def move_FMU_y_relative(step):
          
    BML_FMU_TRYD.moveRelAsync(step)
    BML_FMU_TRYUR.moveRelAsync(step)
    BML_FMU_TRYUW.moveRelAsync(step)

def move_FMU_x_relative(step):
          
    BML_FMU_TRX.moveRelAsync(step)

    
def move_FMU_Ry_relative(step):
          
    BML_FMU_YAW.moveRelAsync(step)


def scan_FMU_TRX_ROTY():
    
#    sensors = [Keithley_2_raw, CADC2, BML_FMU_YAW]
#    r1 = lscan(BML_FMU_ROTY, sensors, -0.06, 0.00, 30, 0.5)

#    sensors = [Keithley_2_raw, CADC2, BML_FMU_X, BML_FMU_YAW]
#    r1 = lscan(BML_FMU_TRX, sensors, -3.8, 3.8, 20, 0.5) 

#   1 Determine initial state
#
#   Keithley:    
#
    Keithley_11_range_string ='X11MA-KEI11:RANGE'
    detector_range_ini = caget('X11MA-KEI11:RANGE')
    range_number_ini = range_to_number(detector_range_ini)
#    print(range_number_ini)
#
#   FMU:
#
    BML_FMU_TRX.update()
    BML_FMU_ROTY.update()
#
#    TRX_speed_ini = BML_FMU_TRX.getSpeed()
#    ROTY_speed_ini = BML_FMU_ROTY.getSpeed()
    TRX_pos_ini = BML_FMU_TRX.read()
    ROTY_pos_ini = BML_FMU_ROTY.read()

#   2 Set Keithley range for scan
#
    detector_range = select_Keithley_11_range()
#    print(detector_range)
    range_number = range_to_number(detector_range)
#   print(range_number)
    caput(Keithley_11_range_string, range_number) # 6 --> 200 nA

#   3 Set motor speed for scan

#    BML_FMU_TRX.setSpeed(0.2)
#    BML_FMU_ROTY.setSpeed(0.2)
   
#   4 Set scan parameters

    sensors = [Keithley_2_raw, CADC2, BML_FMU_X, BML_FMU_YAW]

    centerTRX = 1.0
    centerROTY = -0.10
    TRX_range = 6.0
    ROTY_range = 0.2   # 0.1 mm corresponds to 0.25 mrad!
    
    TRX_steps = 0.3
    ROTY_steps = 0.01
    
    xmin = centerTRX - TRX_range/2
    xmax = centerTRX + TRX_range/2
    
    ymin = centerROTY - ROTY_range/2
    ymax = centerROTY + ROTY_range/2

    xsteps = TRX_steps
    ysteps = ROTY_steps
    
#   5 Perform scan

    started = time.strftime("%H:%M:%S", time.localtime())

    BML_FMU_TRX.move(xmin)
    BML_FMU_ROTY.move(ymin)


    try:
        ascan([BML_FMU_TRX, BML_FMU_ROTY], sensors, [xmin, ymin], [xmax, ymax], [xsteps, ysteps], latency=0.1, zigzag=False)
        print "Scan finished"

    except:
        index = 1
        status = "Exception:" #, sys.exc_info()[2]


    json_path = get_exec_pars().path
    bml_save_scan_settings_json(json_path)

#   5 Put back to initial settings

    caput(Keithley_11_range_string, range_number_ini)
#    BML_FMU_TRX.setSpeed(0.1)
#    BML_FMU_ROTY.setSpeed(0.1)
    BML_FMU_TRX.move(TRX_pos_ini)
    BML_FMU_ROTY.moveAsync(ROTY_pos_ini)

    BML_FMU_TRX.update()
    BML_FMU_ROTY.update()

    stopped = time.strftime("%H:%M:%S", time.localtime())
    print("started: " + started)
    print("stopped: " + stopped)