RichTB2015TranslationStages < LHCb

LHCb Web>LHCbRICH>RichTestBeam>RichTestBeam2015>RichTB2015TranslationStages (2015-10-06, AlessandroPistone) (raw view)

---+ RICH 2015 Testbeam Translation Stages Control

%TOC%


Devices manuals:

   * Translation stages: MICOS MT-85, [[http://www.pimicos.com/2004/_runout/MT_85.html][manual]]

   * Motion controller: NI PCI-7330, [[http://www.ni.com/pdf/manuals/370837b.pdf][manual]]

   * Stepper motor drive: NI MID-7604, [[http://www.ni.com/pdf/manuals/372454g.pdf][manual]]
   
The most important specification: *1000 steps = 1 mm*

A picture of the stages:

<img src="%ATTACHURLPATH%/WP_20150713_004_mod2.jpg" alt="WP_20150713_004_mod2.jpg" width="325" height="350" />

---++ Initialization
#MyInitialization
Start up NI MAX
<!--Start up NI MAX and NI Motion Assistant, the latter will complain about its license, just tick the *Limited Edition Only* box like in the image below and press *Evaluate*.

<img src="%ATTACHURLPATH%/NI_license.JPG" alt="NI_licenseJPG" width="325" height="295" />

On NI MAX:-->

   * Expand *Devices and Interfaces*
   * Expand *NI Motion Devices*
   * Expand *PCI-7330 (1)*
   * Expand *Default xxxx Settings*
      * Select *Axis 1* and press the *Initialize* button (see image below)
      * Select *Axis 2* and press the *Initialize* button (see image below)	     
   
<img src="%ATTACHURLPATH%/MAX_initialize_mod.JPG" alt="MAX_initialize_mod.JPG" width="900" height="492" />

---++ Usage

---+++ How to control the stages?

#MyPanel
On NI MAX
<!--On NI MAX:-->

   * Expand *Devices and Interfaces*
   * Expand *NI Motion Devices*
   * Expand *PCI-7330 (1)*
   * Expand *Interactive*
      * Select *1-D Interactive* in order to move one axis (see image below)
      * Select *2-D Interactive* in order to move the two axes together (see image below)
#MyReset	  
<img src="%ATTACHURLPATH%/MAX_1D_mod.jpg" alt="MAX_1D_mod.jpg" width="900" height="492" />

<img src="%ATTACHURLPATH%/MAX_2D_mod.jpg" alt="MAX_2D_mod.jpg" width="900" height="492" />

   * Fill all the important parameters (red boxes)
      * Choose the axis/axes:
         * axis 1 controls the Jura Side ECs and points to Jura
         * axis 2  controls the Saleve Side ECs and points to Saleve
      * Choose the operation mode: absolute position (w.r.t. the origin, see [[#MyCenter][How to find the reference frame?]]) vs relative position
      * Set a velocity: *DO NOT* exceed *1000 steps/s*
      * Set a target position, remember *1000 steps = 1 mm*

   * The current positions and speeds of the stages are monitored by the *Current Trajectory Data* section (blue box)

   * *SUGGESTION*: move the two axis separately especially if the axes are near their limits (if one axis reaches one of its limits during a movement, both the axes stop!)

   * *WARNING*: the *Reset Position* button (purple box) changes the position of the origin of the axis, please *DO NOT* press it 

   * Press *Apply*, then press *Start*

<!--
 How to find the origins of the axes?

On NI Motion Assistant:

   * Select *Open Project* from the *File* menu
   * Open *find_origin.nma*
   * Panels similar to these ones will appear, please check that all values are correct 
    
<img src="%ATTACHURLPATH%/NI_find_center_1.1.JPG" alt="NI_find_center_1.1.JPG" width="900" height="492" />

<img src="%ATTACHURLPATH%/NI_find_center_1.2.JPG" alt="NI_find_center_1.2.JPG" width="900" height="492" />

<img src="%ATTACHURLPATH%/NI_find_center_1.3_mod.jpg" alt="NI_find_center_1.3_mod.jpg" width="900" height="492" />

   * Even if all values are ok, please set the (hopefully low) wanted speed in the *2-D Interactive* panel of NI MAX software (see [[#MyPanel][here]])
   
   * The current positions and speeds of the stages are monitored by the following panel
   
<img src="%ATTACHURLPATH%/NI_find_center_2_mod.jpg " alt="NI_find_center_2_mod.jpg" width="900" height="492" /> 
   
   * *WARNING*: the *Reset Position* button (purple box) changes the position of the origin of the axis, please *DO NOT* press it 

   * Press the *Run* button and be patient, depending on the speed set, it might take several minutes to find the origins

   * The following image shows the geometrical position of the two stages at the end of this procedure

<img src="%ATTACHURLPATH%/Schema_mod2.jpg " alt="Schema_mod2.jpg" width="600" height="400" /> 
-->

---+++ How to find the reference frame?

#MyCenter
On NI MAX

   * Move the axes to their negative limits

   * Insert the following coordinates using the *Reset Position* button (see [[#MyReset][here]])
      * axis 1: 57670 steps
      * axis 2: 58130 steps

   * The following image shows the geometrical position of the two stages at the end of this procedure, remember *1000 steps = 1 mm*

<img src="%ATTACHURLPATH%/Schema_mod5.jpg " alt="Schema_mod5.jpg" width="600" height="400" /> 

   * The coordinates of the *nominal position* are:
      * axis 1: 65500 steps
      * axis 2: 65500 steps

---+++ LEDs status

   * *Good*: axes away from their limits

<img src="%ATTACHURLPATH%/WP_20150717_009_mod.jpg " alt="WP_20150717_009_mod.jpg" width="400" height="280" /> 

   * *Good*: axes at one of their limits

<img src="%ATTACHURLPATH%/WP_20150717_004_mod.jpg " alt="WP_20150717_004_mod.jpg" width="400" height="280" /> 

   * *Bad*: axes inhibited, fix it repeating the inizialization (see [[#MyInitialization][here]])

<img src="%ATTACHURLPATH%/WP_20150717_003_mod.jpg " alt="WP_20150717_003_mod.jpg" width="400" height="280" /> 


-- Main.AlessandroPistone - 2015-07-15

Attachments

Topic attachments
I	Attachment	History	Action	Size	Date	Who
jpg	MAX_1D_mod.jpg	r1	manage	208.5 K	2015-07-15 - 11:41	AlessandroPistone
jpg	MAX_2D_mod.jpg	r1	manage	197.0 K	2015-07-15 - 11:41	AlessandroPistone
jpg	MAX_initialize_mod.JPG	r1	manage	173.1 K	2015-07-15 - 11:41	AlessandroPistone
jpg	NI_find_center_1.1.JPG	r1	manage	142.9 K	2015-07-15 - 11:41	AlessandroPistone
jpg	NI_find_center_1.2.JPG	r1	manage	145.9 K	2015-07-15 - 11:41	AlessandroPistone
jpg	NI_find_center_1.3_mod.jpg	r1	manage	243.5 K	2015-07-15 - 11:41	AlessandroPistone
jpg	NI_find_center_2_mod.jpg	r1	manage	132.9 K	2015-07-15 - 11:41	AlessandroPistone
jpg	NI_license.JPG	r1	manage	76.6 K	2015-07-15 - 11:41	AlessandroPistone
jpg	Schema_mod2.jpg	r1	manage	38.3 K	2015-07-15 - 19:49	AlessandroPistone
jpg	Schema_mod3.jpg	r2 r1	manage	33.5 K	2015-09-25 - 15:50	AlessandroPistone
jpg	Schema_mod4.jpg	r2 r1	manage	34.0 K	2015-09-30 - 10:06	AlessandroPistone
jpg	Schema_mod5.jpg	r1	manage	34.2 K	2015-10-06 - 18:15	AlessandroPistone
jpg	WP_20150713_004_mod2.jpg	r1	manage	1407.7 K	2015-07-15 - 13:23	AlessandroPistone
jpg	WP_20150717_003_mod.jpg	r1	manage	832.0 K	2015-07-20 - 10:30	AlessandroPistone
jpg	WP_20150717_004_mod.jpg	r1	manage	454.2 K	2015-07-20 - 10:30	AlessandroPistone
jpg	WP_20150717_009_mod.jpg	r1	manage	411.7 K	2015-07-20 - 10:30	AlessandroPistone

Topic revision: r16 - 2015-10-06 - AlessandroPistone

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