1. User Manual
  2. Programmer's documentation
  3. MoCon Programmer's Guide (username= mocon, password= mocon)
  4. Julian's document collection on BSCW
  5. wiki: MoCon Parameters

Engineering GUI

mocon_engineering_gui.png

Undocumented MoCon Commands

Command: 37 Example: {{ 1 8 0 1 21 0 user 1 22 0 mpia 1 23 0 1 37 0 }}}

Command: 36 Example:
1 36 0 5

Setting the timeout of card 1 (one) to 5 seconds.

How to connect to moccon

telnet <IP> 4000

Logging in

x 21 0 user

x 22 0 mpia

x 23 0

Reserver your module (motor)

To talk to a motor (get or set ) you have to reserve it exclusevly:

x 23 <motor nr>

Reset the Position

x 8 0

Basdard Configuration

Polling Interval

The MoCon has an inactivity timeout. That means that the MoCon closes any TCP connection from the MoCon when the basdard sends no messages to the MoCon in this time. Therefore the basdard polling interval SVC.CFG.INTERVAL must be shorter than the inactivity timeout.

The following configuration file entry sets the polling interval:
SERVICE_NAME.SVC.CFG.INTERVAL:Time     = 00:00:10.000000

Maximum Device Response Time

CFG.CONNECTION.TIMEOUT

How to reset absolute encoders of LM1

Lose one screws on front panel right side and you can open the front panel.

Now the buttons to set the absolute encoders can be seen.

Move actuator to rear position.

Confirm button corresponds to actuator.

Press button (than the encoders is set to zero).

argos_mocon_LM1_abs_enc_buttons_in_CRE-cabinet-SX.jpg

Motors in ARGOS

Motor Type Encoder type Location #/side SX-IP Card 1 Card 2
PI-M228 Servo increment Periscope 12 34,36 1...8 1...4
Micos MP15 Servo increment Beam expander 3 36 - 5...7
PI 122.2DD Stepper absolute Launch mirror 3 32 1...3 -
Files:
  • Argos_PI_M228K001_M1_M8.txt
  • Argos2_PI_M228K001_M1_M4.txt
  • Argos2_MP15_M5_M7.txt
  • Argos_StepperTipTilt_M1_M3.txt

PI_M228K001 Parameters

## SetBasicSettings for PI_M228K001 periscope motors
1 110 * 1 2 ## Set Card 1, Motor *, Profile to s-curve
1 110 * 2 1024 ## Set Card 1, Motor *, counts per revolution to 1024
1 110 * 3 4000 ## Set Card 1, Motor *, velocity to 4000 rev/min
1 110 * 5 800000 ## Set Card 1, Motor *, acceleration to 800000 rev/min2
1 110 * 6 800000 ## Set Card 1, Motor *, deceleration to 800000 rev/min2
1 110 * 7 1000000 ## Set Card 1, Motor *, Jerk 1000000

## SetMotorSettings for PI_M228K001 periscope motors
1 111 * 1 4 ## Set Card 1, Motor * reference switch is a level switch
1 111 * 3 3000 ## Set Card 1, Motor *, home velocity to 3000 rev/min
1 111 * 4 1000 ## Set Card 1, Motor *, docking velocity 1000 rev/min
1 111 * 5 50000 ## Set Card 1, Motor *, docking distance 50000

## SetServoLoopSettings for PI_M228K001 periscope motors
1 113 * 1 150 ## Set Card 1, Motor *, Kp
1 113 * 2 240 ## Set Card 1, Motor *, Ki
1 113 * 3 120 ## Set Card 1, Motor *, Kd
1 113 * 4 0 ## Set Card 1, Motor *, Kaff
1 113 * 5 0 ## Set Card 1, Motor *, Kvff
1 113 * 6 100 ## Set Card 1, Motor *, Kout in %
1 113 * 7 8500 ## Set Card 1, Motor *, Ilim
1 113 * 8 0 ## Set Card 1, Motor *, Bias in %
1 113 * 9 100 ## Set Card 1, Motor *, Limit in %

## SetIEncoderSettings for PI_M228K001 periscope motors
1 114 * 1 1024 ## Set Card 1, Motor *, to 1024 counts/rev
1 114 * 3 10240 ## Set Card 1, Motor *, to an error limit of 10240
1 120 * ## Set Card 1, Motor *, Initialize motor
[*] = 1...8

MP15 motor parameters

## SetBasicSettings for MP15 periscope motors
2 110 * 1 0 ## Set Card 1, Motor *, Profile to trapez
2 110 * 2 10 ## Set Card 1, Motor *, counts per revolution to 1024
2 110 * 3 5000 ## Set Card 1, Motor *, velocity to 4000 rev/min
2 110 * 5 800000 ## Set Card 1, Motor *, acceleration to 800000 rev/min2
2 110 * 6 800000 ## Set Card 1, Motor *, deceleration to 800000 rev/min2

## SetMotorSettings for MP15 beam expander motors
2 111 * 1 2 ## Set Card 2, Motor * reference switch is the negative switch (closer to laser?)
2 111 * 3 3000 ## Set Card 2, Motor *, home velocity to 3000 rev/min
2 111 * 4 1000 ## Set Card 2, Motor *, docking velocity to 1000 rev/min
2 111 * 5 10000 ## Set Card 1, Motor *, docking distance to 10000

## SetServoLoopSettings for MP15 beam expander motors
2 113 * 1 150 ## Set Card 2, Motor *, Kp
2 113 * 2 240 ## Set Card 2, Motor *, Ki
2 113 * 3 120 ## Set Card 2, Motor *, Kd
2 113 * 4 0 ## Set Card 2, Motor *, Kaff
2 113 * 5 0 ## Set Card 2, Motor *, Kvff
2 113 * 6 100 ## Set Card 2, Motor *, Kout in %
2 113 * 7 8500 ## Set Card 2, Motor *, Ilim
2 113 * 8 0 ## Set Card 2, Motor *, Bias in %
2 113 * 9 100 ## Set Card 2, Motor *, Limit in %

## SetIEncoderSettings for PI_M228K001 periscope motors
2 114 * 1 10 ## Set Card 2, Motor *, to 10 counts/rev
2 114 * 3 100 ## Set Card 2, Motor *, to an error limit of 100
2 120 * ## Set Card 2, Motor *, Initialize motor

Stepper motor launch mirror parameter

## SetBasicSettings for stepper motors launch mirror
1 110 * 1 0 ## Set Card 1, Motor *, profile to trapez
1 110 * 2 400 ## Set Card 1, Motor *, counts per revolution to 1024
1 110 * 3 50 ## Set Card 1, Motor *, velocity to 50 rev/min
1 110 * 4 0 ## Set Card 1, Motor *, start velocity 0
1 110 * 5 10000 ## Set Card 1, Motor *, acceleration to 10000 rev/min2
1 110 * 6 10000 ## Set Card 1, Motor *, deceleration to 10000rev/min2
1 110 * 7 0 ## Set Card 1, Motor *, Jerk 0

## SetMotorSettings for stepper motors launch mirror
1 111 * 1 0 ## Set Card 1, Motor * disable reference switch (to avoid homing, absolute encoder takes care)
1 111 * 2 0 ## Set Card 1, Motor *, high active
1 111 * 3 100 ## Set Card 1, Motor *, home velocity to 100 rev/min
1 111 * 4 10 ## Set Card 1, Motor *, docking velocity to 10 rev/min
1 111 * 5 4000 ## Set Card 1, Motor *, docking distance to 4000

## SetStepperSettings for stepper motors launch mirror
1 112 1 1 256 ## Set Card 1, Motor *, to 256 micro steps
1 112 1 2 1 ## Set Card 1, Motor *, enable mirco step adaption
1 112 1 3 1 ## Set Card 1, Motor *, enable break/auto power off

## SetIEncoderSettings for stepper motors launch mirror
1 114 * 1 0 ## Set Card 1, Motor *, to 0 counts/rev
1 114 * 2 0 ## Set Card 1, Motor *, to 0 steps/rev
1 114 * 3 0 ## Set Card 1, Motor *, to an error limit of 0
1 120 * ## Set Card 1, Motor *, Initialize motor

WFS dark wheel motor parameter

## SetBasicSettings
1 110 8 1 0 ## Set Card 1, Motor 8, profile to trapez
1 110 8 2 200 ## Set Card 1, Motor 8, counts per revolution to
1 110 8 3 30 ## Set Card 1, Motor 8, velocity to 30 rev/min
1 110 8 4 2 <- Remove this line
1 110 8 5 152600 ## Set Card 1, Motor 8, acceleration to 152600 rev/min2
1 110 8 6 152600 ## Set Card 1, Motor 8, acceleration to 152600 rev/min2

## SetMotorSettings
1 111 8 1 3 ## Set Card 1, Motor 8 reference switch
1 111 8 2 1 ## Set Card 1, Motor 8,
1 111 8 3 20 ## Set Card 1, Motor 8, home velocity to 20 rev/min
1 111 8 4 10 ## Set Card 1, Motor 8, docking velocity to 10 rev/min
1 111 8 5 10 ## Set Card 1, Motor 8, docking distance to 10<- increase this number if you are not 100% be sure that the ref switch will be released.

## SetStepperSettings
1 112 8 1 64 ## Set Card 1, Motor 8, to 64 micro steps
1 112 8 2 1 ## Set Card 1, Motor 8, enable mirco step adaption
1 112 8 3 1 ## Set Card 1, Motor 8, enable break/auto power off

## SetIEncoderSettings
1 120 8 ## Set Card 1, Motor 8, Initialize motor
Topic revision: r6 - 10 May 2019, WolfgangGaessler
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