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Ran targets using yesterdays fullmtrlgy_071514_1.xml and script 2014_07_09_TargetsEMSetC_no7.lst Results are in 07_17_14_04_35_18_TargetRun and look pretty much the same as before with pids 5, 6, 8 and 9 under-performing. Going to run an adjusted map based on 07_15_14_09_06_05_TargetRun, 070914_set3_allmaps_adj6.xml Loaded 070914_set3_allmaps_adj6 into MSIM and saved: <verbatim> cmd_load_Xml_file_to_Database 070914_set3_allmaps_adj6 cmd_save_Database </verbatim> Restarted MSIM and ran 2014_07_09_TargetsEMSetC_no7 again Results did not look so great. Sorta see everything. Some got worse, some better, some unchanged. <img src="%ATTACHURLPATH%/convComparison.png" alt="convComparison.png" width='1000' /> Ran adjustmaps to produce 070914_set3_allmaps_adj7 off of this data since there were some very clear linear trends in the error vs request plots that hopefully can be taken out. Loaded new maps into MSIM <verbatim> cmd_load_Xml_file_to_Database 070914_set3_allmaps_adj7 cmd_save_Database </verbatim> Started another run using 2014_07_09_TargetsEMSetC_no7 Aborted the test because we realized we could possibly save PID 9 ---++ THE RESCUE OF PID9 Realized that PID9 ontime is way too high. Confirmed in past ontime calibrations that the motor had changed performance on theta fwd quite a bit be comparing the ontime streaks. <verbatim> left image: D:\PfsTests\07_15_14_15_36_35_onTimeTuning\Images right image: D:\PfsTests\07_04_14_16_07_06_onTimeTuning\Images </verbatim> <img src="%ATTACHURLPATH%/40us_pid9comparison.PNG" alt="40us_pid9comparison.PNG" width='800' /> Loaded 070914_set3_allmaps_adj7 into matlab Changed PID9 ontimes <verbatim> new = setARMval(new,9,'Link1_fwd_Duration',.04) new = setARMval(new,9,'Link1_fwd_Duration_Slow',.04) new = setARMval(new,9,'Link1_rev_Duration_Slow',.06) new = setARMval(new,9,'Link1_rev_Duration',.06) </verbatim> Starting with the script 2014_07_16_msimMotMap, created 2014_07_17_msimMotMap in which the following ontimes were changed: * PID9 ontimes according to the changes just mentioned * PID7 theta fwd .18 -> 0.2 * PID7 theta rev .2 -> 0.26 * PID5 phi fwd .06-> .1 * PID5 phi rev .07-> .1 Changed the rest of the ontimes in matlab also <verbatim> new = setARMval(new,7,'Link1_rev_Duration_Slow',.26) new = setARMval(new,7,'Link1_rev_Duration',.26) new = setARMval(new,7,'Link1_fwd_Duration',.2) new = setARMval(new,7,'Link1_fwd_Duration_Slow',.2) new = setARMval(new,5,'Link2_fwd_Duration_Slow',.1) new = setARMval(new,5,'Link2_fwd_Duration',.1) new = setARMval(new,5,'Link2_rev_Duration',.1) new = setARMval(new,5,'Link2_rev_Duration_Slow',.1) </verbatim> Saved new XML with these ontimes as: <verbatim> cobraCfg2xml(new,'070914_set3_allmaps_newOTs.xml') </verbatim> Started run of 2014_07_17_msimMotMap
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Topic revision: r3 - 2014-07-18
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ChazMorantz
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