Bug Hunting

• MSIM failed again after target run with newly generated targets.
• Positioner 41 had a calculated angle of 418
• We found a new case for Hrands state machine but it is not easy to determine reality without longer history. (Positioner may be stuck or overshooting massively, can be the same).
• Code that handles large angles beyond mmap values worked but then 0 steps commanded triggered a search algorithm for looking which 1 step move brings us closer to the target.
• This search then needs to lookup mmap and fails because it can't find it.
• Hrand will implement a error catch setting step sizes to 0.
• The region issue will be handled by ignoring the positioner for that run.
• From the test data several positioners show stickiness:
• pid 53 has clear interaction of flex print with neighbour

Cold Test EM RAIL LOG

COBRA	RAIL	Board	INVERTED	Current	Performance
	POSITION	POSITION	MSIM ID	SNR@iter[date]
NONE	28	n/a
EM1 121	01	01	no	1	BROKEN @ [15_03_28_22_51_02_TargetRun] prev. SNR [0.970] @ 15_03_23_11_46_32 Stage 1 moves very slowly. broken with no sound from motor 1 anymore.
EM1 117	02	02	no	3
EM1 105	03	03	no	5	weird behaviour, bad center/link lengths
EM1 123	04	04	no	7
EM1 109	05	05	no	9	NOT RUNNING. Stage 2 does not move. It looks like it is contacting the Stage 2 housing, which might cause too much drag.
EM2 141	06	06	no	11
EM2 152	07	07	no	13	Stage 2 does not engage the hard stop and does not move reliably
EM2 145	08	08	no	15
EM2 151	09	09	no	17	SNR [1.023] @ 15_03_19_11_03_04
EM2 143	10	10	no	19
EM2 150	11	11	no	21	SNR [1.001] @ 15_03_23_11_46_32
EM2 146	12	12	no	23
EM2 149	13	13	no	25	SNR [1.023] @ 15_03_23_11_46_32 Stage 2 does not engage hard stop
EM1 108	15	15	no	29	SNR [1.007] @ 15_03_19_11_03_04 ; Got more and more stuck on stage 2, have to increase ontime (4/10)
EM2 144	18	18	no	35
EM2 142	19	19	no	37	SNR [1.009] @ 15_03_19_11_03_04; 37 has an increasing sticky spot at 100 and 300 deg and is fast at 200 deg. This makes it almost impossible to reach targets in between. (analyzed on 4/10 after the last target run 4/8)
EM1 118	20	20	no	39
EM1 122	21	21	no	41	High forward ontime. Spread out mmap. Potentially bad positioner.
EM1 116	23	23	no	45	SNR [1.027] @ 15_03_19_11_03_04
EM2 147	24	24	no	47
EM1 112	25	25	no	49	SNR [1.007] @ 15_03_23_11_46_32
EM1 106	26	28	no	51
EM1 110	27	29	no	53	Flex Interference from manual inspection
EM1 101	14	14	yes	27	Stage 2 does not move. Potentially an issue with the electrical connection.
EM1 104	16	n/a	yes		REMOVED FROM MODULE ON 11/19/2014 AND RETURNED TO NST
EM1 102	17	17	yes	33	SNR [1.021] @ 15_03_19_11_03_04 - broken with no sound from motor anymore. BROKEN @ [15_03_28_22_51_02_TargetRun] ALIVE @ [15_03_30_TargetRun]
EM1 103	22	22	yes	43

-- JohannesGross - 23 Mar 2015