1) Bring: "Servo1.adl" and "OpnLp.adl" 2) Run +- directions at 80% of maximum speed and watch average velocity (in cts/s). 3) Bring Motion -> PMAC -> More -> Ixxx18ID.tcl and setup this value of the velocity DIVIDED by 1000 (since PMAC uses the velocity in cts/ms) in: Ix16 - motor x maximum permitted motor program velocity Ix22 - motor x jog speed +-Ix23 - motor x homing speed. (Servo1.adl shows the velocity in counts/sec, while Ix16,Ix22,Ix23 expect it in counts/msec; "x" is the PMAC motor number: 1,..8). The direction of homing speed depends on where we choose the home (usually - on the safer end). Homing for rotary is slow because it is inert. Besides, the method of rotary homing is less secure (see below). 4) Setup: Ix20 - motor x jog/home acceleration time Ix21 - S-curve part of this time (which is always 1/2 of Ix20) 5) Bring CtlPnlMtr.adl (Jog Closed Loop), push motor +- and watch "Amplifier Fault" error in Servo1.adl. Increase Ix30 (motor x proportional gain) until "Amplifier Fault error/warning" disappears (use IxSvoCtl.adl or Ixxx18ID.tcl). 6) Increase Ix33 (motor x integral gain) until "In Position" on Servo1.adl becomes okay.
HINT: a) increasing of Ix30 does fast response and eliminates amplifier errors,
b) increasing of Ix31 reduces overshooting,
c) increasing of Ix33 provides better holding.
Also, it is recommended Ix34=0 /Integration mode = "Always On"/
1) Bring: - scan.adl (SCAN -> "XFD StdApp Scan"). - scaler.adl and setup count time e.g. for 2 seconds. - StripTool 2) In scan.adl set, for example: - Read: 18ID:MO1:mnl:ActPos - Drive: 18ID:MO1:mnl:RqsPos - Setup number of points, range, and step size (goto More at the top and choose what must be frozen; FREEZE STEP TO INTEGER) - FOR STABILITY: replace triggering 18ID:scan1.EXSC by 18ID:scaler1.CNT ---??? - Goto More -> Waits at the botton and and choose: Positioner wait (e.g.): INPA PV Name: 18ID:MO1:Tn:InPos Yes /not used/ No /not used/ No CALC String: A&C Output PV Name: 18ID:scan1.PROC Transition to Non-Zero Detector wait: INPA PV Name: 18ID:scaler1.CNT Yes /not used/ No /not used/ No CALC String: A&C Output PV Name: 18ID:scan1.PROC Transition to Zero 3) Switch motors into automatic mode (in Move???.adl) 4) In StripTool setup watching the following records (e.g.): - 18ID:MO1:mnl:PrvDac (drag from Servo1.adl) - 18ID:MO1:mnl:AvgVelSvo(drag from Servo1.adl) - 18ID:MO1:mnl:ActVelSvo(drag from Servo1.adl) - 18ID:MO1:mnl:InPos (drag from Servo1.adl) - 18ID:scaler1.CNT (insert manually or from scaler16.adl; not from scan_2.2.adl) 4) In StripTool setup Renew Time to 0.1sec. 5) Start scans, watch velocity profile in StripTool and adjust Ix30 -- Ix35 on IxSvoCtl.adl to optimize the behaviour (see page 88 of PMAC Executive Manual for more details). - Ix64 (dead band factor) can be 0 or -16. - Ix65 (deadband size) can be increased from 64 to 128, but then +-----------+ Ix28 must be changed too!!! | Ix65=Ix28 | - Ix33 (motor x Integral Gain): increasing this parameter may help +-----------+ to faster return to the position, but may cause overtravels. Then, Ix31 (Derivative Gain) must be decreased. - Ix20, Ix21 (motor x Acceleration time): increasing of this parameters might help, but they MUST BE THE SAME for all motors in assembly.