Overview

latest sensitivity curve

This system is to control the stepper motor of GAS and IP in VIS suspension using the KAGRA DGS network.

Motor Specifications

Environment

Motor drive method and motor Rotation

stallGuard2

How to use

About the control script

コマンド送信はPythonのソケット通信ライブラリを使って実装、ライブラリ化した。

Quick Start

Run the PCAS to activate the EPICS channels for stepper motor control.

After activate, control the stepper motor using the medm screen

Setup

See Stepper motor driver installation

Nport5150

Serial setting

Network setting

Operation Mode setting

TMCM6110

Do not use in ASCII mode. Use binary mode.

Control Script (No need)

ドライバーに接続されているモータの名前をparam.pyに書き下す。

IPだけ,どのモータがIPの自由度にたいしてつながっているかparam.pyに書き下す

How to actuate (On 18/02/26)

Actuate fishing rods from medm screen (On 18/06/04)

Initial activate

$ ssh k1script1
$ step_start SERVER_NAME

SERVER_NAME is the EPICS channel name after K1:STEPPER_. (i.e., PR2_GAS) If the lines

Stepper has been migrated from k1script (Python2) to k1script1 (Python3).

Reconnecting...
Testing connection:
...ok

appears in the command line, it is ok. otherwise, check server configuration.

When the work is finished, step_start is exited. After 2020/10/26, you can add "-kill" to the command argument to terminate it.

$ step_start SERVER_NAME -kill

How to use

FR_medm.GIF

(ref: klog4161)

How to actuate IP stepping motors from medm screen (On 18/02/28)

Initial Activate

$ ssh k1script1
$ step_start SERVER_NAME

SERVER_NAME is the EPICS channel name after K1:STEPPER_. (i.e., BS_IP) If the lines

Stepper has been migrated from k1script (Python2) to k1script1 (Python3).

Reconnecting...
Testing connection:
...ok

appears in the command line, it is ok. otherwise, check server configuration.

When the work is finished, step_start is exited. After 2020/10/26, you can add "-kill" to the command argument to terminate it.

$ step_start SERVER_NAME -kill

Configuration

There are two types of alignment of the IP stepping motors, which we call Type-SR (left), Type-BS (center), and Type-TM (right).

IP_Type-SR.gif IP_Type-BS.gif IP_Type-TM.gif

SRs have Type-SR, while BS has Type-BS. Type-A towers have Type-TM.

The connection assign is loaded from conf.py in the script file, including the sign of the motor actuation. Refer the table below for the connection assignment as well.

How to check the log

The log files remain in /kagra/Dropbox/Subsystems/VIS/Scripts/StepMotor/LogFiles/ Check the log files with each prefix.

How to actuate from the command line (On 17/10/5)

確認のしかた

from Trinamic_control6110 import *
driver = Trinamic_control6110()
driver.connectTCP('your ip address', 4001)
driver.reconnect()

and if it says '...ok', the motors are replying. If error occurs, try to restart the motor drivers as well as Nport. Just turn off and on the power.

driver.getTargetPosition(motor_number)

driver.setTargetPosition(step,motor_number)

Insert the absolute step in to the 'step', and insert the motor number into 'motor_number.'


B) B) B) Also, there is a convenient script which Miyamoto-san wrote. The script moves all the three stepping motors at once for the type A IPs so that one can request the motion in (L, T, Y) basis.

import controlInvertedPendulum as myip
miyamoto = myip.controlIP()
miyamoto.connectTCP('your ip address', 4001)
miyamoto.reconnect()

miyamoto.move_LONG(step)

/!\ Caution that the step value in the move_(LONG|YAW|TRANS) command corresponds to the relative move from the current position.

Driver List

Master List

EPICS channel name

Driver IP Address

Installation

klog

JGW-S

Memo

Motor assign

Sign of the script (when positive value)

K1:STEPPER_PR2_GAS

10.68.160.40

-

JGW-S1605642

-

0:BF, 1: SF

Supposed to rotate right

K1:STEPPER_PR0_GAS

10.68.150.41

-

JGW-S1706035

-

0:BF, 1: SF

Supposed to rotate right

K1:STEPPER_PR0_GAS

10.68.150.41

-

JGW-S1706035

-

2:BF, 3: SF

Supposed to rotate right

K1:STEPPER_ITMX_GAS

10.68.160.43

5321

JGW-S1706034

-

0:F0, 1:F1, 2:F2, 3:F3, 4:BF, 5:- (2021/04/07)

Supposed to rotate right

K1:STEPPER_ITMX_IP

10.68.160.44

5321

JGW-S1706042

-

-

Supposed to rotate right

K1:STEPPER_ETMX_GAS

10.68.160.45

3566

JGW-S1706041

-

See ETMX status(IP A:1, B:2, C:3, YAW:0)

Supposed to rotate right

K1:STEPPER_ETMX_IP

10.68.160.46

3566

JGW-S1706037

-

Supposed to rotate right

K1:STEPPER_ITMY_GAS

10.68.160.47

6162

JGW-S1706031

-

-

Supposed to rotate right

K1:STEPPER_ITMY_IP

10.68.160.48

-

-

JGW-S1808437

-

-

Supposed to rotate right

K1:STEPPER_ETMY_GAS

10.68.160.49

3790

JGW-S1706039

-

See ETMY status(IP A:1, B:2, C:3, YAW:0)

Supposed to rotate right

K1:STEPPER_ETMY_IP

10.68.160.50

JGW-S1706043

-

Supposed to rotate right

K1:STEPPER_BS_GAS

10.68.160.51

3509

JGW-S1706032

BS second floor

0: BF, 1: F1, 2: not used, 3: F0

Supposed to rotate right

K1:STEPPER_BS_IP

10.68.160.52

7190

JGW-S1706044

BS second floor

0:A, 1:B, 2:C, 3:YAW

Supposed to rotate right

K1:STEPPER_SR2_GAS

10.68.160.53

-

JGW-S1706036

SR2 small rack second floor

0: BF, 1: F1, 2: F0

Supposed to rotate right(Plans to change the value of 15272in the future)

K1:STEPPER_SR2_IP

10.68.160.54

-

JGW-S1706040

SR2 small rack second floor

0:A, 1:B, 2:C, 3:YAW

Supposed to rotate right(Plans to change the value of 15272in the future)

K1:STEPPER_SR3_GAS

10.68.160.55

-

JGW-S1706038

SR3 second floor

0: BF, 1: F1, 2:not used, 3: F0 (2020/11/26change from 2 to 3:Klog#15541)

Supposed to rotate right(Plans to change the value of 15272in the future)

K1:STEPPER_SR3_IP

10.68.160.56

-

JGW-S1808436

SR3 second floor

0:A, 1:B, 2:C, 3:YAW

Supposed to rotate right(Plans to change the value of 15272in the future)

K1:STEPPER_SRM_GAS

10.68.160.57

-

JGW-S1706035

SRM small rack second floor

0: BF, 1: F1, 2: F0, 4: Doesn't work(15685)

Supposed to rotate right(Plans to change the value of 15272in the future)

K1:STEPPER_SRM_IP

10.68.160.58

-

JGW-S1808438

SRM small rack second floor

0:A, 1:B, 2:C, 3,4: not used(Broken), 5:YAW (2020/11/25 change from 4 to 5)

Supposed to rotate right(Plans to change the value of 15272in the future)

K1:PHY_ETMY

10.68.150.59

-

-

JGW-G2112505

ETMY for cryo-p

Ch.1:Pitch(HR), Ch.2:Roll, Ch.3:Pitch(AR)

K1:PHY_ETMX

10.68.150.60

-

-

JGW-G2112505

ETMX for cryo-p

Ch.1:Pitch(HR), Ch.2:Roll, Ch.3:Pitch(AR)

K1:PHY_ITMY

10.68.150.61

-

-

JGW-G2112505

ITMY for cryo-p

Ch.1:Pitch(HR), Ch.2:Roll, Ch.3:Pitch(AR)

K1:PHY_ITMX

10.68.150.62

-

-

JGW-G2112505

ITMX for cryo-p

Ch.1:Pitch(HR), Ch.2:Roll, Ch.3:Pitch(AR)

-

-

-

-

JGW-S1706045

water damaged; klog 7190

-

K1:STEPPER_TEST

10.68.150.63

-

-

-

STANDALONE

-

-

Limit Switch Install Status (2021/02/19)

Master

EPICS channel name

DOF

Limit Switch Install

Limit Switch Enable/Disable

Memo

K1:STEPPER_PR2_GAS

SF

None

BF

None

K1:STEPPER_PR0_GAS(PRM)

SF

None

BF

None

K1:STEPPER_PR0_GAS(PR3)

SF

None

BF

None

K1:STEPPER_ITMX_GAS

F0

None(Plans to install)

Disable(Plans to Enable)

F1

None

F2

None

F3

None

BF

None

K1:STEPPER_ITMX_IP

IP H1(A)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

IP H2(B)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

IP H3(C)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

F0 YAW

None(Plans to install)

Disable(Plans to Enable)

K1:STEPPER_ETMX_GAS

F0

None(Plans to install)

Disable(Plans to Enable)

F1

None

F2

None

F3

None

BF

None

K1:STEPPER_ETMX_IP

IP H1(A)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

IP H2(B)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

IP H3(C)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

F0 YAW

None(Plans to install)

Disable(Plans to Enable)

K1:STEPPER_ITMY_GAS

F0

None(Plans to install)

Disable(Plans to Enable)

F1

None

F2

None

F3

None

BF

None

K1:STEPPER_ITMY_IP

IP H1(A)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

IP H2(B)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

IP H3(C)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

F0 YAW

None(Plans to install)

Disable(Plans to Enable)

K1:STEPPER_ETMY_GAS

F0

None(Plans to install)

Disable(Plans to Enable)

F1

None

F2

None

F3

None

BF

None

K1:STEPPER_ETMY_IP

IP H1(A)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

IP H2(B)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

IP H3(C)

Installed & Not Check(Plans to check)

Disable(Plans to Enable)

F0 YAW

None(Plans to install)

Disable(Plans to Enable)

K1:STEPPER_BS_GAS

F0

Installed & Check OK

Enable

15680, 15729

F1

None

BF

None

K1:STEPPER_BS_IP

IP H1(A)

Installed & Check OK

Enable

15680

IP H2(B)

Installed & Check OK

Enable

IP H3(C)

Installed & Check OK

Enable

F0 YAW

Installed & Check OK

Enable

15729

K1:STEPPER_SR2_GAS

F0

None(Plans to install)

Enable

15583

F1

None

BF

None

K1:STEPPER_SR2_IP

IP H1(A)

-Yaw(Left): Bad, +Yaw(Right):OK

Disable(H1,H2 Broken)

15583, 15593

IP H2(B)

Both(L,R) OK, Install Spring useless?

Disable(H1,H2 Broken)

IP H3(C)

Both(L,R) OK, Install Spring useless?

Disable(H1,H2 Broken)

F0 YAW

None(Plans to install)

Enable

15583, 15593

K1:STEPPER_SR3_GAS

F0

Installed & Check OK

Enable

15582

F1

None

BF

None

K1:STEPPER_SR3_IP

IP H1(A)

-Yaw(Left) Bad +Yaw(Right):OK

Disable(H1 Broken)

15592

IP H2(B)

Both(L,R) OK Installed Spring useless?

Disable(H1 Broken)

IP H3(C)

Both(L,R) OK Installed Spring useless?

Disable(H1 Broken)

F0 YAW

None(Plans to install)

Enable

15592, 15541

K1:STEPPER_SRM_GAS

F0

Installed? Change the polarity?

Disable(Plans to Enable)

15534

F1

None

BF

None

K1:STEPPER_SRM_IP

IP H1(A)

-YAW(Left):didn't come back. Installed Spring useless

Disable(Plans to Enable)

15484, 15530

IP H2(B)

Installed Spring useless

Disable(Plans to Enable)

IP H3(C)

Installed Spring useless

Disable(Plans to Enable)

F0 YAW

Installed & Check OK

Disable(Plans to Enable)

15484, 15530

Stepper Screw pitch(2021/01/15)

optic

DOF

Screw pitch

1step辺りの駆動量[um/step]

PRM,PR3,PR2_GAS

SF/BF

M6(1.0mm)

0.01953125

ITMX,ETMX,ITMY,ETMY_GAS

F0/F1/F2/F3/BF

M6(1.0mm)

0.01953125

ITMX,ETMX,ITMY,ETMY_IP

IP H1/H2/H3

M6(1.0mm)

0.01953125

F0YAW

M5(0.8mm)

0.015625

BS_GAS

F0/F1/BF

M6(1.0mm)

0.01953125

BS_IP

IP H1/H2/H3

M5(0.8mm)

0.015625

F0YAW

M5(0.8mm)

0.015625

SRM,SR2,SR3_GAS

F0/F1/BF

M6(1.0mm)

0.01953125

SRM,SR2,SR3_IP

IP H1/H2/H3

M6(1.0mm)

0.01953125

F0YAW

M5(0.8mm)

0.015625

The direction of KeyStone movement relative to the StepperMotor.

The direction of KeyStone movement

Driver Box List according to JGWDoc on 2018-02-08

Bug

KAGRA/Subgroups/DGS/Projects/StepperMotor (last edited 2021-11-22 12:37:29 by satoru.ikeda)