towards recabeling and reconfiguring all Powerbricks and Smaracts devices

Here all IOCs were started without any hardware. So in the next steps the hardware must be tested.
2017-12-21 14:43:07 +01:00
parent 4049955619
commit 789224b83d
31 changed files with 706 additions and 296 deletions
--- a/ESB_MX.subs
+++ b/ESB_MX.subs
@@ -1,31 +0,0 @@
-################################################################################
-#P, M - Define motor record name
-#PORT - Name of the ppmac controller port created by powerPmacCreateController
-#ADDR - Axis index - second parameter of powerPmacCreateAxis and powerPmacCreateVirtualAxis
-#
-#The rest are standard motor record fields
-################################################################################
-
-#!motor(mot=1,current=600,JogSpeed=102.4*5/25.6/10,servoSf=25.6*10,invDir=True)
-#       102.4*7/ 71.67/20 um/ms =0.500 mm/s -> use 0.40 mm/s
-
-#Speed: 102.4*5/25.6/10 um/ms =2 mm/s
-#Position Units are in um
-
-#ms to achive speed VELO -> same as Motor[1].JogTa (if positive). Motor[1].JogTa will be set to a caculated negative number
-# JAR  = EGU/s^2 -> JAR = VELO/ACCL (Jog acceleration)
-
-#global {M1="TX", M2="TZ", M3="RX", M4="RZ"}
-
-
-file PPMACMotor.template {
-pattern{ DESC              , P       , M            , PORT       , ADDR   , DIR, VELO, HVEL, ACCL, JAR, MRES  , PREC, EGU  , DHLM, DLLM}
-       { "Rotation Y"      , "$(P_M)", "MOTOR_ROT_Y", "$(PORT_M)", "$(M1)", 1  , 50  , 50  , 0.1 , 20 , -0.001, 3   , "deg", 0   , 0   }
-       { "Sample F-Trans X", "$(P_M)", "MOTOR_FX"   , "$(PORT_M)", "$(M2)", 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
-       { "Sample F-Trans Y", "$(P_M)", "MOTOR_FY"   , "$(PORT_M)", "$(M3)", 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
-       { "CamBase X"       , "$(P_M)", "MOTOR_CAMX" , "$(PORT_M)", "$(M4)", 1  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
-       { "CamBase Y"       , "$(P_M)", "MOTOR_CAMY" , "$(PORT_M)", "$(M5)", 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
-       { "Backlight"       , "$(P_M)", "MOTOR_BLGT" , "$(PORT_M)", "$(M6)", 1  , 40E3, 20E3, 0.1 , 20 , -1    , 0   , "usr", 0   , 0   }
-       { "Sample C-Trans X", "$(P_M)", "MOTOR_CX"   , "$(PORT_M)", "$(M7)", 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
-       { "Sample C-Trans Z", "$(P_M)", "MOTOR_CZ"   , "$(PORT_M)", "$(M8)", 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
-}
--- a/2
+++ b/2
@@ -3,7 +3,7 @@ MODULE = $(notdir $(shell pwd))
 BUILDCLASSES = Linux
 ARCH_FILTER = eldk42% SL6-x86_64
 EXCLUDE_VERSIONS = 3.14.8
-SCRIPTS+=$(wildcard add_device*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi qt/*.ui qt/*.jpg python/*.py)
+SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi python/*.py)
 #SOURCES+=src/DHVSaSub.cpp
 #DBDS+=src/DHVSaSub.dbd
 USR_CXXFLAGS+= -fno-operator-names
--- a/PBinspect2.pbi
+++ b/PBinspect2.pbi
@@ -0,0 +1,94 @@
+[
+  [
+    "StatusGblListCtrl",
+    [],
+    "name=g;caption=global;state=67377148;dir=4;layer=0;row=0;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=41;floaty=486;floatw=208;floath=377;notebookid=-1;transparent=255"
+  ],
+  [
+    "MotorListCtrl",
+    [
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16
+    ],
+    "name=p;caption=motor pos;state=67377148;dir=4;layer=0;row=0;pos=1;prop=100000;bestw=200;besth=350;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1;notebookid=-1;transparent=255"
+  ],
+  [
+    "WatchListCtrl",
+    [
+      [
+        "EncTable[1].PrevEnc",
+        null
+      ],
+      [
+        "EncTable[9].PrevEnc",
+        null
+      ],
+      [
+        "Motor[1].idCmd",
+        null
+      ],
+      [
+        "Motor[1].Ctrl",
+        null
+      ],
+      [
+        "Motor[1].pos",
+        null
+      ],
+      [
+        "Motor[1].ServoOut",
+        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"
+  ],
+  [
+    "StatusMotorListCtrl",
+    [
+      1
+    ],
+    "name=m1;caption=motor1;state=67377148;dir=4;layer=0;row=4;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=485;floaty=810;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ],
+  [
+    "StatusMotorListCtrl",
+    [
+      2
+    ],
+    "name=m2;caption=motor2;state=67377148;dir=4;layer=0;row=4;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=520;floaty=734;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ],
+  [
+    "StatusCoordListCtrl",
+    [
+      1
+    ],
+    "name=c1;caption=coord1;state=67377148;dir=4;layer=0;row=2;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=350;floaty=493;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ],
+  [
+    "StatusMotorListCtrl",
+    [
+      7
+    ],
+    "name=m7;caption=motor7;state=67377148;dir=4;layer=0;row=3;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1220;floaty=261;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ],
+  [
+    "StatusMotorListCtrl",
+    [
+      8
+    ],
+    "name=m8;caption=motor8;state=67377148;dir=4;layer=0;row=3;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1257;floaty=494;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ]
+]
--- a/PPMACMotor.template
+++ b/PPMACMotor.template
@@ -4,7 +4,6 @@ record(motor,"$(P):$(M)")
    field(DTYP,"asynMotor")
    field(OUT, "@asyn($(PORT),$(ADDR))")
    field(DIR, $(DIR))
-    field(VMAX,$(VELO))
    field(VELO,$(VELO))
    field(JVEL,$(VELO))
    field(HVEL,$(HVEL))
@@ -17,12 +16,3 @@ record(motor,"$(P):$(M)")
    field(DLLM,$(DLLM))
    field(RTRY,0)
 }
-
-record(asyn,"$(P):ASYN")
-{
-    field(DTYP,"asynRecordDevice")
-    field(PORT,"$(PORT)")
-    field(ADDR,"0")
-    field(OMAX,"100")
-    field(IMAX,"100")
-}
--- a/Readme.md
+++ b/Readme.md
@@ -19,7 +19,6 @@ Weight top stage: 250g=2.5N


 Mecapion rot stage
------------------
 ```
 http://www.lsmecapion.com/eng/
 http://www.lsmecapion.com/eng/contents/sub01/sub02_03.php
@@ -201,12 +200,8 @@ ssh root@$PPMAC sendgetsends -1

 execute helicalscan.py

-```
-
-HelicalScan SCRATCH
-------------------
-```
-
+SCRATCH
+-------

 &1p  ->this will trigger:forward kinematic
 cpx pmatch  ->this will trigger:forward kinematic
@@ -247,3 +242,41 @@ fwd_trf: dx:0.2 dz:0.3 w:5.72958 fy:3.3

 ```

+
+
+Motors final setup 20.12.17
+---------------------------
+```
+SAR-CPPM-EXPMX1: biss:y timing:y
+  1: fy
+  2: fx
+  3: ry
+  4: cx
+  5: cy
+  6: interfero y
+  7: interfero x
+
+SAR-CPPM-EXPMX2: biss:n timing:n
+  1: wedge1
+  2: wedge2
+  3: wedge3
+  4: wedge4
+  5: backlight
+
+SAR-CPPM-EXPMX3: biss:n timing:y
+  1: girder1
+  2: girder2
+  3: girder3
+  4: girder4
+  5: girder5
+
+
+PPMAC=MOTTEST-CPPM-CRM0485
+ssh root@$PPMAC
+cd /ioc/SAR-CPPM-EXPMX1;iocsh startup.script
+
+
+ssh sf-lc
+caqtdm -macro "P=SAR-EXPMX" ESB_MX_exp.ui
+
+```
--- a/SAR-EXPMX1.subs
+++ b/SAR-EXPMX1.subs
@@ -0,0 +1,25 @@
+################################################################################
+#P    - prefix of the PV
+#PORT - Name of the ppmac controller port created by powerPmacCreateController
+#ADDR - Axis index - second parameter of powerPmacCreateAxis and powerPmacCreateVirtualAxis
+################################################################################
+
+#Position Units are in um
+
+#ms to achive speed VELO -> same as Motor[1].JogTa (if positive). Motor[1].JogTa will be set to a caculated negative number
+# JAR  = EGU/s^2 -> JAR = VELO/ACCL (Jog acceleration)
+
+#caput SAROP21-OAPU092:ASYN.AOUT '&1;#1..2p'
+#caget SAROP21-OAPU092:ASYN.TINP
+#caput SAROP21-OAPU092:ASYN.AOUT '&1;cpx abs;X(-900)Y(10)A(5200)B(5100)'
+
+file asyn.template {{P="$(P_M)1", PORT=$(PORT_M)}}
+
+file PPMACMotor.template {
+pattern{ DESC              , P       , M          , PORT       , ADDR, DIR, VELO, HVEL, ACCL, JAR, MRES  , PREC, EGU  , DHLM, DLLM}
+       { "Sample F-Trans Y", "$(P_M)", "MOT_FY"   , "$(PORT_M)", 1   , 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Sample F-Trans X", "$(P_M)", "MOT_FX"   , "$(PORT_M)", 2   , 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Rotation Y"      , "$(P_M)", "MOT_ROT_Y", "$(PORT_M)", 3   , 1  , 50  , 50  , 0.1 , 20 , -0.001, 3   , "deg", 0   , 0   }
+       { "Sample C-Trans X", "$(P_M)", "MOT_CX"   , "$(PORT_M)", 4   , 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Sample C-Trans Z", "$(P_M)", "MOT_CZ"   , "$(PORT_M)", 5   , 1  , 2   , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+}
--- a/SAR-EXPMX2.subs
+++ b/SAR-EXPMX2.subs
@@ -0,0 +1,29 @@
+################################################################################
+#P    - prefix of the PV
+#PORT - Name of the ppmac controller port created by powerPmacCreateController
+#ADDR - Axis index - second parameter of powerPmacCreateAxis and powerPmacCreateVirtualAxis
+################################################################################
+
+#Position Units are in um
+
+#ms to achive speed VELO -> same as Motor[1].JogTa (if positive). Motor[1].JogTa will be set to a caculated negative number
+# JAR  = EGU/s^2 -> JAR = VELO/ACCL (Jog acceleration)
+
+#caput SAROP21-OAPU092:ASYN.AOUT '&1;#1..2p'
+#caget SAROP21-OAPU092:ASYN.TINP
+#caput SAROP21-OAPU092:ASYN.AOUT '&1;cpx abs;X(-900)Y(10)A(5200)B(5100)'
+
+file asyn.template {{P="$(P_M)2", PORT=$(PORT_M)}}
+
+file PPMACMotor.template {
+pattern{ DESC       , P       , M           , PORT       , ADDR, DIR, VELO, HVEL, ACCL, JAR, MRES  , PREC, EGU  , DHLM, DLLM}
+       { "Wedge 1"  , "$(P_M)", "MOT_WEDGE1", "$(PORT_M)", 1   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Wedge 2"  , "$(P_M)", "MOT_WEDGE2", "$(PORT_M)", 2   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Wedge 3"  , "$(P_M)", "MOT_WEDGE3", "$(PORT_M)", 3   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Wedge 4"  , "$(P_M)", "MOT_WEDGE4", "$(PORT_M)", 4   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Wedge X"  , "$(P_M)", "MOT_WEDGEX", "$(PORT_M)", 9   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Wedge Y"  , "$(P_M)", "MOT_WEDGEY", "$(PORT_M)", 10  , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Wedge A"  , "$(P_M)", "MOT_WEDGEA", "$(PORT_M)", 11  , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Wedge B"  , "$(P_M)", "MOT_WEDGEB", "$(PORT_M)", 12  , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Backlight", "$(P_M)", "MOT_BLGT"  , "$(PORT_M)", 5   , 1  , 40E3, 20E3, 0.1 , 20 , -1    , 0   , "usr", 0   , 0   }
+}
--- a/SAR-EXPMX3.subs
+++ b/SAR-EXPMX3.subs
@@ -0,0 +1,25 @@
+################################################################################
+#P    - prefix of the PV
+#PORT - Name of the ppmac controller port created by powerPmacCreateController
+#ADDR - Axis index - second parameter of powerPmacCreateAxis and powerPmacCreateVirtualAxis
+################################################################################
+
+#Position Units are in um
+
+#ms to achive speed VELO -> same as Motor[1].JogTa (if positive). Motor[1].JogTa will be set to a caculated negative number
+# JAR  = EGU/s^2 -> JAR = VELO/ACCL (Jog acceleration)
+
+#caput SAROP21-OAPU092:ASYN.AOUT '&1;#1..2p'
+#caget SAROP21-OAPU092:ASYN.TINP
+#caput SAROP21-OAPU092:ASYN.AOUT '&1;cpx abs;X(-900)Y(10)A(5200)B(5100)'
+
+file asyn.template {{P="$(P_M)3", PORT=$(PORT_M)}}
+
+file PPMACMotor.template {
+pattern{ DESC      , P       , M            , PORT       , ADDR, DIR, VELO, HVEL, ACCL, JAR, MRES  , PREC, EGU , DHLM, DLLM}
+       { "Girder 1", "$(P_M)", "MOT_GIRDER1", "$(PORT_M)", 1   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+       { "Girder 2", "$(P_M)", "MOT_GIRDER2", "$(PORT_M)", 2   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+       { "Girder 3", "$(P_M)", "MOT_GIRDER3", "$(PORT_M)", 3   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+       { "Girder 4", "$(P_M)", "MOT_GIRDER4", "$(PORT_M)", 4   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+       { "Girder 5", "$(P_M)", "MOT_GIRDER5", "$(PORT_M)", 5   , 0  , .3  , .3  , 0.1 , 20 , -0.001, 3   , "mm", 0   , 0   }
+}
--- a/add_EXPMX1.cmd
+++ b/add_EXPMX1.cmd
@@ -0,0 +1,20 @@
+### Required Parameters ###
+#PORT='PPMAC1'
+#P='SARFE10-OAPU090'
+#powerPmacCreateController(<port_name>, <moving_poll_pseriod [ms]>, <idle_poll_period [ms]>)
+#powerPmacCreateController("$(PORT)", 100, 100) <<< done in commom module
+###########################
+require gpasciiCommander
+! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/$(P)1.cfg
+
+powerPmacCreateAxis($(PORT), 1)
+powerPmacCreateAxis($(PORT), 2)
+powerPmacCreateAxis($(PORT), 3)
+powerPmacCreateAxis($(PORT), 4)
+powerPmacCreateAxis($(PORT), 5)
+#powerPmacCreateAxis($(PORT), 6)
+#powerPmacCreateAxis($(PORT), 7)
+#powerPmacCreateAxis($(PORT), 8)
+
+# Load databse
+dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)1.subs", "PORT_M=$(PORT),P_M=$(P)")
--- a/add_EXPMX2.cmd
+++ b/add_EXPMX2.cmd
@@ -0,0 +1,28 @@
+### Required Parameters ###
+#PORT='PPMAC1'
+#P='SARFE10-OAPU090'
+#powerPmacCreateController(<port_name>, <moving_poll_pseriod [ms]>, <idle_poll_period [ms]>)
+#powerPmacCreateController("$(PORT)", 100, 100) <<< done in commom module
+###########################
+require gpasciiCommander
+! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/$(P)2.cfg
+
+powerPmacCreateAxis($(PORT), 1)
+powerPmacCreateAxis($(PORT), 2)
+powerPmacCreateAxis($(PORT), 3)
+powerPmacCreateAxis($(PORT), 4)
+powerPmacCreateAxis($(PORT), 5)
+#powerPmacCreateAxis($(PORT), 6)
+#powerPmacCreateAxis($(PORT), 7)
+#powerPmacCreateAxis($(PORT), 8)
+
+#powerPmacCreateVirtualAxis(<port_name>, <axis_index>, <coord_sys_index>, <axis_name>,<commaSeparatedMotorIndices)
+# !!! COMMENTS AFTER 'powerPmacCreateVirtualAxis("$(PORT)",  9, 1, "X",1)' IS NOT ALLOWED !!!
+powerPmacCreateVirtualAxis("$(PORT)", 9 , 1, "X",1,2,3,4)
+powerPmacCreateVirtualAxis("$(PORT)", 10, 1, "Y",1,2,3,4)
+powerPmacCreateVirtualAxis("$(PORT)", 11, 1, "A",1,2,3,4)
+powerPmacCreateVirtualAxis("$(PORT)", 12, 1, "B",1,2,3,4)
+
+
+# Load databse
+dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)2.subs", "PORT_M=$(PORT),P_M=$(P)")
--- a/add_EXPMX3.cmd
+++ b/add_EXPMX3.cmd
@@ -0,0 +1,42 @@
+### Required Parameters ###
+#PORT='PPMAC1'
+#P='SARFE10-OAPU090'
+#powerPmacCreateController(<port_name>, <moving_poll_pseriod [ms]>, <idle_poll_period [ms]>)
+#powerPmacCreateController("$(PORT)", 100, 100) <<< done in commom module
+###########################
+require gpasciiCommander
+! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/$(P)3.cfg
+
+powerPmacCreateAxis($(PORT), 1)
+powerPmacCreateAxis($(PORT), 2)
+powerPmacCreateAxis($(PORT), 3)
+powerPmacCreateAxis($(PORT), 4)
+powerPmacCreateAxis($(PORT), 5)
+#powerPmacCreateAxis($(PORT), 6)
+#powerPmacCreateAxis($(PORT), 7)
+#powerPmacCreateAxis($(PORT), 8)
+
+#powerPmacCreateVirtualAxis(<port_name>, <axis_index>, <coord_sys_index>, <axis_name>,<commaSeparatedMotorIndices)
+# !!! COMMENTS AFTER 'powerPmacCreateVirtualAxis("$(PORT)",  9, 1, "X",1)' IS NOT ALLOWED !!!
+#powerPmacCreateVirtualAxis("$(PORT)", 9 , 1, "X",1,2,3,4)
+#powerPmacCreateVirtualAxis("$(PORT)", 10, 1, "Y",1,2,3,4)
+#powerPmacCreateVirtualAxis("$(PORT)", 11, 1, "A",1,2,3,4)
+#powerPmacCreateVirtualAxis("$(PORT)", 12, 1, "B",1,2,3,4)
+#powerPmacCreateVirtualAxis("$(PORT)", 13, 1, "C",1,2,3,4)
+
+
+OX=1
+OY=1
+OP=1
+OYW=1
+OR=1
+
+# Load databse
+dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)3.subs", "PORT_M=$(PORT),P_M=$(P)")
+
+require "HEXGIR" zamofing_t
+
+# Load databse
+dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_motor.subs", "PORT_M=$(PORT),P_M=$(P),M1=1,M2=2,M3=3,M4=4,M5=5,E1=1,E2=2,E3=3,E4=4,E5=5")
+dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_girder.subs", "P_M=$(P)")
+dbLoadTemplate("$(HEXGIR_TEMPLATES)/HEXGIR_girder.subs", "P_M=$(P), X_OFFSET=$(OX),Y_OFFSET=$(OY),PITCH_OFFSET=$(OP),YAW_OFFSET=$(OYW),ROLL_OFFSET=$(OR)")
--- a/add_device.cmd
+++ b/add_device.cmd
@@ -1,33 +0,0 @@
-### Required Parameters ###
-#PORT='PPMAC1'
-#P='SARFE10-OAPU...'
-#M1_ADDR=1
-#powerPmacCreateController(<port_name>, <moving_poll_pseriod [ms]>, <idle_poll_period [ms]>)
-#powerPmacCreateController("$(PORT)", 100, 100) <<< done in commom module
-###########################
-require gpasciiCommander
-! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/mx-stage.cfg
-
-#M1=$(M1_ADDR)
-M1=1
-M2=$(M1)+1
-M3=$(M1)+2
-M4=$(M1)+3
-M5=$(M1)+4
-M6=$(M1)+5
-M7=$(M1)+6
-M8=$(M1)+7
-
-powerPmacCreateAxis($(PORT), $(M1))
-powerPmacCreateAxis($(PORT), $(M2))
-powerPmacCreateAxis($(PORT), $(M3))
-powerPmacCreateAxis($(PORT), $(M4))
-powerPmacCreateAxis($(PORT), $(M5))
-powerPmacCreateAxis($(PORT), $(M6))
-powerPmacCreateAxis($(PORT), $(M7))
-powerPmacCreateAxis($(PORT), $(M8))
-
-
-
-# Load databse
-dbLoadTemplate("$(ESB_MX_TEMPLATES)/ESB_MX.subs", "PORT_M=$(PORT),P_M=$(P),M1=$(M1),M2=$(M2),M3=$(M3),M4=$(M4),M5=$(M5),M6=$(M6),M7=$(M7),M8=$(M8)")
--- a/asyn.template
+++ b/asyn.template
@@ -0,0 +1,9 @@
+
+record(asyn,"$(P):ASYN")
+{
+    field(DTYP,"asynRecordDevice")
+    field(PORT,"$(PORT)")
+    field(ADDR,"0")
+    field(OMAX,"100")
+    field(IMAX,"100")
+}
--- a/cfg/MX1_coordTrf.cfg
+++ b/cfg/MX1_coordTrf.cfg
@@ -4,9 +4,9 @@
 //#2->   +1. X    + .5Y + 0.01A
 //#3->   + .5X    +1. Y + 0.01A

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

 Coord[1].AltFeedRate=0
 Coord[1].Tm=1  //1ms time
@@ -17,31 +17,12 @@ Coord[1].Ts=0
 //Parker: Continous Force 4N -> assume 1kg load -> acceleration=a=F/m=4m/s^2
 //do not use time to accelerate but acceleration
 //4m/s^2=4um/(ms)^2 Motor units=um -> JogTa= -1ms^2/4mu -2.5-> 4m/s^2 -25->0.4m/s^2
+Motor[1].JogTs=0
+Motor[1].JogTa=-2.5
 Motor[2].JogTs=0
 Motor[2].JogTa=-2.5
-Motor[3].JogTs=0
-Motor[3].JogTa=-2.5


-Motor[1].MaxSpeed=360
+Motor[1].MaxSpeed=50
 Motor[2].MaxSpeed=50
-Motor[3].MaxSpeed=50
-
-open prog 1
-  //this uses jogspeed
-  rapid abs
-  X(10000)  Y(0)  A(0)
-  X(0)  Y(10000)  A(0)
-  X(0)  Y(0)  A(36000)
-  X(0)  Y(0)  A(0)
-close
-
-open prog 2
-  //this uses Coord[1].Tm and limits with MaxSpeed
-  linear abs
-  X(10000)  Y(0)  A(0)
-  X(0)  Y(10000)  A(0)
-  X(0)  Y(0)  A(0)
-  X(0)  Y(0)  A(36000)
-  X(0)  Y(0)  A(0)
-close
+Motor[3].MaxSpeed=360
--- a/cfg/MX1_home.cfg
+++ b/cfg/MX1_home.cfg
@@ -0,0 +1,78 @@
+define(PLC_Homing='1')
+define(statusHoming='P100')
+statusHoming=0
+
+//statusHoming:
+// 1: M1 phased
+// 2: M2 phased
+// 4: M1 homed
+// 8: M2 homed
+// 16: M1 neg limit
+// 32: M2 neg limit
+// 64: homing done
+// 128: homing failed
+
+
+open plc PLC_Homing
+  define(timer='L1')
+  statusHoming=0
+  L10=Motor[1].MaxDac
+  Motor[1].MaxDac=500
+  L11=Motor[1].FatalFeLimit
+  Motor[1].FatalFeLimit=2000
+  L12=Motor[1].JogSpeed
+  Motor[1].JogSpeed=1
+
+  L20=Motor[2].MaxDac
+  Motor[2].MaxDac=500
+  L21=Motor[2].FatalFeLimit
+  Motor[2].FatalFeLimit=2000
+  L22=Motor[2].JogSpeed
+  Motor[2].JogSpeed=1
+
+
+  Motor[1].PhaseFindingStep=1
+  Motor[2].PhaseFindingStep=1
+  timer = Sys.RunTime + 1;while (Sys.RunTime < timer){} //wait 1 sec
+
+  Motor[1].HomeVel=2
+  Motor[2].HomeVel=2
+
+  home1
+  home2
+  timer = Sys.RunTime + 1;while (Sys.RunTime < timer){} //wait 1 sec
+  statusHoming|=1
+  while(1)
+  {
+    if(Motor[1].FeFatal && (statusHoming&2)==0)
+    {
+      statusHoming=statusHoming|2
+      Motor[1].HomeVel=-Motor[1].HomeVel
+      home1
+    }
+    if(Motor[2].HomeInProgress==0 && (statusHoming&4)==0)
+    {
+      statusHoming=statusHoming|4
+      Motor[2].HomeVel=-Motor[2].HomeVel
+      home2
+    }
+    if(Motor[1].HomeInProgress==0 && Motor[1].HomeInProgress==0)
+    {
+      statusHoming=statusHoming|8
+      break
+    }
+  }
+
+  Motor[1].PhasePos=560 // 555   581  593  558
+  Motor[2].PhasePos=1540 //1549  1531 1543 1537
+
+
+  Motor[1].MaxDac=L10
+  Motor[1].FatalFeLimit=L11
+  Motor[1].JogSpeed=L12
+  Motor[2].MaxDac=L20
+  Motor[2].FatalFeLimit=L21
+  Motor[2].JogSpeed=L22
+
+  disable plc PLC_Homing
+close
--- a/cfg/torqueCtrl.cfg
+++ b/cfg/torqueCtrl.cfg
@@ -17,31 +17,52 @@
 // x einraster == -> x-N and x-S poles =2*x poles -> 1 rev = x*2048 ustep=phase_step
 // changing the polarity from S-N-S (one pole cycle) are 2048 phase_step. phase_step is also called ustep

-//Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H    32 poles = 1 rev = 16*2048=32768 phase_step
-//Enc 1: Rotation stage LS Mecapion                  1 rev = 1048576 enc_steps
+//Mot 1: Stage Y Parker MX80L D11 25mm               one pole cycle = 13mm = 2048 phase_step
+//Enc 1: Stage Y Parker MX80L D11 inc_enc 20nm       one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)

-//Mot 2: Stage Y Parker MX80L D11 25mm               one pole cycle = 13mm = 2048 phase_step
-//Enc 2: Stage Y Parker MX80L D11 inc_enc 20nm       one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
+//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)

-//Mot 3: Stage X Parker MX80L D11 25mm               one pole cycle = 13mm = 2048 phase_step
-//Enc 3: Stage X Parker MX80L D11 inc_enc 20nm       one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)
+//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

-//Mot/Enc 4: camera base plate X
-//           OBSOLETE: Enc 4: Interferometer 1
+//Mot 4: Stage X Stada Stepper                       670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
+//Enc 4: Renishaw absolute BiSS

-//Mot/Enc 5: camera base plate Y
-//           OBSOLETE Enc 5: Interferometer 2
+//Mot 5: Stage Y Stada Stepper                       670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
+//Enc 5: Renishaw absolute BiSS

-//Mot 6: Backlight                                2.3A
+//Enc 6: Interferometer Y

-//Mot 7: Stada Stepper:                           670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
-//Enc 7: Renishaw absolute BiSS
+//Enc 7: Interferometer X

-//Mot 8: Stada Stepper:                           670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
-//Enc 8: Renishaw absolute BiSS
+//Stage Y Parker MX80L
+//--------------------
+//Motor[1].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a
+// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
+// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05
+//2048 phase_step =166400000 PhaseCapt -> PhasePosSf =  2048/166400000= 2048./(256*650000)
+//use um as motor unit
+!encoder_sim(enc=1,tbl=9,mot=9,posSf=13000./2048)
+!encoder_inc(enc=1,tbl=1,mot=1,posSf=13000./650000)
+//!motor_servo(mot=1,ctrl='ServoCtrl',Kp=20,Kvfb=1000,Ki=0.07,Kvff=1000,Kaff=4000,MaxInt=1000)
+//!motor_servo(mot=1,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
+!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
+!motor(mot=1,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)
+//----------------------------------------------------
+//Motor[2].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a
+// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
+// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05
+//2048 phase_step =166400000 PhaseCapt -> PhasePosSf =  2048/166400000= 2048./(256*650000)

+!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=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=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')


 //rot stage
@@ -53,92 +74,33 @@
 // -> PhasePosSf is calculated as follows:  (2048*pole_cycle)/(256*enc_step) = 8*pole_cycle/enc_step
 //PhasePosSf = (2048*pole_cycle)/(SerialEncDataA)=8*16/1048576=1/32

-!encoder_sim(enc=1,tbl=9,mot=9,posSf=360000./32768)
-!encoder_biss(enc=1,tbl=1,mot=1,numBits=20,posSf=360000./1048576)
-Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
-//Motor[1].pAbsPhasePos=Acc84B[0].Chan[0].SerialEncDataA.a
-
-!motor_servo(mot=1,ctrl='ServoCtrl',Kp=0.8,Kvfb=20,Ki=0.001,Kvff=40,Kaff=0,MaxInt=1000)
-!motor(mot=1,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987)
-
-
-//Stage Y Parker MX80L
-//--------------------
-//Motor[2].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a
-// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
-// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05
-//2048 phase_step =166400000 PhaseCapt -> PhasePosSf =  2048/166400000= 2048./(256*650000)
-//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_servo(mot=2,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
-!motor_servo(mot=2,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,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)
-//----------------------------------------------------
-//Motor[3].pPhaseEnc -> PowerBrick[0].Chan[1].PhaseCapt.a
-// 1 el_step = 13mm = 2048 phase_step = 166400000 PhaseCapt =256*650000 (256=scaling of encTable)
-// -> PhasePosSf=(2048*el_cycle)/(256*enc_step) = 8*el_cycle/enc_step =2048*1/(256*650000)=8*1/650000=1./81250=1.23077e-05
-//2048 phase_step =166400000 PhaseCapt -> PhasePosSf =  2048/166400000= 2048./(256*650000)
-
-!encoder_sim(enc=3,tbl=11,mot=11,posSf=13000./2048)
-!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=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
-
-//Interferometer 1,2
-//------------------
-//!encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000)
-//!encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000)
-
-//camera base plate X,Y
-//---------------------
-
-//102400000 ustep 200000 encCnt = 10mm = 10000um
-//posSf = userUnits/encoder_steps = 10000/200000 =1./20
-//servoSf=motor_u_steps/userUnits = 102400000/10000 = 10240./1
-!encoder_inc(enc=4,posSf=1./20)
-!motor(mot=4,dirCur=250,JogSpeed=.3,invDir=0,servoSf=10240.,InPosBand=1,HomeOffset=0)
-Motor[4].Pos2Sf=0 // Pos2Sf set to 0 to avoid programming leak values
-
-//-51200000 ustep = -200000 encCnt == 10mm =10000 um
-//posSf = userUnits/encoder_steps = 10000/-200000 =1/-20.
-//servoSf=motor_u_steps/userUnits = -51200000/10000 = -5120./1
-!encoder_inc(enc=5,posSf=1./20)
-!motor(mot=5,dirCur=250,JogSpeed=.3,invDir=0,servoSf=5120.,InPosBand=1,HomeOffset=0)
-Motor[5].Pos2Sf=0 // Pos2Sf set to 0 to avoid programming leak values
-
-
-//Backlight
-//---------
-//#6j=0 //down
-//#6j=-31000 //up
-!encoder_sim(enc=6)
-!motor(mot=6,dirCur=1800,JogSpeed=40,invDir=False)
+!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[0].SerialEncDataA.a
+!motor_servo(mot=3,ctrl='ServoCtrl',Kp=0.8,Kvfb=20,Ki=0.001,Kvff=40,Kaff=0,MaxInt=1000)
+!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987)


 //Stada stage
-//----------------------------------------------------
+//-----------
 //512000 ustep == 50000 encCnt == 2500um
 //posSf = userUnits/encoder_steps
 //servoSf=motor_u_steps/userUnits

-!encoder_biss(enc=7,numBits=32,posSf=1./20)
-!encoder_biss(enc=8,numBits=32,posSf=1./20)
-!motor(mot=7,current=200,JogSpeed=0.5,invDir=1,servoSf=204.8,InPosBand=1,HomeOffset=39278)
-!motor(mot=8,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=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)

-//turn off servon and inpos below ... user units (here 1um)
-//Motor[7].InPosBand=1;Motor[7].Servo.BreakPosErr=Motor[7].InPosBand
-//Motor[8].InPosBand=1;Motor[8].Servo.BreakPosErr=Motor[8].InPosBand

-#1,7,8hmz
+//Interferometer 1,2
+//------------------
+!encoder_inc(enc=6,tbl=6,mot=6)# ,posSf=13000./650000)
+!encoder_inc(enc=7,tbl=7,mot=7)# ,posSf=13000./650000)
+
+#3,4,5hmz

 //holding current
-!holding_current(m4=[0,240],m5=[0,240],m6=[1400,1800],m7=[0,200],m8=[0,200])
+!holding_current(m4=[0,240],m5=[0,240])


--- a/cfg/MX2_coordTrf.cfg
+++ b/cfg/MX2_coordTrf.cfg
@@ -0,0 +1,27 @@
+// ---------- Coordinate System/Transformation ----------
+
+//These values influence the speed of axis X,Y,Z and also A,B
+Coord[1].Ta=100
+Coord[1].Td=100
+Coord[1].AltFeedRate=1000
+Coord[1].Tm=-1000  //1000um/FeedTime -> 1mm/sec
+Coord[1].FeedTime=1000 //default value 1000um
+
+
+//Coordinate Transformation
+&1
+#1-> -1.X -10.Y +0.5A +5.B
+#2-> +1.X -10.Y -0.5A +5.B //motor 2 has opposite direction
+#3-> -1.X -10.Y -0.5A -5.B
+#4-> +1.X -10.Y +0.5A -5.B //motor 4 has opposite direction
+
+//PITCH YAW are not exposed directly, because these would need
+//inverse and forward kinematics due to the angle functions
+
+Motor[1].MaxSpeed=Motor[1].JogSpeed
+Motor[2].MaxSpeed=Motor[2].JogSpeed
+Motor[3].MaxSpeed=Motor[3].JogSpeed
+Motor[4].MaxSpeed=Motor[4].JogSpeed
+
+
+
--- a/cfg/MX2_home.cfg
+++ b/cfg/MX2_home.cfg
@@ -0,0 +1,70 @@
+define(PLC_Homing='1')
+
+//Homing:
+//Move all motors left bottom
+//move 1mm up
+//move both mottors at same time
+
+//move to limit switch, gather data, move to other limit switch, gather stop. move back to first limit switch
+//motID       :P0  : Motor Number
+//direction   :P1  : Motion direction to first limit switch: -1 -> #1j- ,+1 -> #1j+
+//status      :P100: local status
+//timer       :P101: local timer
+
+open plc PLC_Homing
+define(motID='L0',direction='P1',status='P100',timer='P101')
+jog-1; jog-2; jog-3; jog-4;
+Motor[1].HomeVel=0.5
+Motor[2].HomeVel=0.5
+Motor[3].HomeVel=0.5
+Motor[4].HomeVel=0.5
+status=10
+while(1)
+{
+  if((Motor[1].MinusLimit==1 || Motor[1].FeFatal==1)){
+  if((Motor[2].MinusLimit==1 || Motor[2].FeFatal==1)){
+  if((Motor[3].MinusLimit==1 || Motor[3].FeFatal==1)){
+  if((Motor[4].MinusLimit==1 || Motor[4].FeFatal==1)){
+  status=11
+  break
+  }}}}
+}
+timer = Sys.RunTime + 2
+status=100
+while (Sys.RunTime < timer){} //wait 2 sec
+status=101
+jog1:1000; jog2:1000; jog3:1000; jog4:1000;
+timer = Sys.RunTime + 2
+status=200
+while (Sys.RunTime < timer){} //wait 2 sec
+status=201
+while(1)
+{
+  if(Motor[1].DesVelZero==1 &&  Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1)
+  {
+    status=12
+    break
+  }
+}
+timer = Sys.RunTime + 2
+while (Sys.RunTime < timer){}
+home 1; home 2; home 3; home 4
+status=13
+while(1) //wait homing index found done
+{
+  if(Motor[1].HomeComplete==1 &&  Motor[2].HomeComplete==1 && Motor[3].HomeComplete==1 && Motor[4].HomeComplete==1)
+  {
+    status=14
+    break
+  }
+}
+while(1) //wait moving to zero position done
+{
+  if(Motor[1].DesVelZero==1 &&  Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1)
+  {
+    status=15
+    break
+  }
+}
+disable plc PLC_Homing
+close
--- a/cfg/MX2_setup.cfg
+++ b/cfg/MX2_setup.cfg
@@ -0,0 +1,25 @@
+
+
+//Wedge Movers
+--------------
+!encoder_inc(enc=1,posSf=1./20)
+!motor(mot=1,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=2855,InPosBand=1)
+
+!encoder_inc(enc=2,posSf=1./20)
+!motor(mot=2,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=2844,InPosBand=1)
+
+!encoder_inc(enc=3,posSf=1./20)
+!motor(mot=3,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=204,InPosBand=1)
+
+!encoder_inc(enc=4,posSf=1./20)
+!motor(mot=4,current=120,JogSpeed=1,HomeVel=.5,servoSf=12.28878*20,homing='enc-index',invDir=True,HomeOffset=2094,InPosBand=1)
+
+
+//Backlight
+//---------
+//#5j=0 //down #5j=-31000 //up
+!encoder_sim(enc=5)
+!motor(mot=5,dirCur=1800,JogSpeed=40,invDir=False)
+
+
+!holding_current(m5=[1400,1800])
--- a/cfg/MX3_setup.cfg
+++ b/cfg/MX3_setup.cfg
@@ -0,0 +1,22 @@
+//5 simulated cam movers
+
+
+!encoder_sim(enc=1,tbl=1,mot=1)
+!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
+Motor[1].pLimits=0;Motor[1].AmpFaultLevel=0;Motor[1].pAmpEnable=0;Motor[1].pAmpFault=0
+
+!encoder_sim(enc=2,tbl=2,mot=2)
+!motor(mot=2,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
+Motor[2].pLimits=0;Motor[2].AmpFaultLevel=0;Motor[2].pAmpEnable=0;Motor[2].pAmpFault=0
+
+!encoder_sim(enc=3,tbl=3,mot=3)
+!motor(mot=3,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
+Motor[3].pLimits=0;Motor[3].AmpFaultLevel=0;Motor[3].pAmpEnable=0;Motor[3].pAmpFault=0
+
+!encoder_sim(enc=4,tbl=4,mot=4)
+!motor(mot=4,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
+Motor[4].pLimits=0;Motor[4].AmpFaultLevel=0;Motor[4].pAmpEnable=0;Motor[4].pAmpFault=0
+
+!encoder_sim(enc=5,tbl=5,mot=5)
+!motor(mot=5,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
+Motor[5].pLimits=0;Motor[5].AmpFaultLevel=0;Motor[5].pAmpEnable=0;Motor[5].pAmpFault=0
--- a/cfg/SAR-EXPMX1.cfg
+++ b/cfg/SAR-EXPMX1.cfg
@@ -5,6 +5,6 @@
 //!common(PhaseFreq=20000,PhasePerServo=1)
 //!common(PhaseFreq=40000)

-!torqueCtrl()
-!init()
-!coordTrf()
+!MX1_setup()
+!MX1_home()
+!MX1_coordTrf()
--- a/cfg/SAR-EXPMX2.cfg
+++ b/cfg/SAR-EXPMX2.cfg
@@ -0,0 +1,4 @@
+
+!MX2_setup()
+!MX2_home()
+!MX2_coordTrf()
--- a/cfg/SAR-EXPMX3.cfg
+++ b/cfg/SAR-EXPMX3.cfg
@@ -0,0 +1,4 @@
+
+!MX3_setup()
+//!MX3_home()
+//!MX3_coordTrf()
--- a/cfg/init.cfg
+++ b/cfg/init.cfg
@@ -1,72 +0,0 @@
-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].PhasePos=560 // 555   581  593  558
-Motor[3].PhasePos=1540 //1549  1531 1543 1537
-
-
-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/old/dirMicrostep.cfg
+++ b/cfg/old/dirMicrostep.cfg
--- a/cfg/old/init_limit.cfg
+++ b/cfg/old/init_limit.cfg
--- a/cfg/old/simEncoder.cfg
+++ b/cfg/old/simEncoder.cfg
--- a/cfg/old/startOnTrigger.cfg
+++ b/cfg/old/startOnTrigger.cfg
--- a/cfg/old/testPerfGrid.cfg
+++ b/cfg/old/testPerfGrid.cfg
--- a/cfg/sim_8_motors.cfg
+++ b/cfg/sim_8_motors.cfg
--- 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>342</height>
+    <height>643</height>
   </rect>
  </property>
  <property name="windowTitle">
@@ -49,25 +49,36 @@
     <x>20</x>
     <y>70</y>
     <width>725</width>
-     <height>192</height>
+     <height>456</height>
    </rect>
   </property>
   <property name="macro">
    <string>
-P=$(P),M=MOTOR_CX;
-P=$(P),M=MOTOR_CZ;
-P=$(P),M=MOTOR_ROT_Y;
-P=$(P),M=MOTOR_FX;
-P=$(P),M=MOTOR_FY;
-P=$(P),M=MOTOR_CAMX;
-P=$(P),M=MOTOR_CAMY;
-P=$(P),M=MOTOR_BLGT</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=$(P),M=MOT_GIRDER1;
+P=$(P),M=MOT_GIRDER2;
+P=$(P),M=MOT_GIRDER3;
+P=$(P),M=MOT_GIRDER4;
+P=$(P),M=MOT_GIRDER5</string>
   </property>
   <property name="filename" stdset="0">
    <string notr="true">ESB_MX_motor.ui</string>
   </property>
   <property name="numberOfItems" stdset="0">
-    <number>8</number>
+    <number>19</number>
   </property>
  </widget>
  <widget class="QWidget" name="horizontalLayoutWidget">
@@ -202,17 +213,20 @@ P=$(P),M=MOTOR_BLGT</string>
  <widget class="caMessageButton" name="camessagebutton">
   <property name="geometry">
    <rect>
-     <x>620</x>
-     <y>20</y>
-     <width>100</width>
+     <x>50</x>
+     <y>570</y>
+     <width>121</width>
     <height>22</height>
    </rect>
   </property>
   <property name="text">
-    <string>Homing</string>
+    <string>Homing wedge stage</string>
   </property>
   <property name="channel" stdset="0">
-    <string notr="true">$(P):ASYN.AOUT</string>
+    <string notr="true">$(P)2:ASYN.AOUT</string>
+   </property>
+   <property name="label">
+    <string notr="true">Homing wedge stage</string>
   </property>
   <property name="pressMessage">
    <string notr="true">enable plc 1</string>
@@ -221,8 +235,8 @@ P=$(P),M=MOTOR_BLGT</string>
  <widget class="caRelatedDisplay" name="carelateddisplay">
   <property name="geometry">
    <rect>
-     <x>620</x>
-     <y>300</y>
+     <x>190</x>
+     <y>570</y>
     <width>121</width>
     <height>24</height>
    </rect>
@@ -250,8 +264,8 @@ P=$(P),M=MOTOR_BLGT</string>
  <widget class="caToggleButton" name="catogglebutton">
   <property name="geometry">
    <rect>
-     <x>460</x>
-     <y>300</y>
+     <x>200</x>
+     <y>540</y>
     <width>100</width>
     <height>22</height>
    </rect>
@@ -260,7 +274,7 @@ P=$(P),M=MOTOR_BLGT</string>
    <string>Backlight</string>
   </property>
   <property name="channel" stdset="0">
-    <string notr="true">$(P):MOTOR_BLGT</string>
+    <string notr="true">$(P):MOT_BLGT</string>
   </property>
   <property name="trueValue">
    <string>28000</string>
@@ -272,8 +286,8 @@ P=$(P),M=MOTOR_BLGT</string>
  <widget class="caMessageButton" name="camessagebutton_2">
   <property name="geometry">
    <rect>
-     <x>110</x>
-     <y>300</y>
+     <x>60</x>
+     <y>600</y>
     <width>100</width>
     <height>22</height>
    </rect>
@@ -288,6 +302,70 @@ P=$(P),M=MOTOR_BLGT</string>
    <string notr="true">1</string>
   </property>
  </widget>
+  <widget class="caMessageButton" name="camessagebutton_3">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>540</y>
+     <width>121</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Homing fast stage</string>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(P)1:ASYN.AOUT</string>
+   </property>
+   <property name="label">
+    <string notr="true">Homing fast stage</string>
+   </property>
+   <property name="pressMessage">
+    <string notr="true">enable plc 1</string>
+   </property>
+  </widget>
+  <widget class="caRelatedDisplay" name="caRelatedDisplay_9">
+   <property name="geometry">
+    <rect>
+     <x>190</x>
+     <y>600</y>
+     <width>151</width>
+     <height>30</height>
+    </rect>
+   </property>
+   <property name="label">
+    <string notr="true">-ESB_MX Girder</string>
+   </property>
+   <property name="foreground">
+    <color>
+     <red>0</red>
+     <green>0</green>
+     <blue>0</blue>
+    </color>
+   </property>
+   <property name="background">
+    <color>
+     <red>89</red>
+     <green>126</green>
+     <blue>225</blue>
+    </color>
+   </property>
+   <property name="labels">
+    <string>HEXGIR</string>
+   </property>
+   <property name="files">
+    <string>S_CS_HEXGIR_5Dbasic.ui</string>
+   </property>
+   <property name="args">
+    <string>NAME=$(P), NAME1=$(P)</string>
+   </property>
+   <property name="stackingMode" stdset="0">
+    <enum>caRowColMenu::Menu</enum>
+   </property>
+   <property name="removeParent" stdset="0">
+    <string>false;false;false;false;false;false;false;false;false;false;false;false;false;false;false;false</string>
+   </property>
+  </widget>
 </widget>
 <customwidgets>
  <customwidget>