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In The Field:
IP Address: 172.27.13.38
IP Address set: 172.27.13.100
Subnet Mask: 255.255.252.0
Test plan:
- auxiliary task has homeAsync task -> homeAsync.bcx in filesystem good enough task execution setup has. all tasks enabledParameters > Axis > Limits > EndOfTravelLimitSetup
- Home Switch Polarity needs to be Active High
- Home Limit needs to be Use CCW Input (which is the negative limit switch)This one might be correct, but please verify:
- Parameters > Axis > Motion > Home > HomeSetup
- Home Start Direction should be CCW/Negative Direction
- Limit Type should be Use End-of-Travel Limit Switch
- Marker Input Source should be Use Position FeedbackTrip CW/CCW limit
- Check on motor record screen and on aerotech to see which limits show up
Try to home -> if works, try homing again, try 3 different homes, main panel, homr/homfTest plan:
1. Update parameter
2. Save new parameter file into motion epics App
3. Power Cycle MOC, Reboot IOC , enable axis, home
4. Move to x mm.
5. Home again to see if the behavior is odd.6. Power Cycle MOC, Don`t reboot IOC.
7. enable axis, home
8. Move to x mm.
9. Home again to see if the behavior is odd.10. Reboot IOC, Don`t power cycle MOC.
11. enable axis, home
12. Move to x mm.
13. Home again to see if the behavior is odd.
Notes:
- Homing on ensemble works fine, it goes back to the 0 position which is at CCW limit switch and stays there
- On EPICS, the homing would go to the CCW limit switch, then go back to the requested position, rather than a preset offset (which is 0 in the parameter file)
In Motion Lab:
Test Stand B34:
Address: moc-b34-mc08
ioc: sioc-b34-mc02
Name: B34_MP_4Chan
IP address: 134.79.219.181
Subnet mask: 255.255.252.0
What was done:
Issue:
The homing procedure in EPICS would home the motor to the CCW LS, and go back to the preset desired position instead of stopping close to the LS.
Observations:
- The homing procedure in Ensemble works as expected.
- homeAsync.ab procedure also works as expected after some modification and running on Ensemble.
- Moving on to EPICS, when running the homing procedure, the motor would move to the CCW LS and back off a bit (follows what Ensemble does), but then adds an extra procedure of moving to the set "desired position" and setting it as the 0.
- What was noticed is that MOTR.RBV automatically sets to the -ve value of the "desired position" as it hits the LS. This prompts the motor to want to go back to the 0 position from the -ve value to complete the homing sequence.
- Attempting to try homr worked as expected
Steps taken:
- In Ensemble:
- Connected on Ensemble, the parameter file of the XTCAV was used to recreate the issue on the test stand in the motion lab (B34_MP_4Chan)
- Main thing to be changed is the "Opto-Isolated Limits" parameter
- Axis → Limits → EndOfTravelLimitSetup → Opto-Isolated limits (change from standard to opto-isolated limits)
- Make sure Axis/Motion/Home/HomeSetup is 0x00
- Home Start Direction is CCW/ Neg dir
- Axis/Limits/EndOfTravelLimitSetup:
- End-of-travel Switch Swap: Swap CW and CCW Switches
- Axis/Feedback/PositionFeedbackType
- The homing procedure HomeAsync.ab was modified:
- line 20
IGLOBAL(32) = 1
- uncomment line 21
- Running the HomeAsync.ab procedure results in the expected homing procedure
- In EPICS:
- The homing procedure in EPICS runs homf
- Running homr resulted in the expected homing procedure
- Switched the homing procedure to run homr instead of homf which fixed the issue.
- Test plan:
- Start ioc:
iocConsole sioc-b34-mc02
- In dev, open motion display and motor expert
- Enable torque, then home
- Set a "Requested Position" and move motor
- Home again
- As it is homing, check HomeSetup Param on asyn screen "edm -m 'P=MOC:B34:MC08,R=:ASYN' fastwirescannerasyn.edl"
- Motor should stop after hitting the CCW LS and set the position to 0.
Parameter file changes (deg to mm) 2mm lead screw:
- Axis/units:
- Axis/Limits
- LimitDecelDistance: 720deg to 4mm
- Axis/Motion:
- AbortDecelRate: 20deg/s^2 to 0.111 mm/s^2
- DefaultRampDistance: 900 deg to 5 mm
- DefaultRampRate: 3600 deg/s to 20 mm/s
- DefaultSpeed: 3600 deg/s to 20 mm/s
- Axis/Motion/Home:
- HomeRampRate: 1000 deg/s to 5.5555 mm/s
- HomeSpeed: 360 deg/s to 2 mm/s
Personal Notes:
EPICS:
cd motion/motion-git/iocBoot/sioc-dmp0-mc01/
- We need to clone the motion repository, in cmd lines:
eco
motion
- then keep pressing enter until it starts cloning
make
(to build it)
- cd into directory
cd motion/motion-git/motionApp/Db/common/
- copy whichever file you want to modify:
phaseShifterGapControl
is the one that includes mm to deg - I copied it into
phaseShifterGapControl2
Ensemble:
- To run HomeAsync.ab
- load then build file
- run (debug → run)
- Main thing that was changed to get the XTCAV parameter file working on the test stand:
- Axis → Limits → EndOfTravelLimitSetup → Opto-Isolated limits (change from standard to opto-isolated limits)
Notes: