Hi Tonia,
I've had problems in the past setting VBAS to non zero values. I seem to remember it caused the acceleration to be set too high for the XPS, although it may not be causing this issue.
Also, I see you're using Asyn 4-13. It's probably worth upgrading from that version since there were locking problems in that version (fixed in Asyn 4-14).
Cheers,
Matt
On Nov 1, 2013, at 5:53 PM, Mark Rivers <[email protected]> wrote:
> Hi Tonia,
>
> It looks to me like the conversion from steps to XPS engineering units may be incorrect. The steps per unit you are passing in XPSConfigAxis looks OK, since it is 10000, which is the reciprocal of MRES (0.0001). The driver converts “steps per units” to “stepSize” = 1./”steps per unit”, and it multiplies all velocity and position values from the motor record by this value.
>
> You can determine what value of stepSize the driver is acutall using by typing the following command:
>
> asynReport 10 XPS1
>
> You can also get more complete debugging output by changing this line:
>
> asynSetTraceMask("XPS1",0,0x9)
>
> to this:
> asynSetTraceMask("XPS1",0,0xFF)
>
> That should enable this output in motorAxisMove:
>
> PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d move to %f, min vel=%f, max_vel=%f, accel=%f\n",
> pAxis->card, pAxis->axis, position, min_velocity, max_velocity, acceleration);
>
> That will show you the target position (in “steps”) and velocity (in “steps” per second) the motor record is requesting.
>
>
> motorAxisMove then sets the velocity and acceleration as follows:
>
> status = PositionerSGammaParametersSet(pAxis->pollSocket,
> pAxis->positionerName,
> max_velocity*pAxis->stepSize,
> acceleration*pAxis->stepSize,
> pAxis->minJerkTime,
> pAxis->maxJerkTime);
>
> It then moves the motor as follows:
>
> deviceUnits = position * pAxis->stepSize;
> ..
> status = GroupMoveAbsolute(pAxis->moveSocket,
> pAxis->positionerName,
> 1,
> &deviceUnits);
>
> Cheers,
> Mark
>
>
>
> From: [email protected] [mailto:[email protected]] On Behalf Of Tonia Batten
> Sent: Friday, November 01, 2013 4:13 PM
> To: [email protected]
> Subject: Newport XPS-Q8 and Motor Record - RV120HAHL stage
>
> Good Afternoon,
>
> I am using EPICS R3.14.12, MOTOR 6-5 and ASYN 4-13 with a Newport XPS-Q8 controller with an XPS-DRV03 card to try and move a RV120HAHL stage. Because the RV120HAHL stage is not supported by the Newport Controller I have configured the RV120CCHL and adjusted the following parameters and then auto tuned the configuration for the stage.
>
> EncoderResolution = 0.0001 ;--- units
> MaximumVelocity = 8 ;--- units / s
> MaximumAcceleration = 32 ;--- units / s²
> HomeSearchMaximumVelocity = 4 ;--- units / s
> HomeSearchMaximumAcceleration = 16 ;--- units / s²
> MinimumTargetPosition=1;--- units
> MaximumTargetPosition=59;--- units
> HomePreset=6;--- units
>
> Here is the information from the .ini file for the stage I have configured.
>
> ;RV@RV160CCHL@XPS-DRV03
> ;--- Unit = deg
> ;--- Configuration_Comment =
> ;--- Smart stage name
> SmartStageName=
> ;--- Motor driver model parameters
> DriverName=XPS-DRV03
> DriverMaximumRMSCurrent=1.98;--- A
> DriverRMSIntegrationTime=3;--- s
> ;--- Driver command interface parameters
> MotorDriverInterface=AnalogVoltage
> ScalingCurrent=5;--- A
> CurrentLimit=3.96;--- A
> ScalingVoltage=48;--- V
> VoltageLimit=45.56;--- V
> ;--- Position encoder interface parameters
> EncoderType=AquadB
> EncoderResolution=0.0001;--- units
> LinearEncoderCorrection=0;--- ppm
> Backlash=0;--- units
> CurrentVelocityCutOffFrequency=100;--- Hz
> CurrentAccelerationCutOffFrequency=100;--- Hz
> PositionerMappingFileName=
> PositionerMappingLineNumber=
> PositionerMappingMaxPositionError=;--- units
> EncoderIndexOffset=0;--- units
> ;--- Limit sensor input plug parameters
> ServitudesType=StandardEORDriverPlug
> MinimumTargetPosition=1;--- units
> MaximumTargetPosition=59;--- units
> HomePreset=6;--- units
> MaximumVelocity=8;--- units / s
> MaximumAcceleration=32;--- units / s2
> EmergencyDecelerationMultiplier=4
> MinimumJerkTime=0.005;--- s
> MaximumJerkTime=0.05;--- s
> TrackingCutOffFrequency=25;--- Hz
> ;--- Home search process parameters
> HomeSearchSequenceType=MechanicalZeroAndIndexHomeSearch
> HomeSearchMaximumVelocity=4;--- units / s
> HomeSearchMaximumAcceleration=16;--- units / s2
> HomeSearchTimeOut=86;--- s
> HomingSensorOffset=0;--- units
> ;--- Position servo loop type parameters
> CorrectorType=PIDDualFFVoltage
> ClosedLoopStatus=Closed
> FatalFollowingError=1;--- units
> KP=36
> KI=650
> KD=0.279
> KS=0.8
> GKP=0
> GKD=0
> GKI=0
> KForm=0;--- units
> IntegrationTime=1E+99;--- s
> DerivativeFilterCutOffFrequency=4000;--- Hz
> DeadBandThreshold=0;--- units
> KFeedForwardVelocity=1.815
> KFeedForwardAcceleration=0.0010378
> KFeedForwardVelocityOpenLoop=1.815
> Friction=0;--- V
> NotchFrequency1=0;--- Hz
> NotchBandwidth1=0;--- Hz
> NotchGain1=0
> NotchFrequency2=0;--- Hz
> NotchBandwidth2=0;--- Hz
> NotchGain2=0
> ;--- Motion done condition mode parameters
> MotionDoneMode=Theoretical
>
> After rebooting the controller I am able to successfully use the Newport web interface to initialize, home and move the stage. However when I try and move the stage with the Motor record I am seeing strange behaviour.
>
> Here is my st.cmd file.
>
> #!./bin/linux-armv5teb/ideasMonoMtr
>
> ## You may have to change ideasMonoMtr to something else
> ## everywhere it appears in this file
>
> #< envPaths
>
> ## Register all support components
> dbLoadDatabase("./dbd/ideasMonoMtr.dbd",0,0)
> ideasMonoMtr_registerRecordDeviceDriver(pdbbase)
>
> ## Load record instances
> dbLoadRecords("./db/IDEAS_MonoMtr.db")
> dbLoadRecords("./db/IDEAS_MonoPseudoMtr.db")
> dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=SMTR1608-9-B20-05:")
>
> # cards (total controllers)
> XPSSetup(1)
>
> # card, IP, PORT, number of axes, active poll period (ms), idle poll period (ms)
> XPSConfig(0, "192.168.0.254", 5001, 1, 10, 5000)
>
> # asyn port, driverType, box number, number of axes)
> drvAsynMotorConfigure("XPS1", "motorXPS", 0, 1)
> XPSInterpose("XPS1")
>
> # Turns off the ability of the motor record to change an actuator's position without moving it.
> XPSEnableSetPosition(0)
>
> # card, axis, postioner name, steps per unit
> XPSConfigAxis(0,0,"S.Pos",10000)
>
> asynSetTraceMask("XPS1",0,0x9)
> #asynSetTraceMask("XPS1",0,255)
> asynSetTraceIOMask("XPS1",0,0x2)
> #asynSetTraceIOMask("XPS1",0,2)
>
> iocInit()
>
> Here is how my motor record and the XPS_extra records are defined. In addition I have some additional PV’s defined to calculate the ultimate position of the motor.
>
> record(motor,"SMTR1608-9-B20-05:brag")
> {
> field(DESC,"Mono Brag")
> field(DTYP,"asynMotor")
> field(DIR,"Pos")
> field(VELO,"1")
> field(VBAS,".1")
> field(ACCL,".2")
> field(BDST,"0")
> field(BVEL,"1")
> field(BACC,".2")
> field(OUT,"@asyn(XPS1,0)")
> field(MRES,"0.0001")
> field(PREC,"5")
> field(EGU,"degrees")
> field(DHLM,"59")
> field(DLLM,"1")
> field(INIT,"")
> field(RTRY,"0")
> field(TWV,"1")
> }
>
> # Database for Newport XPS
>
> grecord(ao,"SMTR1608-9-B20-05:brag:MIN_JERK_TIME") {
> field(DESC,"Min jerk time")
> field(PREC,"3")
> field(VAL,".01")
> field(DTYP, "asynFloat64")
> field(OUT,"@asyn(XPS1,0)MIN_JERK_TIME")
> }
> grecord(ao,"SMTR1608-9-B20-05:brag:MAX_JERK_TIME") {
> field(DESC,"Max jerk time")
> field(PREC,"3")
> field(VAL,".03")
> field(DTYP, "asynFloat64")
> field(OUT,"@asyn(XPS1,0)MAX_JERK_TIME")
> }
> grecord(ai,"SMTR1608-9-B20-05:brag:READBACK") {
> field(DESC,"Readback")
> field(PREC,"4")
> field(PINI, "1")
> field(DTYP, "asynFloat64")
> field(SCAN, "I/O Intr")
> field(INP,"@asyn(XPS1,0)MOTOR_POSITION")
> }
> grecord(ai,"SMTR1608-9-B20-05:brag:XPS_STATUS") {
> field(DESC,"XPS Group Status")
> field(DTYP, "asynInt32")
> field(PINI, "1")
> field(PREC,"0")
> field(SCAN, "I/O Intr")
> field(INP,"@asyn(XPS1,0)XPS_STATUS")
> }
>
> I did an asyn trace and after starting up the motor records appears to be passing in the wrong values for the limits.
>
> 2013/11/01 14:03:31.880 motorAxisSetDouble[0,0]: error performing PositionerUserTravelLimitsSet for high limit=0.000000, status=-17
> 2013/11/01 14:03:31.888 drvMotorAsyn::writeFloat64, reason=4, value=0.000000
> 2013/11/01 14:03:31.895 devMotorAsyn::asynCallback: SMTR1608-9-B20-05:brag pasyn{Float64,Int32}->write returned
> 2013/11/01 14:03:31.904 motorAxisSetDouble[0,0]: error performing PositionerUserTravelLimitsSet for low limit=0.000000, status=-17
>
> Upon initialization I am pushing in a movement from the home position of 6.000 to 8.54439294393059, however the motor is passing in a value below the low limit for an absolute move and is therefore not moving.
>
> 2013/11/01 14:03:36.041 SendAndReceive unexpected response =-17,GroupMoveAbsolute (S.Pos,1.398175069718e-312),EndOfAPI
>
> epics> dbpr SMTR1608-9-B20-05:brag 10
> ACCL: 0.2 ACKS: NO_ALARM ACKT: YES ADEL: 0
> ALST: 0 ASG: ASP: (nil) ATHM: 0
> BACC: 0.2 BDST: 0 BKPT: 00 BVEL: 1
> CARD: -1 CBAK: 0xa0db8 CDIR: 1 CNEN: Disable
> DCOF: 0 DESC: Mono Brag DHLM: 59
> DIFF: 2.54329294393059 DINP:CONSTANT DIR: Pos
> DISA: 0 DISP: 0 DISS: NO_ALARM DISV: 1
> DLLM: 1 DLY: 0 DMOV: 1 DOL:CONSTANT
> DPVT: 0xa0dd0 DRBV: 6.0011 DSET: 0x40109680 DTYP: asynMotor
> DVAL: 8.54439294393059 EGU: degrees ERES: 1.0e-04
> EVNT: 0 FLNK:CONSTANT 0 FOF: 0 FOFF: Variable
> FRAC: 1 HHSV: NO_ALARM HIGH: 0 HIHI: 0
> HLM: 59 HLS: 0 HLSV: NO_ALARM HOMF: 0
> HOMR: 0 HOPR: 0 HSV: NO_ALARM HVEL: 0.1
> ICOF: 0 INIT: JAR: 5 JOGF: 0
> JOGR: 0 JVEL: 1 LCNT: 0
> LDVL: 8.54439294393059 LLM: 1 LLS: 0
> LLSV: NO_ALARM LOCK: NO LOLO: 0 LOPR: 0
> LOW: 0 LRLV: 0 LRVL: 85444 LSET: 0xa18f8
> LSPG: Go LSV: NO_ALARM LVAL: 8.54439294393059
> LVIO: 0 MDEL: 0 MIP: 0 MISS: 0
> MLIS: 00 0d 84 38 00 0d 82 f8 00 00 00 04 MLOK: 00 09 e1 10
> MLST: 0 MMAP: 0 MOVN: 0 MRES: 1.0e-04
> MSTA: 2050 NAME: SMTR1608-9-B20-05:brag NMAP: 0
> NSEV: NO_ALARM NSTA: NO_ALARM NTM: YES NTMF: 2
> OFF: 0 OMSL: supervisory OUT:INST_IO @asyn(XPS1,0)
> PACT: 0 PCOF: 0 PHAS: 0 PINI: NO
> POST: PP: 0 PPN: (nil) PPNR: (nil)
> PREC: 5 PREM: PRIO: LOW PROC: 0
> PUTF: 0 RBV: 6.0011 RCNT: 0 RDBD: 1.0e-04
> RDBL:CONSTANT RDES: 0x651d0 RDIF: 25433 REP: 60011
> RHLS: 0 RINP:CONSTANT RLLS: 0 RLNK:CONSTANT
> RLV: 0 RMOD: Default RMP: 60011 RPRO: 0
> RRBV: 60011 RRES: 0 RSET: 0x40109488 RTRY: 0
> RVAL: 85444 RVEL: 0 S: 50 SBAK: 50
> SBAS: 5 SCAN: Passive SDIS:CONSTANT SET: Use
> SEVR: NO_ALARM SMAX: 0 SPMG: Go SPVT: (nil)
> SREV: 200 SSET: 0 STAT: NO_ALARM STOO:CONSTANT
> STOP: 0 STUP: OFF SUSE: 0 SYNC: 0
> TDIR: 0 TIME: 2013-11-01 14:04:06.363958000 TPRO: 0
> TSE: 0 TSEL:CONSTANT TWF: 0 TWR: 0
> TWV: 1 UDF: 0 UEIP: No UREV: 0.02
> URIP: No VAL: 8.54439294393059 VBAS: 0.1
> VELO: 1 VERS: 6.5 VMAX: 0 VOF: 0
>
> What is even stranger is that the velocity and acceleration are then set to values much smaller than then should be (e-312)
>
> <image001.jpg>
>
> I am sure I must have something configured incorrectly. At this point it appears that the problem is associated with something configured incorrectly with the motor record. I would greatly appreciate any feedback or insight anyone can provide.
>
> Thanks,
>
> Tonia Batten, P.Eng
> Control System Analyst
> Canadian Light Source
> 44 Innovation Blvd.
> Saskatoon, SK S7N 2V3
> Tel: 306-657-3865
> Email: [email protected]
>
>
>
>
- Replies:
- RE: Newport XPS-Q8 and Motor Record - RV120HAHL stage Tonia Batten
- References:
- Newport XPS-Q8 and Motor Record - RV120HAHL stage Tonia Batten
- RE: Newport XPS-Q8 and Motor Record - RV120HAHL stage Mark Rivers
- Navigate by Date:
- Prev:
RE: Newport XPS-Q8 and Motor Record - RV120HAHL stage Mark Rivers
- Next:
RE: Newport XPS-Q8 and Motor Record - RV120HAHL stage Tonia Batten
- Index:
1994
1995
1996
1997
1998
1999
2000
2001
2002
2003
2004
2005
2006
2007
2008
2009
2010
2011
2012
<2013>
2014
2015
2016
2017
2018
2019
2020
2021
2022
2023
2024
- Navigate by Thread:
- Prev:
RE: Newport XPS-Q8 and Motor Record - RV120HAHL stage Mark Rivers
- Next:
RE: Newport XPS-Q8 and Motor Record - RV120HAHL stage Tonia Batten
- Index:
1994
1995
1996
1997
1998
1999
2000
2001
2002
2003
2004
2005
2006
2007
2008
2009
2010
2011
2012
<2013>
2014
2015
2016
2017
2018
2019
2020
2021
2022
2023
2024
|
·
Home
·
News
·
About
·
Base
·
Modules
·
Extensions
·
Distributions
·
Download
·