Merge pull request #121 from jyotiphy/updates

Updating SL1K2 gap motor and MR1K2
pcdshub · May 15, 2024 · 6b4dd0b · 6b4dd0b
2 parents 6b2dd01 + fe64a32
commit 6b4dd0b
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Showing 5 changed files with 94,232 additions and 854 deletions.
diff --git a/lcls-plc-rixs-optics/_Config/NC/Axes/SL1K2-CrystalGap-M22.xti b/lcls-plc-rixs-optics/_Config/NC/Axes/SL1K2-CrystalGap-M22.xti
@@ -1319,14 +1319,13 @@ External Setpoint Generation:
 		<Name>__FILENAME__</Name>
 		<AxisPara>
 			<General UnitName="um"/>
-			<Dynamic Acceleration="90" Deceleration="90" Jerk="100"/>
+			<Dynamic Acceleration="90" Deceleration="200" Jerk="200"/>
 			<Velo SlowManual="0.075" FastManual="0.2" Maximum="150"/>
-			<TargetPosControl Range="0.5"/>
+			<TargetPosControl Range="0.05" Time="0.1"/>
 			<OtherSettings AllowMotionCmdToSlave="true" PulseDistancePos="0.05" PulseDistanceNeg="0.05"/>
-			<ParameterChanged>257</ParameterChanged>
 		</AxisPara>
 		<Encoder Name="Enc" EncType="29">
-			<EncPara ScaleFactorNumerator="0.001" Offset="-20375.2" MaxCount="#xffffffff">
+			<EncPara ScaleFactorNumerator="0.001" Offset="-20225.2" MaxCount="#xffffffff">
 				<SoftEndMinControl Enable="true" Range="20"/>
 				<SoftEndMaxControl Enable="true" Range="11000"/>
 				<Inc RefSoftSyncMask="#x0000ffff"/>
@@ -1366,7 +1365,7 @@ External Setpoint Generation:
 		</Encoder>
 		<Drive Name="Drive" DrvType="24">
 			<DrvPara>
-				<Analog VeloReferenz="888" ScaleFactorActTorque="0.1"/>
+				<Analog VeloReferenz="893.5" ScaleFactorActTorque="0.1"/>
 				<TimeComp TaskDelayCycles="1"/>
 			</DrvPara>
 			<Vars VarGrpType="1">
@@ -1439,7 +1438,7 @@ External Setpoint Generation:
 		<Controller Name="Ctrl" CtrType="2">
 			<CtrPara PriorControlFactor="1">
 				<PosDiffControl Range="15"/>
-				<PID PosKp="7" PosTv="0.2" PosTd="1" PosExtKp="150" PosExtVelo="1" AccKa="1" DeadBandPosition="5e-05"/>
+				<PID PosKp="7" PosTv="0.2" PosTd="1" PosExtKp="75" PosExtVelo="1" AccKa="1" DeadBandPosition="5e-05"/>
 				<AutoOffset Range="0.1"/>
 				<Observer BandWidth="20"/>
 				<ParameterChanged>514</ParameterChanged>

diff --git a/lcls-plc-rixs-optics/_Config/PLC/rixs_optics.xti b/lcls-plc-rixs-optics/_Config/PLC/rixs_optics.xti
@@ -1349,7 +1349,7 @@ External Setpoint Generation:
 		</DataType>
 	</DataTypes>
 	<Project GUID="{85BF455D-934D-415A-B04C-6D4CDD9FF10E}" Name="rixs_optics" PrjFilePath="..\..\rixs_optics\rixs_optics.plcproj" TmcFilePath="..\..\rixs_optics\rixs_optics.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
-		<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="rixs_optics\rixs_optics.tmc" TmcHash="{C3935FC0-AB21-45FB-787F-33F004BE3379}">
+		<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="rixs_optics\rixs_optics.tmc" TmcHash="{4A441438-FFB0-B579-C050-882C7D8C0F77}">
 			<Name>rixs_optics Instance</Name>
 			<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 			<Vars VarGrpType="1">

diff --git a/lcls-plc-rixs-optics/lcls-plc-rixs-optics.tsproj b/lcls-plc-rixs-optics/lcls-plc-rixs-optics.tsproj
@@ -13,8 +13,8 @@
 					<ManualSelect>{BF78CFC7-2E63-42C3-8C07-BB6C346BFB8B}</ManualSelect>
 					<ManualSelect>{3EBB9639-5FF3-42B6-8847-35C70DC013C8}</ManualSelect>
 					<TargetSelect TargetId="2">{BF78CFC7-2E63-42C3-8C07-BB6C346BFB8B}</TargetSelect>
-					<TargetSelect TargetId="2">{66689887-CCBD-452C-AC9A-039D997C6E66}</TargetSelect>
 					<TargetSelect TargetId="2">{BCA6EE0A-9CE1-4D3F-98CA-413ABC0D94FD}</TargetSelect>
+					<TargetSelect TargetId="2">{66689887-CCBD-452C-AC9A-039D997C6E66}</TargetSelect>
 					<TargetSelect TargetId="2">{3EBB9639-5FF3-42B6-8847-35C70DC013C8}</TargetSelect>
 					<TargetSelect TargetId="2">{777F1598-583B-4503-99BB-7C02E0ABD97E}</TargetSelect>
 					<TargetSelect TargetId="2">{520DE751-9DB6-47CB-8240-BD5C466E7E64}</TargetSelect>

diff --git a/lcls-plc-rixs-optics/rixs_optics/POUs/PRG_MR1K2_SWITCH.TcPOU b/lcls-plc-rixs-optics/rixs_optics/POUs/PRG_MR1K2_SWITCH.TcPOU
@@ -174,6 +174,10 @@ M1K2.fbRunHOMS(stYup:=M1,
 M2.bExecute := FALSE; // M1K2-Yright
 M4.bExecute := FALSE; // M1K2-Xdwn
 
+//Forcing limit switches for M1K2 pitch as the limit switches are no longer installed per ME they aren't able to install them precisely
+M5.bLimitBackwardEnable := TRUE;
+M5.bLimitForwardEnable := TRUE;
+
 // Convert nCurrGantry to um (smaller number) to read out in epics
 M1K2.fCurrGantryY_um := LINT_TO_REAL(M1K2.nCurrGantryY) / 1000.0;
 M1K2.fCurrGantryX_um := LINT_TO_REAL(M1K2.nCurrGantryX) / 1000.0;