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GONIOMETER SWITCH POSITIONS

GONIOMETER SWITCH POSITIONS. Vanik Kakoyan Hall D Controls Meeting 9-June-2016. HOME SEARCH in the XPS Controller.

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GONIOMETER SWITCH POSITIONS

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  1. GONIOMETER SWITCH POSITIONS Vanik Kakoyan Hall D Controls Meeting 9-June-2016

  2. HOME SEARCH in the XPS Controller Home search is a specific motion process. Its goal is to find a reference point along the travel accurately and repeatedly. Any motion group must first be homed before any further motion can be executed. Home search processes available in the XPS controller is set up in the stages.ini configuration file. • Low limit switch Home Home Home Home Home switch High limit switch 0 0 0 0 CurrentPositionAsHome MinusEndOfRunHomeSearch MinusEndOfRunAndIndexHomeSearch MechanicalZeroHomeSearch MechanicalZeroAndIndexHomeSearch PlusEndOfRunHomeSearch

  3. Home Search for Goniometer Stages Motors of the X and Y stages have an Encoder. As Home Search procedure we defined: MinusEndOfRunAndIndexHomeSearch Home switch High limit switch • Low limit switch Home Home First index Before latching to the Low LS 0 0 Motors of the Pitch, Yaw and Roll stages have not an Encoder. Home search procedure is: MechanicalZeroHomeSearch Low limit switch Home switch High limit switch Somewhere After latching to the Home Switch

  4. The Geometry of Goniometer X and Y Stages In order to check working condition of some switch we have to know the geometry of stage and in which area of the stage find it. Low limit switch Minus End of Run Home switch Mechanical Zero High limit switch Plus End of Run Home 0 + - B A C The Distances from Home position to the 3 Switches of X and Y stages was measured using GroupReferencing functions of XPS Controller. A) GroupReferencingActionExecute(S, LatchOnLowToHighTransition , MinusEndOfRun, - 0.001) B) GroupReferencingActionExecute(S, LatchOnHighToLowTransition,MechanicalZero, 0.001) C)GroupReferencingActionExecute(S, LatchOnLowToHighTransition, PlusEndOfRun, 0.001)

  5. The Geometry of Pitch, Yaw and Roll Stages Home switch Mechanical Zero Low limit switch Minus End of Run High limit switch Plus End of Run Home 0 + - A C B We used several functions: A) GroupReferencingActionExecute(S, LatchOnLowToHighTransition , MinusEndOfRun, - 0.001) B) GroupReferencingActionExecute(S, LatchOnLowToHighTransition,MechanicalZero, - 0.001) C)GroupReferencingActionExecute(S, LatchOnLowToHighTransition , PlusEndOfRun, 0.001) The distances from Home position to the 3 switches for Pitch,Yaw and Roll stages:

  6. Distances between Home Positions • Three possible Home positions for each stage. • To change Home Search process during the Experimental Run due to damage of the switch which was used for Homing . • The distances of Home positions are the Transformation parameters (offsets) to calculate the coordinates of Known positions of Goniometer in new coordinate system. • Easy to make all necessary changes in the Goniometer positions control GUI and in the scripts. • Low limit switch Home1 0 Home2 0 Home3 0 Home switch High limit switch A B

  7. THANK YOU

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