2014_07_21 < Subaru/PFS

   * Analyzed results from re-run of adj1.  Results look very similar to first target run with adj1.
   * Made adj2 map.  pid2 phi reverse had large compensation (+0.7) to make up for very large (-2.7) adjustment from adj1.

   * !InspectTC_CIT.m run on pid2.
      * Almost all targets have severe phi reverse overdamping.  6 different targets (15, 27, 50, 68, 77, 88) needed to go further in phi, but commanded 0 steps (motor map says step size is too large).  The adj2 map should resolve that problem.
      * Another "kick-out" happened on theta (target 78).  Confirmed that instead of region 1, it decided it was in region 0 (on step 3).  mSim code update is ready to install that checks for this condition and will revert back to region 1 as necessary.

   * Ran another target run with adj2 maps.

   * Results of adj2 maps seen below

---++New On Times
Ran the ontime scripts again
   * Hrand updated MSIM in between two of them

Modified Motor map script with new ontimes
| PID | STAGE | OLD ON TIME | NEW ON TIME |
| 6 | PhiFwd | .1 | .16 |
| 6 | PhiRev | .1 | .16 |
| 5 | ThetaFwd | .14 | .08 |
| 5 | ThetaRev | .12 | .08 |
   * Note that two motor map scripts were run for this. 2014_07_21_msimMotMap and 2014_07_21_pid6phiRemap. The final results were all merged and processed and 07_21_14_22_15_30_msimMaps.

Created new maps from these ontimes called allMaps_072114_1.xml

Phi still gets stuck in reverse at around 77deg. 


---+++New Target Run
Ran targets with allMaps_072114_1.xml

Results for SNR shown below:

<img src="%ATTACHURLPATH%/SNR_results.PNG" alt="SNR_results.PNG" width='1000'/>

PID 5 is heavily underdamped on theta fwd and also seems that way in reverse though not as extreme. Small moves on phi seem pretty bad also from the error vs request plot.

<img src="%ATTACHURLPATH%/PID5_err_vs_req.png" alt="PID5_err_vs_req.png" width='1000' />

Looking closely at PID5 theta, the underdamping shows up on almost all of them and is pretty extreme such as the case below:

<img src="%ATTACHURLPATH%/pid5Undrdmpd.png" alt="pid5Undrdmpd.png" width='1000'  />

Attachments

Topic attachments
I	Attachment	History	Action	Size	Date	Who
png	PID5_err_vs_req.png	r1	manage	18.6 K	2014-07-22 - 17:07	UnknownUser
PNG	SNR_results.PNG	r1	manage	57.3 K	2014-07-22 - 17:04	UnknownUser
png	pid5Undrdmpd.png	r1	manage	25.3 K	2014-07-22 - 17:16	UnknownUser

This topic: Subaru/PFS > WebHome > POSitionerEM > POSEM_AL > 2014_07_21
Topic revision: r3 - 2014-07-22 - ChazMorantz