update stages config

2023-11-23 16:29:54 +01:00
parent 348fe208d1
commit 228caf0729
9 changed files with 88 additions and 350 deletions
--- a/Readme.md
+++ b/Readme.md
@@ -1463,4 +1463,21 @@ Sys.Udata[0];EncTable[20].PrevEnc

 2.1 trigger zu spät
 1.9 trigger zu früh
+```

+23.11.23 Changing stages
+------------------------
+```
+https://jira.psi.ch/browse/SFELPHOTON-888
+
+recommissioning exchanged stages. The software must not be changed.
+the cabeling has to change so that it fits as it worked before.
+    SAR-EXPMX:MOT_FX: stages behave totally different not working
+    SAR-EXPMX:MOT_FY: stages behave totally different not working.encoder counts inverse?
+    SAR-EXPMX:MOT_CX: moves in closed loop, limitswitch +- must be swapped
+    SAR-EXPMX:MOT_CZ: moves in closed loop, limitswitch +- must be swapped 
+    SAR-EXPMX:MOT_CY: before commissioning check encoder signal Level TTL?
+
+ -> we need the old stage to be able to check and compare each motor step by step.
+
+```
--- a/cfg/MX1_setup.cfg
+++ b/cfg/MX1_setup.cfg
@@ -23,9 +23,16 @@
 //Mot 2: Stage X Parker MX80L D11 25mm               one pole cycle = 13mm = 2048 phase_step
 //Enc 2: Stage X Parker MX80L D11 inc_enc 20nm       one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)

+//OLD Stage 3
 //Mot 3: Rotation stage LS Mecapion MDM-DC06DNC0H    32 poles = 1 rev = 16*2048=32768 phase_step
 //Enc 3: Rotation stage LS Mecapion                  1 rev = 1048576 enc_steps

+// OWIS stage HMV 10N-303HiDS 42.N00.30WJ (DC-Mot. mech Endswitch Norm.Closed)
+// 30mm max 12mm/s  max 35V max 2.1A 500um/rev 2000enc_cnt/rev Incr. enc with home mark TTL level
+//Mot 3: Stage Y DC-Motor (Brushed DC)
+//Enc 3: Stage Y Incr. Encoder
+
+
 //Mot 4: Stage X Stada Stepper                       670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
 //Enc 4: Renishaw absolute BiSS

@@ -66,8 +73,9 @@ Motor[1].pEncLoss=0
 Motor[2].pEncLoss=0


-//rot stage
-//---------
+
+//rot stage (decomissioned)
+//-------------------------
 //use 360'000 for 360 deg as motor unit
 //1 rev = 16*2048=32768 phase_step = 1048576 enc_steps
 //PhasePosSf= 8*el_cycle/enc_step =8*16/1048576=1./8192
@@ -77,11 +85,23 @@ Motor[2].pEncLoss=0
 // Motor 3: 0dB at 18.8Hz Friction 70curr_bits
 // Kaff= 1/((18.8*2*np.pi)**2/5000**2 ) = 1791.6970285327388

+//!encoder_sim(enc=3,tbl=11,mot=11,posSf=360000./32768)
+//!encoder_biss(enc=3,tbl=3,mot=3,numBits=20,posSf=360000./1048576)
+//Motor[3].pPhaseEnc=Acc84B[0].Chan[2].SerialEncDataA.a
+//!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=220,Ki=0.001,Kvff=220,Kaff=1792,MaxInt=1000,Kfff=5)
+//!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=2,IpfGain=12,IpbGain=12,JogSpeed=180.,numPhase=3,invDir=False,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987)
+
+
+//Y stage OWIS
+//------------
+//2000enc/rev 500um/rev
+//1 rev = 2000 enc_cnt = 500um
+// max. 2.1A 36V
+
 !encoder_sim(enc=3,tbl=11,mot=11,posSf=360000./32768)
-!encoder_biss(enc=3,tbl=3,mot=3,numBits=20,posSf=360000./1048576)
-Motor[3].pPhaseEnc=Acc84B[0].Chan[2].SerialEncDataA.a
-!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=220,Ki=0.001,Kvff=220,Kaff=1792,MaxInt=1000,Kfff=5)
-!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=2,IpfGain=12,IpbGain=12,JogSpeed=180.,numPhase=3,invDir=False,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987)
+!encoder_inc(enc=3,tbl=3,mot=3,posSf=13000./650000)
+!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=0,Ki=0.0,Kvff=0,Kaff=0,MaxInt=1000,Kfff=0)
+!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1,IpfGain=3,IpbGain=3,JogSpeed=2.,numPhase=2,invDir=False,servo=None,PhasePosSf=0,PhaseFindingDac=0,PhaseFindingTime=0,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10,homing='enc-index')


 //Stada stage
@@ -90,10 +110,10 @@ Motor[3].pPhaseEnc=Acc84B[0].Chan[2].SerialEncDataA.a
 //posSf = userUnits/encoder_steps
 //servoSf=motor_u_steps/userUnits

-!encoder_biss(enc=4,numBits=32,posSf=1./20)
-!encoder_biss(enc=5,numBits=32,posSf=1./20)
-!motor(mot=4,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8,InPosBand=1,HomeOffset=39278)
-!motor(mot=5,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8,InPosBand=1,HomeOffset=39736)
+!encoder_biss(enc=4,numBits=32,posSf=-1./20)
+!encoder_biss(enc=5,numBits=32,posSf=-1./20)
+!motor(mot=4,current=200,JogSpeed=0.5,invDir=0,servoSf=204.8,InPosBand=1,HomeOffset=-39278)
+!motor(mot=5,current=200,JogSpeed=0.5,invDir=0,servoSf=204.8,InPosBand=1,HomeOffset=-39736)


 //Interferometer 1,2
--- a/cfg/MX3_setup.cfg
+++ b/cfg/MX3_setup.cfg
@@ -30,15 +30,22 @@ Motor[5].Servo.BreakPosErr=0


 // PKP266D14BA2 1.4A 1.8deb/step
+// encoder: Renishaw: RL26BAT050B050A 26 bit, 50nm/enc_cnt
 //!encoder_sim(enc=6)
 //!motor(mot=6,dirCur=1400,JogSpeed=40,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
 // #6j=102400 -> 1 rev
 //#6j=102400 == 1 rev == 102400 enc_cnt == 2000*1um
+//#6j=102400 steps == 1 rev == 2000*20 enc_cnt == 2000*1um
 //servoSf  : motorusteps/user_units    = 102400./2000
-//posSf    : user_units/encoder_steps  = 2000./102400
+//posSf    : user_units/encoder_steps  = 0.05nm/1enc_cnt=1/20
+//Open loop
 //!encoder_sim(enc=6,posSf=2000./102400,pos2Sf=0)
-!encoder_sim(enc=6,posSf=2000./102400)
-!motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=0.)
+//!encoder_biss(enc=6,tbl=16,mot=16,numBits=26,posSf=1./20)
+//!motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=0.)
+//Closed loop
+!encoder_sim(enc=6,tbl=16,mot=16,posSf=2000./102400)
+!encoder_biss(enc=6,numBits=26,posSf=1./20)
+!motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=1516405.)


 // break configuration
--- a/cfg/SAR-EXPMX3.cfg
+++ b/cfg/SAR-EXPMX3.cfg
@@ -53,6 +53,7 @@ enable plc 1

 #1..5dkill

+#6hmz
 //motor 1..5 use break setup to kill motor
 !holding_current(m6=[0,700])

--- a/generate.py
+++ b/generate.py
@@ -53,8 +53,8 @@ class Generate:
        ('SLITS:X2'    , 'MCS11', 10    , 10    , -10   , 1    , 'mm' , 'S' )  ,
        ('SLITS:Y1'    , 'MCS12', 11    , 10    , -10   , 1    , 'mm' , 'S' )  ,
        ('SLITS:Y2'    , 'MCS13', 12    , 10    , -10   , 1    , 'mm' , 'S' )  ,
-        ('XEYE:TX'     , 'MCS14', 13    , 10    , -10   , 0    , 'mm' , 'S' )  ,
-        ('XEYE:TY'     , 'MCS15', 14    , 10    , -10   , 0    , 'mm' , 'S' )  ,
+        ('unused'      , 'MCS14', 13    , 10    , -10   , 0    , 'mm' , 'S' )  ,
+        ('unused'      , 'MCS15', 14    , 10    , -10   , 0    , 'mm' , 'S' )  ,
      ),
    }
  }
@@ -71,9 +71,9 @@ class Generate:
      ( 'DESC'               , 'M'         , 'ADDR' , 'DIR' , 'VELO' , 'HVEL' , 'MRES' , 'PREC' , 'EGU' ) ,
      ( '"Sample F-Trans Y"' , 'MOT_FY'    , 1      , 0     , 16     , 2      , 0.001  , 4      , 'mm'  ) ,
      ( '"Sample F-Trans X"' , 'MOT_FX'    , 2      , 1     , 16     , 2      , 0.001  , 4      , 'mm'  ) ,
-      ( '"Rotation Y"'       , 'MOT_ROT_Y' , 3      , 0     , 50     , 50     , 0.001  , 4      , 'deg' ) ,
-      ( '"Sample C-Trans X"' , 'MOT_CX'    , 4      , 1     , 2      , 2      , 0.001  , 4      , 'mm'  ) ,
-      ( '"Sample C-Trans Z"' , 'MOT_CZ'    , 5      , 1     , 2      , 2      , 0.001  , 4      , 'mm'  ) ,
+      ( '"Sample C-Trans Y"' , 'MOT_CY'    , 3      , 0     , 2      , 2      , 0.001  , 4      , 'mm'  ) ,
+      ( '"Sample C-Trans X"' , 'MOT_CX'    , 4      , 0     , 2      , 2      , 0.001  , 4      , 'mm'  ) ,
+      ( '"Sample C-Trans Z"' , 'MOT_CZ'    , 5      , 0     , 2      , 2      , 0.001  , 4      , 'mm'  ) ,
      ( '"Interfero Y"'      , 'ENC_FY'    , 6      , 0     , 2      , 2      , 0.001  , 4      , 'mm'  ) ,
      ( '"Interfero X"'      , 'ENC_FX'    , 7      , 0     , 2      , 2      , 0.001  , 4      , 'mm'  ) ,
      ),
@@ -426,7 +426,7 @@ file PPMACMotor.template
      for motPar in motLst:
        motPar=dict(zip(hdr, motPar))
        try:
-          motPar['PTYP']=lutPSENS[motPar['PTYP']][1] #idx0 is for MCS1
+          motPar['PTYP']=lutPSENS[motPar['PTYP']][1] #idx1 is for MCS1
        except KeyError as e:
          if motPar['PTYP']!=0:
            _log.info(f'{motPar["PTYP"]} not in lookup table')
--- a/qt/ESB_MX_5cam.ui
+++ b/qt/ESB_MX_5cam.ui
@@ -7,7 +7,7 @@
    <x>0</x>
    <y>0</y>
    <width>776</width>
-    <height>619</height>
+    <height>798</height>
   </rect>
  </property>
  <property name="windowTitle">
@@ -48,15 +48,15 @@
    <rect>
     <x>20</x>
     <y>70</y>
-     <width>725</width>
-     <height>240</height>
+     <width>731</width>
+     <height>420</height>
    </rect>
   </property>
   <property name="macro">
    <string>P=$(P),M=MOT_GIR_1;P=$(P),M=MOT_GIR_2;P=$(P),M=MOT_GIR_3;P=$(P),M=MOT_GIR_4;P=$(P),M=MOT_GIR_5;P=$(P),M=MOT_GIR_X;P=$(P),M=MOT_GIR_Y;P=$(P),M=MOT_GIR_U;P=$(P),M=MOT_GIR_V;P=$(P),M=MOT_GIR_W</string>
   </property>
   <property name="filename" stdset="0">
-    <string notr="true">ESB_MX_motor.ui</string>
+    <string notr="true">PB_motor.ui</string>
   </property>
   <property name="numberOfItems" stdset="0">
    <number>10</number>
@@ -195,7 +195,7 @@
   <property name="geometry">
    <rect>
     <x>20</x>
-     <y>570</y>
+     <y>750</y>
     <width>411</width>
     <height>31</height>
    </rect>
@@ -211,7 +211,7 @@
   <property name="geometry">
    <rect>
     <x>20</x>
-     <y>520</y>
+     <y>700</y>
     <width>451</width>
     <height>41</height>
    </rect>
@@ -225,7 +225,7 @@
   <property name="geometry">
    <rect>
     <x>20</x>
-     <y>320</y>
+     <y>500</y>
     <width>341</width>
     <height>194</height>
    </rect>
@@ -1223,7 +1223,7 @@
   <property name="geometry">
    <rect>
     <x>450</x>
-     <y>330</y>
+     <y>510</y>
     <width>161</width>
     <height>31</height>
    </rect>
--- a/qt/ESB_MX_SmarAct.ui
+++ b/qt/ESB_MX_SmarAct.ui
@@ -29,7 +29,7 @@
    <string>Expert</string>
   </property>
   <property name="text">
-    <string>Smaract Controller $(S):$(M)</string>
+    <string>Smaract Controller $(P):$(M)</string>
   </property>
   <property name="alignment">
    <set>Qt::AlignLeading</set>
@@ -65,7 +65,7 @@
    </rect>
   </property>
   <property name="macro">
-    <string>S=$(S),T=$(T),M=$(M)1;S=$(S),T=$(T),M=$(M)2;S=$(S),T=$(T),M=$(M)3;S=$(S),T=$(T),M=$(M)4;S=$(S),T=$(T),M=$(M)5;S=$(S),T=$(T),M=$(M)6;S=$(S),T=$(T),M=$(M)7;S=$(S),T=$(T),M=$(M)8;S=$(S),T=$(T),M=$(M)9;S=$(S),T=$(T),M=$(M)10;S=$(S),T=$(T),M=$(M)11;S=$(S),T=$(T),M=$(M)12;S=$(S),T=$(T),M=$(M)13;S=$(S),T=$(T),M=$(M)14;S=$(S),T=$(T),M=$(M)15</string>
+    <string>P=$(P),T=$(T),M=$(M)1;P=$(P),T=$(T),M=$(M)2;P=$(P),T=$(T),M=$(M)3;P=$(P),T=$(T),M=$(M)4;P=$(P),T=$(T),M=$(M)5;P=$(P),T=$(T),M=$(M)6;P=$(P),T=$(T),M=$(M)7;P=$(P),T=$(T),M=$(M)8;P=$(P),T=$(T),M=$(M)9;P=$(P),T=$(T),M=$(M)10;P=$(P),T=$(T),M=$(M)11;P=$(P),T=$(T),M=$(M)12;P=$(P),T=$(T),M=$(M)13;P=$(P),T=$(T),M=$(M)14;P=$(P),T=$(T),M=$(M)15</string>
   </property>
   <property name="filename" stdset="0">
    <string notr="true">MCS_stage.ui</string>
--- a/qt/ESB_MX_exp.ui
+++ b/qt/ESB_MX_exp.ui
@@ -7,7 +7,7 @@
    <x>0</x>
    <y>0</y>
    <width>776</width>
-    <height>640</height>
+    <height>977</height>
   </rect>
  </property>
  <property name="windowTitle">
@@ -47,155 +47,26 @@
   <property name="geometry">
    <rect>
     <x>20</x>
-     <y>70</y>
-     <width>725</width>
-     <height>504</height>
+     <y>50</y>
+     <width>731</width>
+     <height>882</height>
    </rect>
   </property>
   <property name="macro">
-    <string>P=$(P),M=MOT_FY;P=$(P),M=MOT_FX;P=$(P),M=MOT_ROT_Y;P=$(P),M=MOT_CX;P=$(P),M=MOT_CZ;P=$(P),M=MOT_WEDGE1;P=$(P),M=MOT_WEDGE2;P=$(P),M=MOT_WEDGE3;P=$(P),M=MOT_WEDGE4;P=$(P),M=MOT_WEDGEX;P=$(P),M=MOT_WEDGEY;P=$(P),M=MOT_WEDGEA;P=$(P),M=MOT_WEDGEB;P=$(P),M=MOT_BLGT;P=$(P),M=MOT_CRYO;P=$(P),M=MOT_GIR_X;P=$(P),M=MOT_GIR_Y;P=$(P),M=MOT_GIR_U;P=$(P),M=MOT_GIR_V;P=$(P),M=MOT_GIR_W;P=$(P),M=MOT_DET_Z</string>
+    <string>P=$(P),M=MOT_FY;P=$(P),M=MOT_FX;P=$(P),M=MOT_CY;P=$(P),M=MOT_CX;P=$(P),M=MOT_CZ;P=$(P),M=MOT_WEDGE1;P=$(P),M=MOT_WEDGE2;P=$(P),M=MOT_WEDGE3;P=$(P),M=MOT_WEDGE4;P=$(P),M=MOT_WEDGEX;P=$(P),M=MOT_WEDGEY;P=$(P),M=MOT_WEDGEA;P=$(P),M=MOT_WEDGEB;P=$(P),M=MOT_BLGT;P=$(P),M=MOT_CRYO;P=$(P),M=MOT_GIR_X;P=$(P),M=MOT_GIR_Y;P=$(P),M=MOT_GIR_U;P=$(P),M=MOT_GIR_V;P=$(P),M=MOT_GIR_W;P=$(P),M=MOT_DET_Z</string>
   </property>
   <property name="filename" stdset="0">
-    <string notr="true">ESB_MX_motor.ui</string>
+    <string notr="true">PB_motor.ui</string>
   </property>
   <property name="numberOfItems" stdset="0">
    <number>21</number>
   </property>
  </widget>
-  <widget class="QWidget" name="horizontalLayoutWidget">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>50</y>
-     <width>731</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <layout class="QHBoxLayout" name="horizontalLayout" stretch="5,3,4,0,0,3">
-    <property name="spacing">
-     <number>2</number>
-    </property>
-    <item>
-     <widget class="QLabel" name="lbl_DESC_1">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-        <horstretch>0</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-      <property name="text">
-       <string>DESC</string>
-      </property>
-      <property name="alignment">
-       <set>Qt::AlignCenter</set>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QLabel" name="lbl_VAL_1">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-        <horstretch>0</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-      <property name="text">
-       <string>VAL</string>
-      </property>
-      <property name="alignment">
-       <set>Qt::AlignCenter</set>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QLabel" name="lbl_RBV_1">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-        <horstretch>0</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-      <property name="text">
-       <string>RBV</string>
-      </property>
-      <property name="alignment">
-       <set>Qt::AlignCenter</set>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QLabel" name="lbl_LLS_1">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-        <horstretch>0</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>25</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>20</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="text">
-       <string>LLS</string>
-      </property>
-      <property name="alignment">
-       <set>Qt::AlignCenter</set>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QLabel" name="lbl_HLS_1">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-        <horstretch>0</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>25</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>20</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="text">
-       <string>HLS</string>
-      </property>
-      <property name="alignment">
-       <set>Qt::AlignCenter</set>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QLabel" name="MotPan_1">
-      <property name="text">
-       <string>Motors Panels</string>
-      </property>
-      <property name="alignment">
-       <set>Qt::AlignCenter</set>
-      </property>
-     </widget>
-    </item>
-   </layout>
-  </widget>
  <widget class="caMessageButton" name="camessagebutton">
   <property name="geometry">
    <rect>
     <x>140</x>
-     <y>590</y>
+     <y>940</y>
     <width>120</width>
     <height>22</height>
    </rect>
@@ -217,7 +88,7 @@
   <property name="geometry">
    <rect>
     <x>360</x>
-     <y>590</y>
+     <y>940</y>
     <width>100</width>
     <height>22</height>
    </rect>
@@ -239,7 +110,7 @@
   <property name="geometry">
    <rect>
     <x>260</x>
-     <y>590</y>
+     <y>940</y>
     <width>90</width>
     <height>22</height>
    </rect>
@@ -258,7 +129,7 @@
   <property name="geometry">
    <rect>
     <x>20</x>
-     <y>590</y>
+     <y>940</y>
     <width>120</width>
     <height>22</height>
    </rect>
@@ -280,7 +151,7 @@
   <property name="geometry">
    <rect>
     <x>560</x>
-     <y>590</y>
+     <y>940</y>
     <width>180</width>
     <height>31</height>
    </rect>
@@ -303,13 +174,13 @@
    </color>
   </property>
   <property name="labels">
-    <string>SmarAct;SmarAct (old);Girder;EVR;EVR-simple</string>
+    <string>SmarAct;Girder;EVR;EVR-simple</string>
   </property>
   <property name="files">
-    <string>ESB_MX_SmarAct.ui;ESB_MX_SmarAct_main.ui;ESB_MX_5cam.ui;G_EVR_main.ui;S_LAS-TMAIN.ui</string>
+    <string>ESB_MX_SmarAct.ui;ESB_MX_5cam.ui;G_EVR_main.ui;S_LAS-TMAIN.ui</string>
   </property>
   <property name="args">
-    <string>S=SARES30-SMX,M=MCS,T=MCS;P=SARES30-ESBMX;P=$(P);SYS=$(P),DEVICE=EVR0,FF=PCIe;SYS=$(P),DEVICE=EVR0,FF=PCIe</string>
+    <string>P=SARES30-SMX,M=MCS,T=MCS;P=$(P);SYS=$(P),DEVICE=EVR0,FF=PCIe;SYS=$(P),DEVICE=EVR0,FF=PCIe</string>
   </property>
   <property name="stackingMode" stdset="0">
    <enum>caRowColMenu::Menu</enum>
--- a/qt/ESB_MX_motor.ui
+++ b/qt/ESB_MX_motor.ui
@@ -1,178 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>Form</class>
- <widget class="QWidget" name="Form">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>725</width>
-    <height>24</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QHBoxLayout" name="horizontalLayout" stretch="5,3,4,0,0,0,3">
-   <property name="spacing">
-    <number>2</number>
-   </property>
-   <property name="leftMargin">
-    <number>0</number>
-   </property>
-   <property name="topMargin">
-    <number>0</number>
-   </property>
-   <property name="rightMargin">
-    <number>0</number>
-   </property>
-   <property name="bottomMargin">
-    <number>1</number>
-   </property>
-   <item>
-    <widget class="caLineEdit" name="ca_DESC_1">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="channel" stdset="0">
-      <string notr="true">$(P):$(M).DESC</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="caTextEntry" name="ca_VAL_1">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="channel" stdset="0">
-      <string notr="true">$(P):$(M).VAL</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="caLineEdit" name="ca_RBV_1">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="channel" stdset="0">
-      <string notr="true">$(P):$(M).RBV</string>
-     </property>
-     <property name="unitsEnabled">
-      <bool>true</bool>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="caLed" name="caled_3">
-     <property name="minimumSize">
-      <size>
-       <width>25</width>
-       <height>4</height>
-      </size>
-     </property>
-     <property name="channel" stdset="0">
-      <string notr="true">$(P):$(M).DMOV</string>
-     </property>
-     <property name="trueColor">
-      <color>
-       <red>0</red>
-       <green>85</green>
-       <blue>255</blue>
-      </color>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="caLed" name="caled">
-     <property name="minimumSize">
-      <size>
-       <width>25</width>
-       <height>4</height>
-      </size>
-     </property>
-     <property name="channel" stdset="0">
-      <string notr="true">$(P):$(M).LLS</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="caLed" name="caled_2">
-     <property name="minimumSize">
-      <size>
-       <width>25</width>
-       <height>4</height>
-      </size>
-     </property>
-     <property name="channel" stdset="0">
-      <string notr="true">$(P):$(M).HLS</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="caRelatedDisplay" name="carelateddisplay_2">
-     <property name="label">
-      <string notr="true">-$(M)</string>
-     </property>
-     <property name="background">
-      <color>
-       <red>128</red>
-       <green>136</green>
-       <blue>255</blue>
-      </color>
-     </property>
-     <property name="labels">
-      <string>more;all</string>
-     </property>
-     <property name="files">
-      <string>motorx_more.ui;motorx_all.ui</string>
-     </property>
-     <property name="args">
-      <string>P=$(P):,M=$(M);P=$(P):,M=$(M)</string>
-     </property>
-     <property name="stackingMode" stdset="0">
-      <enum>caRowColMenu::Menu</enum>
-     </property>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <customwidgets>
-  <customwidget>
-   <class>caRelatedDisplay</class>
-   <extends>QWidget</extends>
-   <header>caRelatedDisplay</header>
-  </customwidget>
-  <customwidget>
-   <class>caTextEntry</class>
-   <extends>caLineEdit</extends>
-   <header>caTextEntry</header>
-  </customwidget>
-  <customwidget>
-   <class>caLed</class>
-   <extends>QWidget</extends>
-   <header>caLed</header>
-  </customwidget>
-  <customwidget>
-   <class>caLineEdit</class>
-   <extends>QLineEdit</extends>
-   <header>caLineEdit</header>
-  </customwidget>
- </customwidgets>
- <resources/>
- <connections/>
-</ui>