4687
Comment:
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5062
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Deletions are marked like this. | Additions are marked like this. |
Line 10: | Line 10: |
|| ||'''Calibration'''|| || ACC H1 (SN7) || -5.288 || || ACC H2 (SN8) || 5.830 || || ACC H3 (SN5) || -5.289 || |
||'''Sensor'''||'''Efficiency [(um/s^2)/cnt]'''|| || ACC H1 (SN7) ||<)> -5.288 || || ACC H2 (SN8) ||<)> 5.830 || || ACC H3 (SN5) ||<)> -5.289 || |
Line 21: | Line 20: |
* LVDT H1: -0.258 [um/cnt] * LVDT H2: -0.252 [um/cnt] * LVDT H3: -0.233 [um/cnt] |
||'''Sensor'''||'''Efficiency [um/cnt]'''|| || LVDT H1 ||<)> -0.258 || || LVDT H2 ||<)> -0.252 || || LVDT H3 ||<)> -0.233 || |
Line 57: | Line 57: |
=== 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>''|| |
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Line 88: | Line 94: |
* LVDT V1: -0.3785 [um/cnt] * LVDT V2: -0.3852 [um/cnt] * LVDT V3: 0.3902 [um/cnt] * LVDT H1: 0.4060 [um/cnt] * LVDT H2: -0.3821 [um/cnt] * LVDT H3: -0.3629 [um/cnt] |
||'''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 || |
Type-A Tower ETMX Specification
Contents
IP
Accelerometer (ACC)
Sensor |
Efficiency [(um/s^2)/cnt] |
ACC H1 (SN7) |
-5.288 |
ACC H2 (SN8) |
5.830 |
ACC H3 (SN5) |
-5.289 |
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
- F0 LVDT GAS: -0.172 [um/cnt]
- F1 LVDT GAS: -0.215 [um/cnt]
- F2 LVDT GAS: -0.243 [um/cnt]
- F3 LVDT GAS: -0.225 [um/cnt]
- BF LVDT GAS: 0.204 [um/cnt]
Movable range by Fishing Rod
- 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: 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.)
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 |