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decoupling st1k4 from st3k4 when st3k4 is out and tune im2k0 lag para… #122

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Jun 18, 2024
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decoupling st1k4 from st3k4 when st3k4 is out and tune im2k0 lag para… #122

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2 changes: 1 addition & 1 deletion plc-kfe-motion/_Config/NC/Axes/Axis 5 IM2K0-XTES-MMS.xti
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Original file line number Diff line number Diff line change
Expand Up @@ -1464,7 +1464,7 @@ Drive Status 4 (manually linked):
</Drive>
<Controller Name="Ctrl" CtrType="2">
<CtrPara PriorControlFactor="1">
<PosDiffControl Range="1"/>
<PosDiffControl Range="1" Time="0.1"/>
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Which parameter is this? Position lag monitoring time, changing from "default" to 0.1s?

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yes, it was 0.02s, now it is 0.1s

<PID PosKp="20" PosExtKp="20" DeadBandPosition="0.001"/>
<Observer BandWidth="20"/>
</CtrPara>
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2 changes: 1 addition & 1 deletion plc-kfe-motion/_Config/NC/Axes/ST1K4-TEST.xti
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Expand Up @@ -1462,7 +1462,7 @@ Drive Status 4 (manually linked):
</Drive>
<Controller Name="Ctrl" CtrType="1">
<CtrPara PriorControlFactor="1">
<PosDiffControl Range="0.1"/>
<PosDiffControl Range="0.2"/>
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This isn't noted in the PR text but Tong has mentioned to me previously that this fails to complete a move once in a while with no obvious issues- widening the range here will probably mitigate this.

<Observer BandWidth="20"/>
</CtrPara>
</Controller>
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16 changes: 8 additions & 8 deletions plc-kfe-motion/_Config/PLC/kfe_motion.xti
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Expand Up @@ -4176,6 +4176,14 @@ External Setpoint Generation:
<Name>PRG_ST1K4_TEST.fbFlowSwitch.bFlowOk</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_OTHER.fbPC1K0FlowSwitch.bFlowOk</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_OTHER.fbPC1K4FlowSwitch.bFlowOk</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_3_PMPS_POST.fbArbiterIO.i_stCurrentBP</Name>
<Type GUID="{292CD354-C7C0-4A61-AAD0-1C85DD69646B}">ST_BeamParams_IO</Type>
Expand Down Expand Up @@ -7552,14 +7560,6 @@ External Setpoint Generation:
<Name>GVL.rReqTrans</Name>
<Type GUID="{6D319B26-4590-2152-3DE7-3BA9B629CA65}">ARRAY [1..16] OF ST_PMPS_Attenuator_IO</Type>
</Var>
<Var>
<Name>PRG_OTHER.fbPC1K0FlowSwitch.bFlowOk</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_OTHER.fbPC1K4FlowSwitch.bFlowOk</Name>
<Type>BOOL</Type>
</Var>
</Vars>
<Vars VarGrpType="2">
<Name>PlcTask Outputs</Name>
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6 changes: 4 additions & 2 deletions plc-kfe-motion/kfe_motion/POUs/PRG_ST1K4_TEST.TcPOU
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Expand Up @@ -45,6 +45,7 @@ VAR
{attribute 'TcLinkTo' := '.bFlowOk := TIIB[ST1K4-EL1004-E5]^Channel 1^Input'}
fbFlowSwitch: FB_XTES_Flowswitch;


END_VAR

]]></Declaration>
Expand Down Expand Up @@ -73,12 +74,13 @@ fbStates(

bST3K4_in := PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.ST3K4];


IF bST3K4_auto THEN
IF bST3K4_in AND eEnumGet <> E_EpicsInOut.IN THEN
eEnumSet := ENUM_EpicsInOut.IN;
ELSIF NOT bST3K4_in AND eEnumGet <> E_EpicsInOut.OUT THEN
{* ELSIF NOT bST3K4_in AND eEnumGet <> E_EpicsInOut.OUT THEN
eEnumSet := ENUM_EpicsInOut.OUT;
END_IF
*} END_IF
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As always, it's ok to just delete these lines (we have version control to bring them back)

END_IF

fbFlowSwitch();
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