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EUDAQ2 Producer for the PI Stages

Activate this producer by USER_PISTAGE_BUILD=on in the cmake configuration THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Acknowledgement

The producer is based on a control library developed by S. Mersi and P. Wimberger. The original library code can be found here: https://gitlab.cern.ch/mersi/RotaController/ It is distributed under the MIT license:

Copyright 2018 CERN Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Requirements

To run the library a functional installation of the pi_pi_gcs2 library provided together with the stages is required. The library will be provided on the DESY RC-PCs. If the library is missing cmake will fail

Components

  • hardware contains the adjusted controller from S. Mersi and P. Wimberger
  • module contains the Producer
  • MISC contains test scripts and exemplary configs.

Usage

Exemplary init and config snippets are provided. The configuration is not able to handle units. Rotations are given in degree and axis positions in mm.

The producer has to be correctly initialized with the following parameters.

  • ControllerIP IP of stage controller default: 192.168.24.4
  • Port Port to be used, for all DESY Stages and default: 50000
  • axisX DC-motor connected to x-axis. No default value. Assumed to be not connected if not set. Typically set to 1 for DESY test beam.
  • axisy DC-motor connected to y-axis. No default value. Assumed to be not connected if not set. Typically set to 2 for DESY test beam.
  • axisRot DC-motor connected to rot-axis. No default value. Assumed to be not connected if not set. Typically set to 3 for DESY test beam.
  • initXInit position for x-axis. Default 0.
  • initYInit position for y-axis. Default 0.
  • initRotInit position for rot-axis. Default 0.
  • linStageTypeX Used stage for x-axis (M-521.DD1 or M-511.DD1).
  • linStageTypeY Used stage for y-axis (M-521.DD1 or M-511.DD1).
  • rotStageType Used stage for rotation (M-060.DG). The configuration file needs the following up to 12 elements
  • velocityX Velocity of x-axis
  • velocityY Velocity of y-axis
  • velocityRot Velocity of rot-axis
  • negativeLimitX Negative limit of the x-axis
  • positiveLimitX Positive limit of the x-axis
  • negativeLimitY Negative limit of the y-axis
  • positiveLimitY Positive limit of the y-axis
  • negativeLimitRot Negative limit of the rotation axis
  • positiveLimitRot Positive limit of the rotation axis
  • positionXDesired new position for x-axis. If not defined, no movement can be done.
  • positionYDesired new position for y-axis. If not defined, no movement can be done.
  • positionRotDesired new position for rot-axis. If not defined, no movement can be done.
  • keepServoOnX Keep the x servo switch on after moving. Avoids slipping down of the stages. defaults to 1 ==true
  • keepServoOnY Keep the y servo switch on after moving. Avoids slipping down of the stages. defaults to 1 ==true
  • keepServoOnRot Keep the rot servo switch on after moving. Avoids slipping down of the stages. defaults to 1 ==true