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
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Motor[3].BrakeOutBit = 18
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Motor[3].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
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Motor[3].BrakeOnDelay = 100 // delay in ms before the amplifier is disabled after motion has stopped
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Motor[4].pBrakeOut = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
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Motor[4].BrakeOutBit = 19
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Motor[4].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
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Motor[4].BrakeOnDelay = 100 // delay in ms before the amplifier is disabled after motion has stopped
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Motor[5].pBrakeOut = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
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Motor[5].BrakeOutBit = 20
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Motor[5].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
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Motor[5].BrakeOnDelay = 100 // delay in ms before the amplifier is disabled after motion has stopped
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