IMAT: motion upgrade

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#9,027 2026年9月2日に作成コメント 2 件リアクション 0 件担当者 2 名 GitHub で見る

@Tom-Willemsen がすでに取り組んでいます。

2026年9月2日から。

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説明

Realised I hadn't put this in a ticket.

IMAT's motion is being migrated from Galils to Beckhoff in entirety. Previously IMAT used a Beckhoff for just the large Z/Rot stage.

Things to do:

sort out networking to the beckhoff
re-set up ADS route
change amsnetID
remove galils from main configuration
copy over axes.cmd
copy over jaws.cmd
copy over motionsetpoints.cmd
copy over sampleChanger.cmd
- fix this - dbd isn't loaded currently
add toggle for axis velocity forwarding (we previously removed this due to a race condition within the beckhoff, but we should re-add it for future commissioning as it'll be fixed going forwards, but not retrospectively)
add safety variables
- add the above to banner.xml
- add "motion isolator status"
add homing variable PVs and archive readbacks
document safety system and any other items which need making clear for support calls etc.
document FORWARD_VELO change: https://isiscomputinggroup.github.io/ibex_developers_manual/specific_iocs/motors/beckhoff/Beckhoff-commissioning.html#beckhoff-manual-commission-step
remove any references to IMAT having galils in wiki pages and anywhere else relevant
set .DLY to non-zero
set .EGU as appropriate - can use stDescription.sUnits
- make this and copy over to NDXIMAT when SC is done filling this part of stDescription out
set soft limits up

環境構築

このプロジェクトには開発コンテナ、Dockerfile、コントリビューションガイドがありません。まず README を読み、一般的な手順ははじめてのコントリビューションガイドを参照してください。

評価