KathrynBaker
commented
4 months ago The front panel of the existing VI is:
Open kjwoodsISIS opened 3 years ago
KathrynBaker
commented
4 months ago The front panel of the existing VI is:
KathrynBaker
commented
4 months ago The Galil code for this is proving hard to track down at present, but it is important to note that is not run as a motor by LabVIEW, and as such, it may be best to treat this as a specific piece of equipment using the data set below.
On initialisation the following commands should be sent (in this order):
VERBOSE=0
AB0
MO
XQ #SXD
MG "stop 1" {P2}BUSY is determined by comparing the response to BUSY= with \s0.0000\r\n:, if they match the system is not busy.
ATANGLE= returns the Angle Postion
Y= returns the Arc Position
If setting the angle send ATTO= with a double between +170 and -170, followed by ATGO=1
If setting the arc send ARK= with a double between -19 and +19, followed by ARGO=1
If stop has been requested send the same set of commands as on initialisation, AB0, MO, XQ #SXD, MG "stop 1" {P2}
In summary there are three values to send, and three values to read.
davidkeymer
commented
4 months ago Galil code extracted from AttoCube controller:
'SXD CENTER STICK GALIL CONTROL PROGRAM
'26/03/09
'RICHARD BLIGHT
'
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
'''''''''''''''''MAIN TASK''''''''''''''''''''''''''''''''''
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
#SXD
'MG "MAIN TASK RUNNING";NO TEST
JS #ARINIT;NO INITIALISE ARRAYS
JS #INIT;NO INITIALISE
XQ #ARTASK,1;NO ARK TASK
XQ #ATTASK,2;NO ATTO TASK
XQ #ANTASK,3;NO ANALOGUE INPUT TASK
'
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
'
#COMMS;NO COMMS LOOP
JS #REPLY,REP = 1;NO PROCESS REPLIES
'JS #TELL,RESPON = 1;NO SEND STORED REPLIES
JP #RESCHK,BUSY = 1;NO LOOP IF BUSY
JS #ARKGO,ARGO = 1;NO IF ARK GO IS RECEIVED
JP #COMMS,ARGO = 1
JS #ATTOGO,ATGO = 1;NO IF ATTO GO IS RECEIVED
JP #COMMS;NO LOOP
'
#RESCHK;NO RESET CHECK
JP #COMMS,((ARDONE = 0)|(ATDONE = 0));NO LOOP IF EITHER TASK IS RUNNING
JS #INIT;NO RESET
JP #COMMS;NO LOOP
EN
'
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
'
#ARKGO;NO ARK GO
BUSY = 1;NO SET BUSY FLAG
ARSTART = 1'NO START ATTO MOVEMENT
EN
'
#ATTOGO;NO ATTO GO
BUSY = 1;NO SET BUSY FLAG
ATSTART = 1'NO START ARK MOVEMENT
EN
'
#REPLY;NO PROCESS REPLIES
'MG "REPLY ROUTINE"
JP #STORE,VERBOSE = 0;NO STORE IF VERBOSE IS 0
#SEND;NO SEND IF VERBOSE = 1
IF (TYPE = 1);NO IF MESSAGE IS A STRING
MG "",TEMP {S6};NO SEND AS A STRING
ELSE
MG "",TEMP {F3.2};NO ELSE SEND AS A NUMBER
ENDIF
REP = 0;NO CLEAR THE REPLY FLAG
EN
#STORE;NO TO STORE THE MESSAGE
TELLAR[N] = TEMP;NO SAVE MESSAGE IN ONE ARRAY
TYPEAR[N] = TYPE;NO AND THE TYPE IN ANOTHER
N = N + 1;NO INCREMENT THE ARRAYS
REP = 0;NO CLEAR THE REPLY FLAG
EN
'
#TELL;NO SEND ALL SAVED MESSAGES
N = N - 1;NO NEXT HIGHEST MESSAGE
JP #EXIT,N < 0;NO EXIT AFTER 0
IF (TYPEAR[N] = 1);NO IF MESSAGE IS A STRING
MG "",TELLAR[N] {S6};NO SEND AS A STRING
ELSE
MG "",TELLAR[N] {F3.2};NO ELSE SEND AS A NUMBER
ENDIF
JP #TELL;NO LOOP
#EXIT
N=0;NO CLEAR N AS IT ENDS THE LOOP AT -1
RESPON = 0;NO CLEAR THE RESPOND FLAG
EN
'
#INIT;NO SET UP ALL VARIABLES
BUSY = 0
ARGO = 0
ATGO = 0
ARSTART = 0
ATSTART = 0
ARK = 0
ATTO = 0
EN
'
#ARINIT;NO SET UP ARRAYS
VERBOSE = 1
RESPON = 0
REP = 0
DM TELLAR[10]
DM TYPEAR[10]
N = 0
TYPE = 0
ATAERR = 0;NO ATTO ANGLE ERROR FLAG
ATMERR = 0;NO ATTO MOVE ERROR FLAG
ARAERR = 0;NO ARC ANGLE ERROR FLAG
ARMERR = 0;NO ARC MOVE ERROR FLAG
EN
'
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
'''''''''''''''''''ARK TASK''''''''''''''''''''''''''''''''''
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
#ARTASK
WT 500
'MG "ARC TASK RUNNING";NO TEST
JS #VTOA
'MG "**ARPN",Y{F2.2}
#WAITLP5;NO WAIT UNTIL READY FOR REPLY
JP #WAITLP5,REP = 1
TEMP = "**ARPN"
TYPE = 1
REP = 1
#WAITLP;NO WAIT UNTIL READY FOR REPLY
JP #WAITLP,REP = 1
TEMPINV = Y
JS #INVERT
Y = TEMPINV
TEMP = Y{F2.2}
TYPE = 2
REP = 1
JS #ARKINIT;NO INITIALISE
'
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
'
#ARKLOOP;NO LOOP WHILE START = 0
MO A
JP #ARKLOOP,ARSTART=0
'
ARMERR = 0;NO CLEAR MOVE ERROR FLAG
ARDONE = 0
IF ((ARK < -20) | (ARK > 20));NO CHECK VALUE IS ACCEPTABLE
'MG "ARC ANGLE MUST BE BETWEEN +-20"
'MG "**ARAE";NO ARC ANGLE ERROR MESSAGE
TEMP = "**ARAE"
TYPE = 1
REP = 1
ARAERR = 1;NO ANGLE ERROR FLAG
JP #ARKDONE
ENDIF
ARAERR = 0;NO CLEAR ANGLE ERROR FLAG
JS #AR_INV;NO INVERTS THE ENTERED VALUE
'
#AR_REST;NO ARK RESTART
JS #VTOA;NO FIND CURRENT ANGLE
'MG ""
'MG "ARC ANGLE IS: ",Y{F2.2}
'MG "DESIRED ARC ANGLE IS: ",ARK{F2.2}
JS #ATOV;NO FIND ENDVOLT
JS #DONE1;NO IS THE ARK WHERE IT SHOULD BE?
'
'FIRST MOVE
SH A;NO ENERGISE MOTOR
IF (PARK > ENDVOLT);NO IF START POSITION > END POSITION
IF (PARK > -5.8);NO AND NOT TOO NEAR THE END STOP
JS #NEG_ABL;NO TAKE UP BACKLASH
PR -30000;NO FIRST MOVE VALUE
BG A;NO MOVE
ELSE;NO GO UP IF TOO NEAR END STOP
PR 10000
BG A
ENDIF
ELSE;NO IF START < END POSITION
IF (PARK < 6.8);NO AND NOT TOO NEAR THE END STOP
JS #POS_ABL;NO TAKE UP BACKLASH
PR 30000;NO FIRST MOVE VALUE
BG A;NO MOVE
ELSE;NO GO DOWN IF TOO NEAR END STOP
PR -10000
BG A
ENDIF
ENDIF
'
#LOOP3
JS #AFT_MOV
'MG "VOLTS =",PARK;NO TEST
JS #DONE1;NO IS THE ARK WHERE IT SHOULD BE
VDIFF1 = ENDVOLT - PARK
'MG "NEW DISTANCE =",VDIFF1;NO TEST
JP #CHANGE,(((_PR A > 0) & (VDIFF1 < 0)) | (((_PR A < 0) & (VDIFF1 > 0)))
JS #SPERV1
MOVEVAL = VDIFF1 * SPERV1
IF (@ABS[MOVEVAL] > 1000)
MOVEVAL = MOVEVAL - (MOVEVAL / 5);NO TAKE OFF 20%
ENDIF
'MG "NEW STEPS - 20% =",MOVEVAL;NO TEST
PR MOVEVAL
'MG "PR = ",_PR A
BG A
JP #LOOP3
EN
'
#CHANGE
'MG "CHANGE"
JP #NEG,_PR A < 0
#POS
IF (PARK < 6.5);NO
PR 100000;NO
BG A;NO MOVE
JS #AFT_MOV
JS #NEG_ABL
PR -30000
BG A
ELSE;NO GO UP IF TOO NEAR END STOP
PR -150000
BG A
JS #AFT_MOV
JS #POS_ABL
PR 30000
BG A
ENDIF
JP #LOOP3
#NEG
IF (PARK > -5.5)
PR -100000
BG A
JS #AFT_MOV
JS #POS_ABL
PR 30000
BG A
ELSE
PR 150000
BG A
JS #AFT_MOV
JS #NEG_ABL
PR -30000
BG A
ENDIF
JP #LOOP3
EN
'
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
'
#ARKINIT
MT 2;NO SET UP STEPPER AXIS
AC 5000
DC 5000
SP 5000
ERR1 = 0
ARDONE = 1
EN
'
#AR_INV;NO THIS ROUTINE INVERTS THE
IF (ARK < 0);NO ENTERED VALUE TO MATCH
ARK = @ABS[ARK];NO THE ORIENTATION OF THE CONTROL
ELSE;NO SIDE. THIS IS EASIER THAN
ARK = 0 - ARK;NO CHANGING EVERY SIGN IN THE
ENDIF;NO PROGRAM.
'MG "ARK =",ARK;NO TEST
EN
'
#VTOA
Y = PARK + 7.6;NO GET INPUT AND MAKE IT +VE
Y = (Y / 0.4034) - 20;NO CONVERT TO ANGLE
EN
'
#INVERT
IF (TEMPINV < 0);NO INVERT SENT VALUE
TEMPINV = @ABS[TEMPINV]
ELSE
TEMPINV = 0 - TEMPINV
ENDIF
EN
'
#ATOV
Z = ARK + 20;NO MAKE THE VALUES POSITIVE
ENDVOLT = (Z * 0.4034) - 7.6;NO CONVERT TO VOLTAGE
EN
'
#SPERV1
ARMOVE = @ABS[PARK - OLDPARK];NO FIND VOLT CHANGE
OLDPARK = PARK;NO SAVE LAST POSITION
IF (ARMOVE<0.05);NO HAS IT MOVED?
'MG "ARC IS NOT MOVING!"
ERR1 = ERR1 + 1
JP #AR_REST,ERR1 < 3
'MG "ARC MOVE ERROR"
'MG "**ARME";NO ARK MOVE ERROR MESSAGE
TEMP = "**ARME"
TYPE = 1
REP = 1
ARMERR = 1;NO ARK MOVE ERROR FLAG
JP #ARKDONE
ENDIF
'MG "SPERV =",_PR A;NO TEST
'MG "DIVIDED BY",ARMOVE;NO TEST
SPERV1 = @ABS[_PR A] / ARMOVE;NO FIND STEPS PER VOLT
'MG "SPERV =",SPERV1;NO TEST
EN
'
#NEG_ABL;NO NEGATIVE ANTI-BACKLASH
'MG "NEGATIVE ANTI-BACKLASH";NO TEST
PR -50000
BG A
JS #AFT_MOV
OLDPARK = PARK;NO SAVE OLD POSITION
'MG "VOLTS =",PARK;NO TEST
EN
'
#POS_ABL;NO POSITIVE ANTI-BACKLASH
'MG "POSATIVE ANTI-BACKLASH";NO TEST
PR 50000
BG A
JS #AFT_MOV
OLDPARK = PARK;NO SAVE OLD POSITION
'MG "VOLTS =",PARK;NO TEST
EN
#AFT_MOV
AM A
WT 200
JS #VTOA
'MG ""
'MG "ARC ANGLE IS: ",Y{F2.2}
EN
'
#DONE1;NO CHECKS TO SEE IF THE ARK IS THERE
IF (@ABS[Y - ARK] < 0.05);NO WITHIN TOLERANCE
'MG "ARC IN POSITION"
'MG "**ARDN"
TEMP = "**ARDN"
TYPE = 1
REP = 1
JS #VTOA
'MG "**ARPN",Y{F2.2}
TEMP = "**ARPN"
TYPE = 1
REP = 1
#WAITLP1
JP #WAITLP1,REP = 1
TEMPINV = Y
JS #INVERT
Y = TEMPINV
TEMP = Y{F2.2}
TYPE = 2
REP = 1
JP #ARKDONE
ENDIF
EN
'
#ARKDONE;NO CLOSE DOWN TASK
ARDONE = 1
ARSTART = 0
ERR1 = 0
JP #ARKLOOP
EN
'
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
'''''''''''''''''''ATTO TASK'''''''''''''''''''''''''''''''''
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
#ATTASK
WT 1000
'MG "ATTO TASK RUNNING";NO TEST
ATANGLE = PATTO / 0.0556
'MG "ATANGLE",ATANGLE
'MG "**ATPN",ATANGLE{F3.2};NO SEND FIRST POSITION
#WAITLP4
JP #WAITLP4,REP = 1
TEMP = "**ATPN"
TYPE = 1
REP = 1
#WAITLP2
JP #WAITLP2,REP = 1
TEMINV = ATANGLE
JS #INVERT1
ATANGLE = TEMINV
TEMP = ATANGLE{F3.2}
TYPE = 2
REP = 1
JS #ATINIT;NO INITIALISE ATTO
'
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
'
#ATLOOP;NO LOOP WHILE START = 0
JP #ATLOOP,ATSTART=0
'
ATMERR = 0;NO CLEAR MOVE ERROR FLAG
ATDONE = 0
IF ((ATTO < -170) | (ATTO > 170));NO CHECK VALUE IS ACCEPTABLE
'MG "ATTO ANGLE MUST BE BETWEEN +-170 DEGREES!"
'MG "**ATAE";NO ATTO ANGLE ERROR MESSAGE
TEMP = "**ATAE"
TYPE = 1
REP = 1
ATAERR = 1;NO ATTO ANGLE ERROR FLAG
JP #ATDONE
ENDIF
ATAERR = 0;NO CLEAR ANGLE ERROR FLAG
JS #AT_INV
#AT_REST
'
S = 5000;NO FIRST MOVE
PEND = ATTO * 0.0556;NO DESIRED VOLTAGE
PSTART = PATTO;NO START VOLTAGE
VDIFF = PEND - PSTART
'MG ""
'MG "ATTO ANGLE IS: ",PSTART{F1.4}
'MG "DESIRED ATTO ANGLE IS: ",PEND{F1.4}
'
'INITIAL MOVE
JS #DONE;NO IS MOVE NECESSARY?
IF (PSTART > PEND);NO IF START > END POSITION
IF (PSTART < -9);NO AND START POSITION < 1V
MG "STEPD 1" {P2},@ABS[S]{F5.0} {P2};NO MOVE DOWN (INC V)
ELSE
MG "STEPU 1" {P2},@ABS[S]{F5.0} {P2};NO ELSE MOVE UP (DEC V)
ENDIF
ELSE;NO IF START < END POSITION
IF (PSTART > 9);NO AND START POSITION > 9V
MG "STEPU 1" {P2},@ABS[S]{F5.0} {P2};NO MOVE UP
ELSE
MG "STEPD 1" {P2},@ABS[S]{F5.0} {P2};NO ELSE MOVE DOWN
ENDIF
ENDIF
JS #AFTER;NO WAIT FOR MOVE
'
'CLEVER BIT
#LOOP2
PTEST = PATTO;NO FIND POSITION
'MG "NEW ATTO ANGLE = ",PTEST{F1.4}
VDIFF = PEND - PTEST;NO FIND NEW DIFFERENCE
JS #DONE;NO IS MOVE DONE?
JS #SPERV;NO FIND SPERV
IF (@ABS[VDIFF] > 12);NO IF THE MOVE IS TOO HIGH
VDIFF = VDIFF - (VDIFF/10);NO REDUCE IT
'MG "REDUCED DISTANCE = ",VDIFF{F1.4}
ENDIF
'
S = VDIFF * SPERV;NO FIND NO OF STEPS
IF (S < 0);NO IF POSITIVE
MG "STEPU 1" {P2},@ABS[S]{F5.0} {P2};NO MOVE UP
ELSE
MG "STEPD 1" {P2},@ABS[S]{F5.0} {P2};NO ELSE MOVE DOWN
ENDIF
JS #AFTER;NO WAIT FOR MOVE
JP #LOOP2
EN
'
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
'
#ATINIT
CC 38400,0,0,0;NO SET UP AUX COMMS
MG "SETF 1 1000" {P2};NO SET UP ATTOCUBE CONTROLLER
MG "SETV 1 70" {P2}
MG "SETM 1 STP" {P2}
ATDONE = 1
ERR2 = 0
EN
'
#AT_INV;NO THIS ROUTINE INVERTS THE
IF (ATTO < 0);NO ENTERED VALUE TO MATCH
ATTO = @ABS[ATTO];NO THE ORIENTATION OF THE CONTROL
ELSE;NO SIDE. THIS IS EASIER THAN
ATTO = 0 - ATTO;NO CHANGING EVERY SIGN IN THE
ENDIF;NO PROGRAM.
'MG "ATTO = ",ATTO;NO TEST
EN
'
#INVERT1
IF (TEMINV < 0);NO INVERT SENT VALUE
TEMINV = @ABS[TEMINV]
ELSE
TEMINV = 0 - TEMINV
ENDIF
EN
'
#DONE
WT 100
IF (@ABS[VDIFF] < 0.004);NO ARE WE THERE YET?
'MG "ATTO IN POSITION"
'MG "**ATDN"
TEMP = "**ATDN"
TYPE = 1
REP = 1
ATANGLE = PATTO / 0.0556
'MG "**ATPN",ATANGLE{F3.2}
TEMP = "**ATPN"
TYPE = 1
REP = 1
#WAITLP3
JP #WAITLP3,REP = 1
TEMINV = ATANGLE
JS #INVERT1
ATANGLE = TEMINV
TEMP = ATANGLE{F3.2}
TYPE = 2
REP = 1
JP #ATDONE
ENDIF
EN
'
#ATDONE;NO CLOSE DOWN TASK
ATDONE = 1
ATSTART = 0
ERR2 = 0
JP #ATLOOP
EN
'
#AFTER;NO WAIT FOR MOVE FINISHED
X=@ABS[S]/1000
X=X+(X/10);NO WAIT STEPS/FREQ + 20%
IF (X < 0.5);NO EXTRA TIME FOR DIGITAL FILTER
X = X + 0.5
ENDIF
WT X*1000;NO *1000 FOR MS
SSAVE=S;NO KEEP FOR SPERV
EN
'
#SPERV
MOVE=@ABS[PTEST-PSTART];NO FIND VOLT CHANGE
IF (MOVE<0.02);NO HAS IT MOVED?
ERR2 = ERR2 + 1
JP #AT_REST,ERR2 < 3
'MG "ATTOCUBE IS NOT MOVING!"
'MG "**ATME";NO ATTO MOVE ERROR MESSAGE
TEMP = "**ATME"
TYPE = 1
REP = 1
ATMERR = 1;NO ATTO MOVE ERROR FLAG
JP #ATDONE
ENDIF
SPERV=@ABS[SSAVE]/MOVE;NO FIND STEPS PER VOLT
PSTART = PTEST
EN
'
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
''''''''''''''''ANALOGUE INPUT TASK'''''''''''''''''''''''''''
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
#ANTASK
'MG "ANALOGUE INPUT TASK RUNNING";NO TEST
PATTO = 0;NO INITIALISE
PARK = 0
ATOLD3 = 0
AROLD3 = 0
ATOLD2 = 0
AROLD2 = 0
ATOLD1 = 0
AROLD1 = 0
ATVAL = 0
ARVAL = 0
'
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
'
#ANLOOP
ATOLD3 = ATOLD2;NO MOVE NEW VALUES IN
AROLD3 = AROLD2
ATOLD2 = ATOLD1
AROLD2 = AROLD1
ATOLD1 = ATVAL
AROLD1 = ARVAL
ATVAL = @AN[1]
ARVAL = @AN[2]
PATTO = ((ATVAL * 0.5) + (ATOLD1 * 0.25) + (ATOLD2 * 0.15) + (ATOLD3 * 0.1))
PARK = ((ARVAL * 0.5) + (AROLD1 * 0.25) + (AROLD2 * 0.15) + (AROLD3 * 0.1))
WT 100;NO FIND AVERAGE VALUE THEN WAIT 100MS
JP #ANLOOP
EN
'
As a scientist I want to be able to control the AttoCube, so that I can control the orientation of the sample in my experiments.
Acceptance Criteria
Notes
C:\LabVIEW Modules\Instruments\SXD\AttoCube).Time in Planning
00:15:15 02/05/24