HRPD: Commission the Jaws in IBEX

[KathrynBaker]

The code to allow this was merged as part of #2098, however the jaws still need to be set up on HRPD and checked as this was tested with a test system not the actual jaws. This could not be done prior to the other ticket being completed.

There are two jaw sets with the following information to consider when adding the commissioning on HRPD:

Set 1

Calibration: 0.01925 steps/mm

Offsets:

Jaw	Offset (steps)
North	470
South	470
East	460
West	500

Set 2

Calibration: 0.01953125 steps/mm

Offsets:

Jaw	Offset (steps)
North	471
South	471
East	471
West	571

[AdrianPotter]

Acceptance criteria:

• [ ] This ticket details a plan of action for ensuring the jaws on HRPD work with IBEX with minimal risk of damaging the hardware.
• [ ] The instrument scientists are aware of the plan and happy to go ahead with deployment.

[AdrianPotter]

Once the PRs have been reviewed, please put back in ready. The PRs fix a couple of issues with the LinMot needed for deployment to HRPD. Whilst that's happening, I'll create a test plan and communicate it with the HRPD instrument scientists.

[AdrianPotter]

HRPD test plan

1. Please record all tests performed and the results
2. Install IBEX on HRPD
3. Migrate the configurations from HRPDTEST to HRPD. DO NOT SWITCH CONFIGURATIONS
4. Check that the resting positions match between LabView and EPICS
   1. Making sure the LinMot IOCs are inactive, get the current motor positions from the VI
      1. Open the VI "HRPD Jaws Driver.vi" at C:\LabVIEW Modules\Instruments\HRPD\HRPD Jaws\Screens
      2. Before running the VI, press CTRL+E and check that the User Configurable Values match with those specified for LinMot_01
         1. MRES1-4 should all match the LinMot Calibration value
         2. The offsets OFST1-4 should match the offset values, multiplied by the calibration value, multiplied by -1. The negative value is because LabView has offsets going in the opposite direction from EPICS.
         3. The COM port may be offset by 1. This is a factor of the old VI and will need checking when we get onto the hardware
      3. Run the VI
      4. Note down the current individual Jaws setpoint values
      5. Close the VI
      6. Get the position of the motor from EPICS
         1. Switch to the main HRPD configurations. The LinMot IOCs should start automatically
         2. Open the Jaws OPI from the synoptic view
   2. Check that the positions of the motors match that of the VI. Any discrepencies should be explained before continuing
      1. Repeat these steps but change the position of the motors slightly in the VI to check that the positions still match.
5. Check velocities match
   1. The VI uses hard-coded, velocity 50 (in motor speed units)
   2. Open a console to the LINMOT_01 IOC
   3. Do a small tweak to the motor position (~0.1)
   4. The motor velocity is set to 10mm/s by default. On a standard LinMot, this corresponds to "!SV52". Verify that this command is sent at the start of the move.
6. Check new positions match
   1. With the IOCs running, perform a small move on the motors (~0.1)
   2. Record the current motor positions
   3. Stop the IOCs
   4. Open the jaws VI again
   5. Verify that the positions on the VI match the values from the OPI
      1. Move the Jaws a small amount with the VI. Note the positions
      2. Stop the VI
      3. Start the IOCs
      4. Check that the position values agree with the VI
7. Check soft limits
   1. With the Jaws IOCs running, set the soft limits via the motor details panel so that the jaws are in limit violation
   2. Try moving the jaws slightly in either direction. Verify that the jaws can be moved out of limit violation but not further into it. Do this when the jaws are above the upper limit and below the lower limit
   3. Set the jaws so that they are not in limit violation but close to it
   4. Try to move the jaws just past the limit violation (both directions)
   5. Verify that the position can't go beyond the soft limit (subject to rounding)
8. Send the results of the test plan to Dominic Fortes and Alexandra Gibbs noting the points below.

Assuming these tests match then we are sufficiently confident that the motor is behaving as expected.

Please ensure to explain the major differences between the old and new setups to the instrument scientists:

1. Offsets are in physical units, not motor steps
2. Offsets work in opposite directions in EPICS vs LabView
3. To reinitialise the controller, go to any of the motors and use the home button (either direction)
4. Many of the controls in the motor OPI do not function as the operations are unsupported by the LinMot (notably STOP and JOG)
5. The Jaws move at 52 in units of motor speed now rather than 50. It means the default can be 10 at the front end. Is this ok or do we need to change the speed to 9.615?

[AdrianPotter]

For review:

• [x] Test plan is approved by Kevin/John
• [x] Changes to the LinMot are approved and merged

Once reviewed, please move back to ready and I'll do the following:

• [x] Forward the test plan to the instrument scientists for review and approval
• [x] Set up HRPDTEST with the jaws configuration

[FreddieAkeroyd]

Is it worth getting Gareth or David to review the test plan too? Looks good to me though.

[AdrianPotter]

Sent to Gareth and David. David has given it the thumbs up. No reply from Gareth yet.

[AdrianPotter]

Awaiting

• [x] New build of IBEX containing LinMot that can be deployed to HRPDTEST
• [x] Thumbs up on test plan for jaws.

[AdrianPotter]

I've deployed the new build version to HRPDTEST. The motors are set up correctly in simulate mode*. Dominic has approved the test plan.

*For simulated motors, using multiple axes operates as one motor. All 4 axes share the same values. This is a new issue and I've noted the same things happen with the McLennan in devsim mode. I'll create a separate issue to look at it.

[John-Holt-Tessella]

Test plan enacted as specified (although we switched to configuration slightly early). Numbers all match between VI and EPICS within rounding and tolerance: Velocities all checked.

Initial position

dir	IBEX	VI
N	9.991	9.99
S	9.991	9.99
E	7.508	7.51
W	7.508	7.51

Moved in VI

dir	IBEX	VI
N	7.893	7.90
S	8.008	8.00
E	5.005	5.00
W	5.101	5.1

Velocities checked all 52

Move in IBEX

dir	IBEX	VI
N	8.1	8.10
S	7.7	7.70
E	4.79	4.79
W	5.20	5.2

Got upper and lower limit violations when set.