Move/motor

The command

ONLINE> move/motor mot1

invokes a menu which is used for editing the motor parameters and perform moves (7.2).

**Table 7.2:** The **move motor** Menu
Name : MOT2 Alias: HAP Move: \| \|[Units] Slew rate: 14925 Base rate: 20 Acceleration: 210 Spin-up [U]: 0.958325 Conversion: 40000 Step backlash: 6000 Unit backlash: 0.15 Settle time: 0 Unit limit min: 0 Unit limit max: 30 Step limit min: -1000000 Step limit max: 200000 Step register internal: 0 Step register controller: 0 Unit: 25 SPECTRA> ------------------------------------------------------------------------------ PF1 - Start move, PF2 - RMSP, PF3 - Calibrate, PF4 - Exit KP7 - Toggle down, KP9 - Toggle up, Space bar to stop move

Table 7.2: The move motor Menu

               Name : MOT2
               Alias: HAP

               Move:                    |               |[Units]

               Slew rate:                14925
               Base rate:                20
               Acceleration:             210        Spin-up [U]: 0.958325
               Conversion:               40000
               Step backlash:            6000
               Unit backlash:            0.15
               Settle time:              0
               Unit limit min:           0
               Unit limit max:           30
               Step limit min:           -1000000
               Step limit max:           200000
               Step register internal:   0
               Step register controller: 0
               Unit:                     25
  SPECTRA>
------------------------------------------------------------------------------
    PF1 - Start move,  PF2 - RMSP,      PF3 - Calibrate, PF4 - Exit
    KP7 - Toggle down, KP9 - Toggle up, Space bar to stop move

The motor name is displayed, the alias string and the motor parameters:

Slew rate:
Number of steps per second: VPAP [20, 14925], OMS [20, 1044000].

Base rate:
Movements are accelerated from the base rate to the slew rate.

Acceleration:
E500 (CAMAC): The total time for ramping the motor, the unit is 10 msec. VPAP (VME): 0 (slow) $<$

acc.

255 (fast). Steps/sec $^2$

= 135000/(256 - acc)

Conversion:
Steps per unit.

Backlash:
If the unit backlash is positive, the correction is done going from high to low.

Settle time:
The time ONLINE waits after a movement is completed.

Limits:
Software limits for the movements.

Step register internal:
When ONLINE starts, the internal value is read from the device list.

Step register controller:
The contents of the E500 (CAMAC) or VPAP (VME). The range is [-8388608,8388607]. The register values may be changed by overwriting them (implicit reset_motor_register()). If one register is overwritten, the other is changed as well. This way the position and the unit limits are not changed.

If the controller contents differs from the internal value, you have to decide, which one is right. Use PF2 (reset_motor_step_position()) to fix it. See also the section 3.1 for help.

Unit:
The current position.

The motor parameters may be changed by over-typing them. Use the arrow keys to move the cursor through the menu.

Movements are started by pressing PF1. They can be interrupted with the space bar.

The PF2 key helps, if the internal and the controller registers have a different contents. See the chapter 3.1 for explanations.

PF3 allows you to calibrate a motor. The new position has to be entered in the "Move: [Unit]" field.

PF4 (Ctrl-X) exits this menu.

KP7/KP9 toggle through the list of motors.

Behind the prompt SPECTRA> a command may be entered. If PF $i$ is supplied, ONLINE behaves as if you pressed one of these keys.