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= Type-A Tower ETMX Specification =
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== Sensor Calibration == <<TableOfContents(3)>>

== IP ==

{{attachment:Ifconfig_ETMXv1.png}}

=== Accelerometer (ACC) ===
||'''Sensor'''||'''Efficiency [(um/s^2)/cnt]'''||
|| ACC H1 (SN7) ||<)> -5.288 ||
|| ACC H2 (SN8) ||<)> 5.830 ||
|| ACC H3 (SN5) ||<)> -5.289 ||
{{attachment:calibACC_sn7_20171016.png||width=33%,align="left"}}
{{attachment:calibACC_sn8_20171016.png||width=33%,align="center"}}
{{attachment:calibACC_sn5_20171017.png||width=33%,align="right"}}


=== LVDT ===
||'''Sensor'''||'''Efficiency [um/cnt]'''||
|| LVDT H1 ||<)> -0.258 ||
|| LVDT H2 ||<)> -0.252 ||
|| LVDT H3 ||<)> -0.233 ||
{{attachment:calibLVDT_ETMX_IPH1_20171012.png||width=33%,align="left"}}
{{attachment:calibLVDT_ETMX_IPH2_20171012.png||width=33%,align="center"}}
{{attachment:calibLVDT_ETMX_IPH3_20171012.png||width=33%,align="right"}}

=== Actuator polarization ===

Polarity is determined so that an +offset at the COILOUTF applies +yaw force in each actuator.
 * COIL H1: negative
 * COIL H2: negative
 * COIL H3: positive


=== Diagonalization matrix ===

 * ACC2EUL
||'''H1'''||'''H2'''||'''H3'''||'''To:'''||
|| 0.6440 ||-0.1726 ||-0.4714 ||''Long.''||
|| 0.1726 ||-0.6440 || 0.4714 ||''Trans.''||
|| 0.6833 || 0.6833 || 0.6833 ||''Yaw'' ||

 * LVDT2EUL
||'''H1'''||'''H2'''||'''H3'''||'''To:'''||
|| 0.6666 ||-0.3333 ||-0.3333 ||''Long.''||
|| 0 ||-0.5774 || 0.5774 ||''Trans.''||
|| 0.5612 || 0.5612 || 0.5612 ||''Yaw'' ||

 * EUL2COIL
||'''Long.'''||'''Trans.'''||'''Yaw'''||'''To:'''||
|| 1. || 0 || 0.5940 ||''H1''||
||-0.5000 ||-0.8660 || 0.5940 ||''H2''||
||-0.5000 || 0.8660 || 0.5940 ||''H3''||


=== Stepper motor ===
||<:-6> ''Epics channel name: K1:STEPPER_EXV_IP'' ||
||<:-6> ''Driver IP address: 10.68.150.46'' ||
||'''Motor 0'''||'''Motor 1'''||'''Motor 2'''||'''Motor 3'''||'''Motor 4'''||'''Motor 5'''||
|| F0 Yaw || IP H1 || IP H2 || IP H3 ||''<blank>''||''<blank>''||


== GAS ==

=== LVDT ===
||'''Sensor'''||'''Efficiency [um/cnt]'''||
|| F0 LVDT GAS ||<)> -0.172 ||
|| F1 LVDT GAS ||<)> -0.215 ||
|| F2 LVDT GAS ||<)> -0.243 ||
|| F3 LVDT GAS ||<)> -0.225 ||
|| BF LVDT GAS ||<)> 0.204 ||

{{attachment:calibLVDT_ETMX_F0GAS20171012.png||width=33%,align="left"}}
{{attachment:calibLVDT_ETMX_F1GAS20170907.png||width=33%,align="center"}}
{{attachment:calibLVDT_ETMX_F2GAS20170822.png||width=33%,align="right"}}

{{attachment:calibLVDT_ETMX_F3GAS20170803.png||width=33%,align="left"}}
{{attachment:calibLVDT_ETMX_BFGAS20170725.png||width=33%,align="center"}}

=== Fishing Rod (stepper motor) ===
||<:-6> ''Epics channel name: K1:STEPPER_EXV_GAS'' ||
||<:-6> ''Driver IP address: 10.68.150.45'' ||
||'''Motor 0'''||'''Motor 1'''||'''Motor 2'''||'''Motor 3'''||'''Motor 4'''||'''Motor 5'''||
|| F0 GAS || F1 GAS ||''<blank>''|| F3 GAS || BF GAS ||<#FFFF00> F2 GAS ||

==== Movable range ====
 * F0 GAS:
 * F1 GAS:
 * F2 GAS:
 * F3 GAS:
 * BF GAS: full range (11 mm)



== BF ==

{{attachment:BFconfig_ETMX.png}}

=== LVDT (BF Damper) ===
||'''Sensor'''||'''Efficiency [um/cnt]'''||
|| LVDT V1 ||<)> -0.3785 ||
|| LVDT V2 ||<)> -0.3852 ||
|| LVDT V3 ||<)> 0.3902 ||
|| LVDT H1 ||<)> 0.4060 ||
|| LVDT H2 ||<)> -0.3821 ||
|| LVDT H3 ||<)> -0.3629 ||

Note: Polarity may change when connecting the secondary coil to the cable. This configuration is confirmed on [2017.10.27] (It will change after the cable replacement scheduled in November 2017.)

{{attachment:calibLVDT_ETMX_BFV1_20170802.png||width=33%,align="left"}}
{{attachment:calibLVDT_ETMX_BFV2_20170802.png||width=33%,align="center"}}
{{attachment:calibLVDT_ETMX_BFV3_20170803.png||width=33%,align="right"}}

{{attachment:calibLVDT_ETMX_BFH1_20170802.png||width=33%,align="left"}}
{{attachment:calibLVDT_ETMX_BFH2_20170802.png||width=33%,align="center"}}
{{attachment:calibLVDT_ETMX_BFH3_20170802.png||width=33%,align="right"}}


=== Actuator polarization ===

Polarity is determined so that an +offset at the COILOUTF applies +yaw force in each actuator.
 * COIL V1: ???
 * COIL V2: ???
 * COIL V3: ???
 * COIL H1: positive
 * COIL H2: negative
 * COIL H3: negative

Note: Polarity may change when connecting the secondary coil to the cable. This configuration is confirmed on [2017.10.27]

=== Diagonalization matrix ===

 * LVDT2EUL
||'''V1'''||'''V2'''||'''V3'''||'''H1'''||'''H2'''||'''H3'''||'''To:''' ||
|| 0 || 0 || 0 ||-0.5774 || 0 || 0.5774 ||''Long.'' ||
|| 0 || 0 || 0 ||-0.3333 || 0.6666 ||-0.3333 ||''Trans.''||
|| 0.3333 || 0.3333 || 0.3333 || 0 || 0 || 0 ||''Vert.'' ||
|| 0 || 1.5861 ||-1.5861 || 0 || 0 || 0 ||''Roll'' ||
|| 1.8315 ||-0.9158 ||-0.9158 || 0 || 0 || 0 ||''Pitch'' ||
|| 0 || 0 || 0 || 0.8170 || 0.8170 || 0.8170 ||''Yaw'' ||

 * EUL2COIL
||'''L''' ||'''T''' ||'''V''' ||'''R''' ||'''P''' ||'''Y''' ||'''To:'''||
|| 0 || 0 || 1. || 0 || 0.3640 || 0 ||''V1''||
|| 0 || 0 || 1. || 0.3152 ||-0.1820 || 0 ||''V2''||
|| 0 || 0 || 1. ||-0.3152 ||-0.1820 || 0 ||''V3''||
||-0.8660 ||-0.5000 || 0 || 0 || 0 || 0.4080 ||''H1''||
|| 0 || 1. || 0 || 0 || 0 || 0.4080 ||''H2''||
|| 0.8660 ||-0.5000 || 0 || 0 || 0 || 0.4080 ||''H3''||

Type-A Tower ETMX Specification

IP

Ifconfig_ETMXv1.png

Accelerometer (ACC)

Sensor

Efficiency [(um/s^2)/cnt]

ACC H1 (SN7)

-5.288

ACC H2 (SN8)

5.830

ACC H3 (SN5)

-5.289

calibACC_sn7_20171016.png calibACC_sn8_20171016.png calibACC_sn5_20171017.png

LVDT

Sensor

Efficiency [um/cnt]

LVDT H1

-0.258

LVDT H2

-0.252

LVDT H3

-0.233

calibLVDT_ETMX_IPH1_20171012.png calibLVDT_ETMX_IPH2_20171012.png calibLVDT_ETMX_IPH3_20171012.png

Actuator polarization

Polarity is determined so that an +offset at the COILOUTF applies +yaw force in each actuator.

  • COIL H1: negative
  • COIL H2: negative
  • COIL H3: positive

Diagonalization matrix

  • ACC2EUL

H1

H2

H3

To:

0.6440

-0.1726

-0.4714

Long.

0.1726

-0.6440

0.4714

Trans.

0.6833

0.6833

0.6833

Yaw

  • LVDT2EUL

H1

H2

H3

To:

0.6666

-0.3333

-0.3333

Long.

0

-0.5774

0.5774

Trans.

0.5612

0.5612

0.5612

Yaw

  • EUL2COIL

Long.

Trans.

Yaw

To:

1.

0

0.5940

H1

-0.5000

-0.8660

0.5940

H2

-0.5000

0.8660

0.5940

H3

Stepper motor

Epics channel name: K1:STEPPER_EXV_IP

Driver IP address: 10.68.150.46

Motor 0

Motor 1

Motor 2

Motor 3

Motor 4

Motor 5

F0 Yaw

IP H1

IP H2

IP H3

<blank>

<blank>

GAS

LVDT

Sensor

Efficiency [um/cnt]

F0 LVDT GAS

-0.172

F1 LVDT GAS

-0.215

F2 LVDT GAS

-0.243

F3 LVDT GAS

-0.225

BF LVDT GAS

0.204

calibLVDT_ETMX_F0GAS20171012.png calibLVDT_ETMX_F1GAS20170907.png calibLVDT_ETMX_F2GAS20170822.png

calibLVDT_ETMX_F3GAS20170803.png calibLVDT_ETMX_BFGAS20170725.png

Fishing Rod (stepper motor)

Epics channel name: K1:STEPPER_EXV_GAS

Driver IP address: 10.68.150.45

Motor 0

Motor 1

Motor 2

Motor 3

Motor 4

Motor 5

F0 GAS

F1 GAS

<blank>

F3 GAS

BF GAS

F2 GAS

Movable range

  • F0 GAS:
  • F1 GAS:
  • F2 GAS:
  • F3 GAS:
  • BF GAS: full range (11 mm)

BF

BFconfig_ETMX.png

LVDT (BF Damper)

Sensor

Efficiency [um/cnt]

LVDT V1

-0.3785

LVDT V2

-0.3852

LVDT V3

0.3902

LVDT H1

0.4060

LVDT H2

-0.3821

LVDT H3

-0.3629

Note: Polarity may change when connecting the secondary coil to the cable. This configuration is confirmed on [2017.10.27] (It will change after the cable replacement scheduled in November 2017.)

calibLVDT_ETMX_BFV1_20170802.png calibLVDT_ETMX_BFV2_20170802.png calibLVDT_ETMX_BFV3_20170803.png

calibLVDT_ETMX_BFH1_20170802.png calibLVDT_ETMX_BFH2_20170802.png calibLVDT_ETMX_BFH3_20170802.png

Actuator polarization

Polarity is determined so that an +offset at the COILOUTF applies +yaw force in each actuator.

  • COIL V1: ???
  • COIL V2: ???
  • COIL V3: ???
  • COIL H1: positive
  • COIL H2: negative
  • COIL H3: negative

Note: Polarity may change when connecting the secondary coil to the cable. This configuration is confirmed on [2017.10.27]

Diagonalization matrix

  • LVDT2EUL

V1

V2

V3

H1

H2

H3

To:

0

0

0

-0.5774

0

0.5774

Long.

0

0

0

-0.3333

0.6666

-0.3333

Trans.

0.3333

0.3333

0.3333

0

0

0

Vert.

0

1.5861

-1.5861

0

0

0

Roll

1.8315

-0.9158

-0.9158

0

0

0

Pitch

0

0

0

0.8170

0.8170

0.8170

Yaw

  • EUL2COIL

L

T

V

R

P

Y

To:

0

0

1.

0

0.3640

0

V1

0

0

1.

0.3152

-0.1820

0

V2

0

0

1.

-0.3152

-0.1820

0

V3

-0.8660

-0.5000

0

0

0

0.4080

H1

0

1.

0

0

0

0.4080

H2

0.8660

-0.5000

0

0

0

0.4080

H3

KAGRA/Subgroups/VIS/TypeA/ETMX (last edited 2022-03-07 11:29:59 by hiromi.yasui)