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## Homing:
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## How to home tth from labview (preferred):
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... | ... | @@ -36,46 +38,38 @@ To home tth from ![image](uploads/980f2f9c2666873734aa9fac9361a535/image.png): m |
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- Open expanded axis view window and reference using negative limit. Is located around outboard 10CF window (ie KTH ~ -40). At limit it will set KTH motor to 0.
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---------
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Email from Baehr, Joerg <J.Baehr@pi.de>, 4/29/2021
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In response to the question: which software (to reboot)? Is that in the Demo.vi or in the PI software? Would you have a screenshot to show where to find it?
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please use the SMCHydraDemo Program. The portnumber of the hydra controller is 400.
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## How to home TTH from PI software (not recommended):
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TTH 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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To reboot controllers remotely (equivalent to power cycling the controller)):
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Open the Demo.vi on crabby (in the windows home button: SMChydraSDemoLV2012)
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Press the "run" arrow on top left to start Labview if not already runnning
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Enter IP address on pop-up screen DLG_Connect.vi as shown below (164.54.118.9 (kap #1,kth #2) or 164.54.118.24 (tth)); port number is 400, then press OK
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Open a terminal: click reset, then click exit
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Close software
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Wait 20s
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Reopen software
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Enter IP again: 164.54.118.9 (kap #1,kth #2) or 164.54.118.24 (tth), port 400.
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Press init for both axis (1 and 2)
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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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---------
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Email from Baehr, Joerg <J.Baehr@pi.de>, 4/29/2021
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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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In response to the question: which software (to reboot)? Is that in the Demo.vi or in the PI software? Would you have a screenshot to show where to find it?
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please use the SMCHydraDemo Program.
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___
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___
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# Kappa motors
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... | ... | @@ -90,24 +84,38 @@ please use the SMCHydraDemo Program. |
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- in air: 1.2A<br>
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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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- measure resistance of the motor: 4<span>Ω</span> between pin 1-2 & 3-4
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![db15](uploads/afbb257c6c6b225698fef1558c839cc2/db15.jpg)
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## Temperature:
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- Extra wires on kth/kap stages = thermocouple: max T =180deg ; keep T <160 deg
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## Home
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m
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## Save parameters
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## Remote reboot
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## Remote reboot:
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To reboot controllers remotely (equivalent to power cycling the controller):
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Open the Demo.vi on crabby (in the windows home button: SMChydraSDemoLV2012)
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Press the "run" arrow on top left to start Labview if not already runnning
|
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Enter IP address on pop-up screen DLG_Connect.vi as shown below (164.54.118.9 (kap #1,kth #2) or 164.54.118.24 (tth)); port number is 400, then press OK
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Open a terminal: click reset, then click exit
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Close software
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Wait 20s
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Reopen software
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Enter IP again: 164.54.118.9 (kap #1,kth #2) or 164.54.118.24 (tth), port 400.
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Press init for both axis (1 and 2)
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## Service rotation
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... | ... | @@ -140,34 +148,7 @@ 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):
|
|
|
|
|
|
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.
|
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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").
|
|
|
Set minimum allowed position to -210 (210 in diffractometer coordinates, "User").
|
|
|
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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... | ... | @@ -183,7 +164,7 @@ If the softIOC (29idKappa @ Junebug) takes minutes to come online: |
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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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