... | ... | @@ -44,89 +44,6 @@ ___ |
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## Random assortment of notes about PI motors
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If KTH is shaking: make sure Integral (I) coeff at stanstill =< 0.002 or lower
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PI stages are running left handed in the native software.
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Dial positions in epics match PI software after the following homing procedure.
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PI stages homing procedure from the PI software (not recommended for tth, see labview procedure above instead):
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TTH (6449V31100 - 164.54.118.24): The reference switch is located around direct beam. Pick your direction depending on where TTH is: if TTH is on the outboard (inboard) hemisphere of the chamber, use positive (negative) limit.
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Home without changing the max/min allowed position
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Scan direct beam with d4 and set User/Dial/Offset to zero in epics (you can use tth0_set()); this will set the PI software position to 0 as well. Offset should be set as FROZEN since we want tth0_user=tth0_dial
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Update: since we can no longer use the reference switch and have to use the limit switch for homing (I believe this is because when reference using reference switch the direction for homing is not favorable to the cable management). That means that we need to turn "ON" the limits for homing (so they can be used for referencing) but then turn them back OFF (so that the stage does not consider this limit as a hard limit).
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To do so, open the ASYN port in epics (blue button, top right corner of the Kappa screen)
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1 getsw
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> 1 1 # limit normally close & enabled = normal operation for kth and kap (one if for the upper limit, one for the lower, we don't know which one is which)
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> 3 3 # limit normally close & disabled = normal operation for tth, except when homing.
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1/3 0/1 1 setsw # 1=enable/3=disable 0=lowerLimit/1=upperLimit 1=axis#
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Example for tth outboard:
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- 1 1 1 setsw
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- 1 getsw (to clear the error): should read 3 1 = upper limit enabled
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- reference using positive limit: PI/dial at the switch position will be set to Maximum Allowed Position as defined in the extended panel parameters
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- 3 0 1 setsw
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- 3 1 1 setsw
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- 1 getsw (to clear the error): should read 3 3 = upper and lower limits disabled (need to do both); ready for operation
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Check your limits:
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Set maximum allowed position to 100 (-100 in diffractometer coordinates, "User").
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Set minimum allowed position to -210 (210 in diffractometer coordinates, "User").
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Redefine TTH=0 in epics by scanning direct beam on d4.
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KAP (417005588): Reference using negative limit, located around -44 on KAP; sets motor to 0
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KTH (417005589): Reference using negative limit, located around outboard 10CF window (ie KTH ~ -40); sets motor to 0
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If the softIOC (29idKappa @ Junebug) takes minutes to come online:
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Stop the IOC
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Power cycle the SmarAct controller
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Start the IOC
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Extra wires on kth/kap satges = thermocouple: max T =180deg ; keep T <160 deg
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----------
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Email from Baehr, Joerg <J.Baehr@pi.de>, 4/8/2021
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Unfortunately there is no safe way to do it. In this case you always have to be aware of what you are doing and there is no protection.
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So I would do:
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Set the axis to open loop. Click on Closed-Loop Config and then change closed-loop adaptive to open loop. Then click on the send button and exit the window.
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Set lower speed. Click on Vel and Accel and reduce the velocity of the axis.
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Try to move the stage over the “bad” spot.
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When it works again, just reboot the hydra and the you are at the original parameters agai (see pictures)
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---------
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Email from Baehr, Joerg <J.Baehr@pi.de>, 4/9/2021
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Yes I did change the motor current to a higher level, but just for a short time and I monitored the current. So this short time doesn’t harm the motor.
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I can tell you what I did, but be aware that if somehow these parameters are set to the wrong values you can damage the motor or if they accidentally stored in the controller.
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In the hydra demo program click on button Motor Current and then change Umotgrad.
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Can you please tell me what value is set for umotgrad?
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I think it is 2,5 and I changed it to 4 and then back again.
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Yes, these are the only knobs to tweak:
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closed-adaptive / open loop
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velocity
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motor current
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---------
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Email from Baehr, Joerg <J.Baehr@pi.de>, 4/29/2021
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... | ... | @@ -174,7 +91,9 @@ please use the SMCHydraDemo Program. |
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however
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- swap motor cable at the controller
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- measure resitance of the motor: 4<span>Ω</span> between pin 1-2 & 3-4
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<img src="figures/db15.jpg" alt="db15" width="300"/>
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![db15](uploads/afbb257c6c6b225698fef1558c839cc2/db15.jpg)
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... | ... | @@ -208,4 +127,89 @@ m |
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![PIdemo](uploads/29fdc8f8fdfa308821d592f89b78b3fd/PIdemo.jpg)
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![db15](uploads/afbb257c6c6b225698fef1558c839cc2/db15.jpg) |
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## Random assortment of notes about PI motors
|
|
|
|
|
|
If KTH is shaking: make sure Integral (I) coeff at stanstill =< 0.002 or lower
|
|
|
|
|
|
PI stages are running left handed in the native software.
|
|
|
Dial positions in epics match PI software after the following homing procedure.
|
|
|
|
|
|
PI stages homing procedure from the PI software (not recommended for tth, see labview procedure above instead):
|
|
|
|
|
|
TTH (6449V31100 - 164.54.118.24): The reference switch is located around direct beam. Pick your direction depending on where TTH is: if TTH is on the outboard (inboard) hemisphere of the chamber, use positive (negative) limit.
|
|
|
Home without changing the max/min allowed position
|
|
|
Scan direct beam with d4 and set User/Dial/Offset to zero in epics (you can use tth0_set()); this will set the PI software position to 0 as well. Offset should be set as FROZEN since we want tth0_user=tth0_dial
|
|
|
|
|
|
Update: since we can no longer use the reference switch and have to use the limit switch for homing (I believe this is because when reference using reference switch the direction for homing is not favorable to the cable management). That means that we need to turn "ON" the limits for homing (so they can be used for referencing) but then turn them back OFF (so that the stage does not consider this limit as a hard limit).
|
|
|
To do so, open the ASYN port in epics (blue button, top right corner of the Kappa screen)
|
|
|
|
|
|
1 getsw
|
|
|
> 1 1 # limit normally close & enabled = normal operation for kth and kap (one if for the upper limit, one for the lower, we don't know which one is which)
|
|
|
> 3 3 # limit normally close & disabled = normal operation for tth, except when homing.
|
|
|
1/3 0/1 1 setsw # 1=enable/3=disable 0=lowerLimit/1=upperLimit 1=axis#
|
|
|
|
|
|
Example for tth outboard:
|
|
|
- 1 1 1 setsw
|
|
|
- 1 getsw (to clear the error): should read 3 1 = upper limit enabled
|
|
|
- reference using positive limit: PI/dial at the switch position will be set to Maximum Allowed Position as defined in the extended panel parameters
|
|
|
- 3 0 1 setsw
|
|
|
- 3 1 1 setsw
|
|
|
- 1 getsw (to clear the error): should read 3 3 = upper and lower limits disabled (need to do both); ready for operation
|
|
|
|
|
|
|
|
|
|
|
|
Check your limits:
|
|
|
Set maximum allowed position to 100 (-100 in diffractometer coordinates, "User").
|
|
|
Set minimum allowed position to -210 (210 in diffractometer coordinates, "User").
|
|
|
Redefine TTH=0 in epics by scanning direct beam on d4.
|
|
|
KAP (417005588): Reference using negative limit, located around -44 on KAP; sets motor to 0
|
|
|
KTH (417005589): Reference using negative limit, located around outboard 10CF window (ie KTH ~ -40); sets motor to 0
|
|
|
|
|
|
|
|
|
If the softIOC (29idKappa @ Junebug) takes minutes to come online:
|
|
|
|
|
|
Stop the IOC
|
|
|
Power cycle the SmarAct controller
|
|
|
Start the IOC
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Extra wires on kth/kap satges = thermocouple: max T =180deg ; keep T <160 deg
|
|
|
|
|
|
----------
|
|
|
Email from Baehr, Joerg <J.Baehr@pi.de>, 4/8/2021
|
|
|
|
|
|
Unfortunately there is no safe way to do it. In this case you always have to be aware of what you are doing and there is no protection.
|
|
|
|
|
|
So I would do:
|
|
|
|
|
|
Set the axis to open loop. Click on Closed-Loop Config and then change closed-loop adaptive to open loop. Then click on the send button and exit the window.
|
|
|
Set lower speed. Click on Vel and Accel and reduce the velocity of the axis.
|
|
|
Try to move the stage over the “bad” spot.
|
|
|
|
|
|
When it works again, just reboot the hydra and the you are at the original parameters agai (see pictures)
|
|
|
|
|
|
---------
|
|
|
Email from Baehr, Joerg <J.Baehr@pi.de>, 4/9/2021
|
|
|
|
|
|
Yes I did change the motor current to a higher level, but just for a short time and I monitored the current. So this short time doesn’t harm the motor.
|
|
|
I can tell you what I did, but be aware that if somehow these parameters are set to the wrong values you can damage the motor or if they accidentally stored in the controller.
|
|
|
|
|
|
In the hydra demo program click on button Motor Current and then change Umotgrad.
|
|
|
Can you please tell me what value is set for umotgrad?
|
|
|
I think it is 2,5 and I changed it to 4 and then back again.
|
|
|
|
|
|
Yes, these are the only knobs to tweak:
|
|
|
|
|
|
closed-adaptive / open loop
|
|
|
velocity
|
|
|
motor current |
|
|
\ No newline at end of file |