ZOOM PGC: Send encoder settings on Galil power cycle

ISISComputingGroup / IBEX

ZOOM PGC: Send encoder settings on Galil power cycle #6312

Open DominicOram opened 3 years ago

DominicOram commented 3 years ago

As a scientist on ZOOM I would like to be able to reliably move the PGC. The PGC uses absolute encoders and to set them up after a power cycle the following code has to be sent:

SYA=0
SSA=1,26,27,0<15
SYB=0
SSB=1,26,27,0<6

This was previously done using premove commands but the commands are too long to be put in the premove string.

Acceptance Criteria

The above is sent on every Galil restart (or more often if easier)
https://github.com/ISISComputingGroup/ibex_developers_manual/wiki/Motors-Trouble-Shooting#zoom-pgc is moved out of troubleshooting into somewhere more sensible.

FreddieAkeroyd commented 3 years ago

SYA=0;SSA=1,26,27,0<15 doesn't look too long for MTR0101.PREM - or do A and B not refer to axes and both parts need to be sent to the axis?

FreddieAkeroyd commented 3 years ago

Though I have a feeling that sending them every move on IMAT might have caused issues. MTR0101.INIT might be a good place, but i can't remember if that field is used by the Galil driver.

DominicOram commented 3 years ago

Only one of the axes moves so both parts were being sent in the same string

DominicOram commented 3 years ago

What I have done for now is set the PREMOVE string to just be SYA=0;SSA=1,26,27,0<15; this will ensure that the first encoder always works. The second one is just a backup anyway so whilst it would be good to get it sorted it's not required for running the instrument.