Date: 2012-10-02
Subject: Setup all controllers as control nodes (no manager node).
         There is no EPL network, and all controller are independent.

1. Configure node 0x64  

Start workbench:

   Reset to factor defaults.

   Select Controller
         Platform: MoltiFlex E100 + Mint Cart
   - Need to set the USB node value to match the NodeID selector (ethernet node ID).
          Channel: USB
      Node Number: node 0x64
   Drive Setup:
      DC bus Sharing: Stand-alone drive.
      Motor Type: AC brushless (rotary)
         Select motor by Catalog Number: BSM 100C 3150 BA  (Spec # is S4 P 160 W 107)
         Motor Feedback:
            Resolution:      1024 x 4 = 4096 counts per rev

   Operating Mode:
      Control Mode: Velocity
      Control Ref Soruce: Direct

      Application Limit:
         app. peak current: 29 amps
         app. max speed: 1141 RPM.   (this runs the dome at 2.0 deg second).

      Select Scale Factor:
         Set Position, Velocity, and Accel scale Factor to 4096 to give
         User Unit in Rev/Sec.

      Profile parameters:
      positioning SPEED: 9.76565 r/s    // this is about 1/2 the max vel
      Accel Time to SPEED: 6184 ms      // 9.76/6.18 give us our accel rate of  1.58
      Decel Time to SPEED: 6184 ms

   Don't do autotune, as you need to set up the brake IO parameters first.

Workbench Parameters setting for brake IO:
   Motor->motorbrakemode = Enable brake control  ' 1=activates brake control
   Motor->MotorbrakeOutput = 1              ' assigned motor brake to DOUT1
   DigitalOutput->OutputActiveLevel = 1     ' set (bit1) to 0 (or mask = 0x01).

Run "AutoTune". Passes with output:
   KVProp: 5.551692
   KVInt: 419.964111
   KProp: 14.443501
   Kint: 0.0000000
   KDeriv: 0.0000000
   KVelFF: 841.367249

   2. Configure 0x65 

Start workbench:

   Reset to factor defaults.

   Select Controller
   - Need to set the USB node value to match the NodeID selector (ethernet node ID).
         Platform: MoltiFlex E100
          Channel: USB
      Node Number: node 0x65 (101)

   Motor Type:
      DC bus Sharing: Stand-alone drive.
      Motor Type: AC brushless (rotary)
         Select motor by Catalog Number: BSM 100C 3150 BA  (Spec # is S4 P 160 W 107)
         Motor Feedback:
            Resolution:      1024 x 4 = 4096 counts per rev

   Operating Mode:
      Control Mode: Position

      Application Limit:
         app. peak current: 29 amps
         app. max speed: 1141 RPM.   (this runs the dome at 2.0 deg second).

      Select Scale Factor:
         Set Position, Velocity, and Accel scale Factor to 4096 to give
         User Unit in Rev/Sec.

      Profile parameters:
      positioning SPEED: 9.76565 r/s    // this is about 1/2 the max vel
      Accel Time to SPEED: 6184 ms      // 9.76/6.18 give us our accel rate of  1.58
      Decel Time to SPEED: 6184 ms

   Don't do autotune, as you need to set up the brake IO parameters first.

Workbench Parameters setting for brake IO:
   Motor->motorbrakemode = Enable brake control  ' 1=activates brake control
   Motor->MotorbrakeOutput = 1              ' assigned motor brake to DOUT1
   DigitalOutput->OutputActiveLevel = 1     ' set (bit1) to 0 (or mask = 0x01).

Run "AutoTune". Passes with output:
   KVProp: 8.659704
   KVInt: 649.424011
   KProp: 14.329973
   Kint: 0.0000000
   KDeriv: 0.0000000
   KVelFF: 841.367249

   2. Configure 0x66

Start workbench:

   Reset to factor defaults.

   Select Controller
   - Need to set the USB node value to match the NodeID selector (ethernet node ID).
         Platform: MoltiFlex E100
          Channel: USB
      Node Number: node 0x66 (101)

   Motor Type:
      DC bus Sharing: Stand-alone drive.
      Motor Type: AC brushless (rotary)
         Select motor by Catalog Number: BSM 100C 3150 BA  (Spec # is S4 P 160 W 107)
         Motor Feedback:
            Resolution:      1024 x 4 = 4096 counts per rev

   Operating Mode:
      Control Mode: Position

      Application Limit:
         app. peak current: 29 amps
         app. max speed: 1141 RPM.   (this runs the dome at 2.0 deg second).

      Select Scale Factor:
         Set Position, Velocity, and Accel scale Factor to 4096 to give
         User Unit in Rev/Sec.

      Profile parameters:
      positioning SPEED: 9.76565 r/s    // this is about 1/2 the max vel
      Accel Time to SPEED: 6184 ms      // 9.76/6.18 give us our accel rate of  1.58
      Decel Time to SPEED: 6184 ms

   Don't do autotune, as you need to set up the brake IO parameters first.

Workbench Parameters setting for brake IO:
   Motor->motorbrakemode = Enable brake control  ' 1=activates brake control
   Motor->MotorbrakeOutput = 1              ' assigned motor brake to DOUT1
   DigitalOutput->OutputActiveLevel = 1     ' set (bit1) to 0 (or mask = 0x01).

Run "AutoTune". Passes with output:
   KVProp: 5.510298
   KVInt: 415.891754
   KProp: 14.439476
   Kint: 0.0000000
   KDeriv: 0.0000000
   KVelFF: 841.367249

x. EPL Configurations, Node ID, and No Manager Node. 

Had trouble talking to the control nodes.
So I used System Configuration Wizard to add the 2 control node to the EPL network.
Did not map any axies to the manager node.
  - why is mint/control node some slow? Mint application runs faster on control node vs manager node?
      loop time:  92ms manager vs 3 ms control node.
     query time:  12ms manager vs 6 ms control node.

Let's try a setup with no manages nodes
   - controller with mint card is still running a slower loop, but faster queries.
     loop_tm=92ms, query=6ms.

   - Need to set the USB node value to match the NodeID selector (ethernet node ID).
     This way the .wbx files are associated with a controller node.

   - So not having a manage node does not run any faster.

     Q: why is mint controller soo slow. Docs say it should be 4x faster.
     Q: why can't I select AnaInput for control mode for mint-controller.