Move GPHI - ISISComputingGroup/ibex_developers_manual GitHub Wiki
This is based on a theoretical move from 0 to 2.4, it is assumed that the encoder and motor are 'equal'.
This was based on the settings for GPHI on CRISP, which are as follows:
| Setting | Value |
|---|---|
| Axis | G |
| Acceleration | 4096 |
| Deceleration | 4096 |
| Speed | 2048 |
| Motor steps per unit | 1600 |
| Used | True |
| Motor Type | 2 |
| De-energise | False |
| Encoder Present | True |
| Encoder Steps per Unit | 1000 |
| Forward Backlash | 0 |
| Backward Backlash | -0.2 |
| Correct Motion | True |
| Set-point Deadband | 0.000625 |
| Dual Position Stage | False |
| Move Call | |
| Positional Accuracy | 0.000625 |
| After Move | |
| Before Move |
| State | Commands sent to Galil | Values |
|---|---|---|
| Init | Corrections = 0 Setpoint = 2.4 Position = 0 |
|
| Send Setup |
<pre>g_spG = -3840 PRG = 0 DPG = 0 MTG = -2 ACG = 4096 DCG = 4096 SPG = 2048 CEG = 0 |
|
| Setpoint | PT = 1 |
|
| Begin Motion 3 | SHG |
|
| Wait for Stop 3 | Position = 2.4 | |
| Setpoint + Correction | PRG = 0 |
Corrections = 1 |
| Begin Motion 4 | SHG |
|
| Wait for Stop 4 | Position = 2.4 | |
| Check for accuracy | ||
| Stop | STG |
|
| Wait until Stop | ||
Delay before Power Off Wait 0.05s
|
||
| Power Off | SHG |
|
| End |