sf-mx/PBSwissMX

Fork 0

Files

Thierry Zamofing f6b3853550 full stage tested with ioc. all 5 axis working with EPICS caqtdm ui

2017-08-02 11:20:46 +02:00

31 KiB

Raw Blame History

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()))

compensate position depenmdent friction 1.2.2017

Git tag: 3fafe53 gpasciiCommander --host SAROP11-CPPM-MOT6871 -i !mx-stage() &1 #1->0 &1 #2->0 #3$ an anschlag (kabel) bewegen #3hmz Motor[3].PhasePos=1200 #3j/

./move_record.py abs average pos Error 2.1890901307

Motor[3].Servo.Kp=10 Motor[3].Servo.Kvfb=100 Motor[3].Servo.Kvff=100 abs average pos Error 1.89392140871

/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo/usrcode.c line 100: c=0.f; //no friction compensation at all abs average pos Error 1.82212631688

line 85: c=0.f; //do not use friction lut abs average pos Error 1.47794399154

using friction lut: abs average pos Error 0.893315213359

But if it is put vertically, the value becomes bad again. check friction on vertical stage

average PosError to P3000 2.2.2017

modify programm generated by ./move_record.py:

open prog 2 N0: linearabs X505.488Y7.15189 dwell10 pvt10abs X505.488:2526.97Y7.15189:-85.15309999999999 X556.028:4937.42Y5.44883:-34.6476 ... X508.588:0Y954.585:0 X508.588Y954.585 dwell10 goto 0 close

modify user servo to average PosError to P3000 2.2.2017 tweak parameters: Motor[3].Servo.Kp Motor[3].Servo.Kvfb Motor[3].Servo.Ki Motor[3].Servo.Kvff Motor[3].Servo.Kaff

Kp = 10 10 10 10 10 10 20
Kvfb = 220 220 220 220 220 220 220
Ki = 0.001 0.01 0.02 0.01 0 0 0.02
Kvff = 240 240 240 240 240 240 240
Kaff = 0 0 0 20 1500 1500 1500
1.3 .53 .43 0.52 1.88 0.7 0.1
A

A: Higher Ki than 0.02 do not help

Set Ki to 0 and seek optimal Kvff Kvff =240 local minimum Kvfb =220 local minimum Kaff =1500 Kaff does not change the error amount, but makes the error smoother at 1500 Kp =20 average error becomes smaller

Motor[3].Servo.Kvff

commit after: 3fafe53 ./move_record.py

abs average pos Error 0.353193239442 <<<<<<<

./shapepath.py gen_rand_points(n=400, scale=1000) Random path at speed: %100 average error x 1.32075 um, y 0.940694 um, 1.84578 um %50 average error x 0.336186 um, y 0.259554 um, 0.478149 um %25 average error x 0.177138 um, y 0.077619 um, 0.209937 um

./shapepath.py gen_grid_points(w=20,h=20,pitch=50,rnd=0.2) Grid path at speed: %100 average error x 0.363065 um, y 0.314149 um, 0.536246 um %50 average error x 0.246374 um, y 0.0985771 um, 0.283925 um %25 average error x 0.150303 um, y 0.0429124 um, 0.163468 um

Interferometer 11.4.2017

adding to torqueCtrl lines: !encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000) !encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000)

gpasciiCommander --host SAR-CPPM-EXPMX1 -i !mx-stage() #1..3$ &1 #1..3j/

both interferometer works homing and move:

#2..5p -0.04000000000000008 0.0200000000000023 -298.8984375 39.890625

#2j=10000;#3j=0000 #2j=10000;#3j=0000 #2..5p #2..5p 10000 2.380040609040179e-15 -500672.5625 4334.390625 #2j=0000;#3j=0000 #2j=0000;#3j=0000 #2j=0000;#3j=10000 #2j=0000;#3j=10000 #2..5p #2..5p -0.02000000000000006 10000 -3559.06640625 -499752.609375

#2..5p -0.08000000000000007 -0.003515624999636202 -0.5 7.2890625

#2j=10000 #2..5p 9999.980000000001 -0.01000000000021828 4290.96875 -500362.453125 #2j=0;#3j=10000 #2..5p 0 9999.992812500001 -499789.3984375 -3260.984375

Interferometer have 500000 counts per 10000um = 50 counts per um =20nm at Motor[2].JogSpeed=10 the interferometer can not follow the motion. It will not loose steps, but the maximum frequency is limiting during motion. at Motor[2].JogSpeed=10 the interferometer and the encoder delivers similar values.

interfero_move_rec.py self.gather={"MaxSamples":1000000, "Period":acq_per} self.channels=channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"]

Gather.Enable=0 Gather.Items=6 Gather.MaxSamples=1000000 Gather.Period=10 Gather.Addr[0]=Motor[2].DesPos.a Gather.Addr[1]=Motor[3].DesPos.a Gather.Addr[2]=Motor[2].ActPos.a Gather.Addr[3]=Motor[3].ActPos.a Gather.Addr[4]=Motor[4].ActPos.a Gather.Addr[5]=Motor[5].ActPos.a open prog 2 linear abs X0 Y0 dwell 10 Gather.Enable=2 X10000 Y0 dwell 100 X0 Y0 dwell 100 X0 Y10000 dwell 100 X0 Y0 dwell 1000 Gather.Enable=0 close &1 b2r

download data with PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1

cat /tmp/gather.txt

Motor[2].MaxSpeed=50 Motor[3].MaxSpeed=50 ->gather50.txt

Motor[2].MaxSpeed=5 Motor[3].MaxSpeed=5 ->gather5.txt

Motor[2].MaxSpeed=1 Motor[3].MaxSpeed=1 ->gather1.txt

Changing encoder frequency on atto cube makes it run even at high speed

4.2017 prepare for vibration measurement

PPMAC=SAR-CPPM-EXPMX1

cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX PBInspect --host $PPMAC --cfg PBinspect.pbi

cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo make

cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg gpasciiCommander --host SAR-CPPM-EXPMX1 -i !mx-stage() #1..3$ &1 #1..3j/

#1j=360000 //360deg gegenuhrzeiger

#2j:100 //100 um right #3j:100 //100 um up

move bottom left #2,3$ Motor[2].PhasePos;Motor[3].PhasePos

Motor[2].PhasePos=310;Motor[3].PhasePos=1210 #2,3hmz Motor[3].HomePos=Motor[3].HomePos+15000

Motor 2 vibriert mit 76ms =13.15 Hz

b2r Load is now Alublock + mirrors

at 50 Hz peak to peak 200um at 100Hz peak to Peak 50um at 200Hz peak to Peak 13um at 400Hz peak to Peak 1.5um

5.2017 Vertical stage with load

scale=0.83832 #np.sqrt(3)/2*32767/33.850/1000

Motor[3].I2tSet=670.65601 670.65601/0.83832 = 800.000

ohne Platte iqCmd = 625 Platte 133.2g iqCmd = 910 Platte 156.8g iqCmd = 965

Motor[3].IaMeas=-660 Motor[3].IbMeas=580 Motor[3].IqMeas=634.15991

Motor[3].IaMeas=-708 Motor[3].IbMeas=256

Motor[3].IaMeas=436 =520 Motor[3].IbMeas=-632 =-753 Motor[3].IqMeas=566.46863 = 675

Claude messungen: Phase 1: 330mA Phase 2: 125mA Phase 3: 694mA

Stromzange: 650 mA

Interferometer 29.5.2017

cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX;PBInspect --cfg PBinspect.pbi --host SAR-CPPM-EXPMX1

gpasciiCommander --host SAR-CPPM-EXPMX1 -i !mx-stage() #1..3$ &1 #1..3j/

zero to neative inc values move motor 2,3 from 500 to 28500 #1..5hmz

read acquire statements and program at to of plot_interfero.py

Motor[2].MaxSpeed=30;Motor[3].MaxSpeed=30 Motor[2].MaxSpeed=10;Motor[3].MaxSpeed=10

PPMAC=SAR-CPPM-EXPMX1 PBGatherPlot -m24 -v7 --host $PPMAC --dat gather1.txt

b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather0.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather1.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather2.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather3.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather4.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather5.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather6.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather7.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather8.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather9.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather10.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather11.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather12.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather13.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather14.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather15.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather16.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather17.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather18.txt b2r !sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather19.txt

Konstantfeder 2.6.2017

cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX;PBInspect --cfg PBinspect.pbi --host SAR-CPPM-EXPMX1 cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/;gpasciiCommander --host SAR-CPPM-EXPMX1 -i !mx-stage()

//#1..3$ //move bottom left #2,3$ Motor[2].PhasePos;Motor[3].PhasePos

Motor[2].PhasePos=310;Motor[3].PhasePos=1210 #2,3hmz Motor[2].HomePos=Motor[2].HomePos+5000 Motor[3].HomePos=Motor[3].HomePos+5000

#1..3j/ #2..3j=0 L2=Motor[2].MaxDac L3=Motor[3].MaxDac

Motor[2].MaxDac=500 #2j+

enable plc 1

Motor[2].HomeVel=2 Motor[3].HomeVel=2 #2,3$

Homing 12.6.2017

enable plc 1

cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/qt CAQTDM_DISPLAY_PATH=/sf/controls/config/qt EPICS_CA_ADDR_LIST='sf-cagw SAR-CPPM-EXPMX1' EPICS_CA_ADDR_LIST=SAR-CPPM-EXPMX1 $ caget SAR-ESB_MX:MOTOR_X1

root@:/ioc/SAR-CPPM-EXPMX1# service shellbox status pid port user dir command STOPPED 50001 ioc /ioc/SAR-CPPM-EXPMX1 iocsh startup.script root@:/ioc/SAR-CPPM-EXPMX1# service shellbox start Starting shellbox service: Starting: 50001 ioc /ioc/SAR-CPPM-EXPMX1 iocsh startup.script

dbl dbpf SAR-ESB_MX:MOTOR_Y1 10 dbpf SAR-ESB_MX:MOTOR_X1 10

dbpf SAR-ESB_MX:ASYN.AOUT 'enable plc 1'

Boot time of SAR-CPPM-EXPMX1 ca.4min. telnet SAR-CPPM-EXPMX1 50001

ssh x06mx-cons-1 cd /scratch/ESB_MX/ESB_MX/qt caqtdm -macro 'P=SAR-ESB_MX' ESB_MX_exp.ui caput SAR-ESB_MX:ASYN.AOUT 'enable plc 1'

tweak param 13.6.2017

with stada stage 21.7.2017

telnet SAR-CPPM-EXPMX1 50001 ctrl-T ctrl-X

$$$*** !common() !mx-stage()

#7j:512000 511999.9988954368 49999

Motor8:#8,16p 511999.9922968491 49976

RL32-BAS050C15... 512000 ustep == 50000 encCnt == 2.5mm -> 50nm/encCnt

OpenLoop: !encoder_sim(enc=7) !encoder_sim(enc=8) !encoder_biss(enc=7,tbl=15,mot=15) !encoder_biss(enc=8,tbl=16,mot=16) !motor(mot=7,current=200,JogSpeed=102.41,invDir=1,HomeOffset=39263) !motor(mot=8,current=200,JogSpeed=102.41,invDir=1)//,HomeOffset=39762)

!encoder_biss(enc=7,tbl=15,mot=15) !encoder_biss(enc=8,tbl=16,mot=16) !motor(mot=7,current=200,JogSpeed=102.41,invDir=1) !motor(mot=8,current=200,JogSpeed=102.41,invDir=1)

Status Review 2.8.2017

#1j:1000 //rotate 1 deg #2j:1000 //x-stage parker 1000um #3j:1000 //y-stage parker 1000um #4,5p //position of interferometer (if connected) #7,8j/ #7j:1000 //x-stage stada 1000um #8j:1000 //z-stage stada 1000um