Diamond and Mimosa step motors how to - PADME-Experiment/padme-fw GitHub Wiki

OLD VERSION BELOW!!!

Operating Voltage of the motor drivers: 28 to 48 V DC (to be checked on the LV supply during access to the BTF experimental area - Target area -).

Instructions to operate the step motors

The software to control the motors NanoCan is installed on a desktop running Windows (located in the BTF - Target area), connected to the drivers through two USB to CAN cables.

If you need to operate remotely, the new connection can be done via Microsoft Remote Desktop (Windows) or Remmina (Linux). A preliminary connection to the LNF VPN is required.

The IP address of the PC is : 192.168.62.206 . Please, ask for the credentials (User Name & Password).

Open NanoCan (on the PC Desktop).
The sequence of steps to follows is:

initialization
check of the configuration
operation AND cross-checks (only basic checks are available at the moment)

INITIALIZATION

From Configuration&NMT in “Node Information” select the node ID corresponding to the motor you want to move:

Motor Target : Node ID 1

Motor Mimosa: Node ID 2 --> disabled at the moment : the Mimosa is now OFF

*in “Can Open Configuration” select check box "Select Can adapter" and than push the button "Initialize CAN” and a “Select Bus Controller” window will pop up where you have to select the USB-controller, as shown in the following pictures:

After these operations, please make sure that the motor driver is connected, checking if the Can Adapter and the Can Device flags are green, as follows:

If they are not, please push again the botton "Initialize CAN” and select the other USB-controller.

Now the Can Adapter and the Can Device flags should turn green.

CHECK of the CONFIGURATION

http://www.le.infn.it/padme/forWEB/Motors_screenshot/figure2motors.png

To check that the motor model and series are correct, navigate through the following tabs: Node Configuration -> Motor and Drive Settings
The values to be selected in the menu are:

Motor series: ST6018
Motor model: ST6018K2008

CROSS-CHECKS and LOW-LEVEL FEEDBACK

http://www.le.infn.it/padme/forWEB/Motors_screenshot/figure3motors.png

BEFORE STARTING: The motor control software provides a (coarse) feedback via a status word.

At the moment, a visual inspection of the movement and position of the active Target is provided by a webcam (accessible on the PC via the Logitech Webcam Software) framing a gauge which moves with the active target across a fixed ruler. PLEASE, use it to monitor the target movement.
No visual inspecton of the position of Mimosa is available yet.

To access the status word: before operating the motors, select Pre Operational mode from the Configuration&NMT tab. Then, select Object and Management and later PDO Receveid.
Double click on status word (it will appear on the right). Come back to Configuration&NMT and select Start node.

HOW TO MOVE THE DETECTORS

http://www.le.infn.it/padme/forWEB/Motors_screenshot/figure4motors.png

From Drives Mode select Profile Position Mode and go through the following steps:

1)POWER ON
2)set MOVEMENT MODE RELATIVE
3)INSERT THE VALUE OF THE TRANSLATION IN THE BOX TARGET (units are microns)
4)START
5)POWER OFF

Choose a negative translation to move the detectors in the direction going from their parking position toward the beam line.
Example:

-1000 steps applied to the target means 1 mm from the wall to the beam, i.e. the target x coordinate (in the PADME global reference frame) will move from x0 to x0+1mm;
-1000 steps applied to Mimosa means 1 mm from the door to the beam, i.e. Mimosa x coordinate (in the PADME global reference frame) will move from x1 to x1-1mm.

Main status word transitions:
Power On: the status word changes from 0x2660 -> 0x237
Detector is moving, after pushing Start: 0x237 ->0x267
Detector reached the destination: 0x267->0x237

BE CAREFUL !! FOR THE MOMENT ALWAYS CHECK VISUALLY YOUR MOVEMENT!

To better understand the position of each detector IN and OUT of the beam, please go here

(old) If you need to operate remotely, connect to the Windows laptop through Team Viewer

ID: YYYY (see padme-elog entry of Oct 18th 2018)

Pass: XXXX (see padme-elog entry of Oct 18th 2018)

For a preliminary check of the communication between laptop and motors, open MiniMon (on the desktop) and check if the connection with the CAN is established.

(old)
From the USER Target GUI is possible to have a feedback of the potentiometers connected to each detector.
More informations are available on: Diamond target guide.