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= Type-A Tower ETMX Specification = <<TableOfContents(3)>> ---- |
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== Sensor Calibration == | == IP == {{attachment:IPconfig_ETMXv2.png}} === Geophone (GEO) === === 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 ||<#FFFF00>''<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_ETMXv2.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: The polarities are determined to output positive signals when the BF shifts respectively to +vertical/+yaw direction for Vertical/Horizontal LVDTs. {{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 ||-0.6667 || 0.3333 || 0.3333 ||''Long.'' || || 0 || 0 || 0 || 0 || 0.5774 ||-0.5774 ||''Trans.''|| || 0.3333 || 0.3333 || 0.3333 || 0 || 0 || 0 ||''Vert.'' || || 0.9158 || 0.9158 ||-1.8315 || 0 || 0 || 0 ||''Roll'' || || 1.5861 ||-1.5861 || 0 || 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. || 0.1820 || 0.3152 || 0 ||''V1''|| || 0 || 0 || 1. || 0.1820 ||-0.3152 || 0 ||''V2''|| || 0 || 0 || 1. ||-0.3640 || 0 || 0 ||''V3''|| ||-1 || 0 || 0 || 0 || 0 || 0.4080 ||''H1''|| || 0.5 || 0.8660 || 0 || 0 || 0 || 0.4080 ||''H2''|| || 0.5 ||-0.8660 || 0 || 0 || 0 || 0.4080 ||''H3''|| == Appendix == === Accelerometer (ACC) === ### OBSOLETE!! ### ###||'''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"}} |
Type-A Tower ETMX Specification
Contents
IP
Geophone (GEO)
LVDT
Sensor |
Efficiency [um/cnt] |
LVDT H1 |
-0.258 |
LVDT H2 |
-0.252 |
LVDT H3 |
-0.233 |
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 |
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
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: The polarities are determined to output positive signals when the BF shifts respectively to +vertical/+yaw direction for Vertical/Horizontal LVDTs.
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 |
-0.6667 |
0.3333 |
0.3333 |
Long. |
0 |
0 |
0 |
0 |
0.5774 |
-0.5774 |
Trans. |
0.3333 |
0.3333 |
0.3333 |
0 |
0 |
0 |
Vert. |
0.9158 |
0.9158 |
-1.8315 |
0 |
0 |
0 |
Roll |
1.5861 |
-1.5861 |
0 |
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. |
0.1820 |
0.3152 |
0 |
V1 |
0 |
0 |
1. |
0.1820 |
-0.3152 |
0 |
V2 |
0 |
0 |
1. |
-0.3640 |
0 |
0 |
V3 |
-1 |
0 |
0 |
0 |
0 |
0.4080 |
H1 |
0.5 |
0.8660 |
0 |
0 |
0 |
0.4080 |
H2 |
0.5 |
-0.8660 |
0 |
0 |
0 |
0.4080 |
H3 |
Appendix
Accelerometer (ACC)
#|| ACC H2 (SN8) ||<)> 5.830 || #|| ACC H3 (SN5) ||<)> -5.289 || # # #