towards python 3

Readme.md

@@ -4,6 +4,7 @@ Various motor documents
 
 Parker stage
 ------------
+```
 - encoder is incremental encoder
 25mm or 50mm travel stage
 Stall Current Continuous 0.8
@@ -14,7 +15,7 @@ Max.BuxVoltage V 80
 
 Continous Force 4N -> assume 1kg load -> acceleration=a=F/m=4m/s^2
 Weight top stage: 250g=2.5N
-
+```
 
 
 Mecapion rot stage
@@ -27,15 +28,16 @@ http://www.parkem.ch/medien/produkte/direktantriebstechnik/pdf/MDM_Rundtisch_kat
 http://www.goto.si/wp-content/uploads/2016/kat/L7%20Series%20catalog.pdf
 http://farasys.ir/wp-content/uploads/2015/Direct%20Drive%20Rotary%20Motors.pdf
 http://www.inmoco.co.uk/Upload/product/1037_DD_Series_Motors_79.pdf
-```
 
 - encoder is biss 20 bit
 - Rated Current 1.46 Arms
 - Max Current 4.38 Arms
 - 32 pole (16 einraster per rev)
+```
 
 Servo Test Motor QBL 4208-41-04-006
 -----------------------------------
+```
      8     pole (4 lock position per rev)
     24 V   rated voltage
   1.79 A   rated phase current
@@ -43,10 +45,12 @@ Servo Test Motor QBL 4208-41-04-006
   4000 rpm rated speed
    1.8 ohm line to line resistance
    2.6 mH  line to line inductance
+```
+
 
- 
 2Phase Stepper Test Motor Vextra PK244M
 ---------------------------------------
+```
 - 200 pole (100 einraster per rev)
 
 
@@ -61,28 +65,31 @@ gpasciiCommander --host SAR-CPPM-EXPMX1 -i
 
 cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
 ./shapepath.py -v255
-
+```
 
 
 Testing ServoFrq.
 -----------------
-
+```
 !common(PhaseFreq=20000,PhasePerServo=4) -> 25000points, 20um error  leads the trajectory in x
 !common(PhaseFreq=20000,PhasePerServo=2) -> 25000points, 6.6um error
 !common(PhaseFreq=20000,PhasePerServo=1) -> 25000points, 6.1um error ossilates in y, x is quite good
 
 -> the servo loop has to be optimized!
+```
 
 Testing linear,pvt,spline moves
 -------------------------------
+```
 
 Tested with shapepath.py: THE BEST TRAJECTORY RESULT IST WITH PVT MOTION
 
+```
 
 
 Optimize/Test Parameters with Parker Stage
 ------------------------------------------
-
+```
 cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
 gpasciiCommander --host SAR-CPPM-EXPMX1 -i
 !mx-stage()
@@ -119,12 +126,12 @@ average error x 0.313575 um, y 0.461707 um, 0.629583 um
 
 ./shapepath.py
 average error x 0.371877 um, y 0.317152 um, 0.542073 um
-
+```
 
 
 Start motion on external signal
 -------------------------------
-
+```
 open plc 1
 Coord[1].DesTimeBase=0       // freezes timebase at boot
 while(1)
@@ -144,3 +151,32 @@ close
 enable plc 1
 -> run motion program. press gpio 0 to run at 100%
 
+```
+
+29.9.17 Testing in MX-LAB
+-------------------------
+```
+Start the powerbrick. ioc is started automatically
+zamofing_t@ganymede:~$ ssh x06mx-cons-1
+
+caget SAR-ESB_MX:MOTOR_AX
+cd /net/slsfs-crtl/export/sf/common/config/qt/
+startDM -macro 'P=SAR-ESB_MX' ESB_MX_exp
+press homing button
+-> all axes can be moved.
+
+(on thierrys laptop only)
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
+./shapepath.py
+will execute the custom motion. No problems with EPICS
+
+(on other machines)
+module is installed in:
+ls /net/slsfs-crtl/export/sf/ioc/modules/ESB_MX/zamofing_t/R3.14.12/
+PATH=/net/slsfs-crtl/export/sf/controls/bin/:$PATH
+source /opt/gfa/python-2.7/2.3.0/bin/activate xblpython > /dev/null 2>&1
+cd /net/slsfs-crtl/export/sf/ioc/modules/ESB_MX/zamofing_t/R3.14.12/
+./shapepath.py
+
+```
+