added:

- tests for collimator production (still to be improved but it already connects to device) - tests for NCS in production (still to create real devices)
2015-08-04 17:03:00 +02:00
parent c3e0211a1d
commit bed1ea5be9
22 changed files with 1128 additions and 0 deletions
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,12 @@
+name=Calibrate
+description=Calibrates the device
+filename=Calibrate.xml
+help = \
+This test sends a command to the low level firmware which controls the collimators \n\
+requesting that it calibrates itself. \n\n\
+<b>Calibration</b> involves moving to the R1 and R2 reference positions and measuring the \n\
+number of steps required to do so. At the end of the sequence the default collimator \n\
+will be selected. \n\n\
+During the course of the expected calibration period (45-70 seconds) the test \n\
+procedure will plot the values of all critical system variables. \n\n\
+For further information please consult Valery Ovinnikov.<br/>\
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,79 @@
+#Script imported from: Calibrate.xml
+
+ret = 'Calibration failed'
+status = False
+
+try:
+    #Pre-actions: 1 = calibrate
+    caput(DEVICE+':COM:2', 1)
+    #Creating channels: dimension 1
+    #PseudoPositioner id000000
+    #ScalarDetector id000001
+    id000001 = Channel(DEVICE+':STA:1', type = 'd')
+    #ScalarDetector id000003
+    id000003 = Channel(DEVICE+':IST:2', type = 'd')
+    #ScalarDetector id000004
+    id000004 = Channel(DEVICE+':DIAM:2', type = 'd')
+    #ScalarDetector id000005
+    id000005 = Channel(DEVICE+':IST1:1', type = 'd')
+    #ScalarDetector id000006
+    id000006 = Channel(DEVICE+':IST1:2', type = 'd')
+    #ScalarDetector id000007
+    id000007 = Channel(DEVICE+':IST2:1', type = 'd')
+    #ScalarDetector id000008
+    id000008 = Channel(DEVICE+':IST2:2', type = 'd')
+    #ScalarDetector id000009
+    id000009 = Channel(DEVICE+':IST3:1', type = 'd')
+    #ScalarDetector id000010
+    id000010 = Channel(DEVICE+':IST3:2', type = 'd')
+except:
+	print "Unexpected error:", sys.exc_info()[0]
+	ret = 'Unable to create channel - ' + traceback.format_exc()
+	success = False
+	raise Exception('Unable to create channel - ' + traceback.format_exc())  
+	sys.exit()
+
+#TODO: Set the diplay names of positioners and detectors
+scan = ManualScan(['id000000'], ['id000001', 'id000003', 'id000004', 'id000005', 'id000006', 'id000007', 'id000008', 'id000009', 'id000010'] , [0.0], [900.0], [900])
+scan.start()
+    
+#Dimension 1
+#PseudoPositioner id000000
+for setpoint1 in range(0, 900):
+    readback1 = setpoint1
+    sleep( 0.1 ) # Settling time
+    #Detector id000001
+    detector1 = id000001.get()
+    #Detector id000003
+    detector2 = id000003.get()
+    #Detector id000004
+    detector3 = id000004.get()
+    #Detector id000005
+    detector4 = id000005.get()
+    #Detector id000006
+    detector5 = id000006.get()
+    #Detector id000007
+    detector6 = id000007.get()
+    #Detector id000008
+    detector7 = id000008.get()
+    #Detector id000009
+    detector8 = id000009.get()
+    #Detector id000010
+    detector9 = id000010.get()
+    scan.append ([setpoint1], [readback1], [detector1, detector2, detector3, detector4, detector5, detector6, detector7, detector8, detector9])
+
+#Closing channels
+id000001.close()
+id000003.close()
+id000004.close()
+id000005.close()
+id000006.close()
+id000007.close()
+id000008.close()
+id000009.close()
+id000010.close()
+
+scan.end()
+
+ret = 'Calibration done'
+status = True
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<configuration xmlns="http://www.psi.ch/~ebner/models/scan/1.0">
+    <data fileName="Calibrate.fda"/>
+    <scan>
+    
+        <!-- Send Calibrate Command -->
+        <preAction xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ChannelAction" channel="{DEVICE}:COM:2" value="CALLIBR"/>
+ 
+        <dimension>
+            <positioner xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="PseudoPositioner" settlingTime="0.1" id="id000000">
+                <counts>900</counts>
+            </positioner>
+            
+             <!-- Motor Drive Status -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:STA:1"  id="id000001"/>
+             
+	    <!-- Logical Status -->
+            <!-- <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:STA:2" id="id00001B"/> -->
+	    
+            <!-- Interlock Status -->
+            <!-- <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IIST:2" id="id000002"/> -->
+
+            <!-- Logical Position -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST:2" id="id000003"/>
+
+            <!-- Collimator Diameter -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:DIAM:2" id="id000004"/>
+              
+            <!-- Position Counter: Raw -->
+	    <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST1:1" id="id000005"/>
+	    
+            <!-- Position Counter: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST1:2" id="id000006"/>
+            
+            <!-- Potentiometer: Raw -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST2:1" id="id000007"/>
+            
+            <!-- Potentiometer: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST2:2" id="id000008"/>
+            
+            <!-- BTVS Digitiser: Raw -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST3:1" id="id000009"/>
+
+            <!-- BTVS Digitiser: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST3:2" id="id000010"/>
+            
+            
+        </dimension>
+        
+    </scan>
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000001" title="Drive Status: {DEVICE}:STA:1"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000002" title="ILK Status: {DEVICE}:IIST:2"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000003" title="Logical Pos: {DEVICE}:IST:2"/> 
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000004" title="Diameter: {DEVICE}:DIAM:2 (mm)"/> 
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000005" title="Cpc: {DEVICE}:IST1:1 (mm)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000006" title="Cpc: {DEVICE}:IST1:2 (mm)"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000007" title="Pot: {DEVICE}:IST2:1 (mm)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000008" title="Pot: {DEVICE}:IST2:2 (mm)"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000009" title="Btvs: {DEVICE}:IST3:1 (ADC raw)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000010" title="Btvs: {DEVICE}:IST3:2 (mm)"/>
+</configuration>
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,3 @@
+name=Drive Out
+description=Drives the Collimator to the Out Position
+filename=Drive Out.xml
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,82 @@
+#Script imported from: Drive Out.xml
+import traceback
+
+#by default, failed
+ret = 'Test failed'
+status = False
+
+try:
+    #Pre-actions: 2 = drive out
+    caput(DEVICE+':COM:2', 2)
+    #Creating channels: dimension 1
+    #PseudoPositioner id000000
+    #ScalarDetector id000001
+    id000001 = Channel(DEVICE+':STA:1', type = 'd')
+    #ScalarDetector id000003
+    id000003 = Channel(DEVICE+':IST:2', type = 'd')
+    #ScalarDetector id000004
+    id000004 = Channel(DEVICE+':DIAM:2', type = 'd')
+    #ScalarDetector id000005
+    id000005 = Channel(DEVICE+':IST1:1', type = 'd')
+    #ScalarDetector id000006
+    id000006 = Channel(DEVICE+':IST1:2', type = 'd')
+    #ScalarDetector id000007
+    id000007 = Channel(DEVICE+':IST2:1', type = 'd')
+    #ScalarDetector id000008
+    id000008 = Channel(DEVICE+':IST2:2', type = 'd')
+    #ScalarDetector id000009
+    id000009 = Channel(DEVICE+':IST3:1', type = 'd')
+    #ScalarDetector id000010
+    id000010 = Channel(DEVICE+':IST3:2', type = 'd')
+except:
+	print "Unexpected error:", sys.exc_info()[0]
+	ret = 'Unable to create channel - ' + traceback.format_exc()
+	success = False
+	raise Exception('Unable to create channel - ' + traceback.format_exc())  
+	sys.exit()
+
+#TODO: Set the diplay names of positioners and detectors
+scan = ManualScan(['id000000'], ['id000001', 'id000003', 'id000004', 'id000005', 'id000006', 'id000007', 'id000008', 'id000009', 'id000010'] , [0.0], [3000.0], [3000])
+scan.start()
+
+#Dimension 1
+#PseudoPositioner id000000
+for setpoint1 in range(0, 3000):
+    readback1 = setpoint1
+    sleep( 0.1 ) # Settling time
+    #Detector id000001
+    detector1 = id000001.get()
+    #Detector id000003
+    detector2 = id000003.get()
+    #Detector id000004
+    detector3 = id000004.get()
+    #Detector id000005
+    detector4 = id000005.get()
+    #Detector id000006
+    detector5 = id000006.get()
+    #Detector id000007
+    detector6 = id000007.get()
+    #Detector id000008
+    detector7 = id000008.get()
+    #Detector id000009
+    detector8 = id000009.get()
+    #Detector id000010
+    detector9 = id000010.get()
+    scan.append ([setpoint1], [readback1], [detector1, detector2, detector3, detector4, detector5, detector6, detector7, detector8, detector9])
+
+#Closing channels
+id000001.close()
+id000003.close()
+id000004.close()
+id000005.close()
+id000006.close()
+id000007.close()
+id000008.close()
+id000009.close()
+id000010.close()
+
+scan.end()
+
+#return ok
+ret = 'Slides moved out'
+status = True
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<configuration xmlns="http://www.psi.ch/~ebner/models/scan/1.0">
+    <data fileName="Drive Out.fda"/>
+    <scan>
+    
+        <!-- Send Drive Out Command -->
+        <preAction xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ChannelAction" channel="{DEVICE}:COM:2" value="FAHR_AUS"/>
+ 
+        <dimension>
+            <positioner xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="PseudoPositioner" settlingTime="0.1" id="id000000">
+                <counts>3000</counts>
+            </positioner>
+            
+            <!-- Motor Drive Status -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:STA:1"  id="id000001"/>
+             
+	    <!-- Logical Status -->
+            <!-- <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:STA:2" id="id00001B"/> -->
+	    
+            <!-- Interlock Status -->
+            <!-- <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IIST:2" id="id000002"/> -->
+
+            <!-- Logical Position -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST:2" id="id000003"/>
+
+            <!-- Collimator Diameter -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:DIAM:2" id="id000004"/>
+              
+            <!-- Position Counter: Raw -->
+	    <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST1:1" id="id000005"/>
+	    
+            <!-- Position Counter: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST1:2" id="id000006"/>
+            
+            <!-- Potentiometer: Raw -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST2:1" id="id000007"/>
+            
+            <!-- Potentiometer: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST2:2" id="id000008"/>
+            
+            <!-- BTVS Digitiser: Raw -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST3:1" id="id000009"/>
+
+            <!-- BTVS Digitiser: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST3:2" id="id000010"/>
+            
+            
+        </dimension>
+        
+    </scan>
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000001" title="Drive Status: {DEVICE}:STA:1"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000002" title="ILK Status: {DEVICE}:IIST:2"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000003" title="Logical Pos: {DEVICE}:IST:2"/> 
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000004" title="Diameter: {DEVICE}:DIAM:2 (mm)"/> 
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000005" title="Cpc: {DEVICE}:IST1:1 (mm)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000006" title="Cpc: {DEVICE}:IST1:2 (mm)"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000007" title="Pot: {DEVICE}:IST2:1 (mm)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000008" title="Pot: {DEVICE}:IST2:2 (mm)"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000009" title="Btvs: {DEVICE}:IST3:1 (ADC raw)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000010" title="Btvs: {DEVICE}:IST3:2 (mm)"/>
+</configuration>
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,7 @@
+name=Monitor Movement
+description=Go to absolute position A, then move +B steps, then -2B steps, then +2Bsteps (ie oscillate round centre position, logging after each movement); repeat N times 
+
+
+#optional parameters. Description is compulsory. Syntax:
+#parameters=<parameter1Name>:<parameter1Value>:<Parameter 1 description>[;<parameter2Name>:<parameter2Value>:<Parameter 2 description>]
+parameters=repeatTimes:1:Repeat N times;midPoint:41.0:Middle point A;spanFromMidPoint:2.0:B steps around middle point A
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,91 @@
+
+###### DO NOT MODIFY THE CODE BELOW ######
+def startTest(testName, DEVICE, params):
+    #get the path of this script
+    testPath = inspect.getfile(inspect.currentframe()) 
+    #by default, failed 
+    ret = 'Test failed'
+    status = False   
+    #plot name to be given to the scan. Use: scan.setPlotName(plotName)
+    plotName = DEVICE + ' - ' + testName    
+###### WRITE YOUR CODE HERE BELOW #######   
+    #get parameters from the calling interface
+    print_log(testName, DEVICE,  'testpath: ' + testPath )
+    print_log(testName, DEVICE, 'parameters:' + str( params) )
+    print_log(testName, DEVICE, 'device: ' + DEVICE )
+    scan = ManualScan(['time'], ['idMotorStep', 'idPotiPosition', 'idPotiRef1Position','idMotorStep-idPotiPosition'] , [0.0], [30.0], [20])
+    scan.setPlotName(plotName)
+    scan.start()
+
+    #Creating channels: dimension 1
+    try:
+        idCom = Channel(DEVICE+':COM:2', type = 'd') #current position as from motor step counter [mm]
+        idMotorStep = Channel(DEVICE+':IST3:2', type = 'd') #current position as from motor step counter [mm]
+        idPotiPosFromBeam = Channel(DEVICE+':IST1:2', type = 'd') #current position from beam as from potentiometer [mm]
+        idPotiPosition = Channel(DEVICE+':IST2:1', type = 'd') #current position as from potentiometer [mm]
+        idPotiRef1Position = Channel(DEVICE+':REF1:1', type = 'd') #R1 position as from potentiometer [mm]
+        idPotiRef2Position = Channel(DEVICE+':REF2:1', type = 'd') #R2 position as from potentiometer [mm]
+
+    except:
+        sendFeedback(testPath, testName, DEVICE, 'Unable to create channel - ' + traceback.format_exc(), False)
+        #raise Exception('Unable to create channel - ' + traceback.format_exc())   
+        return
+
+    monitorTime=40 #seconds
+    print_log(testName, DEVICE,  'Monitoring movement for ' + str(monitorTime) + 's')
+    #scan quickly the output during some seconds
+    detector4 = idPotiPosition.get()
+    detector6 = idPotiRef2Position.get()
+    timeElapsed=0
+    while timeElapsed<(monitorTime*10): 
+        #Detector time
+        detector1 = float(java.lang.System.currentTimeMillis())
+
+        detector2 = idMotorStep.get()
+        detector3 = idPotiPosFromBeam.get()
+        detector4 = idPotiPosition.get()
+        detector5 = idPotiRef1Position.get()
+        detector6 = idPotiRef2Position.get()
+        diff1 = detector2-detector4
+        scan.append ([detector1], [detector1], [detector2, detector4, detector5, diff1]) 
+        sleep( 0.1 ) # Settling time        
+        timeElapsed=timeElapsed+1
+        
+    #Closing channels
+    idCom.close()
+    idMotorStep.close()
+    idPotiPosFromBeam.close()
+    idPotiPosition.close()
+    idPotiRef1Position.close()
+    idPotiRef2Position.close()
+    print_log(testName, DEVICE,  'End of Monitoring')
+    ret = 'End of Monitoring'
+    status = True    
+########## END OF YOUR CODE ###########
+
+###### DO NOT MODIFY THE CODE BELOW ######        
+    sendFeedback(testPath, testName, DEVICE, ret, status)
+
+#prepare and send feedback to calling tool   
+def sendFeedback(testPath, testName, DEVICE, returnString, testPassed):
+    print_log(testName, DEVICE, 'End of test. Result:')
+    print_log(testName, DEVICE,  'Test path: ' + testPath)
+    print_log(testName, DEVICE,  'Test name: ' + testName    )
+    print_log(testName, DEVICE,  'Device: ' + DEVICE)
+    print_log(testName, DEVICE,  'Test passed: ' + str(testPassed))
+    print_log(testName, DEVICE,  'Return string: ' + returnString)
+    ret = [testPath, DEVICE, returnString, testPassed]
+    set_return(ret)
+    
+def print_log(testName, DEVICE, text):
+    time.ctime()
+    now = time.strftime('%Y.%m.%d %H:%M:%S') 
+    print now + ' ' + DEVICE + ' - ' + testName + ': ' + text
+       
+import sys, inspect, os, traceback
+#get test arguments
+DEVICE = device
+testName = test
+params = parameters
+#launch the test
+startTest(testName, DEVICE, params)
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,7 @@
+name=Motor Test 2 pro
+description=Go to absolute position A, then move +B steps, then -2B steps, then +2Bsteps (ie oscillate round centre position, logging after each movement); repeat N times 
+
+
+#optional parameters. Description is compulsory. Syntax:
+#parameters=<parameter1Name>:<parameter1Value>:<Parameter 1 description>[;<parameter2Name>:<parameter2Value>:<Parameter 2 description>]
+parameters=repeatTimes:1:Repeat N times;midPoint:41.0:Middle point A;spanFromMidPoint:2.0:B steps around middle point A
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,160 @@
+#Script Motor Test 2 for production system
+#Go to absolute position A, then move +B steps, then -2B steps, then +2Bsteps (ie oscillate round centre position, logging after each movement); repeat N times 
+import sys, inspect, os, traceback, time
+
+###### DO NOT MODIFY THE CODE BELOW ######
+def startTest(testName, DEVICE, params):
+    #get the path of this script
+    testPath = inspect.getfile(inspect.currentframe()) 
+    #by default, failed 
+    ret = 'Test failed'
+    status = False   
+    #plot name to be given to the scan. Use: scan.setPlotName(plotName)
+    plotName = DEVICE + ' - ' + testName    
+###### WRITE YOUR CODE HERE BELOW #######  
+
+    #get parameters from the calling interface
+    try:
+        print_log(testName, DEVICE, "Running test Motor Test 2 for device " + DEVICE + " with the following parameters:\n" + str(params))
+        middle = float(params["midPoint"]["value"])
+        loopTimes = int(params["repeatTimes"]["value"])
+        span = float(params["spanFromMidPoint"]["value"])
+    except:
+        ret = 'Could not retrieve testing parameters - ' + traceback.format_exc()
+        success = False
+        sendFeedback(testPath, testName, DEVICE, ret, status)
+        return
+
+    #scan = ManualScan(['idX', 'idInkr'], ['idMotorStatus', 'idLogicalPosition', 'idDiameter', 'idPotiPosFromBeam', 'idPotiRaw', 'idPotiProc', 'idBtvsRaw', 'idMotorStep', 'idDiff01', 'idDiff02'] , [-0.5, 0.0], [4.0, 3000.0], [3000, 20])
+    #scan = ManualScan(['idX'], ['idMotorStatus', 'idLogicalPosition', 'idDiameter', 'idPotiPosFromBeam', 'idPotiRaw', 'idPotiProc', 'idBtvsRaw', 'idMotorStep', 'idDiff01', 'idDiff02'] , [ 0.0], [ 3000.0], [20])
+    scan = ManualScan(['idX'], ['idInkr', 'idInkrRb', 'idMotorStep', 'idPotiPosFromBeam', 'idPotiPosition', 'idPotiRef1Position', 'idPotiRef2Position', 'idDiameter', 'idPotiPosition-idInkrRb', 'idPortPosition-idMotorStep'] , [ 0.0], [ 3000.0], [20])
+    scan.setPlotName(plotName)
+    scan.start()
+
+    #Creating channels: dimension 1
+    try:
+        idInkr = Channel(DEVICE+':INKR:2', type = 'd') #move relative distance (positive means towards R2) [mm]
+        idInkrRb = Channel(DEVICE+':INKRRB:2', type = 'd') #readback of move relative distance (positive means towards R2) [mm]
+        idMotorStep = Channel(DEVICE+':IST3:2', type = 'd') #current position as from motor step counter [mm]
+        idPotiPosFromBeam = Channel(DEVICE+':IST1:2', type = 'd') #current position from beam as from potentiometer [mm]
+        idPotiPosition = Channel(DEVICE+':IST2:1', type = 'd') #current position as from potentiometer [mm]
+        idPotiRef1Position = Channel(DEVICE+':REF1:1', type = 'd') #R1 position as from potentiometer [mm]
+        idPotiRef2Position = Channel(DEVICE+':REF2:1', type = 'd') #R2 position as from potentiometer [mm]
+        idDiameter = Channel(DEVICE+':DIAM:2', type = 'd') #collimator diameter [mm]
+    except:
+        ret = 'Unable to create channel - ' + traceback.format_exc()
+        success = False
+        sendFeedback(testPath, testName, DEVICE, ret, status)
+        return
+
+    direction = 1.0
+    startDefault = middle - span 
+    endDefault = middle + span
+    end = endDefault+1
+    #find position: it will be the middle point of the test
+    print_log(testName, DEVICE,  'Moving to middle point  ' + str(middle)  )
+    idInkr.put(middle, timeout=None) # TODO: Set appropriate timeout
+    readback2 = idInkr.get()
+    if abs(readback2 - middle) > 5 : # TODO: Check accuracy
+        ret = 'Actor idInkr could not be set to the value ' + str(middle) + ' (current value: ' + str(readback2) + ')'
+        success = False
+        sendFeedback(testPath, testName, DEVICE, ret, status)
+        return    
+    start = readback2+direction
+    countSteps = 0
+    count = 0
+    print_log(testName, DEVICE,  'Moving around middle point (+-' + str(span) + ')' )
+    for setpoint1 in range(0, loopTimes*2):
+        count = count + 1
+        sleep( 5 ) # Settling time
+        #RegionPositioner idInkr
+        for setpoint2 in frange(start, end, direction):
+            readback1 = setpoint1
+            idInkr.put(setpoint2, timeout=None) # TODO: Set appropriate timeout
+            sleep( 0.2 ) # Settling time
+            readback2 = idInkr.get()
+            if abs(readback2 - setpoint2) > 1 : # TODO: Check accuracy
+                ret = 'Actor idInkr could not be set to the value ' + str(setpoint2) + ' (current value: ' + str(readback2) + ')'
+                success = False
+                sendFeedback(testPath, testName, DEVICE, ret, status)
+                return
+            #Detector idMotorStatus
+            detector1 = idInkrRb.get()
+            #Detector idLogicalPosition
+            detector2 = idMotorStep.get()
+            #Detector idDiameter
+            detector3 = idPotiPosFromBeam.get()
+            #Detector idPotiPosFromBeam
+            detector4 = idPotiPosition.get()
+            #Detector idPotiRaw
+            detector5 = idPotiRef1Position.get()
+            #Detector idPotiProc
+            detector6 = idPotiRef2Position.get()
+            #Detector idBtvsRaw
+            detector7 = idDiameter.get()
+            #Manipulation idDiff02    
+            #Variable Mappings
+            idDiff02 = detector4-detector2
+            #Manipulation idDiff01
+            #Variable Mappings
+            idDiff01 = detector4-detector1
+            countSteps = countSteps + 1
+            scan.append ([countSteps], [countSteps], [detector1, detector2, detector3, detector4, detector5, detector6, detector7, detector8, idDiff02, idDiff01])
+            if (direction > 0.0 and setpoint2 >= end -1):
+                #invert direction and swap start with end of translation
+                end = startDefault-1
+                start = setpoint2 - direction
+                direction = -1.0
+                print_log(testName, DEVICE,  'End of span (' + str(setpoint2) + '), changing direction to ' + str(direction) )
+                break
+            if ( direction < 0.0 and setpoint2 <= end +1):
+                #invert direction and swap start with end of translation
+                end = endDefault+1
+                start = setpoint2 - direction
+                direction = 1.0
+                print_log(testName, DEVICE,  'End of span (' + str(setpoint2) + '), changing direction to ' + str(direction) )
+                break
+
+
+    #Closing channels
+    idInkr.close()
+    idInkrRb.close()
+    idMotorStep.close()
+    idPotiPosFromBeam.close()
+    idPotiPosition.close()
+    idPotiRef1Position.close()
+    idPotiRef2Position.close()
+    idDiameter.close()
+            
+    scan.end()
+    ret = 'Slide moved back and forth (' + str(count) + ' runs)'
+    status = True
+
+########## END OF YOUR CODE ###########
+
+###### DO NOT MODIFY THE CODE BELOW ######        
+    sendFeedback(testPath, testName, DEVICE, ret, status)
+
+#prepare and send feedback to calling tool   
+def sendFeedback(testPath, testName, DEVICE, returnString, testPassed):
+    print_log(testName, DEVICE, 'End of test. Result:')
+    print_log(testName, DEVICE,  'Test path: ' + testPath)
+    print_log(testName, DEVICE,  'Test name: ' + testName)
+    print_log(testName, DEVICE,  'Device: ' + DEVICE)
+    print_log(testName, DEVICE,  'Test passed: ' + str(testPassed))
+    print_log(testName, DEVICE,  'Return string: ' + returnString)
+    ret = [testPath, DEVICE, returnString, testPassed]
+    set_return(ret)
+ 
+def print_log(testName, DEVICE, text):
+    time.ctime()
+    now = time.strftime('%Y.%m.%d %H:%M:%S') 
+    print now + ' ' + DEVICE + ' - ' + testName + ': ' + text
+    
+
+#get test arguments
+DEVICE = device
+testName = test
+params = parameters
+#launch the test
+startTest(testName, DEVICE, params)
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,3 @@
+name=Move Ref 1
+description=Moves to the Reference 1 Position
+filename=Move Ref 1.xml
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,90 @@
+
+###### DO NOT MODIFY THE CODE BELOW ######
+def startTest(testName, DEVICE, params):
+    #get the path of this script
+    testPath = inspect.getfile(inspect.currentframe()) 
+    #by default, failed 
+    ret = 'Test failed'
+    status = False   
+    #plot name to be given to the scan. Use: scan.setPlotName(plotName)
+    plotName = DEVICE + ' - ' + testName    
+###### WRITE YOUR CODE HERE BELOW #######   
+    #get parameters from the calling interface
+    print_log(testName, DEVICE,  'testpath: ' + testPath )
+    print_log(testName, DEVICE, 'parameters:' + str( params) )
+    print_log(testName, DEVICE, 'device: ' + DEVICE )
+    scan = ManualScan(['time'], ['idMotorStep', 'idPotiPosition', 'idPotiRef1Position','idMotorStep-idPotiPosition'] , [0.0], [30.0], [20])
+    scan.setPlotName(plotName)
+    scan.start()
+
+    #Creating channels: dimension 1
+    try:
+        idCom = Channel(DEVICE+':COM:2', type = 'd') #current position as from motor step counter [mm]
+        idMotorStep = Channel(DEVICE+':IST3:2', type = 'd') #current position as from motor step counter [mm]
+        idPotiPosFromBeam = Channel(DEVICE+':IST1:2', type = 'd') #current position from beam as from potentiometer [mm]
+        idPotiPosition = Channel(DEVICE+':IST2:1', type = 'd') #current position as from potentiometer [mm]
+        idPotiRef1Position = Channel(DEVICE+':REF1:1', type = 'd') #R1 position as from potentiometer [mm]
+        idPotiRef2Position = Channel(DEVICE+':REF2:1', type = 'd') #R2 position as from potentiometer [mm]
+
+    except:
+        sendFeedback(testPath, testName, DEVICE, 'Unable to create channel - ' + traceback.format_exc(), False)
+        #raise Exception('Unable to create channel - ' + traceback.format_exc())   
+        return
+
+    idCom.put('3', timeout=None) # go to R1
+    print_log(testName, DEVICE,  'Moving to reference point')
+    #scan quickly the output during some seconds
+    detector4 = idPotiPosition.get()
+    detector6 = idPotiRef2Position.get()
+    timeElapsed=0
+    while detector4>detector6 and timeElapsed<600: 
+        #Detector time
+        detector1 = float(java.lang.System.currentTimeMillis())
+
+        detector2 = idMotorStep.get()
+        detector3 = idPotiPosFromBeam.get()
+        detector4 = idPotiPosition.get()
+        detector5 = idPotiRef1Position.get()
+        detector6 = idPotiRef2Position.get()
+        diff1 = detector2-detector4
+        scan.append ([detector1], [detector1], [detector2, detector4, detector5, diff1]) 
+        sleep( 0.1 ) # Settling time        
+        timeElapsed=timeElapsed+1
+        
+    #Closing channels
+    idCom.close()
+    idMotorStep.close()
+    idPotiPosFromBeam.close()
+    idPotiPosition.close()
+    idPotiRef1Position.close()
+    idPotiRef2Position.close()
+    print_log(testName, DEVICE,  ' Reference point reached')
+    
+########## END OF YOUR CODE ###########
+
+###### DO NOT MODIFY THE CODE BELOW ######        
+    sendFeedback(testPath, testName, DEVICE, ret, status)
+
+#prepare and send feedback to calling tool   
+def sendFeedback(testPath, testName, DEVICE, returnString, testPassed):
+    print_log(testName, DEVICE, 'End of test. Result:')
+    print_log(testName, DEVICE,  'Test path: ' + testPath)
+    print_log(testName, DEVICE,  'Test name: ' + testName    )
+    print_log(testName, DEVICE,  'Device: ' + DEVICE)
+    print_log(testName, DEVICE,  'Test passed: ' + str(testPassed))
+    print_log(testName, DEVICE,  'Return string: ' + returnString)
+    ret = [testPath, DEVICE, returnString, testPassed]
+    set_return(ret)
+    
+def print_log(testName, DEVICE, text):
+    time.ctime()
+    now = time.strftime('%Y.%m.%d %H:%M:%S') 
+    print now + ' ' + DEVICE + ' - ' + testName + ': ' + text
+       
+import sys, inspect, os, traceback
+#get test arguments
+DEVICE = device
+testName = test
+params = parameters
+#launch the test
+startTest(testName, DEVICE, params)
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<configuration xmlns="http://www.psi.ch/~ebner/models/scan/1.0">
+    <data fileName="Move Ref 1.fda"/>
+    <scan>
+    
+        <!-- Send Move to Ref 1 Command -->
+        <preAction xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ChannelAction" channel="{DEVICE}:COM:2" value="FAHR_R1"/>
+ 
+        <dimension>
+            <positioner xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="PseudoPositioner" settlingTime="0.1" id="id000000">
+                <counts>3000</counts>
+            </positioner>
+            
+            <!-- Motor Drive Status -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:STA:1"  id="id000001"/>
+             
+	    <!-- Logical Status -->
+            <!-- <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:STA:2" id="id00001B"/> -->
+	    
+            <!-- Interlock Status -->
+            <!-- <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IIST:2" id="id000002"/> -->
+
+            <!-- Logical Position -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST:2" id="id000003"/>
+
+            <!-- Collimator Diameter -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:DIAM:2" id="id000004"/>
+              
+            <!-- Position Counter: Raw -->
+	    <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST1:1" id="id000005"/>
+	    
+            <!-- Position Counter: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST1:2" id="id000006"/>
+            
+            <!-- Potentiometer: Raw -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST2:1" id="id000007"/>
+            
+            <!-- Potentiometer: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST2:2" id="id000008"/>
+            
+            <!-- BTVS Digitiser: Raw -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST3:1" id="id000009"/>
+
+            <!-- BTVS Digitiser: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST3:2" id="id000010"/>
+            
+            
+        </dimension>
+        
+    </scan>
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000001" title="Drive Status: {DEVICE}:STA:1"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000002" title="ILK Status: {DEVICE}:IIST:2"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000003" title="Logical Pos: {DEVICE}:IST:2"/> 
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000004" title="Diameter: {DEVICE}:DIAM:2 (mm)"/> 
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000005" title="Cpc: {DEVICE}:IST1:1 (mm)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000006" title="Cpc: {DEVICE}:IST1:2 (mm)"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000007" title="Pot: {DEVICE}:IST2:1 (mm)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000008" title="Pot: {DEVICE}:IST2:2 (mm)"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000009" title="Btvs: {DEVICE}:IST3:1 (ADC raw)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000010" title="Btvs: {DEVICE}:IST3:2 (mm)"/>
+</configuration>
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,3 @@
+name=Move Ref 2
+description=Moves to the Reference 2 Position
+filename=Move Ref 2.xml
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,90 @@
+
+###### DO NOT MODIFY THE CODE BELOW ######
+def startTest(testName, DEVICE, params):
+    #get the path of this script
+    testPath = inspect.getfile(inspect.currentframe()) 
+    #by default, failed 
+    ret = 'Test failed'
+    status = False   
+    #plot name to be given to the scan. Use: scan.setPlotName(plotName)
+    plotName = DEVICE + ' - ' + testName    
+###### WRITE YOUR CODE HERE BELOW #######   
+    #get parameters from the calling interface
+    print_log(testName, DEVICE,  'testpath: ' + testPath )
+    print_log(testName, DEVICE, 'parameters:' + str( params) )
+    print_log(testName, DEVICE, 'device: ' + DEVICE )
+    scan = ManualScan(['time'], ['idMotorStep', 'idPotiPosition', 'idPotiRef2Position','idMotorStep-idPotiPosition'] , [0.0], [30.0], [20])
+    scan.setPlotName(plotName)
+    scan.start()
+
+    #Creating channels: dimension 1
+    try:
+        idCom = Channel(DEVICE+':COM:2', type = 'd') #current position as from motor step counter [mm]
+        idMotorStep = Channel(DEVICE+':IST3:2', type = 'd') #current position as from motor step counter [mm]
+        idPotiPosFromBeam = Channel(DEVICE+':IST1:2', type = 'd') #current position from beam as from potentiometer [mm]
+        idPotiPosition = Channel(DEVICE+':IST2:1', type = 'd') #current position as from potentiometer [mm]
+        idPotiRef1Position = Channel(DEVICE+':REF1:1', type = 'd') #R1 position as from potentiometer [mm]
+        idPotiRef2Position = Channel(DEVICE+':REF2:1', type = 'd') #R2 position as from potentiometer [mm]
+
+    except:
+        sendFeedback(testPath, testName, DEVICE, 'Unable to create channel - ' + traceback.format_exc(), False)
+        #raise Exception('Unable to create channel - ' + traceback.format_exc())   
+        return
+
+    idCom.put(4.0, timeout=None) # go to R2
+    print_log(testName, DEVICE,  'Moving to reference point')
+    #scan quickly the output during some seconds
+    detector4 = idPotiPosition.get()
+    detector5 = idPotiRef1Position.get()
+    timeElapsed=0
+    while detector4<detector6 and timeElapsed<600:
+        #Detector time
+        detector1 = float(java.lang.System.currentTimeMillis())
+
+        detector2 = idMotorStep.get()
+        detector3 = idPotiPosFromBeam.get()
+        detector4 = idPotiPosition.get()
+        detector5 = idPotiRef1Position.get()
+        detector6 = idPotiRef2Position.get()
+        diff1 = detector2-detector4
+        scan.append ([detector1], [detector1], [detector2, detector4, detector6, diff1]) 
+        sleep( 0.1 ) # Settling time   
+        timeElapsed=timeElapsed+1
+
+    #Closing channels
+    idCom.close()
+    idMotorStep.close()
+    idPotiPosFromBeam.close()
+    idPotiPosition.close()
+    idPotiRef1Position.close()
+    idPotiRef2Position.close()
+    print_log(testName, DEVICE,  ' Reference point reached')
+    
+########## END OF YOUR CODE ###########
+
+###### DO NOT MODIFY THE CODE BELOW ######        
+    sendFeedback(testPath, testName, DEVICE, ret, status)
+
+#prepare and send feedback to calling tool   
+def sendFeedback(testPath, testName, DEVICE, returnString, testPassed):
+    print_log(testName, DEVICE, 'End of test. Result:')
+    print_log(testName, DEVICE,  'Test path: ' + testPath)
+    print_log(testName, DEVICE,  'Test name: ' + testName    )
+    print_log(testName, DEVICE,  'Device: ' + DEVICE)
+    print_log(testName, DEVICE,  'Test passed: ' + str(testPassed))
+    print_log(testName, DEVICE,  'Return string: ' + returnString)
+    ret = [testPath, DEVICE, returnString, testPassed]
+    set_return(ret)
+    
+def print_log(testName, DEVICE, text):
+    time.ctime()
+    now = time.strftime('%Y.%m.%d %H:%M:%S') 
+    print now + ' ' + DEVICE + ' - ' + testName + ': ' + text
+       
+import sys, inspect, os, traceback
+#get test arguments
+DEVICE = device
+testName = test
+params = parameters
+#launch the test
+startTest(testName, DEVICE, params)
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<configuration xmlns="http://www.psi.ch/~ebner/models/scan/1.0">
+    <data fileName="Move Ref 2.fda"/>
+    <scan>
+    
+        <!-- Send Move to Ref 2 Command -->
+        <preAction xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ChannelAction" channel="{DEVICE}:COM:2" value="FAHR_R2"/>
+ 
+        <dimension>
+            <positioner xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="PseudoPositioner" settlingTime="0.1" id="id000000">
+                <counts>3000</counts>
+            </positioner>
+            
+            <!-- Motor Drive Status -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:STA:1"  id="id000001"/>
+             
+	    <!-- Logical Status -->
+            <!-- <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:STA:2" id="id00001B"/> -->
+	    
+            <!-- Interlock Status -->
+            <!-- <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IIST:2" id="id000002"/> -->
+
+            <!-- Logical Position -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST:2" id="id000003"/>
+
+            <!-- Collimator Diameter -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:DIAM:2" id="id000004"/>
+              
+            <!-- Position Counter: Raw -->
+	    <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST1:1" id="id000005"/>
+	    
+            <!-- Position Counter: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST1:2" id="id000006"/>
+            
+            <!-- Potentiometer: Raw -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST2:1" id="id000007"/>
+            
+            <!-- Potentiometer: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST2:2" id="id000008"/>
+            
+            <!-- BTVS Digitiser: Raw -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST3:1" id="id000009"/>
+
+            <!-- BTVS Digitiser: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST3:2" id="id000010"/>
+            
+            
+        </dimension>
+        
+    </scan>
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000001" title="Drive Status: {DEVICE}:STA:1"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000002" title="ILK Status: {DEVICE}:IIST:2"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000003" title="Logical Pos: {DEVICE}:IST:2"/> 
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000004" title="Diameter: {DEVICE}:DIAM:2 (mm)"/> 
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000005" title="Cpc: {DEVICE}:IST1:1 (mm)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000006" title="Cpc: {DEVICE}:IST1:2 (mm)"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000007" title="Pot: {DEVICE}:IST2:1 (mm)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000008" title="Pot: {DEVICE}:IST2:2 (mm)"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000009" title="Btvs: {DEVICE}:IST3:1 (ADC raw)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000010" title="Btvs: {DEVICE}:IST3:2 (mm)"/>
+</configuration>
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,3 @@
+name=Stop
+description=Sends the STOP command
+filename=Stop.xml
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<configuration xmlns="http://www.psi.ch/~ebner/models/scan/1.0">
+    <data fileName="Stop.fda"/>
+    <scan>
+    
+        <!-- Send STOP Command -->
+        <preAction xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ChannelAction" channel="{DEVICE}:COM:2" value="STOP"/>
+ 
+        <dimension>
+            <positioner xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="PseudoPositioner" settlingTime="0.1" id="id000000">
+                <counts>3000</counts>
+            </positioner>
+            
+            <!-- Motor Drive Status -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:STA:1"  id="id000001"/>
+             
+	    <!-- Logical Status -->
+            <!-- <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:STA:2" id="id00001B"/> -->
+	    
+            <!-- Interlock Status -->
+            <!-- <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IIST:2" id="id000002"/> -->
+
+            <!-- Logical Position -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST:2" id="id000003"/>
+
+            <!-- Collimator Diameter -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:DIAM:2" id="id000004"/>
+              
+            <!-- Position Counter: Raw -->
+	    <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST1:1" id="id000005"/>
+	    
+            <!-- Position Counter: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST1:2" id="id000006"/>
+            
+            <!-- Potentiometer: Raw -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST2:1" id="id000007"/>
+            
+            <!-- Potentiometer: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST2:2" id="id000008"/>
+            
+            <!-- BTVS Digitiser: Raw -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST3:1" id="id000009"/>
+
+            <!-- BTVS Digitiser: Processed -->
+            <detector xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="ScalarDetector" name="{DEVICE}:IST3:2" id="id000010"/>
+            
+            
+        </dimension>
+        
+    </scan>
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000001" title="Drive Status: {DEVICE}:STA:1"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000002" title="ILK Status: {DEVICE}:IIST:2"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000003" title="Logical Pos: {DEVICE}:IST:2"/> 
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000004" title="Diameter: {DEVICE}:DIAM:2 (mm)"/> 
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000005" title="Cpc: {DEVICE}:IST1:1 (mm)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000006" title="Cpc: {DEVICE}:IST1:2 (mm)"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000007" title="Pot: {DEVICE}:IST2:1 (mm)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000008" title="Pot: {DEVICE}:IST2:2 (mm)"/>
+    <!-- <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000009" title="Btvs: {DEVICE}:IST3:1 (ADC raw)"/> -->
+    <visualization xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:type="LinePlot" x="id000000" y="id000010" title="Btvs: {DEVICE}:IST3:2 (mm)"/>
+</configuration>
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,8 @@
+Test 1 plotted curves
+
+CCWsteps
+CCWpoti
+CWsteps
+CWpoti
+
+
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,7 @@
+name=Go to specific position
+description=Go to absolute position A, then move +B steps, then -2B steps, then +2Bsteps (ie oscillate round centre position, logging after each movement); repeat N times 
+
+
+#optional parameters. Description is compulsory. Syntax:
+#parameters=<parameter1Name>:<parameter1Value>:<Parameter 1 description>[;<parameter2Name>:<parameter2Value>:<Parameter 2 description>]
+parameters=repeatTimes:2:Repeat N times;midPoint:41.0:Middle point A;spanFromMidPoint:3.0:B steps around middle point A;delayS:0:Delay between each oscillation [s]
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,162 @@
+
+#Go to absolute position A, then move +B steps, then -2B steps, then +2Bsteps (ie oscillate round centre position, logging after each movement); repeat N times 
+
+
+###### DO NOT MODIFY THE CODE BELOW ######
+global print_log, sendFeedback, inspect
+import sys, inspect, os, traceback
+
+def print_log(testName, DEVICE, text):
+    time.ctime()
+    now = time.strftime('%Y.%m.%d %H:%M:%S') 
+    print now + ' ' + DEVICE + ' - ' + testName + ': ' + str(text)
+
+#prepare and send feedback to calling tool   
+def sendFeedback(testPath, testName, DEVICE, returnString, testPassed):
+    print_log(testName, DEVICE,  'End of test. Result:')
+    print_log(testName, DEVICE,  'Device:        ' + DEVICE)
+    print_log(testName, DEVICE,  'Test name:     ' + testName)
+    print_log(testName, DEVICE,  'Test path:     ' + testPath)
+    print_log(testName, DEVICE,  'Test passed:   ' + str(testPassed))
+    print_log(testName, DEVICE,  'Return string: ' + returnString)
+    ret = [testPath, DEVICE, returnString, testPassed]
+    set_return(ret)
+
+def startTest(testName, DEVICE, params):
+    try:
+        import traceback
+        #get the path of this script
+        testPath = inspect.getfile(inspect.currentframe()) 
+        #by default, failed 
+        ret = 'Test failed'
+        success = False   
+        #plot name to be given to the scan. Use: scan.setPlotName(plotName)
+        plotName = DEVICE + ' - ' + testName    
+        
+###### WRITE YOUR CODE HERE BELOW #######  
+
+        #get parameters from the calling interface
+        try:
+            print_log(testName, DEVICE, "Running test Motor Test 2 for device " + DEVICE + " with the following parameters:\n" + str(params))
+            middle = float(params["midPoint"]["value"])
+            loopTimes = int(params["repeatTimes"]["value"])
+            delayS = int(params["delayS"]["value"])
+            if(delayS<1): delayS=1
+            span = float(params["spanFromMidPoint"]["value"])
+        except:
+            ret = 'Could not retrieve testing parameters - ' + traceback.format_exc()
+            success = False
+            sendFeedback(testPath, testName, DEVICE, ret, success)
+            return
+
+        #scan = ManualScan(['idX'], ['idMotorStatus', 'idLogicalPosition', 'idDiameter', 'idMotorPosition', 'idPotiRaw', 'idEncoderPosition', 'idBtvsRaw', 'idBtvsProc', 'idDiff01', 'idDiff02'] , [ 0.0], [ 3000.0], [20])
+        scan = ManualScan(['idX'], ['idMotorStatus', 'idMotorPosition', 'idEncoderPosition', 'idError'])
+        scan.setPlotName(plotName)
+        scan.start()
+
+        #Creating channels: dimension 1
+        try:
+            idInkr = Channel(DEVICE+':MOTOR.VAL', type = 'd')
+            idMotorStatus = Channel(DEVICE+':MOTOR.MSTA', type = 'd')
+            idMotorPosition = Channel(DEVICE+':MOTOR.RBV', type = 'd')
+            idEncoderPosition = Channel(DEVICE+':ENCODER', type = 'd')
+            idEndSwitchL = Channel(DEVICE+':MOTOR.LLS', type = 'd')
+            idEndSwitchH = Channel(DEVICE+':MOTOR.HLS', type = 'd')
+            idLimitH = Channel(DEVICE+':MOTOR.HLM', type = 'd')
+            idLimitL = Channel(DEVICE+':MOTOR.LLM', type = 'd')
+        except:
+            ret = 'Unable to create channel - ' + traceback.format_exc()
+            success = False
+            sendFeedback(testPath, testName, DEVICE, ret, success)
+            return
+
+        #remove limits    
+        idLimitH.put(999999.9, timeout=None)
+        idLimitL.put(-999999.9, timeout=None)
+
+        direction = 1.0
+        startDefault = middle - span 
+        endDefault = middle + span
+        end = endDefault+1
+        #find position: it will be the middle point of the test
+        print_log(testName, DEVICE,  'Moving to middle point  ' + str(middle)  )
+        idInkr.put(middle, timeout=None) # TODO: Set appropriate timeout
+        readback2 = idInkr.get()
+        if abs(readback2 - middle) > 1 : # TODO: Check accuracy
+            ret = 'Actor idInkr could not be set to the value ' + str(middle) + ' (current value: ' + str(readback2) + ')'
+            success = False
+            sendFeedback(testPath, testName, DEVICE, ret, success)
+            return    
+        start = readback2+direction
+        countSteps = 0
+        count = 0
+        print_log(testName, DEVICE,  'Moving around middle point (+-' + str(span) + ')' )
+        for setpoint1 in range(0, loopTimes*2):
+            count = count + 1
+            print_log(testName, DEVICE,  'Pausing ' + str(delayS) + 's' )
+            sleep( delayS ) # Settling time
+            #RegionPositioner idInkr
+            for setpoint2 in frange(start, end, direction):
+                readback1 = setpoint1
+                idInkr.put(setpoint2, timeout=None) # TODO: Set appropriate timeout
+                sleep( 0.2 ) # Settling time
+                readback2 = idInkr.get()
+                if abs(readback2 - setpoint2) > 1 : # TODO: Check accuracy
+                    ret = 'Actor idInkr could not be set to the value ' + str(setpoint2) + ' (current value: ' + str(readback2) + ')'
+                    success = False
+                    sendFeedback(testPath, testName, DEVICE, ret, success)
+                    return
+                #Detector idMotorStatus
+                detector1 = idMotorStatus.get()
+                detector4 = idMotorPosition.get()
+                detector6 = idEncoderPosition.get()
+                endH = idEndSwitchH.get()
+                endL = idEndSwitchL.get()
+                #Manipulation idDiff01
+                #Variable Mappings
+                a =  detector4
+                b =  detector6
+                idDiff01 = a-b
+                countSteps = countSteps + 1
+                scan.append ([countSteps], [countSteps], [detector1, detector4, detector6, idDiff01])
+                if endH>0.0 or (direction > 0.0 and setpoint2 >= end -1):
+                    #invert direction and swap start with end of translation
+                    end = startDefault-1
+                    start = setpoint2 - direction
+                    direction = -1.0
+                    print_log(testName, DEVICE,  'End of span (' + str(setpoint2) + '), changing direction to ' + str(direction) )
+                    break
+                if endL>0.0  or ( direction < 0.0 and setpoint2 <= end +1):
+                    #invert direction and swap start with end of translation
+                    end = endDefault+1
+                    start = setpoint2 - direction
+                    direction = 1.0
+                    print_log(testName, DEVICE,  'End of span (' + str(setpoint2) + '), changing direction to ' + str(direction) )
+                    break
+
+        #set limits back
+        idLimitH.put(145.0, timeout=None)
+        idLimitL.put(0.0, timeout=None)
+
+        #Closing channels
+        idInkr.close()
+        idMotorStatus.close()
+        idMotorPosition.close()
+        idEncoderPosition.close()
+        idLimitH.close()
+        idLimitL.close()
+        scan.end()
+        ret = 'Slide moved back and forth (' + str(count) + ' runs)'
+        success = True
+
+############# END OF YOUR CODE ###########
+###### DO NOT MODIFY THE CODE BELOW ######        
+        sendFeedback(testPath, testName, DEVICE, ret, success)
+    except:
+        ret = traceback.format_exc()
+        success = False
+        sendFeedback(testPath, testName, DEVICE, ret, success)
+        return 
+
+#launch the test
+startTest(test, device, parameters)
--- a/script/tests/tests/Collimator
+++ b/script/tests/tests/Collimator
@@ -0,0 +1,16 @@
+<html>
+<body>
+<h2>Short Description</h2>
+Oscillate around a specific position
+<h2>Details</h2>
+Go to absolute position A, then move +B steps, then -2B steps, then +2Bsteps (ie oscillate round centre position, logging after each movement); repeat N times 
+<h2>Parameters</h2>
+<code>midPoint</code> Middle point A around which it will oscillate<br/>
+<code>spanFromMidPoint</code> B stepst to oscillate around A<br/>
+<code>repeatTimes</code> Repeat the moving N times<br/>
+<code>delayS</code> Pause delay (>0s) between each oscillation [s] 
+<h2>Contact</h2>
+<a href="https://intranet.psi.ch/Main/MarcoBoccioli">Marco Boccioli </a>
+</html>
+</body>
+