Pulse Selector in the Hutches
Friday Jul 5th
SOLVED:
- Fast OPEN and CLOSE
- :RESET_FLAG to monitor the finish reset process
- :AD (Align Done) PV Flag to monitor the pre-mode alignment feature
IMPROVED:
- PV's for OPEN and CLOSE range check
- New class to provide EVR default settings (used inside Princetion script)
No need anymore python Picker script to set EVR.
TODO (lower priority):
- Provide a XCS_Python home function on command line.
ISSUES:
When IOC reboot the Pulse needed to be Homed again.
We will investigate more on Monday.
Tests all mode changes, and not found problems.
Ready to do a complete test on Monday.
Wednsday Jul 3rd
SOLVED:
- Integrate 4 shots instead of 3 (using ccdtake(3, 1 , bShutter=True)
- missing some shots when in 2 shots mode. SOLVED (USING MODE 3.2)
- Switch from mode anymode to anymode OK
IMPROVED:
- PV's for OPEN and CLOSE range check
- Pre-mode alignment subroutine.
TODO:
- Fast OPEN and CLOSE
- RESET_PG Flag as PV (to monitor the finish reset process)
- ALIGN Flag as PV (monitor the pre-mode alignment feature)
Tuesday Jul 2nd
Initial XRay aligned positions:
Y position: 0.0000 mm
X position: 0.1512 mm
Test examples
Single shot 10 images
ccdtake(1,10, bShutter=True)
Burst mode 3 shots 100 images
ccdtake(3,100, bShutter=True)
Alignment Laser used to test the system
To insert the laser
In [2]: rl2.movein()To remove the laser
In [2]: rl2.moveiout()
Results: Tests doesn't work satisfactory. Problems found in Mcode:
- Integrate 4 shots instead of 3 (using ccdtake(3, 1 , bShutter=True)) OK
- missing some shots when in 2 shots mode. SOLVED (USING MODE 3.2)
- Stopping the program (:RESET_PG 1) tooks long time than before 1-3 sec more)
Needed one variable to check if RESET_PG is completed or if is OK to change mode. - Switch from mode 1 to 3 still doesn't work. Example:
ccdtake(1, 1 , bShutter=True) WORKS - ccdtake(3, 1 , bShutter=True) FAILS!
Still needs to do HOMING - Fast OPEN and CLOSE doesn't work.
Monday Jul 1st
New tests with new ioc version (new MCode version)
Features:
- New MODE (MODE 3.3)
- One EVR Trigger OPEN, Next EVR Trigger CLOSE OK IT WORKS
- Fast OPEN and CLOSE commands NEED TO BE TESTED
TO BE IMPLEMENTED IN THE MCODE ASAP:
- Start position insensitive
- HOME (Index Mark) position set to zero (DIAL)
- START position (insensitive) relative to HOME (USER)
- Record to report position (Encoder) as monitor at any time
TODO and issues in XCS
==================================================
in xcs-control:
caput XCS:SB2:MMS:09:SET_VE 0
modify reg/d/iocCommon/sioc/ioc-xcs-trigger-ims/startup.cmd
to point to working area,
ssh ioc-xcs-mot1
kill ioc (telnet localhost...)
boot ioc from reg/d/iocCommon/sioc/ioc-xcs-trigger-ims/startup.cmd
===================================================
to fast open/close:
caput XCS:SB2:MMS:09:MODE_OPEN 1 (C2 should be around 655)
caget XCS:SB2:MMS:09:SE_L (to be read 4)
caput XCS:SB2:MMS:09:MODE_CLOSE 1 (C2 should be around 0 or 2x655)
caget XCS:SB2:MMS:09:SE_L (to be read 5)
===================================================
1. START STOP mode3.3
SET_TG 2
SET_MODE 3
2. FAST OPEN/CLOSE PV
3. START POSITION INDEPENDENT:
- ISSUE: No counting -> trigger "burst stop" sometimes
- FIXME: Avoid arm/disarm
- TODO: Benchmark time needed for position correction
- FIXME: Start position dependent on present position
- TODO: If
position correction takes <= 10ms the do each time - TODO: Home offset as PV
- TODO: Make Aperture Angle as VAR and PV (to be changed as needed)
- TODO: Dial zero @ Encoder Home marker
User zero @ "Aligned" position (means that RESET_PG reset only users) - to be discussed with Jeff - TODO: Fast Open/Close PV
- NEXT: Uses First Trigger to Open, Second Trigger to Close
The PP listen then for just one Event Code.
Example of sequence:
84 1 -> PP
85 2 -> DAQ
85 1 -> DAQ
85 1 -> DAQ
84 1 -> PP
85 1 -> DAQ
Alignment without pass by open shutter position (MCode Version):
LB Y3 'Realignment checks
CL Y4 'Save current speeds
CL Y5 'Assign realignment speeds
R3=N3-50 'Lower upper deadband
R4=N4+50 'Upper lower deadband
CL Y2, C2<R4 'If C2 is below this db, move to 0
CL Y1, C2>R3 'If C2 above the db, move to 180
CL Y1, N9=0 'If open, just move to 0
CL Y6 'Restore PP speeds
AD=1 'Set align done flag
H 100
RT
LB Y1 'Reset far end, C2>N3-SD
EE=1 'Enable encoder
MA 8192 'Move to 180 degrees
H 'Wait till move is done
C1=0 'Reset microsteps register
C2=0 'Reset encoder register
EE=0 'Disable encoder for trigger mode
N9=1 'Flag successful close
H 100
RT
LB Y2 'Reset near zero, C2<N4+SD
EE=1 'Enable encoder
MA 0 'Move to 0 degrees
H 'Wait till move is done
C1=0 'Reset microsteps register
C2=0 'Reset encoder register
EE=0 'Disable encoder for trigger mode
N9=1 'Flag successful close
H 100
RT
LB Y4 'Save current speeds
V1=VM
V2=VI
V3=A
V4=D
RT
LB Y5 'Assign realignment speeds
VM=8192
VI=2000
A=2000
D=2000
RT
LB Y6 'Restore speeds
VM=V1
VI=V2
A=V3
D=V4
RT
MCODE programs (Jeff version on Jun 26 2013):
located in:
[working area]... modules/pcds_motion/current/pcds_motionApp/src/ims_bootup_V3.mcode
Working in Progress:
initial condition:
Motor is homing from outside:
C2 = 0 C1= 0
MN = ?
MF = XXXX steps (known) forward
MB = XXXX steps (known) backward
MO = XXXX steps (known) open position
Idle routine:
looking for where to go... (mod 2, mod 3, mod 4, fastopen, fastclose)
checkset subroutine
check my pos:
read C2
MN=MB, C2=MF +/- DELTA (dead band)
RT
MN=MF, C2=MB +/- DELTA (dead band)
RT
(MA MF and MN=MF), C2=MO +/- DELTA (dead band)
RT
if I m in startup+:
set next move to startup- (MB)
return subroutine
if I m in startup-:
set next move to startup+ (MF)
return subroutine
if I m open (MO):
MA to startup+ (MF)
set next move to startup- (MB)
mod 2
call chekset
waiting for trigger
...
mod 3
call chekset
waiting for trigger
...
mod 4
call chekset
waiting for trigger
...
fastopen
MA to open pos
fastclose
if in open pos
MA to startup+
Single Shot Mode (MODE 1)
' Program Fragment: MODE_1 (Single Shot) Mode 1.0 - Set GO to 1 to arm trigger. Single sweep from trigger.
Continuous Mode (MODE 2)
' Program Fragment: MODE_2 (Continuous) Mode 2.0 - Immediately armed. Continuous sweep from trigger.
Burst Mode (MODE 3)
' Program Fragment: MODE_3 (Burst mode) Before mode select, select sub-mode TG: Mode 3.1 - TG=0, Single Burst: Set GO to 1, then only single burst sequence will execute Mode 3.2 - TG=1, Continuous Burst: Execute burst sequence Mode 3.3 - TG=2, Open/Close Burst: Single pulse to open, single pulse to close
Settings in XCS
Server running the IOC
ssh ioc-xcs-mot1
Startup IOC
su <authorized_user> ssh ioc-xcs-mot1 sudo /reg/d/iocCommon/sioc/ioc-xcs-trigger-ims/startup.cmd telnet localhost 30999
How to start the Pulse Selector Python script:
/reg/neh/home1/paiser/working/ioc/xcs/xip_pp/current/pyscripts/src/run_pp.sh
Configuration file
~/.pp_xcs/pvlist.lst
Current configuration (Working in progress)
# --------------------------------------------------------------- # Pulse Selector Description File # --------------------------------------------------------------- # Syntax: # <TYPE>, <PVNAME|IOCNAME|SCRIPT>, <DESC> # some_more_comments # Where: # <Type> : "SEQ" -> Sequencer # "EVR" -> EVR associated to sequencer # "PPM" -> Pulse Selector # "SVR" -> Motor and Pulse Selector Server # "IOC" -> Motor and Pulse Selector software IOC # "SPP" -> EDM screens for motion # "SEV" -> EDM screens for evr # <PVNAME> : PV base name # <IOCNAME> : Server name associated to Pulse Selector PVs # <DESC> : User description # Notes: # PVNAME or IOCNAME are not case sensitive. # Line can be commented out by starting with '#' character. # --------------------------------------------------------------- SEQ, XPP:R35:IOC:SEQ, XPP DAQ Sequencer # FIXME To check PLY, IOC:IN20:EV01, XPP DAQ Sequencer play mode # FIXME to check EVR, XCS:R42:EVR:01, VME EVR located in XCS Rack 42 # OK IOC, ioc-xcs-trigger-ims, IOC running pulse selector # OK SPP, ppm_gui.sh, EDM screen startup shell script for PP motor # OK PPM, XCS:SB2:MMS:09, Pulse Selector Motor # OK YTR, XCS:SB2:MMS:21, Y translation motor # OK XTR, XCS:SB2:MMS:08, X translation motor # OK SEV, evr_gui.sh, EDM screen startup shell script for EVR # OK SVR, ioc-xcs-mot1, server running IOC for pulse selector # OK
Screens
PP and Motor GUIs :
/reg/neh/home1/paiser/working/ioc/xcs/xip_pp/current/pyscripts/ppm_gui.sh XCS:SB2:MMS:09 XCS:SB2:MMS:21 XCS:SB2:MMS:08
TODO:
# FIXME Configuration file default location # TODO Autosave default rampup values # TODO Fast close and open functions # TODO Test Sequencer
Setup Lab tests
XIP Pulse Selector: Files, modes, schematics
Setup Lab: EVR Settings
Setup Lab: Working with the EVR from pslogin
in pslogin type (you need to have your securekeys):
ssh ioc-tst-cam5 /reg/neh/home1/paiser/bin/evr.sh EVR=TST:CAM:05:EVR
- Then configure EVR as you need manually...
Setup Lab: In case the server ioc-tst-cam5 was power cycled
Connect to the server:
ssh ioc-tst-cam5
Run the startup command that contains EVR ioc in:
sudo /reg/d/iocCommon/sioc/ioc-tst-cam5/startup.cmd
You should see with psproc:
[paiser@ioc-xrt-xcscam04 ~ 12:18:20] psproc PID USER-ID SIOC COMMAND HOSTNAME PORT 4851 tstioc caRepeater procServ ioc-xrt-xcscam04 30000 5147 tstioc ioc-tst-cam5 procServ ioc-xrt-xcscam04 30001 5150 tstioc ioc-tst-cam5 procServ ioc-xrt-xcscam04 40000
Setup Lab : In case you need to power cycle ioc-tst-cam5
ipmitool -I lanplus -U ADMIN -P <you_should_know> -H ioc-tst-cam5-ipmi power status ipmitool -I lanplus -U ADMIN -P <you_should_know> -H ioc-tst-cam5-ipmi power reset
Where: <you_should_know> is the standard ipmi password that you_should_know...
Setup Lab : Test Screens
Python homing script:
/reg/neh/home1/jsludvik/test-python/xip-home.py
XIP main GUI:
/reg/neh/home1/jsludvik/svn/trunk/ioc/xpp/xip_pp/current/motionScreens/xip_gui.sh
XPP motor GUIs:
/reg/g/pcds/package/epics/3.14/modules/pcds_motion/R2.3.4/launch-motor.sh XPP:TST:MMS:01 /reg/g/pcds/package/epics/3.14/modules/pcds_motion/R2.3.4/launch-motor.sh XPP:TST:MMS:02 /reg/g/pcds/package/epics/3.14/modules/pcds_motion/R2.3.4/launch-motor.sh XPP:TST:MMS:03
Startup.cmd:
/reg/d/iocCommon/sioc/ioc-xpp-trigger-ims/startup.cmd
Mode Descriptions
Mode 1: Single pulse
Mode 2: Continuous trigger
Mode 1 and 2 should be the same program, as the Seq will generate the pulses to the motor, and open/close operation shouldn't make any difference whether it is 1 or more. The motor sees a trigger and moves.
This mode is accessed by <PV>:RUN_MODE2
Mode 3: The motor opens on a pulse, counts N pulses and closes on the Nth pulse. The pre-trigger and close trigger should be factored in by the upper layer software to determine the proper N value to put into the motor. All the motor does is, open on N=1, count, then close on N=N.
This mode is accessed by <PV>:RUN_MODE3
Mode 1 was programmed like just mode 2 with a User "Trigger" enable/disable, which may or may not be useful for us. Sort of like 2 layers of enabling, versus just 1 for mode2
This mode is accessed by <PV>:RUN_MODE1
Reset Modes to start new mode:
<PV>:RESET
Homing Sequence
1) EPICS Motor Record: HOMF
2) Zero Position
3) Move Relative -76.25 degrees
4) Zero Position
MCode Program State Diagram
<insert VISIO diagram>
<code example>
Motor Interlock Scheme
Screenshots
Pulse Selector Test/Checkout Procedure (6/10/2013)
X motor calibration
- Found offset from X zero position: 5.8075 mm from + limit
- Offset for X zero position: 5.7332 mm from - limit
- Limits performed as expected, and in place before hardstops
Y motor calibration
- Offset from +Y limit to zero: 15.6689 mm
- Offset from -Y limit to zero: 7.9956 mm
- Limits performed as expected, and in place before hardstops
New Interlock:
Add Y motor interlock, position >= 2 mm above 0 position, no X movement allowed
X-Y interlock stopped working today, need to investigate.
Testing Notes
Computational overhead:
- MR:~2-3ms to compute a move
- Subtraction, assignment, followed by comparison/branch: ~2ms
- PR 5 character echo: ~2-3ms --> serial communication is asynchronous from the MCode
- :RESET_PG seems to be working OK (Ernesto mentioned that it used to take up to 2 seconds)
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