RE: Newport XPS-Q8 and Motor Record - RV120HAHL stage

[Mark Rivers <rivers@cars.uchicago.edu>]

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: tech-talk-bounces@aps.anl.gov [mailto:tech-talk-bounces@aps.anl.gov] On Behalf Of Tonia Batten
Sent: Friday, November 01, 2013 4:13 PM
To: tech-talk@aps.anl.gov
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)

 

 

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: Tonia.Batten@lightsource.ca