Intro
Week of Feb 11.
Monday in hilo
Check e100 parameters to insure we have sane and consistent parameters.
All current are at foldback, with peak duration at 3.00 seconds.
Brake only on Master, other disabled. (This was a bad ideal - fixed on tuesday).
Tues at the summit
Set PID
Position PID back to autotune range: KPROP=14, KVelFF=841.
Velocity PID to KVPROP=10, KVINT=100.
Running Iirtf-epl-vel.mnt "Independent Velocity" program.
When controller are reset
FIO A, B, C, D, E, MC goes offline for a second.
Ask Eric about this: high AMP reading on old system: mcc.jpg (opp blurry)
Problem with brakes, enable all brake control....
Data for: kvprop=10 kvint=100
0.2v t1-v0.2.png (grinding speeds)
2v t1-v2.0.png (20% speed)
5v t1-v5.0.png (50% speed)
10v t1-v10.0.png (100% speed)
10v had overspeed error, due to lack of time change testing to 10v to 8v
Data for: kvprop=10 kvint=0
0.2v t2-v0.2.png
2v t2-v2.0.png
5v t2-v5.0.png
8v t2-v8.0.png
Data for: kvprop=15 kvint=0
0.2v t3-v0.2.png
2v t3-v2.0.png
5v t3-v5.0.png
8v t3-v8.0.png
Data for: kvprop=20 kvint=0
0.2v t4-v0.2.png
2v t4-v2.0.png
5v t4-v5.0.png
8v t4-v8.0.png
Quick look seem like kvprop of 10 with some I is good.
Set thing back to P=10, I=50
g1.png - this graph at 0.2 volts showthe ADC at 1.0% (0.1v) when brakes
are off, then 3% during move. Why the jump at 0 to 1.0?
Looks like a 0.1 volt offset between TCS and E100.
Change .mnt program so,
volts < 0.3 is vel 0.0
volts < 0.5 is vel 0.2365
Ratio Test
Start: DomeAz=55.2 Pos.0=-1484.4751 pos.1 -1197.3947 pos.2=-1236.4792
Move Dome Left
Stop: DomeAz=299.4 Pos.0=+1510.1636 pos.1=+1803.4382 pos.2=+1767.9490
Distance Move =115.8 deg 2994.6387 3000.8329 3004.4282
---------------------------------------------------------------------------
Ratio: 1.00000000 0.99793584 0.99674164
Deg2UU - Somthing is wrong here data ... Distance in deg and pos.0 does
not match. Need to retake.
Test Dome Speed for re-surfacing
Measure slow velocities, press START and STOP in manual mode.
Press Start: Vel=0.25 Pos.0=1646.3560 barcode=574 Time=2:17:30
analog input is 0.36
There are 8 barcode in 10inch, or 1.25" per barcode.
g2.png - velocity plots while moving
g3.png - another plot, 125ms duration.
Press Stop: Vel=0.25 Pos.0=1756.4424 barcode=516 Time=2:25:30
moved 110 Revs in 470 sec, or 0.234042 Rev/Sec
Or 58 barcode in 7.883 min, or 9.19700 inches/min.
another measurement whith stopwatch while moving
barcode start=509 stop=455 elapse_time: 7:20
(509-455)*1.25/ (7+20./60), or 9.2045 inches/minutes.
To check Deg vs. Rotation:
We moved: 58 barcode * 0.2 deg/barcode , or 11.6 deg.
Number of Rev were: 1756.4424-1646.3560, or 110.086 Revs
The give us an estimated gear ratio of 360*110.086 /11.6, or 3416.5 (close to the 3424.25 calulation).
Thur Feb 13 - Hilo work
Changes
E100 new max drive speed is now 2.5 deg/s or 23.77 Rev/S, that 25% high that our
intended max velocity of 2.0 deg/s, or 19.02 Rev/S.
Remeasure axis ratios
Dome at 135.2 deg barcode=1446 Motors at 0.00 0.00 0.00
Move Right to ~225 (90 deg).
Dome at 226.2 deg barcode=1011 Motors at 865.4285 859.8472 856.5571
pos.x/pos.0 give these ration: 1.000 0.993550 0.989749
Moved 91.0 deg, 865.42 Rev, so 360*865.4285/91.0=3423.67 ration (close to 3424.25 given by MorganB.)
Changed ratios to be:
Put new ratios in the irtf-epl-vel.mnt program on the Master Controller.
Tuning 11am with Bob Hastie.
Starting with KVPROP=10 KVINT=50
Change to KVPROP=10 KVINT=25
5v t5-v5.png
10v t5-v10.png - a little low on achieving desire velocity, but it's ok.
10v t5-v10-1.png - another 10v move, some lag in velocity. Spikes up to 21 Rev/s.
Record vel, tourque data
Current measurement
2v t6-v2.png zoom in: t6-v2-zoom.png
5v t6-v5.png mcc screen t6-v5-tcs.png
hmm.ss v5 dropp speed, don'w know why.
10v t6-v10.png
another set
2v t7-v2.png mcc screen t7-v2-mcc.png
5v t7-v5.png mcc screen t7-v5-mcc.png
10v t7-v10.png mcc screen t7-v10-mcc.png
10 v graphs looks like new motors don't have enought power to maintain veloicity? Current
folded back to 11.5amp, kept going but velocity has was reduced.
Another graph, but looking at Total current AND Torque producting current on axis0 on workbench.
10v t8-v10.png mcc screen t7-v10-mcc.png
Used new motor to return to stow position.
Had an over voltage trip on AXIS2. Code 10016
Dome at 137.0 Position: -650.73 -672.13 -683.72
TODO
Can workbench export the scope data?
mcc2 bar graph: like the details with Motor rate, DriveRated, MotorPeak
fio_e100 or smpp: record some data.
what is over voltage trip 10016
Take picture of some scanner, cabling, label on boxes.
Update on scheamatic
Labeling of hardware at the summit.