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Finally works

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This commit is contained in:
gac-x05la
2025-05-20 15:47:36 +02:00
committed by marone
parent 06d0b5ae59
commit 9aa4db3b3b
3 changed files with 269 additions and 71 deletions
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30
tomcat_bec/devices/aerotech/test/autoHilTest.py
View File

@@ -38,7 +38,7 @@ from tomcat_bec.devices.aerotech.AerotechAutomation1Enums import (
os.environ["EPICS_CA_ADDR_LIST"] = "129.129.106.255" os.environ["EPICS_CA_ADDR_LIST"] = "129.129.106.255"
AA1_IOC_NAME = "X02DA-ES1-SMP1" AA1_IOC_NAME = "X02DA-ES1-SMP1"
AA1_AXIS_NAME = "ROTY" AA1_AXIS_NAME = "ROTY"
MOTOR_TOL = 1.0
class AerotechMotor(EpicsMotor): class AerotechMotor(EpicsMotor):
""" EpicsMotor extension with additional PVs""" """ EpicsMotor extension with additional PVs"""
@@ -56,6 +56,9 @@ class AerotechAutomation1Test(unittest.TestCase):
# HIL testing only if there's hardware # HIL testing only if there's hardware
dev = aa1Controller(AA1_IOC_NAME + ":CTRL:", name="aa1") dev = aa1Controller(AA1_IOC_NAME + ":CTRL:", name="aa1")
dev.wait_for_connection() dev.wait_for_connection()
mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_AXIS_NAME, name="mot")
mot.wait_for_connection()
mot.motor_enable.set(1, settle_time=0.1).wait()
cls._isConnected = True cls._isConnected = True
def test_01_ControllerProxy(self): def test_01_ControllerProxy(self):
@@ -294,7 +297,7 @@ class AerotechAutomation1Test(unittest.TestCase):
print(f"Absolute move to {target}, distance: {dist}") print(f"Absolute move to {target}, distance: {dist}")
mot.move(target, wait=True) mot.move(target, wait=True)
self.assertTrue( self.assertTrue(
np.abs(target - mot.position) < 0.1, np.abs(target - mot.position) < MOTOR_TOL,
f"Final position {mot.position} is too far from target {target}", f"Final position {mot.position} is too far from target {target}",
) )
@@ -797,7 +800,7 @@ class AerotechAutomation1Test(unittest.TestCase):
for ii in range(len(positions)): for ii in range(len(positions)):
mot.move(positions[ii]) mot.move(positions[ii])
self.assertTrue( self.assertTrue(
np.abs(mot.position - positions[ii]) < 1.0, np.abs(mot.position - positions[ii]) < MOTOR_TOL,
f"Expected to reach {positions[ii]}, now is at {mot.position} on step {ii}", f"Expected to reach {positions[ii]}, now is at {mot.position} on step {ii}",
) )
pso.trigger() pso.trigger()
@@ -894,12 +897,12 @@ class AerotechAutomation1Test(unittest.TestCase):
if scan_type in ["Pos", "Neg"]: if scan_type in ["Pos", "Neg"]:
mot.move(pos_end) mot.move(pos_end)
self.assertTrue( self.assertTrue(
np.abs(mot.position - pos_end) < 1.0, np.abs(mot.position - pos_end) < MOTOR_TOL,
f"Expected to reach {pos_end}, now is at {mot.position} on iteration {ii}", f"Expected to reach {pos_end}, now is at {mot.position} on iteration {ii}",
) )
mot.move(pos_start) mot.move(pos_start)
self.assertTrue( self.assertTrue(
np.abs(mot.position - pos_start) < 1.0, np.abs(mot.position - pos_start) < MOTOR_TOL,
f"Expected to rewind to {pos_start}, now at {mot.position} on iteration {ii}", f"Expected to rewind to {pos_start}, now at {mot.position} on iteration {ii}",
) )
@@ -907,13 +910,13 @@ class AerotechAutomation1Test(unittest.TestCase):
if ii % 2 == 0: if ii % 2 == 0:
mot.move(pos_end, wait=True) mot.move(pos_end, wait=True)
self.assertTrue( self.assertTrue(
np.abs(mot.position - pos_end) < 1.0, np.abs(mot.position - pos_end) < MOTOR_TOL,
f"Expected to reach {pos_end}, now at {mot.position} on iteration {ii}", f"Expected to reach {pos_end}, now at {mot.position} on iteration {ii}",
) )
else: else:
mot.move(pos_start, wait=True) mot.move(pos_start, wait=True)
self.assertTrue( self.assertTrue(
np.abs(mot.position - pos_start) < 1.0, np.abs(mot.position - pos_start) < MOTOR_TOL,
f"Expected to reach {pos_start}, now at {mot.position} on iteration {ii}", f"Expected to reach {pos_start}, now at {mot.position} on iteration {ii}",
) )
@@ -955,14 +958,19 @@ class AerotechAutomation1Test(unittest.TestCase):
"startpos": 42, "startpos": 42,
"scanrange": 180, "scanrange": 180,
"nrepeat": 13, "nrepeat": 13,
"scandir": "NegPos", "scandir": "NEGPOS",
"npoints": 1300,
"scanvel": 150, "scanvel": 150,
"scanacc": 500, "scanacc": 500,
"accdist": 0.5*150*150/500,
"psotrigger": "PsoEvent",
"psoBoundsPos": [0.5*150*150/500, 180],
"psoBoundsNeg": [0.5*150*150/500, 180]
} }
tm = jinja2.Template(templatetext) tm = jinja2.Template(templatetext)
text = tm.render(scan=scanconfig) text = tm.render(scan=scanconfig)
# with open("test/tcatSequenceScan.ascript", "w") as text_file: with open("./tcatSequenceScanRBV.ascript", "w") as text_file:
# text_file.write(text) text_file.write(text)
# Throws if IOC is not available or PVs are incorrect # Throws if IOC is not available or PVs are incorrect
tsk = aa1Tasks(AA1_IOC_NAME + ":TASK:", name="tsk") tsk = aa1Tasks(AA1_IOC_NAME + ":TASK:", name="tsk")
@@ -987,7 +995,7 @@ class AerotechAutomation1Test(unittest.TestCase):
time.sleep(1.0) time.sleep(1.0)
npoints_rbv = ddc.nsamples_rbv.value npoints_rbv = ddc.nsamples_rbv.value
self.assertEqual( self.assertEqual(
npoints_rbv, 13, f"Expected to record 13 DDC points, got: {npoints_rbv} after script" npoints_rbv, 26, f"Expected to record 13 DDC points, got: {npoints_rbv} after script"
) )

144
tomcat_bec/devices/aerotech/test/testSequenceScanTemplate.ascript
View File

@@ -1,13 +1,18 @@
// Test program for zig-zag line scanning with PSO window output "enable" // Test program for simple zig-zag line scanning with PSO window output
// signal and DDC synchronized to external trigger input. // "enable" signal and DDC synchronized to external trigger input.
// The file expects external parameter validation // The file expects external parameter validation
// The PSO locations arrays are set externally from EPICS PV // The PSO locations arrays are set externally from EPICS PV
//
#define DDC_ADDR 0x800000
#define PSO_ADDR 0x0
enum ScanType enum ScanType
Pos = 0 POS = 0
Neg = 1 NEG = 1
PosNeg = 2 POSNEG = 2
NegPos = 3 NEGPOS = 3
end end
@@ -15,74 +20,98 @@ program
////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////
// External parameters - USE THEESE // External parameters - USE THEESE
var $fStartPosition as real = {{ scan.startpos }} var $fStartPosition as real = {{ scan.startpos }}
var $fScanRange as real = $fStartPosition + {{ scan.scanrange }} var $fScanRange as real = {{ scan.scanrange }}
var $iNumRepeat as integer = {{ scan.nrepeat }} var $iNumRepeat as integer = {{ scan.nrepeat }}
var $eScanType as ScanType = ScanType.{{ scan.scandir or 'Pos' }} var $eScanType as ScanType = ScanType.{{ scan.scandir or 'POS' }}
var $iNumDdcRead as integer = {{ scan.npoints }}
var $fVelJog as real = {{ scan.jogvel or 200 }} var $fVelJog as real = {{ scan.jogvel or 200 }}
var $fVelScan as real = {{ scan.scanvel }} var $fVelScan as real = {{ scan.scanvel }}
var $fAcceleration = {{ scan.scanacc or 500 }} var $fAcceleration = {{ scan.scanacc }}
var $fSafeDist = 10.0 var $fAccDistance as real = {{ scan.accdist }}
var $eDdcTrigger as DriveDataCaptureTrigger = DriveDataCaptureTrigger.{{ scan.psotrigger }}
////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////
// Internal parameters - dont use // Internal parameters - dont use
var $axis as axis = ROTY var $axis as axis = ROTY
var $ii as integer var $ii as integer
var $axisFaults as integer = 0
var $iDdcSafeSpace as integer = 4096 var $iDdcSafeSpace as integer = 4096
// Set acceleration // Set acceleration
SetupAxisRampType($axis, RampType.Linear) SetupAxisRampType($axis, RampType.Linear)
SetupAxisRampValue($axis,0,$fAcceleration) SetupAxisRampValue($axis, 0, $fAcceleration)
var $fAccDistance as real = 0.5 * $fVelScan * $fVelScan / $fAcceleration + $fSafeDist
// set the actual scan range // set the actual scan range
var $fPosStart as real var $fPosStart as real
var $fPosEnd as real var $fPosEnd as real
if $eScanType == ScanType.Pos if $eScanType == ScanType.POS
$fPosStart = $fStartPosition - $fAccDistance $fPosStart = $fStartPosition - $fAccDistance
$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance $fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
elseif $eScanType == ScanType.Neg elseif $eScanType == ScanType.NEG
$fPosStart = $fStartPosition + $fAccDistance $fPosStart = $fStartPosition + $fAccDistance
$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance $fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
elseif $eScanType == ScanType.PosNeg elseif $eScanType == ScanType.POSNEG
$fPosStart = $fStartPosition - $fAccDistance $fPosStart = $fStartPosition - $fAccDistance
$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance $fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
elseif $eScanType == ScanType.NegPos elseif $eScanType == ScanType.NEGPOS
$fPosStart = $fStartPosition + $fAccDistance $fPosStart = $fStartPosition + $fAccDistance
$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance $fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
end end
// Move to start position before the scan // Move to start position before the scan
// NOTE: Also wait for GigaFrost to start, otherwise early triggers might be missed
MoveAbsolute($axis, $fPosStart, $fVelJog) MoveAbsolute($axis, $fPosStart, $fVelJog)
WaitForInPosition($axis) WaitForInPosition($axis)
Dwell(2)
// Set globals for feedback
$rglobal[2] = $fPosStart
$rglobal[3] = $fPosEnd
// Configure PSO // Configure PSO
// FIXME : When the controller is restarted
PsoDistanceConfigureInputs($axis, [PsoDistanceInput.XC4PrimaryFeedback])
PsoDistanceCounterOff($axis) PsoDistanceCounterOff($axis)
PsoDistanceEventsOff($axis) PsoDistanceEventsOff($axis)
PsoWindowConfigureEvents($axis, PsoWindowEventMode.None) PsoWindowConfigureEvents($axis, PsoWindowEventMode.None)
PsoWaveformOff($axis) PsoWaveformOff($axis)
PsoOutputConfigureSource($axis, PsoOutputSource.Waveform) // Simple PSO trigger pattern
var $iPsoArrayAddr as integer = 0 var $iPsoArrayPosAddr as integer = PSO_ADDR
var $iPsoArray[] as real = [UnitsToCounts($axis, $fAccDistance), UnitsToCounts($axis, $fScanRange)] var $iPsoArrayPos[] as real = [{% for psoDist in scan.psoBoundsPos[:-1] %} UnitsToCounts($axis, {{ psoDist }}), {% endfor %} UnitsToCounts($axis, {{ scan.psoBoundsPos[-1] }}) ]
DriveArrayWrite($axis, $iPsoArray, $iPsoArrayAddr, length($iPsoArray), DriveArrayType.PsoDistanceEventDistances) DriveArrayWrite($axis, $iPsoArrayPos, $iPsoArrayPosAddr, length($iPsoArrayPos), DriveArrayType.PsoDistanceEventDistances)
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayAddr, 2, 0)
{% if scan.psoBoundsNeg|length > 0 %}
var $iPsoArrayNegAddr as integer = ($iPsoArrayPosAddr + length($iPsoArrayPos)) * 4
var $iPsoArrayNeg[] as real = [{% for psoDist in scan.psoBoundsNeg[:-1] %} UnitsToCounts($axis, {{ psoDist }}), {% endfor %} UnitsToCounts($axis, {{ scan.psoBoundsNeg[-1] }}) ]
DriveArrayWrite($axis, $iPsoArrayNeg, $iPsoArrayNegAddr, length($iPsoArrayNeg), DriveArrayType.PsoDistanceEventDistances)
{% else %}
var $iPsoArrayNegAddr as integer = ($iPsoArrayPosAddr + length($iPsoArrayPos)) * 4
var $iPsoArrayNegSize as integer = 0
var $iPsoArrayNeg[] as real = []
// DriveArrayWrite($axis, $iPsoArrayNeg, $iPsoArrayNegAddr, length($iPsoArrayNeg), DriveArrayType.PsoDistanceEventDistances)
{% endif %}
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
PsoDistanceCounterOn($axis)
PsoDistanceEventsOn($axis) PsoDistanceEventsOn($axis)
PsoWaveformConfigureMode($axis, PsoWaveformMode.Toggle) PsoWaveformConfigureMode($axis, PsoWaveformMode.Toggle)
PsoWaveformOn($axis) PsoWaveformOn($axis)
PsoOutputConfigureSource($axis, PsoOutputSource.Waveform)
// Configure Drive Data Collection // Configure Drive Data Collection
var $iDdcArrayAddr as integer = 8388608 var $iDdcArraySize as integer = $iNumDdcRead
var $iDdcArraySize as integer = 5000
DriveDataCaptureConfigureInput($axis, 0, DriveDataCaptureInput.PrimaryFeedback); DriveDataCaptureConfigureInput($axis, 0, DriveDataCaptureInput.PrimaryFeedback);
DriveDataCaptureConfigureInput($axis, 1, DriveDataCaptureInput.AnalogInput0 ); DriveDataCaptureConfigureInput($axis, 1, DriveDataCaptureInput.AnalogInput0 );
DriveDataCaptureConfigureTrigger($axis, 0, DriveDataCaptureTrigger.PsoOutput ); DriveDataCaptureConfigureTrigger($axis, 0, $eDdcTrigger );
DriveDataCaptureConfigureTrigger($axis, 1, DriveDataCaptureTrigger.PsoOutput ); DriveDataCaptureConfigureTrigger($axis, 1, $eDdcTrigger );
DriveDataCaptureConfigureArray($axis, 0, $iDdcArrayAddr, $iDdcArraySize); DriveDataCaptureConfigureArray($axis, 0, DDC_ADDR, $iDdcArraySize);
DriveDataCaptureConfigureArray($axis, 1, $iDdcArrayAddr + $iDdcSafeSpace + 8 * $iDdcArraySize, $iDdcArraySize); DriveDataCaptureConfigureArray($axis, 1, DDC_ADDR + $iDdcSafeSpace + 8 * $iDdcArraySize, $iDdcArraySize);
// Directly before scan // Directly before scan
PsoDistanceCounterOn($axis) PsoDistanceCounterOn($axis)
@@ -92,41 +121,44 @@ program
/////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////
// Start the actual scanning // Start the actual scanning
/////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////
for $ii = 0 to ($iNumRepeat-1)
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayAddr, 2, 0)
if $eScanType == ScanType.Pos if $eScanType == ScanType.POS || $eScanType == ScanType.NEG
MoveAbsolute($axis, $fPosEnd, $fVelScan) PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
WaitForInPosition($axis) MoveAbsolute($axis, $fPosEnd, $fVelScan)
MoveAbsolute($axis, $fPosStart, $fVelScan) WaitForMotionDone($axis)
WaitForInPosition($axis)
elseif $eScanType == ScanType.Neg $axisFaults = StatusGetAxisItem($axis, AxisDataSignal.AxisFault)
MoveAbsolute($axis, $fPosEnd, $fVelScan) if $axisFaults
WaitForInPosition($axis) TaskSetError(TaskGetIndex(), "AxisFault on axis ROTY")
MoveAbsolute($axis, $fPosStart, $fVelScan) end
WaitForInPosition($axis) elseif $eScanType == ScanType.POSNEG || $eScanType == ScanType.NEGPOS
elseif $eScanType == ScanType.PosNeg for $ii = 0 to ($iNumRepeat-1)
if ($ii % 2) == 0 // Feedback on progress
MoveAbsolute($axis, $fPosEnd, $fVelScan) $rglobal[4] = $ii
WaitForInPosition($axis) if ($ii % 2) == 0
elseif ($ii % 2) == 1 PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
MoveAbsolute($axis, $fPosStart, $fVelScan) MoveAbsolute($axis, $fPosEnd, $fVelScan)
WaitForInPosition($axis) elseif ($ii % 2) == 1
end PsoDistanceConfigureArrayDistances($axis, $iPsoArrayNegAddr, length($iPsoArrayNeg), 0)
elseif $eScanType == ScanType.NegPos MoveAbsolute($axis, $fPosStart, $fVelScan)
if ($ii % 2) == 0 end
MoveAbsolute($axis, $fPosEnd, $fVelScan) WaitForMotionDone($axis)
WaitForInPosition($axis)
elseif ($ii % 2) == 1 $axisFaults = StatusGetAxisItem($axis, AxisDataSignal.AxisFault)
MoveAbsolute($axis, $fPosStart, $fVelScan) if $axisFaults
WaitForInPosition($axis) TaskSetError(TaskGetIndex(), "AxisFault on axis ROTY")
end end
Dwell(0.2)
end end
Dwell(0.2)
end end
// Directly after scan // Directly after scan
PsoDistanceCounterOff($axis) PsoDistanceCounterOff($axis)
DriveDataCaptureOff($axis, 0) DriveDataCaptureOff($axis, 0)
DriveDataCaptureOff($axis, 1) DriveDataCaptureOff($axis, 1)
// move back to start position
MoveAbsolute($axis, $fPosStart, $fVelJog)
WaitForInPosition($axis)
Dwell(2)
end end

158
tomcat_bec/tcatSequenceScanRBV.ascript Normal file
View File

@@ -0,0 +1,158 @@
// Test program for simple zig-zag line scanning with PSO window output
// "enable" signal and DDC synchronized to external trigger input.
// The file expects external parameter validation
// The PSO locations arrays are set externally from EPICS PV
//
#define DDC_ADDR 0x800000
#define PSO_ADDR 0x0
enum ScanType
POS = 0
NEG = 1
POSNEG = 2
NEGPOS = 3
end
program
//////////////////////////////////////////////////////////////////////////
// External parameters - USE THEESE
var $fStartPosition as real = 42
var $fScanRange as real = 180
var $iNumRepeat as integer = 13
var $eScanType as ScanType = ScanType.NEGPOS
var $iNumDdcRead as integer = 1300
var $fVelJog as real = 200
var $fVelScan as real = 150
var $fAcceleration = 500
var $fAccDistance as real = 22.5
var $eDdcTrigger as DriveDataCaptureTrigger = DriveDataCaptureTrigger.PsoEvent
//////////////////////////////////////////////////////////////////////////
// Internal parameters - dont use
var $axis as axis = ROTY
var $ii as integer
var $axisFaults as integer = 0
var $iDdcSafeSpace as integer = 4096
// Set acceleration
SetupAxisRampType($axis, RampType.Linear)
SetupAxisRampValue($axis, 0, $fAcceleration)
// set the actual scan range
var $fPosStart as real
var $fPosEnd as real
if $eScanType == ScanType.POS
$fPosStart = $fStartPosition - $fAccDistance
$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
elseif $eScanType == ScanType.NEG
$fPosStart = $fStartPosition + $fAccDistance
$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
elseif $eScanType == ScanType.POSNEG
$fPosStart = $fStartPosition - $fAccDistance
$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
elseif $eScanType == ScanType.NEGPOS
$fPosStart = $fStartPosition + $fAccDistance
$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
end
// Move to start position before the scan
// NOTE: Also wait for GigaFrost to start, otherwise early triggers might be missed
MoveAbsolute($axis, $fPosStart, $fVelJog)
WaitForInPosition($axis)
Dwell(2)
// Set globals for feedback
$rglobal[2] = $fPosStart
$rglobal[3] = $fPosEnd
// Configure PSO
// FIXME : When the controller is restarted
PsoDistanceConfigureInputs($axis, [PsoDistanceInput.XC4PrimaryFeedback])
PsoDistanceCounterOff($axis)
PsoDistanceEventsOff($axis)
PsoWindowConfigureEvents($axis, PsoWindowEventMode.None)
PsoWaveformOff($axis)
// Simple PSO trigger pattern
var $iPsoArrayPosAddr as integer = PSO_ADDR
var $iPsoArrayPos[] as real = [ UnitsToCounts($axis, 22.5), UnitsToCounts($axis, 180) ]
DriveArrayWrite($axis, $iPsoArrayPos, $iPsoArrayPosAddr, length($iPsoArrayPos), DriveArrayType.PsoDistanceEventDistances)
var $iPsoArrayNegAddr as integer = ($iPsoArrayPosAddr + length($iPsoArrayPos)) * 4
var $iPsoArrayNeg[] as real = [ UnitsToCounts($axis, 22.5), UnitsToCounts($axis, 180) ]
DriveArrayWrite($axis, $iPsoArrayNeg, $iPsoArrayNegAddr, length($iPsoArrayNeg), DriveArrayType.PsoDistanceEventDistances)
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
PsoDistanceCounterOn($axis)
PsoDistanceEventsOn($axis)
PsoWaveformConfigureMode($axis, PsoWaveformMode.Toggle)
PsoWaveformOn($axis)
PsoOutputConfigureSource($axis, PsoOutputSource.Waveform)
// Configure Drive Data Collection
var $iDdcArraySize as integer = $iNumDdcRead
DriveDataCaptureConfigureInput($axis, 0, DriveDataCaptureInput.PrimaryFeedback);
DriveDataCaptureConfigureInput($axis, 1, DriveDataCaptureInput.AnalogInput0 );
DriveDataCaptureConfigureTrigger($axis, 0, $eDdcTrigger );
DriveDataCaptureConfigureTrigger($axis, 1, $eDdcTrigger );
DriveDataCaptureConfigureArray($axis, 0, DDC_ADDR, $iDdcArraySize);
DriveDataCaptureConfigureArray($axis, 1, DDC_ADDR + $iDdcSafeSpace + 8 * $iDdcArraySize, $iDdcArraySize);
// Directly before scan
PsoDistanceCounterOn($axis)
DriveDataCaptureOn($axis, 0)
DriveDataCaptureOn($axis, 1)
///////////////////////////////////////////////////////////
// Start the actual scanning
///////////////////////////////////////////////////////////
if $eScanType == ScanType.POS || $eScanType == ScanType.NEG
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
MoveAbsolute($axis, $fPosEnd, $fVelScan)
WaitForMotionDone($axis)
$axisFaults = StatusGetAxisItem($axis, AxisDataSignal.AxisFault)
if $axisFaults
TaskSetError(TaskGetIndex(), "AxisFault on axis ROTY")
end
elseif $eScanType == ScanType.POSNEG || $eScanType == ScanType.NEGPOS
for $ii = 0 to ($iNumRepeat-1)
// Feedback on progress
$rglobal[4] = $ii
if ($ii % 2) == 0
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
MoveAbsolute($axis, $fPosEnd, $fVelScan)
elseif ($ii % 2) == 1
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayNegAddr, length($iPsoArrayNeg), 0)
MoveAbsolute($axis, $fPosStart, $fVelScan)
end
WaitForMotionDone($axis)
$axisFaults = StatusGetAxisItem($axis, AxisDataSignal.AxisFault)
if $axisFaults
TaskSetError(TaskGetIndex(), "AxisFault on axis ROTY")
end
Dwell(0.2)
end
end
// Directly after scan
PsoDistanceCounterOff($axis)
DriveDataCaptureOff($axis, 0)
DriveDataCaptureOff($axis, 1)
// move back to start position
MoveAbsolute($axis, $fPosStart, $fVelJog)
WaitForInPosition($axis)
Dwell(2)
end