homing plc and fixes

2017-06-12 09:51:02 +02:00
parent 0bf383e155
commit 3b886088d9
15 changed files with 1133 additions and 87 deletions
--- a/PBinspect.pbi
+++ b/PBinspect.pbi
@@ -24,45 +24,134 @@
  [
    "WatchListCtrl",
    [
-      ["EncTable[1].PrevEnc",null],
-      ["Motor[1].Pos","lambda v: '%.8g'%float(v)"],
-      ["Motor[1].DesPos","lambda v: '%.8g'%float(v)"],
-      ["Motor[1].PosError","lambda v: '%.8g'%float(v)"],
-      ["Motor[1].Servo.Integrator","lambda v: '%.8g'%float(v)"],
-      ["Motor[1].ServoOut","lambda v: '%.8g'%float(v)"],
-      ["Motor[1].idCmd","lambda v: '%.8g'%float(v)"],
-      ["Motor[1].iqCmd","lambda v: '%.8g'%float(v)"],
-      ["Motor[1].idMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[1].iqMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[1].iaMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[1].ibMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[1].I2tSum","lambda v: '%.8g'%float(v)"],
-      ["EncTable[2].PrevEnc",null],
-      ["Motor[2].Pos","lambda v: '%.8g'%float(v)"],
-      ["Motor[2].DesPos","lambda v: '%.8g'%float(v)"],
-      ["Motor[2].PosError","lambda v: '%.8g'%float(v)"],
-      ["Motor[2].Servo.Integrator","lambda v: '%.8g'%float(v)"],
-      ["Motor[2].ServoOut","lambda v: '%.8g'%float(v)"],
-      ["Motor[2].idCmd","lambda v: '%.8g'%float(v)"],
-      ["Motor[2].iqCmd","lambda v: '%.8g'%float(v)"],
-      ["Motor[2].idMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[2].iqMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[2].iaMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[2].ibMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[2].I2tSum","lambda v: '%.8g'%float(v)"],
-      ["EncTable[3].PrevEnc",null],
-      ["Motor[3].Pos","lambda v: '%.8g'%float(v)"],
-      ["Motor[3].DesPos","lambda v: '%.8g'%float(v)"],
-      ["Motor[3].PosError","lambda v: '%.8g'%float(v)"],
-      ["Motor[3].Servo.Integrator","lambda v: '%.8g'%float(v)"],
-      ["Motor[3].ServoOut","lambda v: '%.8g'%float(v)"],
-      ["Motor[3].idCmd","lambda v: '%.8g'%float(v)"],
-      ["Motor[3].iqCmd","lambda v: '%.8g'%float(v)"],
-      ["Motor[3].idMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[3].iqMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[3].iaMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[3].ibMeas","lambda v: '%.8g'%float(v)"],
-      ["Motor[3].I2tSum","lambda v: '%.8g'%float(v)"]
+      [
+        "Motor[1].idCmd",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[1].iqCmd",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[1].idMeas",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[1].iqMeas",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "EncTable[2].PrevEnc",
+        null
+      ],
+      [
+        "Motor[2].Pos",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[2].DesPos",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[2].PosError",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[2].Servo.Integrator",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[2].ServoOut",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[2].idCmd",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[2].iqCmd",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[2].idMeas",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[2].iqMeas",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[2].iaMeas",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[2].ibMeas",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[2].I2tSum",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "EncTable[3].PrevEnc",
+        null
+      ],
+      [
+        "Motor[3].Pos",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[3].DesPos",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[3].PosError",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[3].Servo.Integrator",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[3].ServoOut",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[3].idCmd",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[3].iqCmd",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[3].idMeas",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[3].iqMeas",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[3].iaMeas",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[3].ibMeas",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "Motor[3].I2tSum",
+        "lambda v: '%.8g'%float(v)"
+      ],
+      [
+        "P2000",
+        null
+      ],
+      [
+        "P3000",
+        null
+      ]
    ],
    "name=w;caption=watch;state=67377148;dir=4;layer=0;row=1;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=221;floaty=858;floatw=208;floath=377;notebookid=-1;transparent=255"
  ],
--- a/cfg/init.cfg
+++ b/cfg/init.cfg
@@ -0,0 +1,68 @@
+define(PLC_Homing='1')
+
+open subprog 12
+enable plc PLC_Homing
+close
+
+open plc PLC_Homing
+define(status='P100',timer='P101')
+
+L20=Motor[2].MaxDac
+Motor[2].MaxDac=500
+L21=Motor[2].FatalFeLimit
+Motor[2].FatalFeLimit=2000
+L22=Motor[2].JogSpeed
+Motor[2].JogSpeed=1
+
+L30=Motor[3].MaxDac
+Motor[3].MaxDac=500
+L31=Motor[3].FatalFeLimit
+Motor[3].FatalFeLimit=2000
+L32=Motor[3].JogSpeed
+Motor[3].JogSpeed=1
+
+
+Motor[2].PhaseFindingStep=1
+Motor[3].PhaseFindingStep=1
+timer = Sys.RunTime + 1;while (Sys.RunTime < timer){} //wait 1 sec
+
+Motor[2].HomeVel=2
+Motor[3].HomeVel=2
+
+P200=Motor[2].HomeInProgress
+home2
+home3
+timer = Sys.RunTime + 1;while (Sys.RunTime < timer){} //wait 1 sec
+P201=Motor[2].HomeInProgress
+
+status=1
+while(1)
+{
+  if(Motor[2].FeFatal && (status&2)==0)
+  {
+    status=status|2
+    Motor[2].HomeVel=-Motor[2].HomeVel
+    home2
+  }
+  if(Motor[3].HomeInProgress==0 && (status&4)==0)
+  {
+    status=status|4
+    Motor[3].HomeVel=-Motor[3].HomeVel
+    home3
+  }
+  if(Motor[2].HomeInProgress==0 && Motor[3].HomeInProgress==0)
+  {
+    status=status|8
+    break
+  }
+}
+
+Motor[2].MaxDac=L20
+Motor[2].FatalFeLimit=L21
+Motor[2].JogSpeed=L22
+Motor[3].MaxDac=L30
+Motor[3].FatalFeLimit=L31
+Motor[3].JogSpeed=L32
+
+disable plc PLC_Homing
+close
--- a/cfg/init_limit.cfg
+++ b/cfg/init_limit.cfg
@@ -0,0 +1,71 @@
+//home by bove to physical limits and set these to -5000um
+
+define(PLC_Homing='1')
+
+open plc PLC_Homing
+define(status='P100',timer='P101')
+
+L20=Motor[2].MaxDac
+Motor[2].MaxDac=500
+L21=Motor[2].FatalFeLimit
+Motor[2].FatalFeLimit=2000
+L22=Motor[2].JogSpeed
+Motor[2].JogSpeed=1
+
+L30=Motor[3].MaxDac
+Motor[3].MaxDac=500
+L31=Motor[3].FatalFeLimit
+Motor[3].FatalFeLimit=2000
+L32=Motor[3].JogSpeed
+Motor[3].JogSpeed=1
+
+
+Motor[2].PhaseFindingStep=1
+Motor[3].PhaseFindingStep=1
+timer = Sys.RunTime + 1;while (Sys.RunTime < timer){} //wait 1 sec
+
+jog-2; jog-3;
+
+status=1
+while(1)
+{
+  if(Motor[2].FeWarn==1 && (status&2)==0)
+  {
+    status=status|2
+    jog/2
+    Motor[2].PhasePos=310
+    Motor[2].HomePos=Motor[2].ActPos+5000
+    jog2=0
+  }
+  if(Motor[3].FeWarn==1 && (status&4)==0)
+  {
+    status=status|4
+    jog/3
+    Motor[3].PhasePos=1210
+    Motor[3].HomePos=Motor[3].ActPos+5000
+    jog3=0
+  }
+  if(status==7)
+  {
+    status=status|8
+    break
+  }
+}
+
+timer = Sys.RunTime + 2
+while (Sys.RunTime < timer){} //wait 2 sec
+status=100
+timer = Sys.RunTime + 2
+status=200
+while (Sys.RunTime < timer){} //wait 2 sec
+status=201
+
+Motor[2].MaxDac=L20
+Motor[2].FatalFeLimit=L21
+Motor[2].JogSpeed=L22
+Motor[3].MaxDac=L30
+Motor[3].FatalFeLimit=L31
+Motor[3].JogSpeed=L32
+
+disable plc PLC_Homing
+close
--- a/cfg/mx-stage.cfg
+++ b/cfg/mx-stage.cfg
@@ -43,6 +43,7 @@ $$$***
 //!common(PhaseFreq=40000)

 !torqueCtrl()
+!init()


 &1
@@ -51,8 +52,8 @@ $$$***
 //#3->   + .5X    +1. Y + 0.01A

 #1->   A
-#2->   Y
-#3->   X
+#2->   X
+#3->   Y

 Coord[1].AltFeedRate=0
 Coord[1].Tm=1  //1ms time
--- a/cfg/torqueCtrl.cfg
+++ b/cfg/torqueCtrl.cfg
@@ -53,8 +53,9 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
 //use um as motor unit
 !encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048)
 !encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000)
-!motor_servo(mot=2,ctrl='ServoCtrl',Kp=20,Kvfb=1000,Ki=0.07,Kvff=1000,Kaff=4000,MaxInt=1000)
-!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2)
+//!motor_servo(mot=2,ctrl='ServoCtrl',Kp=20,Kvfb=1000,Ki=0.07,Kvff=1000,Kaff=4000,MaxInt=1000)
+!motor_servo(mot=2,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
+!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')


 //Stage X Parker MX80L (top stage, mounted on Y stage)
@@ -68,7 +69,7 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
 !encoder_inc(enc=3,tbl=3,mot=3,posSf=13000./650000)
 !motor_servo(mot=3,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
 //PhaseFreq=20000,PhasePerServo=1 -> Kvfb=220*4 Ki/=4,Kvff*=4,Kaff*=4*4
-!motor(mot=3,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=2000,WarnFeLimit=100,InPosBand=2)
+!motor(mot=3,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')

 //Interferometer 1 Stage Y Parker MX80L (bottom stage)
 //----------------------------------------------------
--- a/logbook.md
+++ b/logbook.md
@@ -592,14 +592,299 @@ Grid path at speed:



-Interferometer
--------------
+Interferometer 11.4.2017
+------------------------
+
+
+adding to torqueCtrl lines:
+!encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000)
+!encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000)

 gpasciiCommander --host SAR-CPPM-EXPMX1 -i
+!mx-stage()
+#1..3$
+&1
+#1..3j/

-$$$***
+both interferometer works
+homing and move:
+
+#2..5p
+-0.04000000000000008 0.0200000000000023 -298.8984375 39.890625
+> #2j=10000;#3j=0000
+#2j=10000;#3j=0000
+> #2..5p
+#2..5p
+10000 2.380040609040179e-15 -500672.5625 4334.390625
+> #2j=0000;#3j=0000
+#2j=0000;#3j=0000
+> #2j=0000;#3j=10000
+#2j=0000;#3j=10000
+> #2..5p
+#2..5p
+-0.02000000000000006 10000 -3559.06640625 -499752.609375
+
+
+
+
+#2..5p
+-0.08000000000000007 -0.003515624999636202 -0.5 7.2890625
+
+#2j=10000
+#2..5p
+9999.980000000001 -0.01000000000021828 4290.96875 -500362.453125
+#2j=0;#3j=10000
+#2..5p
+0 9999.992812500001 -499789.3984375 -3260.984375
+
+Interferometer have 500000 counts per 10000um = 50 counts per um =20nm
+at Motor[2].JogSpeed=10 the interferometer can not follow the motion.
+It will not loose steps, but the maximum frequency is limiting during motion.
+at Motor[2].JogSpeed=10 the interferometer and the encoder delivers similar values.
+
+
+interfero_move_rec.py
+      self.gather={"MaxSamples":1000000, "Period":acq_per}
+      self.channels=channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"]
+
+Gather.Enable=0
+Gather.Items=6
+Gather.MaxSamples=1000000
+Gather.Period=10
+Gather.Addr[0]=Motor[2].DesPos.a
+Gather.Addr[1]=Motor[3].DesPos.a
+Gather.Addr[2]=Motor[2].ActPos.a
+Gather.Addr[3]=Motor[3].ActPos.a
+Gather.Addr[4]=Motor[4].ActPos.a
+Gather.Addr[5]=Motor[5].ActPos.a
+open prog 2
+  linear abs
+  X0 Y0
+  dwell 10
+  Gather.Enable=2
+  X10000 Y0
+  dwell 100
+  X0 Y0
+  dwell 100
+  X0 Y10000
+  dwell 100
+  X0 Y0
+  dwell 1000
+Gather.Enable=0
+close
+&1
+b2r
+
+download data with
+PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1
+
+cat /tmp/gather.txt
+
+Motor[2].MaxSpeed=50
+Motor[3].MaxSpeed=50
+->gather50.txt
+
+Motor[2].MaxSpeed=5
+Motor[3].MaxSpeed=5
+->gather5.txt
+
+Motor[2].MaxSpeed=1
+Motor[3].MaxSpeed=1
+->gather1.txt
+
+Changing encoder frequency on atto cube makes it run even at high speed
+
+
+28. 4.2017 prepare for vibration measurement
+--------------------------------------------
+PPMAC=SAR-CPPM-EXPMX1
+
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX
+PBInspect --host $PPMAC --cfg PBinspect.pbi
+
+cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo
+make
+
+
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
+gpasciiCommander --host SAR-CPPM-EXPMX1 -i
+!mx-stage()
+#1..3$
+&1
+#1..3j/
+
+#1j=360000   //360deg gegenuhrzeiger
+
+#2j:100   //100 um right
+#3j:100   //100 um up
+
+move bottom left
+#2,3$
+Motor[2].PhasePos;Motor[3].PhasePos
+
+Motor[2].PhasePos=310;Motor[3].PhasePos=1210
+#2,3hmz
+Motor[3].HomePos=Motor[3].HomePos+15000
+
+
+Motor 2 vibriert mit 76ms =13.15 Hz
+
+
+b2r
+Load is now Alublock + mirrors
+
+at 50 Hz peak to peak 200um
+at 100Hz peak to Peak 50um
+at 200Hz peak to Peak 13um
+at 400Hz peak to Peak 1.5um
+
+
+
+2. 5.2017 Vertical stage with load
+----------------------------------
+
+ scale=0.83832  #np.sqrt(3)/2*32767/33.850/1000
+
+Motor[3].I2tSet=670.65601
+670.65601/0.83832 = 800.000
+
+ohne Platte   iqCmd = 625
+Platte 133.2g iqCmd = 910
+Platte 156.8g iqCmd = 965
+
+Motor[3].IaMeas=-660
+Motor[3].IbMeas=580
+Motor[3].IqMeas=634.15991
+
+
+Motor[3].IaMeas=-708
+Motor[3].IbMeas=256
+
+
+
+Motor[3].IaMeas=436  =520
+Motor[3].IbMeas=-632 =-753
+Motor[3].IqMeas=566.46863 = 675 
+
+
+Claude messungen:
+Phase 1:   330mA
+Phase 2:   125mA
+Phase 3:   694mA
+
+Stromzange: 650 mA
+
+
+
+Interferometer 29.5.2017
+------------------------
+cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX;PBInspect --cfg PBinspect.pbi --host SAR-CPPM-EXPMX1
+
+gpasciiCommander --host SAR-CPPM-EXPMX1 -i
+!mx-stage()
+#1..3$
+&1
+#1..3j/
+
+zero to neative inc values
+move motor 2,3 from 500 to 28500
+#1..5hmz
+
+read acquire statements and program at to of plot_interfero.py
+
+
+Motor[2].MaxSpeed=30;Motor[3].MaxSpeed=30
+Motor[2].MaxSpeed=10;Motor[3].MaxSpeed=10
+
+PPMAC=SAR-CPPM-EXPMX1
+PBGatherPlot -m24 -v7 --host $PPMAC --dat gather1.txt
+
+
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather0.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather1.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather2.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather3.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather4.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather5.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather6.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather7.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather8.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather9.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather10.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather11.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather12.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather13.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather14.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather15.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather16.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather17.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather18.txt
+b2r
+!sh PBGatherPlot -m24 -v7 --host SAR-CPPM-EXPMX1 --dat ../data_interfero_spd10/gather19.txt
+
+
+Konstantfeder 2.6.2017
+----------------------
+
+cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX;PBInspect --cfg PBinspect.pbi --host SAR-CPPM-EXPMX1
+cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/;gpasciiCommander --host SAR-CPPM-EXPMX1 -i
+!mx-stage()
+
+//#1..3$
+//move bottom left
+#2,3$
+Motor[2].PhasePos;Motor[3].PhasePos
+
+Motor[2].PhasePos=310;Motor[3].PhasePos=1210
+#2,3hmz
+Motor[2].HomePos=Motor[2].HomePos+5000
+Motor[3].HomePos=Motor[3].HomePos+5000
+
+
+&1
+
+#1..3j/
+#2..3j=0
+L2=Motor[2].MaxDac
+L3=Motor[3].MaxDac
+
+
+Motor[2].MaxDac=500
+#2j+
+
+enable plc 1
+
+Motor[2].HomeVel=2
+Motor[3].HomeVel=2
+#2,3$
+
+Homing 12.6.2017
+---------------
+
+cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX;PBInspect --cfg PBinspect.pbi --host SAR-CPPM-EXPMX1
+cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/;gpasciiCommander --host SAR-CPPM-EXPMX1 -i
+!mx-stage()
+//!init()
+//!init_limit()
+
+enable plc 1

-!common()
-!encoder_inc(enc=8,tbl=8,mot=8)
-!encoder_inc(enc=1,tbl=1,mot=1)
-!encoder_inc(enc=2,tbl=2,mot=2)
--- a/python/MAError.py
+++ b/python/MAError.py
@@ -133,8 +133,8 @@ class MAErrorFrame(wx.Frame):
      err=doc.err
    except AttributeError:
      rec=doc.fh['rec']
-      errx = (rec[:, 2] - rec[:, 5])
-      erry = (rec[:, 1] - rec[:, 4])
+      errx = (rec[:, 1] - rec[:, 4])
+      erry = (rec[:, 2] - rec[:, 5])
      errxy = np.sqrt(errx ** 2 + erry ** 2)
      doc.err = err = (errx, erry, errxy)
    canvas.InitChild(meta,err)
--- a/python/MAVelocity.py
+++ b/python/MAVelocity.py
@@ -148,10 +148,10 @@ class MAVelocityFrame(wx.Frame):
      #datapoint timebase: 2 ms () per data point
      #velocity: um/ms (deltatau desVel= motor units per serco cycle)
      rec=doc.fh['rec']
-      velxAct = np.diff(rec[:, 2])/tb
-      velxDes = np.diff(rec[:, 5])/tb
-      velyAct = np.diff(rec[:, 1])/tb
-      velyDes = np.diff(rec[:, 4])/tb
+      velxAct = np.diff(rec[:, 1])/tb
+      velxDes = np.diff(rec[:, 4])/tb
+      velyAct = np.diff(rec[:, 2])/tb
+      velyDes = np.diff(rec[:, 5])/tb
      velAct = np.sqrt(velxAct**2+velyAct**2)
      velDes = np.sqrt(velxDes**2+velyDes**2)
      doc.vel = vel = (velxAct,velxDes,velyAct,velyDes,velAct,velDes)
--- a/python/MAxyPlot.py
+++ b/python/MAxyPlot.py
@@ -59,8 +59,8 @@ class MPLCanvasImg(FigureCanvas):
    ax.add_collection(ec)


-    hl+=ax.plot(rec[:, 5], rec[:, 4], 'b-',label='recDesPos')
-    hl+=ax.plot(rec[:,2],rec[:,1],'g-',label='recActPos')
+    hl+=ax.plot(rec[:, 4], rec[:, 5], 'b-',label='recDesPos')
+    hl+=ax.plot(rec[:,1],rec[:,2],'g-',label='recActPos')
    ax.xaxis.set_label_text('x-pos um')
    ax.yaxis.set_label_text('y-pos um')

@@ -267,13 +267,13 @@ class MAxyPlotFrame(wx.Frame):
      idx=usrData
      rec=self.doc.fh['rec']
      hl=canvas.hl
-      hl[2].set_data(rec[:idx+1, 5], rec[:idx+1, 4])
-      hl[3].set_data(rec[:idx+1, 2], rec[:idx+1, 1])
+      hl[2].set_data(rec[:idx+1, 4], rec[:idx+1, 5])
+      hl[3].set_data(rec[:idx+1, 1], rec[:idx+1, 2])
      #ax.draw_artist(hl[2])
      x=ax.get_xlim();x=(x[1]-x[0])/2;
      y=ax.get_ylim();y=(y[1]-y[0])/2;
-      ax.set_xlim(rec[idx, 2]-x,rec[idx, 2]+x)
-      ax.set_ylim(rec[idx, 1]-y,rec[idx, 1]+y)
+      ax.set_xlim(rec[idx, 1]-x,rec[idx, 1]+x)
+      ax.set_ylim(rec[idx, 2]-y,rec[idx, 2]+y)
      canvas.draw()

  @staticmethod
--- a/python/plot_interfero.py
+++ b/python/plot_interfero.py
@@ -0,0 +1,99 @@
+#!/usr/bin/env python
+# *-----------------------------------------------------------------------*
+# |                                                                       |
+# |  Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch)    |
+# |                                                                       |
+# |              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
+# *-----------------------------------------------------------------------*
+
+#Testing the interferometer 
+'''
+zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg$ gpasciiCommander --host $PPMAC -i
+$$$***
+!common()
+!mx-stage()
+
+Gather.Enable=0
+Gather.Items=6
+Gather.MaxSamples=1000000
+Gather.Period=10
+Gather.Addr[0]=Motor[2].DesPos.a
+Gather.Addr[1]=Motor[3].DesPos.a
+Gather.Addr[2]=Motor[2].ActPos.a
+Gather.Addr[3]=Motor[3].ActPos.a
+Gather.Addr[4]=Motor[4].ActPos.a
+Gather.Addr[5]=Motor[5].ActPos.a
+open prog 2
+  linear abs
+  X1000 Y1000
+  dwell 10
+  Gather.Enable=2
+  X28000 Y1000
+  dwell 100
+  X1000 Y1000
+  dwell 100
+  X1000 Y28000
+  dwell 100
+  X1000 Y1000
+  dwell 1000
+Gather.Enable=0
+close
+&1
+b2r
+
+download data with
+PPMAC=SAR-CPPM-EXPMX1
+PBGatherPlot -m24 -v7 --host $PPMAC --dat gather.txt
+
+cat /tmp/gather.txt
+
+Motor[2].MaxSpeed=20;Motor[3].MaxSpeed=20
+Motor[2].MaxSpeed=5;Motor[3].MaxSpeed=5
+Motor[2].MaxSpeed=2
+Motor[3].MaxSpeed=2
+b2r
+
+
+
+'''
+
+import os, sys, json
+import numpy as np
+import matplotlib as mpl
+import matplotlib.pyplot as plt
+import subprocess as sprc
+import telnetlib
+
+if __name__=='__main__':
+  def plot_gather(base):
+    #rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
+    #res=rot.ActPos,y.ActPos,x.ActPos,rot.DesPos,y.DesPos,x.DesPos
+    #idx     0        1        2          3        4        5
+    f1=plt.figure()
+    #f2 = plt.figure()
+    ax1 = f1.add_subplot(1,1,1)
+    #ax2 = f2.add_subplot(1, 1, 1)
+
+    for fn in sorted(os.listdir(base)):
+      print fn
+      rec = np.genfromtxt(base+'/'+fn, delimiter=' ')
+      print rec.shape
+
+      x=range(len(rec[:,0]))
+      #hl=ax[0].plot(x, y, color=col)
+
+      hl=ax1.plot(x,-(rec[:,0]-rec[0,0]),'k')
+      hl=ax1.plot(x,-(rec[:,2]-rec[0,2]),'r')
+      hl=ax1.plot(x,-(rec[:,4]-rec[0,4])/100,'m')
+      hl=ax1.plot(x,rec[:,1]-rec[0,1],'k')
+      hl=ax1.plot(x,rec[:,3]-rec[0,3],'b')
+      hl=ax1.plot(x,-(rec[:,5]-rec[0,5])/100,'c')
+
+    plt.show()
+
+#plot_gather(base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/gather5/')
+#plot_gather(base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/gather50/')
+#plot_gather(base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/tmp/')
+#plot_gather(base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/data_interfero_spd10')
+#plot_gather(base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/data_interfero_spd20')
+plot_gather(base='data_interfero_spd10')
--- a/python/shapepath.py
+++ b/python/shapepath.py
@@ -83,11 +83,11 @@ class ShapePath:
        #cfg = {"points": [[0, 0],[100, 0],[200, 0],[300, 0],[400, 0],[400, 100],[300, 100],[200, 100],[100, 100],[0, 100],[10, 200],[100, 200],[200, 200],[300, 200],[400, 200],[410, 300],[300, 300],[200, 300],[100, 300],[0, 300],[0, 400],[100, 400],[200, 400],[300, 400],[400, 400]],"sequencer": ['gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=0)', 'plot_gather("'+fn+'.npz")']}
        #cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=-1)', 'plot_gather("'+fn+'.npz")']}
        #cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=1000)', 'plot_gather("'+fn+'.npz")']}
-        cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
+        #cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
        #cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
-        #cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=2,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
-        #cfg = {"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,acq_per=1)','plot_gather("'+fn+'.npz")']}
-        cfg = {"sequencer": ['gen_swissfel_points(scale=300)','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=100,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
+        cfg = {"sequencer": ['gen_grid_points(w=15,h=15,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=2,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
+        #cfg = {"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=20,acq_per=10)','plot_gather("'+fn+'.npz")']}
+        #cfg = {"sequencer": ['gen_swissfel_points(scale=300)','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=100,acq_per=10)', 'plot_gather("'+fn+'.npz")']}

      self.cfg=dotdict(cfg)
      self.args=args
@@ -281,10 +281,10 @@ class ShapePath:
      idx=np.ndarray(cnt,dtype=np.int32)
      grp_cnt=int(np.sqrt(cnt))
      grp_sz=int(np.ceil(float(cnt)/grp_cnt))
-      if self.args.yx==True:
-        idxA=0;idxB=1
-      else:
+      if self.args.xy==True:
        idxA=1;idxB=0
+      else:
+        idxA=0;idxB=1

      #sort points along idxA
      pts=pts[pts[:,idxA].argsort()]
@@ -327,10 +327,10 @@ class ShapePath:
      pts=self.points    # X,Y array
      rec = np.genfromtxt(fnLoc, delimiter=' ')
      #rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
-      #res=rot.ActPos,y.ActPos,x.ActPos,rot.DesPos,y.DesPos,x.DesPos
+      #res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
      #idx     0        1        2          3        4        5
-      ofsy=-rec[0,4]+pts[0,1]
-      ofsx=-rec[0,5]+pts[0,0]
+      ofsy=-rec[0,4]+pts[0,0]
+      ofsx=-rec[0,5]+pts[0,1]
      rec[:,(1,4)]+=ofsy
      rec[:,(2,5)]+=ofsx
      if fnOut:
@@ -345,8 +345,8 @@ class ShapePath:
      #hl=ax[0].plot(x, y, color=col)
      hl=ax.plot(pts[:,0],pts[:,1],'r.')
      hl=ax.plot(pts[:,0],pts[:,1],'y--')
-      hl = ax.plot(rec[:, 5], rec[:, 4], 'b-') # desired path
-      hl=ax.plot(rec[:,2],rec[:,1],'g-') # actual path
+      hl = ax.plot(rec[:, 4], rec[:, 5], 'b-') # desired path
+      hl=ax.plot(rec[:,1],rec[:,2],'g-') # actual path
      ax.xaxis.set_label_text('x-pos um')
      ax.yaxis.set_label_text('y-pos um')
      cid = fig.canvas.mpl_connect('button_press_event', self.onclick)
@@ -356,8 +356,8 @@ class ShapePath:

      fig = plt.figure()
      ax = fig.add_subplot(1, 1, 1)
-      errx=rec[:,2]-rec[:,5]
-      erry=rec[:,1]-rec[:,4]
+      errx=rec[:,1]-rec[:,4]
+      erry=rec[:,2]-rec[:,5]
      err=np.sqrt(errx**2+erry**2)

      hl = []
@@ -388,11 +388,8 @@ if __name__=='__main__':
    'main command line interpreter function'
    #usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg
    (h, t)=os.path.split(sys.argv[0]);cmd='\n  '+(t if len(h)>3 else sys.argv[0])+' '
-    exampleCmd=('--host=PPMAC1391 -m 63 --cfg gather.cfg',
-                'samplePowerBrick.cfg',
-                '-n stackCheck1.cfg',
-                '--host=PPMACZT84 stackCheck1.cfg',
-                '--host=PPMACZT84 stackCheck1.cfg -v15',
+    exampleCmd=('-n',
+                '-v15'
               )
    epilog=__doc__+'''
 Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
@@ -402,7 +399,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '

    parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0)
    parser.add_option('-n', '--dryrun', action='store_true', help='dryrun to stdout')
-    parser.add_option('--yx', action='store_true', help='sort y,x instead x,y')
+    parser.add_option('--xy', action='store_true', help='sort x,y instead y,x')
    parser.add_option('--cfg', help='config file containing json configuration structure')

    (args, other)=parser.parse_args()
--- a/python/stage_rms_current.py
+++ b/python/stage_rms_current.py
@@ -0,0 +1,44 @@
+#plot and calculate rms values of sine, six state trapezoidal etc.
+
+import numpy as np
+import matplotlib as mpl
+import matplotlib.pyplot as pyplot
+pyplot.figure()
+x=np.arange(360.)
+y=np.sin(x/360.*2.*np.pi)
+y1=x.copy()
+y1[0: 60]=x[0:60]/60
+y1[ 60:120]=1
+y1[120:180]=1-x[0:60]/60
+y1[180:240]=-x[0:60]/60
+y1[240:300]=-1
+y1[300:360]=-1+x[0:60]/60
+
+y2=x.copy()
+y2[0: 30]=0
+y2[30:150]=1
+y2[150:210]=0
+y2[210:330]=-1
+y2[330:360]=0
+
+y3=x.copy()
+y3[0: 60]=.5
+y3[60:120]=1
+y3[120:180]=.5
+y3[180:240]=-.5
+y3[240:300]=-1
+y3[300:360]=-.5
+
+pyplot.plot(x,y,x,y1,x,y2,x,y3);pyplot.show()
+
+rms=np.sqrt(np.mean(y**2))
+b=np.sqrt(2)/2
+rms1=np.sqrt(np.mean(y1**2))
+rms2=np.sqrt(np.mean(y2**2))
+rms3=np.sqrt(np.mean(y3**2))
+print rms,rms1,rms2,rms3,b
+
+print 0.8/rms, 0.8/rms1, 0.8/rms2, 0.8/rms3
+
+
+#https://e2e.ti.com/blogs_/b/motordrivecontrol/archive/2013/11/08/generate-your-own-commutation-table-trapezoidal-control-3-phase-bldc-motors-using-hall-sensors
--- a/qt/ESB_MX_exp.ui
+++ b/qt/ESB_MX_exp.ui
@@ -0,0 +1,236 @@
+<?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>776</width>
+    <height>221</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="caLabel" name="calabel">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>10</y>
+     <width>721</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>18</pointsize>
+     <weight>75</weight>
+     <bold>true</bold>
+    </font>
+   </property>
+   <property name="text">
+    <string>ESB MX $(P)</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+   <property name="background">
+    <color alpha="0">
+     <red>160</red>
+     <green>160</green>
+     <blue>164</blue>
+    </color>
+   </property>
+  </widget>
+  <widget class="caInclude" name="cainclude">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>80</y>
+     <width>725</width>
+     <height>72</height>
+    </rect>
+   </property>
+   <property name="macro">
+    <string>
+P=$(P),M=MOTOR_ROT_Y1;
+P=$(P),M=MOTOR_X1;
+P=$(P),M=MOTOR_Y1</string>
+   </property>
+   <property name="filename" stdset="0">
+    <string notr="true">ESB_MX_motor.ui</string>
+   </property>
+   <property name="numberOfItems" stdset="0">
+    <number>3</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>640</x>
+     <y>160</y>
+     <width>100</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Homing</string>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(P).ASYN</string>
+   </property>
+   <property name="pressMessage">
+    <string notr="true">enable plc 1</string>
+   </property>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caMessageButton</class>
+   <extends>QPushButton</extends>
+   <header>caMessageButton</header>
+  </customwidget>
+  <customwidget>
+   <class>caLabel</class>
+   <extends>QLabel</extends>
+   <header>caLabel</header>
+  </customwidget>
+  <customwidget>
+   <class>caInclude</class>
+   <extends>QWidget</extends>
+   <header>caInclude</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
--- a/qt/ESB_MX_motor.ui
+++ b/qt/ESB_MX_motor.ui
@@ -0,0 +1,152 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>725</width>
+    <height>24</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout" stretch="5,3,4,0,0,3">
+   <property name="spacing">
+    <number>2</number>
+   </property>
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
+    <number>1</number>
+   </property>
+   <item>
+    <widget class="caLineEdit" name="ca_DESC_1">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="channel" stdset="0">
+      <string notr="true">$(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):$(M).RBV</string>
+     </property>
+     <property name="unitsEnabled">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="caLed" name="caled">
+     <property name="minimumSize">
+      <size>
+       <width>25</width>
+       <height>4</height>
+      </size>
+     </property>
+     <property name="channel" stdset="0">
+      <string notr="true">$(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):$(M).HLS</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="caRelatedDisplay" name="carelateddisplay">
+     <property name="background">
+      <color>
+       <red>128</red>
+       <green>136</green>
+       <blue>255</blue>
+      </color>
+     </property>
+     <property name="labels">
+      <string>$(M)</string>
+     </property>
+     <property name="files">
+      <string>motorx_all.ui</string>
+     </property>
+     <property name="args">
+      <string>P=$(P):,M=$(M)</string>
+     </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>
--- a/src/usrServo/Makefile
+++ b/src/usrServo/Makefile
@@ -19,6 +19,9 @@
 # arm,i386,i385hv,ppc460-2,ppc460-1,ppc405
 #------------------------------------------------------------------------------

+PPMAC=SAR-CPPM-EXPMX1
+#PPMAC=SAROP11-CPPM-MOT6871
+
 PMAC_ARCH=ppc465-2

 ifeq ($(PMAC_ARCH),ppc465-2)
@@ -71,10 +74,10 @@ KBUILD_EXTRA_SYMBOLS := /usr/local/dtlibs/libppmac/Module.symvers
 #	cp -f /usr/local/usralgo/usralgomain.c $(PWD)
 all:
 	$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
-	scp usralgo.ko root@SAROP11-CPPM-MOT6871:/tmp
-	scp pp_proj.ini root@SAROP11-CPPM-MOT6871:/var/ftp/usrflash/Project/Configuration/pp_proj.ini
-	scp pp_proj.ini root@SAROP11-CPPM-MOT6871:/tmp/pp_proj.ini
-	ssh root@SAROP11-CPPM-MOT6871 projpp
+	scp usralgo.ko root@$(PPMAC):/tmp
+	scp pp_proj.ini root@$(PPMAC):/var/ftp/usrflash/Project/Configuration/pp_proj.ini
+	scp pp_proj.ini root@$(PPMAC):/tmp/pp_proj.ini
+	ssh root@$(PPMAC) projpp

 #	$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules V=1
 #	mv -f usralgo.ko ../../bin/Debug/