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| <<TableOfContents(3)>> |
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| [[attachment:configuration|{{attachment:スクリーンショット 2017-05-01 19.20.17.png|latest sensitivity curve|width="500"}}]] | |
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| == DriverList == | This system is to control the stepper motor of GAS and IP in VIS suspension using the KAGRA DGS network. * If you control with serial in local place, please see the manual written by Sekiguch [[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=2512|JGW-T1402512]]. * In this system, anyone control stepper motor with medm screen via EPICS channels managed by PCAS (Potable Channel Access Server). * 2017/10/13 : medm screen is not yet. |
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| == Configuration == [[attachment:configuration|{{attachment:スクリーンショット 2017-05-01 19.20.17.png|latest sensitivity curve|width="600"}}]] |
== 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。 * モータドライバ側はBinaryでコマンドを受け付けるので注意が必要。設定すればASCIIでも可。 * バイナリコマンドを直接socketで送りつけるPythonコードがあったので、それを使う。 * それ改変して、最小限動かすのに必要な関数を集めたPythonクラス ’KAGRA_stepper’ を用意した。 * 実際のモータを動かすための設定ファイルを用意した。（モータの配線、IPの自由度へのマトリックス） === Quick Start === Run the PCAS to activate the EPICS channels for stepper motor control. * PCAサーバは、各EPICSチャンネルの値の変更に応じて指定のコマンドを送るためのもの * なので起動しないと、ボタンを押してもコマンドが送れずモータが動作しない。 * 起動をするには、MEDM画面からボタンを押すだけ（の予定） After activate, control the stepper motor using the medm screen * (まだスクリーンをつくっていない) * 速度を設定する。デフォルトでxxx * ステップを設定する。デフォルトでxxx * 動かす。FWDで正転、REVで反転 |
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| ユーザがTelnetでコマンドを送信するには，（１）Nport5150のRS485-Ethernet変換の設定(2)TMCM6110の環境設定が必要である。 === Nport5150の設定 === [[attachment:configuration|{{attachment:SerialSetting.png|latest sensitivity curve|width="900"}}]] |
=== Nport5150 === Serial setting * Baudrte : 9600 * DataBit : 8 * StopBit : 1 * Parity : None * FIFO : Enable |
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| [[attachment:configuration|{{attachment:NportSetting.png|latest sensitivity curve|width="900"}}]] | Network setting * IPaddress : 10.68.150.xx (Please change the IP address according to where you want to use it.) * Netmask : 255.255.0.0 * Gateway : 10.68.10.1 * IP Configuration : Static |
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| [[attachment:configuration|{{attachment:NetworkSetting.PNG|latest sensitivity curve|width="900"}}]] | Operation Mode setting * choose ’TCP Server Mode’ * port : 4001 |
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| Please change the IP address according to where you want to use it. === TMCM6110の設定 === |
=== TMCM6110 === |
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| === How to control the motors from python script === (At point at 17/10/5) |
=== Control Script （No need） === ドライバーに接続されているモータの名前を[[https://www.dropbox.com/home/Personal/miyo/script/stepper?preview=param.py|param.py]]に書き下す。 * param.py はモータ名とドライバに接続するポート番号を定義するためのファイル。 * 原則的に一台目をGAS，二代目をIPにつかう。 * しかし，TypeBではランダムで配線しているので，かならずparam.pyを書き換える。 |
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| - Go to the directory: /kagra/Dropbox/Subsystem/VIS/TypeBp/Script/steppingmotor/ | 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 * 同時に動かすべきモータの組み合わせをparam.py内にある行列に書き換える。 |
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| - start ipython | === Check the connection (On 17/10/5) === 確認のしかた * Go to the directory: /kagra/Dropbox/Subsystems/VIS/TypeBp/Scripts/steppingmotor/ * start ipython * in ipython, type the command as follows. {{{ 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. * In order to check the current position, {{{ driver.getTargetPosition(motor_number) }}} |
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| - in ipython, type the command as follows. | * In order to move it, {{{ driver.setTargetPosition(step,motor_number) }}} Insert the absolute step in to the 'step', and insert the motor number into 'motor_number.' == Driver List == ||EPICS channel name||Driver IP Address||Instalation||klog||JGW-S||Memo||Motor assign|| ||K1:STEPPER_PR2_GAS||10.68.150.40||◯||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=5642|JGW-S1605642]]||-||0:BF, 1: SF|| ||K1:STEPPER_PR3_GAS||10.68.150.41||◯||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6035|JGW-S1706035]]||-||0:BF, 1: SF|| ||K1:STEPPER_PRM_GAS||10.68.150.41||◯||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6035|JGW-S1706035]]||-||2:BF, 3: SF|| ||K1:STEPPER_IXV_GAS||10.68.150.43||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-|| ||K1:STEPPER_IXV_IP||10.68.150.44||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-|| ||K1:STEPPER_EXV_GAS||10.68.150.45||◯||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=3566|3566]]||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6041|JGW-S1706041]]||-||<|2>See [[http://gwwiki.icrr.u-tokyo.ac.jp/JGWwiki/KAGRA/Subgroups/VIS/TypeA/ETMX|ETMX status]]|| ||K1:STEPPER_EXV_IP||10.68.150.46||◯||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=3566|3566]]||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6037|JGW-S1706037]]||-|| ||K1:STEPPER_IYV_GAS||10.68.150.47||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-|| ||K1:STEPPER_IYV_IP||10.68.150.48||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-|| ||K1:STEPPER_EYV_GAS||10.68.150.49||◯||<|2>[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=3790|3790]]||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6043|JGW-S1706043]]||-||<|2> See [[http://gwwiki.icrr.u-tokyo.ac.jp/JGWwiki/KAGRA/Subgroups/VIS/TypeA/ETMY|ETMY status]]|| ||K1:STEPPER_EYV_IP||10.68.150.50||◯||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6039|JGW-S1706039]]||-|| ||K1:STEPPER_BS_GAS||10.68.150.51||◯||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=3509|3509]]||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6032|JGW-S1706032]]||-||-|| ||K1:STEPPER_BS_IP||10.68.150.52||◯||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=3509|3509]]||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6045|JGW-S1706045]]||-||-|| ||K1:STEPPER_SR2_GAS||10.68.150.53||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6036|JGW-S1706036]]||-||-|| ||K1:STEPPER_SR2_IP||10.68.150.54||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6040|JGW-S1706040]]||-||-|| ||K1:STEPPER_SR3_GAS||10.68.150.55||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6038|JGW-S1706038]]||in SR3 second floor; needs config||-|| ||K1:STEPPER_SR3_IP||10.68.150.56||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6044|JGW-S1706044]]||in SR3 second floor; needs config||-|| ||K1:STEPPER_SRM_GAS||10.68.150.57||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-|| ||K1:STEPPER_SRM_IP||10.68.150.58||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-|| ||-||10.68.150.59||-||-||-||ETMY for cryo-p||-|| ||-||10.68.150.60||-||-||-||ETMX for cryo-p||-|| ||-||10.68.150.61||-||-||-||ITMY for cryo-p||-|| ||-||10.68.150.62||-||-||-||ITMX for cryo-p||-|| == Driver Box List according to JGWDoc on 2018-02-08 == * S1605642 2018-02-08 found in PR2 cleanbooth driving PR2 by Mark B. * S1706031 18/01/19- Testing in mozumi by K. Miyo * S1706032 2017-10-18 installed in BF second floor (klog 3527) by Enzo * S1706033 2018-02-08 Found in PR3 cleanbooth driving PR3/PRM by Mark B. * S1706034 2018-02-08 Found in AEL stockroom by Mark B. * S1706035 Moved to PRM at 2017/8/8 (A.Shoda) [but not found 2018-02-08 by Mark - apparently replaced by 6033 for both PR3 and PRM] * S1706036 2017-12-27 Installed in second floor of SR2 area as SR-GAS by Shoda-san. * S1706037 [2017/10/24] Installed into K1EX2 rack by K.Okutomi * S1706038 2018-02-07 Reallocated to SR3 and moved to SR3 second floor by Mark * S1706039 ?? * S1706040 2017-12-27 Installed in second floor of SR2 area as SR-PI by Shoda-san. * S1706041 [2017/08/22] Installed into K1EX2 rack by K. Okutomi * S1706042 2018-02-08 Found in AEL stockroom by Mark B. * S1706043 2017-12-06 Installed in K1EY1 rack as EYV_GAS by K. Okutomi (klog 3790). * S1706044 2018-02-07 Reallocated to SR3 and moved to SR3 second floor by Mark * S1706045 2017-10-18 installed in BF second floor (klog 3527) by Enzo == Bug == |
Contents
Overview
This system is to control the stepper motor of GAS and IP in VIS suspension using the KAGRA DGS network.
If you control with serial in local place, please see the manual written by Sekiguch JGW-T1402512.
- In this system, anyone control stepper motor with medm screen via EPICS channels managed by PCAS (Potable Channel Access Server).
- 2017/10/13 : medm screen is not yet.
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。
- モータドライバ側はBinaryでコマンドを受け付けるので注意が必要。設定すればASCIIでも可。
- バイナリコマンドを直接socketで送りつけるPythonコードがあったので、それを使う。
- それ改変して、最小限動かすのに必要な関数を集めたPythonクラス ’KAGRA_stepper’ を用意した。
- 実際のモータを動かすための設定ファイルを用意した。（モータの配線、IPの自由度へのマトリックス）
Quick Start
Run the PCAS to activate the EPICS channels for stepper motor control.
- PCAサーバは、各EPICSチャンネルの値の変更に応じて指定のコマンドを送るためのもの
- なので起動しないと、ボタンを押してもコマンドが送れずモータが動作しない。
- 起動をするには、MEDM画面からボタンを押すだけ（の予定）
After activate, control the stepper motor using the medm screen
- (まだスクリーンをつくっていない)
- 速度を設定する。デフォルトでxxx
- ステップを設定する。デフォルトでxxx
- 動かす。FWDで正転、REVで反転
Setup
Nport5150
Serial setting
Network setting
- IPaddress : 10.68.150.xx (Please change the IP address according to where you want to use it.)
- Netmask : 255.255.0.0
- Gateway : 10.68.10.1
- IP Configuration : Static
Operation Mode setting
- choose ’TCP Server Mode’
- port : 4001
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。
- param.py はモータ名とドライバに接続するポート番号を定義するためのファイル。
- 原則的に一台目をGAS，二代目をIPにつかう。
- しかし，TypeBではランダムで配線しているので，かならずparam.pyを書き換える。
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
- 同時に動かすべきモータの組み合わせをparam.py内にある行列に書き換える。
Check the connection (On 17/10/5)
確認のしかた
- Go to the directory: /kagra/Dropbox/Subsystems/VIS/TypeBp/Scripts/steppingmotor/
- start ipython
- in ipython, type the command as follows.
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.
- In order to check the current position,
driver.getTargetPosition(motor_number)
- In order to move it,
driver.setTargetPosition(step,motor_number)
Insert the absolute step in to the 'step', and insert the motor number into 'motor_number.'
Driver List
EPICS channel name |
Driver IP Address |
Instalation |
klog |
JGW-S |
Memo |
Motor assign |
K1:STEPPER_PR2_GAS |
10.68.150.40 |
◯ |
- |
- |
0:BF, 1: SF |
|
K1:STEPPER_PR3_GAS |
10.68.150.41 |
◯ |
- |
- |
0:BF, 1: SF |
|
K1:STEPPER_PRM_GAS |
10.68.150.41 |
◯ |
- |
- |
2:BF, 3: SF |
|
K1:STEPPER_IXV_GAS |
10.68.150.43 |
- |
- |
- |
- |
|
K1:STEPPER_IXV_IP |
10.68.150.44 |
- |
- |
- |
- |
|
K1:STEPPER_EXV_GAS |
10.68.150.45 |
◯ |
- |
See ETMX status |
||
K1:STEPPER_EXV_IP |
10.68.150.46 |
◯ |
- |
|||
K1:STEPPER_IYV_GAS |
10.68.150.47 |
- |
- |
- |
- |
|
K1:STEPPER_IYV_IP |
10.68.150.48 |
- |
- |
- |
- |
|
K1:STEPPER_EYV_GAS |
10.68.150.49 |
◯ |
- |
See ETMY status |
||
K1:STEPPER_EYV_IP |
10.68.150.50 |
◯ |
- |
|||
K1:STEPPER_BS_GAS |
10.68.150.51 |
◯ |
- |
- |
||
K1:STEPPER_BS_IP |
10.68.150.52 |
◯ |
- |
- |
||
K1:STEPPER_SR2_GAS |
10.68.150.53 |
- |
- |
- |
- |
|
K1:STEPPER_SR2_IP |
10.68.150.54 |
- |
- |
- |
- |
|
K1:STEPPER_SR3_GAS |
10.68.150.55 |
- |
- |
in SR3 second floor; needs config |
- |
|
K1:STEPPER_SR3_IP |
10.68.150.56 |
- |
- |
in SR3 second floor; needs config |
- |
|
K1:STEPPER_SRM_GAS |
10.68.150.57 |
- |
- |
- |
- |
|
K1:STEPPER_SRM_IP |
10.68.150.58 |
- |
- |
- |
- |
|
- |
10.68.150.59 |
- |
- |
- |
ETMY for cryo-p |
- |
- |
10.68.150.60 |
- |
- |
- |
ETMX for cryo-p |
- |
- |
10.68.150.61 |
- |
- |
- |
ITMY for cryo-p |
- |
- |
10.68.150.62 |
- |
- |
- |
ITMX for cryo-p |
- |
Driver Box List according to JGWDoc on 2018-02-08
- S1605642 2018-02-08 found in PR2 cleanbooth driving PR2 by Mark B.
- S1706031 18/01/19- Testing in mozumi by K. Miyo
- S1706032 2017-10-18 installed in BF second floor (klog 3527) by Enzo
- S1706033 2018-02-08 Found in PR3 cleanbooth driving PR3/PRM by Mark B.
- S1706034 2018-02-08 Found in AEL stockroom by Mark B.
- S1706035 Moved to PRM at 2017/8/8 (A.Shoda) [but not found 2018-02-08 by Mark - apparently replaced by 6033 for both PR3 and PRM]
- S1706036 2017-12-27 Installed in second floor of SR2 area as SR-GAS by Shoda-san.
- S1706037 [2017/10/24] Installed into K1EX2 rack by K.Okutomi
- S1706038 2018-02-07 Reallocated to SR3 and moved to SR3 second floor by Mark
- S1706039 ??
- S1706040 2017-12-27 Installed in second floor of SR2 area as SR-PI by Shoda-san.
- S1706041 [2017/08/22] Installed into K1EX2 rack by K. Okutomi
- S1706042 2018-02-08 Found in AEL stockroom by Mark B.
- S1706043 2017-12-06 Installed in K1EY1 rack as EYV_GAS by K. Okutomi (klog 3790).
- S1706044 2018-02-07 Reallocated to SR3 and moved to SR3 second floor by Mark
- S1706045 2017-10-18 installed in BF second floor (klog 3527) by Enzo