... | ... | @@ -7,10 +7,10 @@ ___ |
|
|
___
|
|
|
|
|
|
|
|
|
## Homing:
|
|
|
# Homing:
|
|
|
|
|
|
|
|
|
### How to home KAP and KTH:
|
|
|
## How to home KAP and KTH:
|
|
|
|
|
|
- Start PI software and make sure that servos are on
|
|
|
- #Note that if an axis will not move, check soft limits
|
... | ... | @@ -22,7 +22,7 @@ ___ |
|
|
|
|
|
|
|
|
|
|
|
### How to home TTH from labview (preferred):
|
|
|
## How to home TTH from labview (preferred):
|
|
|
|
|
|
|
|
|
To home tth from ![image](uploads/980f2f9c2666873734aa9fac9361a535/image.png): make sure the .vi is running: ![image](uploads/f4bd29981acf9b15d811c2e3e3161eea/image.png)
|
... | ... | @@ -46,7 +46,7 @@ To home tth from ![image](uploads/980f2f9c2666873734aa9fac9361a535/image.png): m |
|
|
- Close LabView
|
|
|
|
|
|
|
|
|
### How to home TTH from PI software (not recommended):
|
|
|
## How to home TTH from PI software (not recommended):
|
|
|
|
|
|
TTH homing procedure from the PI software (not recommended for tth, see labview procedure above instead):
|
|
|
|
... | ... | @@ -80,22 +80,44 @@ ___ |
|
|
___
|
|
|
|
|
|
|
|
|
# Kappa motors
|
|
|
# Troubleshooting
|
|
|
|
|
|
|
|
|
## Troubleshooting
|
|
|
## Remote reboot:
|
|
|
|
|
|
To reboot controllers remotely (equivalent to power cycling the controller):
|
|
|
|
|
|
- Open the Demo.vi on crabby (in the windows home button: SMChydraSDemoLV2012)
|
|
|
- Press the "run" arrow on top left to start Labview if not already runnning
|
|
|
- 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)); set port number to 400, then press OK
|
|
|
- Open a terminal: click reset, then click exit
|
|
|
- Close software
|
|
|
- Wait 20s
|
|
|
- Reopen software
|
|
|
- Enter IP again: 164.54.118.9 (kap #1,kth #2) or 164.54.118.24 (tth), port 400.
|
|
|
- Press init for both axis (1 and 2)
|
|
|
WARNING: power cycle reset parameters! To make sure parameters are saved see below.
|
|
|
|
|
|
|
|
|
## Troubleshooting steps:
|
|
|
|
|
|
- power cycle controllers
|
|
|
- switch from close loop adaptive to open loop
|
|
|
- decrease velocity (for kth we used 1 instead of 1.5)![image](uploads/33c6c1d2a222252947b903e610567405/image.png)
|
|
|
- increase motor current; idealy, want to keep operating current under the following values:
|
|
|
- increase motor current; ideally, want to keep operating current under the following values:
|
|
|
- in vacuum: 0.7-0.8A
|
|
|
- in air: 1.2A<br>
|
|
|
however
|
|
|
- swap motor cable at the controller
|
|
|
- measure resistance of the motor: 4<span>Ω</span> between pin 1-2 & 3-4
|
|
|
- measure resistance of the motor (unplug cable from Hydra): 4<span>Ω</span> between pin 1-2 & 3-4
|
|
|
|
|
|
![db15](uploads/afbb257c6c6b225698fef1558c839cc2/db15.jpg)
|
|
|
|
|
|
- As a last resort, break vacuum:
|
|
|
- is there noise? current setting can be set higher in air (see value above)
|
|
|
- unplug motor and move stage by hand using shaft handle (can swap handles from one stage to the other)
|
|
|
- compare with other stages, should be easy; if sticky point, run over it again and again until smooth
|
|
|
- plug back motor, run in air, then pump and run in vacuum (remember to change current setting)
|
|
|
|
|
|
|
|
|
## Temperature:
|
... | ... | @@ -103,33 +125,18 @@ however |
|
|
- Extra wires on kth/kap stages = thermocouple: max T =180deg ; keep T <160 deg
|
|
|
|
|
|
|
|
|
## Home
|
|
|
|
|
|
|
|
|
## Save parameters
|
|
|
|
|
|
- go to terminal
|
|
|
- save all
|
|
|
|
|
|
|
|
|
## Routine rotation service:
|
|
|
|
|
|
## Remote reboot:
|
|
|
|
|
|
To reboot controllers remotely (equivalent to power cycling the controller):
|
|
|
|
|
|
Open the Demo.vi on crabby (in the windows home button: SMChydraSDemoLV2012)
|
|
|
Press the "run" arrow on top left to start Labview if not already runnning
|
|
|
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
|
|
|
Open a terminal: click reset, then click exit
|
|
|
Close software
|
|
|
Wait 20s
|
|
|
Reopen software
|
|
|
Enter IP again: 164.54.118.9 (kap #1,kth #2) or 164.54.118.24 (tth), port 400.
|
|
|
Press init for both axis (1 and 2)
|
|
|
|
|
|
## Service rotation
|
|
|
|
|
|
|
|
|
- motor should be moved over their entire range on a regular basis (every week) to prevent sticky point
|
|
|
|
|
|
|
|
|
### Pictures:
|
|
|
|
|
|
![PISoftware](uploads/08437da143c4ae5f2e61ab793334627f/PISoftware.jpg)
|
|
|
|
... | ... | @@ -146,21 +153,13 @@ To reboot controllers remotely (equivalent to power cycling the controller): |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
## Random assortment of notes about PI motors
|
|
|
# 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.
|
|
|
|
|
|
|
|
|
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
|
... | ... | @@ -168,12 +167,6 @@ If the softIOC (29idKappa @ Junebug) takes minutes to come online: |
|
|
Start the IOC
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
----------
|
|
|
Email from Baehr, Joerg <J.Baehr@pi.de>, 4/8/2021
|
|
|
|
... | ... | |