07_17_14_22_06_23_TargetRun Results

• PID2 did worse than other tests.

PID9 Analysis

• On target 62 (in MSIM log), positioner gets stuck and MSIM is thinking it is in region 1 instead of region 5

62,0,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 297.322719,185.243831,-0.029950,20.677804,0,0, 1639.936232,5926.000000,249.000000,0.000000,0.000000,0,0,0,0 
62,1,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 311.569390,172.811087,369.103185,56.893018,0,0, 350.257204,-61.000000,10.000000,0.000000,0.000000,0,0,0,0 
62,2,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 309.846066,171.298579,363.192897,58.412627,0,0, 149.211741,85.000000,-0.000000,0.000000,0.000000,0,0,0,0 
62,3,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 311.428456,172.113258,7.206250,58.271297,0,0, 308.958646,5778.000000,1.000000,0.000000,0.000000,0,0,0,0 
62,4,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.566340,174.129560,15.582968,58.073577,0,0, 642.911737,5612.000000,2.000000,0.000000,0.000000,0,0,0,0 
62,5,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.670360,174.086941,15.560727,58.312733,0,0, 649.330104,5613.000000,0.000000,0.000000,0.000000,0,0,0,0 
62,6,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.725052,174.120157,15.693163,58.325533,0,0, 655.079718,5610.000000,0.000000,0.000000,0.000000,0,0,0,0 
62,7,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.779507,174.149899,15.816050,58.345434,0,0, 660.663725,5608.000000,0.000000,0.000000,0.000000,0,0,0,0 
62,8,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.793935,174.174629,15.892424,58.316582,0,0, 662.857324,5606.000000,0.000000,0.000000,0.000000,0,0,0,0 
62,9,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.796938,174.159369,15.855189,58.351981,0,0, 662.449002,5607.000000,0.000000,0.000000,0.000000,0,0,0,0 

• Seeing lots of issues with theta overshooting on very small moves, probably one step and the ontime is too high to converge. Classic example below

24,0,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 297.367939,185.113708,-0.025645,20.956063,0,0, 3127.610570,1244.000000,280.000000,0.000000,0.000000,0,0,0,0 
24,1,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 326.169182,195.951929,70.322220,60.123634,0,0, 878.401966,193.000000,21.000000,0.000000,0.000000,0,0,0,0 
24,2,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 324.323395,207.502165,93.378307,62.768950,0,0, 189.572065,-56.000000,4.000000,0.000000,0.000000,0,0,0,0 
24,3,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 326.200802,203.664652,84.129771,63.544058,0,0, 195.846780,50.000000,-2.000000,0.000000,0.000000,0,0,0,0 
24,4,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 324.799929,206.878272,91.538474,63.179459,0,0, 119.817075,-34.000000,1.000000,0.000000,0.000000,0,0,0,0 
24,5,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 325.918582,204.382399,85.770236,63.439198,0,0, 126.443229,32.000000,-1.000000,0.000000,0.000000,0,0,0,0 
24,6,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 324.978826,206.488667,90.654646,63.184692,0,0, 81.244540,-23.000000,1.000000,0.000000,0.000000,0,0,0,0 
24,7,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 325.742211,204.857595,86.816440,63.425116,0,0, 80.876509,21.000000,-1.000000,0.000000,0.000000,0,0,0,0 
24,8,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 325.063659,206.272974,90.193445,63.161373,0,0, 60.487889,-18.000000,1.000000,0.000000,0.000000,0,0,0,0 
24,9,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 325.669717,205.035574,87.218855,63.410424,0,0, 63.589255,16.000000,-1.000000,0.000000,0.000000,0,0,0,0 

• Also seeing theta overdamped sometimes and unable to get to target such as below

Switching to Set 4

• Same as Set 1, with the following exceptions:
  • pId3 is SN 145 instead of 152 (de-bonded shaft coupler)
  • pId8 is SN 116 instead of 103 (flex interference)

• Ran frequency sweeps and saved files to Dropbox (per the procedure added to Twiki)
• New On-Time tuning mSim script
  • Moves 7000 steps in 20 tries (350 steps each) instead of using one big move of 7000 steps
  • Still takes one exposure so it will appear as a streak with a bunch of bright spots

PID6 Investigation

During ontime streaks noticed that wasn't seeing any change on PID6. Confirmed theta stage works, and found that phi was not responding. Tried commanding with ontimes up to .3ms and still nothing but could hear the motor running when phi was commanded. Started pathway and also could not jog phi (motor 12) in fwd or reverse but heard it running. Looked at axis attributes and noted that current frequency is 92.937kHz Called up the frequency sweeper and ran fwd/rev sweeps. They look bad but the step interval is wrong somehow at 0.29952. Changed it to 2.49984 per NST documentation for C0104 and centered sweep at 88.339 per that document as well. The sweep looks good now with frequency peak at 88.65.

By hand moved phi to middle of its ROM and discovered that both FWD and REV commands move it in reverse. Swept each phase independently and discovered that one of them is flatlined. Reseated the both ends of the flex extension cable which connects to the motor flex and driver. Redid the individual phase sweeps and still found that phase 1 is flatlined.

PID5 Investigation

PID5 was getting stuck a lot in the ontime tests on theta fwd. Examination by hand and eye leads to suspicion that SN149 is hitting SN101. SN101 theta stage was rotated to what seemed like a better orientation but there may still be interference.