working so far. have to test helicalscan also on the real system

2018-01-04 16:04:30 +01:00
parent 57b6ff3a2c
commit e58047f2b0
8 changed files with 483 additions and 146 deletions
--- a/PBInspect.pbi
+++ b/PBInspect.pbi
--- a/PBInspect1.pbi
+++ b/PBInspect1.pbi
@@ -0,0 +1,113 @@
+[
+  [
+    "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",
+    [
+      [
+        "Motor[1].idCmd",
+        "lambda v: '%.8g'%float(v)"
+],
+      [        "Motor[1].iqCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[1].idCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[2].iqCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[2].idCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[3].iqCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[3].idCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[4].iqCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[4].idCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[5].iqCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[5].idCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[6].iqCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[6].idCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[7].iqCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[7].idCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[8].iqCmd",        "lambda v: '%.8g'%float(v)"      ],
+      [        "Motor[8].idCmd",        "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"
+  ],
+  [
+    "StatusMotorListCtrl",
+    [
+      3
+    ],
+    "name=m3;caption=motor3;state=67377148;dir=4;layer=0;row=5;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=694;floaty=941;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ],
+  [
+    "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=2058;floaty=457;floatw=208;floath=377;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=2588;floaty=946;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ],
+  [
+    "StatusMotorListCtrl",
+    [
+      4
+    ],
+    "name=m4;caption=motor4;state=67377148;dir=4;layer=0;row=6;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=905;floaty=792;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ],
+  [
+    "StatusMotorListCtrl",
+    [
+      5
+    ],
+    "name=m5;caption=motor5;state=67377148;dir=4;layer=0;row=6;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1139;floaty=836;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ],
+  [
+    "StatusMotorListCtrl",
+    [
+      7
+    ],
+    "name=m7;caption=motor7;state=67377148;dir=4;layer=0;row=7;pos=1;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1353;floaty=657;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ],
+  [
+    "StatusMotorListCtrl",
+    [
+      6
+    ],
+    "name=m6;caption=motor6;state=67377148;dir=4;layer=0;row=7;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=1276;floaty=771;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ],
+  [
+    "StatusCoordListCtrl",
+    [
+      0
+    ],
+    "name=c0;caption=coord0;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=457;floaty=774;floatw=208;floath=677;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=669;floaty=892;floatw=208;floath=677;notebookid=-1;transparent=255"
+  ]
+]
--- a/PBInspect2.pbi
+++ b/PBInspect2.pbi
@@ -52,6 +52,18 @@
      [
        "Motor[1].ServoOut",
        null
+      ],
+      [
+        "P1000",
+        null
+      ],
+      [
+        "Gather.Samples",
+        null
+      ],
+      [
+        "Gather.MaxLines",
+        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/Readme.md
+++ b/Readme.md
@@ -153,58 +153,71 @@ HelicalScan
 -----------
 ```
 PPMAC=MOTTEST-CPPM-CRM0485
-gpasciiCommander --host $PPMAC mx-stage_sim.cfg -i

-Coord[1].SegMoveTime=.05
-will calculate all 0.05 sec the inverse kinematic.
-default Coord[1].SegMoveTime=0, calculates inv kin. only at endpoints
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX
+PBInspect --host $PPMAC --cfg PBInspect2.pbi

+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
+gpasciiCommander --host $PPMAC sim_8_motors.cfg -i

 ssh root@$PPMAC sendgetsends -1
-    send 1"SampleMessage\n"
+cpx send 1"SampleMessage\n"

-execute helicalscan.py
+cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
+./helicalscan.py
+```

-SCRATCH
-------
+fwd/inv kinematic stuff
+-----------------------
+```
+Coord[1].SegMoveTime=.05,   will calculate all 0.05 sec the inverse kinematic.
+default Coord[1].SegMoveTime=0, calculates inv kin. only at endpoints

 &1p  ->this will trigger:forward kinematic
 cpx pmatch  ->this will trigger:forward kinematic

+cpx ;linear rel; X0Y0Z0B0  ->this will trigger: inverse

-cpx ;linear abs; X0Y0Z0B0  ->this will trigger: inverse
+test_coord_trf() (w is in mdeg) -> Output:
+input  : cx:0.2 cz:0.3 w:5729.58 fy:0.4
+fwd_trf: dx:-1.14768 dz:-19.0991 w:5729.58 fy:0.4
+inv_trf: cx:0.2 cz:0.3 w:5729.58 fy:0.4

-#7j=0.1 //cx
-#8j=0.2 //cy
-#1j=0.3 //w
-#2j=0.4 //fx
+input  : dx:0.2 dz:0.3 w:5729.58 fy:0.4
+inv_trf: cx:1.54768 cz:19.6991 w:5729.58 fy:0.4
+fwd_trf: dx:0.2 dz:0.3 w:5729.58 fy:0.4

-(cx,cz,w,fy)  (2.6164986454377614, 17.758728111340563, 0.1, 4.3)
-(dx,dz,w,y)   (0.2, 0.3, 0.1, 4.3)
-
-#7j=2.6164986454377614
-#8j=17.758728111340563
-#1j=5729.578 //  0.1*1000.*360./(2*pi)
-#2j=4.3
+#4j=0.2 //cx
+#5j=0.3 //cz
+#3j=5729.58 //w
+#1j=0.4 //fy
 &1p
-B0.1 X0.2 Y4.3 Z0.3
-cpx ;linear abs; X0.2 Z0.3, B0.1 Y4.3
+forward kinematic 0.199997 0.300003 5729.58 0.399994
+forward result    -1.14769 -19.0991 5729.58 0.399994

-Motor[1,27,8].JogSpeed=8
+cpx ;linear abs; X.2Y.4Z.3B5729.58
+inverse kinematic 0.2 0.3 5729.58 0.4
+inverse result    1.54579 19.7026 5729.58 0.4


-#1,2,7,8j=10000
-
-cpx ;linear abs; X0.2 Z0.3 B0.1 Y00000
-cpx ;linear abs; X0.2 Z0.3 B0.1 Y10000
-
-input  : dx:0.2 dz:0.3 w:5.72958 fy:3.3
-inv_trf: cx:2.34244 cz:18.2563 w:5.72958 fy:3.3
-fwd_trf: dx:0.2 dz:0.3 w:5.72958 fy:3.3
-
-#7j=2.34244;#8j=18.2563;#1j=5729.58;#2j=3.3
+input  : cx:10 cz:20 w:171887 fy:40
+fwd_trf: dx:28.9419 dz:-5.52304 w:171887 fy:40
+inv_trf: cx:10 cz:20 w:171887 fy:40
+#4j=10 //cx
+#5j=20 //cz
+#3j=171887 //w
+#1j=40 //fy
 &1p
+forward kinematic 10 20 171887 40
+forward result    28.942 -5.52296 171887 40

+input  : dx:10 dz:20 w:171887 fy:40
+inv_trf: cx:-8.94193 cz:45.523 w:171887 fy:40
+fwd_trf: dx:10 dz:20 w:171887 fy:40
+
+cpx ;linear abs; X10 Z20 B171887 Y40
+inverse kinematic 10 20 171887 40
+inverse result    -8.94198 45.523 171887 40
 ```

 Motors final setup 20.12.17
@@ -242,6 +255,7 @@ SAR-CPPM-EXPMX3: biss:n timing:y
 PPMAC=MOTTEST-CPPM-CRM0485
 ssh root@$PPMAC
 cd /ioc/SAR-CPPM-EXPMX1;iocsh startup.script
+sendgetsends -1


 ssh x06mx-cons-1
@@ -252,25 +266,3 @@ export CAQTDM_DISPLAY_PATH=/net/slsfs-crtl/export/sf/common/config/qt/:/net/slsf
 caqtdm -macro "P=SAR-EXPMX" ESB_MX_exp.ui

 ```
-
-
-SCRATCH
--------
-
-PPMAC=SAR-CPPM-EXPMX1
-gpasciiCommander --host $PPMAC -i
-$$$***
-!common()
-!SAR-EXPMX1()
-
-PPMAC=SAR-CPPM-EXPMX1
-PBInspect --host $PPMAC -i
-
-
-Coord[1].SegMoveTime=.05
-will calculate all 0.05 sec the inverse kinematic.
-default Coord[1].SegMoveTime=0, calculates inv kin. only at endpoints
-
-
-ssh root@$PPMAC sendgetsends -1
-    send 1"SampleMessage\n"
--- a/cfg/MX1_home.cfg
+++ b/cfg/MX1_home.cfg
@@ -5,12 +5,11 @@ 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
+// 4: M1 pos limit found
+// 8: M2 pos limit found
+// 16: M1 homed
+// 32: M2 homed
+// 256: homing failed


 open plc PLC_Homing
@@ -33,46 +32,95 @@ open plc PLC_Homing

  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)
+  while(Motor[1].PhaseFindingStep>0 || Motor[2].PhaseFindingStep>0){}
+  if (Motor[1].PhaseFound==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
-    }
+    statusHoming|=1
+    cmd "#1j/"
+    send 1"phasing Y_Achse ok\n"
+  }
+  else
+  {
+    send 1"phasing Y Achsde error!\n"
+    goto 0 //ERROR_END
+  }
+  if (Motor[2].PhaseFound==1)
+  {
+    statusHoming|=2
+    cmd "#2j/"
+    send 1"phasing X_Achse ok\n"
+  }
+  else
+  {
+    send 1"phasing X Achse error!\n"
+    statusHoming|=256
+    goto 0 //ERROR_END
  }

-  Motor[1].PhasePos=560 // 555   581  593  558
-  Motor[2].PhasePos=1540 //1549  1531 1543 1537

+  //move until FeWarn
+  Motor[1].JogSpeed=6
+  Motor[2].JogSpeed=6
+  timer = Sys.RunTime + .5;while (Sys.RunTime < timer){} //wait .5 sec
+  jog+1
+  jog+2
+  while(1)
+  {
+    if(Motor[1].FeWarn && (statusHoming&4)==0)
+    {
+      cmd "#1j/"
+      send 1"Y_Achse +limit\n"
+      statusHoming|=4
+    }
+    if(Motor[2].FeWarn && (statusHoming&8)==0)
+    {
+      cmd "#2j/"
+      send 1"X_Achse +limit\n"
+      statusHoming|=8
+    }
+    if((statusHoming&12)==12)
+      break
+  }
+  timer = Sys.RunTime + .5;while (Sys.RunTime < timer){} //wait .5 sec

+  Motor[1].HomeVel=-3
+  Motor[2].HomeVel=-3
+  home1
+  home2
+  timer = Sys.RunTime + .5;while (Sys.RunTime < timer){} //wait .5 sec
+  while(Motor[1].HomeInProgress || Motor[2].HomeInProgress){}
+
+  if(Motor[1].HomeComplete)
+    statusHoming=statusHoming|16
+  else
+  {
+    statusHoming|=256
+    send 1"Y_Achse home failed\n"
+  }
+
+  if(Motor[2].HomeComplete)
+    statusHoming=statusHoming|32
+  else
+  {
+    statusHoming|=256
+    send 1"X_Achse home failed\n"
+  }
+
+  //Motor[1].PhasePos=560 // 555   581  593  558
+  //Motor[2].PhasePos=1540 //1549  1531 1543 1537
+  goto 1
+
+N0: //ERROR_END
+    statusHoming|=256
+
+N1: //ENDPLC
  Motor[1].MaxDac=L10
  Motor[1].FatalFeLimit=L11
  Motor[1].JogSpeed=L12
  Motor[2].MaxDac=L20
  Motor[2].FatalFeLimit=L21
  Motor[2].JogSpeed=L22
+  send 1"homeing done\n"

  disable plc PLC_Homing
 close
--- a/cfg/sim_8_motors.cfg
+++ b/cfg/sim_8_motors.cfg
@@ -1,32 +1,6 @@
-//simulated stage without real motors needed
+//simulated 8 motors without needing real ones
 $$$***
 !common()
-//!common(PhaseFreq=20000,PhasePerServo=4)
-//!common(PhaseFreq=20000,PhasePerServo=1)
-//!common(PhaseFreq=40000)
-
-//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 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 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/Enc 4: camera base plate X
-//           OBSOLETE: Enc 4: Interferometer 1
-
-//Mot/Enc 5: camera base plate Y
-//           OBSOLETE Enc 5: Interferometer 2
-
-//Mot 6: Backlight                                2.3A
-
-//Mot 7: Stada Stepper:                           670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
-//Enc 7: Renishaw absolute BiSS
-
-//Mot 8: Stada Stepper:                           670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
-//Enc 8: Renishaw absolute BiSS

 //use some step and direction lines to setup simulate motors
 // /afs/psi.ch/user/h/humar_t/public/Modules/XMI/cfg/xmi.cfg
@@ -63,5 +37,6 @@ Motor[7].pLimits=0;Motor[7].AmpFaultLevel=0;Motor[7].pAmpEnable=0;Motor[7].pAmpF
 !motor(mot=8,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
 Motor[8].pLimits=0;Motor[8].AmpFaultLevel=0;Motor[8].pAmpEnable=0;Motor[8].pAmpFault=0

-
-!coordTrf()
+Motor[3].JogSpeed=1000 # used for joging
+Motor[3].MaxSpeed=1000 # used for motion program
+#1..8j/
--- a/python/helicalscan.py
+++ b/python/helicalscan.py
@@ -149,12 +149,23 @@ class HelicalScan:

  def test_coord_trf(self):
      param = self.param
-      dx, dz, w, y,  = (0.2,0.3,0.1,3.3)
-      print 'input  : dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r,y)
-      (cx,cz,w,fy) = self.inv_transform(dx,dz,w,y)
-      print 'inv_trf: cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r,fy)
+      cx, cz, w, fy,  = (0.2,0.3,0.1,0.4)
+      #cx, cz, w, fy,  = (10.,20,3.,40)
+      print 'input  : cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r*1000.,fy)
      (dx,dz,w,y) = self.fwd_transform(cx,cz,w,fy)
-      print 'fwd_trf: dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r,y)
+      print 'fwd_trf: dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y)
+      (cx,cz,w,fy) = self.inv_transform(dx,dz,w,y)
+      print 'inv_trf: cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r*1000.,fy)
+
+      dx, dz, w, y,  = (0.2,0.3,0.1,0.4)
+      #dx, dz, w, y,  = (10.,20,3.,40)
+      print 'input  : dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y)
+      (cx,cz,w,fy) = self.inv_transform(dx,dz,w,y)
+      print 'inv_trf: cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r*1000.,fy)
+      (dx,dz,w,y) = self.fwd_transform(cx,cz,w,fy)
+      print 'fwd_trf: dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y)
+
+

      # plt.ion()
      # fig = plt.figure()
@@ -164,6 +175,32 @@ class HelicalScan:

  #  def my_anim_func3(self,idx):
  #    self.hCrist,pt=self.pltCrist(cx=0,ty=0,cz=0,w=10*idx*d2r,h=self.hCrist)
+  def mpl_test(self):
+    plt.ion()
+    fig = plt.figure()
+    ax = fig.add_axes([.2, .05, .75, .90])
+    x=np.arange(0,2*np.pi,.1)
+    y=np.sin(x)
+    h=ax.plot(x,y)
+    # ax.set_position([.2,.05,.75,.90])
+    #ax2 = ax.twinx()
+    ax2 = fig.add_axes([.2, .05, .75, .90],sharex=ax)
+    ax2.set_position([.1,.05,.75,.90])
+
+    ax2.spines['top'].set_visible(False)
+    ax2.spines['bottom'].set_visible(False)
+
+    ax2.xaxis.set_visible(False)
+    ax2.patch.set_visible(False)
+
+    y2=y+.1*np.random.random(y.shape)
+    h+=ax2.plot(x,y2,'g')
+    ax2.set_position(ax.get_position())
+    ax2.set_ylabel('mylbl', color='r')
+    ax2.tick_params(axis='y', colors='b')
+    ax2.spines['left'].set_position(('axes',-.1))
+    plt.legend(handels=h)
+    pass

  def show_vel(self):
    rec=self.rec
@@ -172,10 +209,62 @@ class HelicalScan:
    y = np.diff(rec,axis=0)
    mx=y.max(0)
    mn=y.min(0)
-    y=y/(mx-mn)
+    scl=np.maximum(mx,-mn)
+    scl=np.where(scl==0, 1, scl) # replace 0 by 1
+    y/=scl
    x = np.arange(0, y.shape[0]);
    x= x.reshape(-1,1).dot(np.ones((1,y.shape[1])))
-    plt.plot(x, y)
+    lbl=('cx','cz','w','fy')
+    #plt.plot(x, y,label=lbl)
+    for i in range(y.shape[1]):
+      plt.plot(x[:,i], y[:,i],label=lbl[i])
+
+    plt.legend()
+
+  def show_pos(self):
+    rec=self.rec
+    y = rec
+    #plt.ion()
+    fig = plt.figure(figsize=(20,6))
+    c='bgrc'
+    lbl=('cx','cz','w','fy')
+    dx=.25/len(lbl)
+    for i in range(rec.shape[1]):
+      if i==0:
+        ax = fig.add_axes([.2, .05, .75, .90])
+        axl =[ax,]
+      else:
+        ax = fig.add_axes(axl[0].get_position(), sharex=ax)
+        ax.spines['top'].set_visible(False)
+        ax.spines['bottom'].set_visible(False)
+        ax.xaxis.set_visible(False)
+        ax.patch.set_visible(False)
+        ax.spines['left'].set_position(('axes', -dx*i))
+        axl.append(ax)
+      ax.set_ylabel(lbl[i], color=c[i])
+      ax.tick_params(axis='y', colors=c[i])
+
+    x = np.arange(0, y.shape[0]);
+    h=[]
+    for i in range(rec.shape[1]):
+      h+=axl[i].plot(x, y[:,i],c[i],label=lbl[i])
+    plt.legend(handles=h)
+    cid = fig.canvas.mpl_connect('motion_notify_event', self.onmove)
+    fig.obj=self
+    fig.data=y
+
+
+  @staticmethod
+  def onmove(event):
+    #print 'button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%(
+    #  event.button, event.x, event.y, event.xdata, event.ydata)
+    obj = event.canvas.figure.obj
+    data = event.canvas.figure.data
+    if(event.xdata):
+      idx=round(event.xdata)
+      msg='%d: cx:%.3f cz:%.3f w:%.1f fy:%.3f'%((idx,)+tuple(data[idx,:]))
+      #print msg
+      event.canvas.toolbar.set_message(msg)

  def interactive_cx_cz_w_fy(self):
    fig = plt.figure()
@@ -578,21 +667,28 @@ class HelicalScan:
    prg.append('''
 // Set the motors as inverse kinematic axes in CS 1
 //motors CX CZ RY FY
-//        7  8  1  2
+//        4  5  3  1

 &1
-#7->I
-#8->I
+a
+#4->0
+#5->0
+#3->0
+#1->0
+
+#4->I
+#5->I
+#3->I
 #1->I
-#2->I

 open forward
-  define(qCX='L7', qCZ='L8', qW='L1', qFY='L2')
+  define(qCX='L4', qCZ='L5', qW='L3', qFY='L1')
  define(DX='C6', DZ='C8', W='C1', Y='C7')
  //coord    X        Z       B       Y
  define(p0_x='L10', p0_y='L11', p0_z='L12')
  define(p1_x='L13', p1_y='L14', p1_z='L15')
  define(scale='L16')
+
  //send 1"forward kinematic %f %f %f %f\\n",qCX,qCZ,qW,qFY''')
    for i in range(2):
      #https://stackoverflow.com/questions/3471999/how-do-i-merge-two-lists-into-a-single-list
@@ -626,7 +722,7 @@ open inverse
  define(DX='C6', DZ='C8', W='C1', Y='C7')
  //coord    X        Z       B       Y
  //D0 is set to $000001c2
-  define(qCX='L7', qCZ='L8', qW='L1', qFY='L2')
+  define(qCX='L4', qCZ='L5', qW='L3', qFY='L1')
  define(p0_x='L10', p0_y='L11', p0_z='L12')
  define(p1_x='L13', p1_y='L14', p1_z='L15')
  define(scale='L16')
@@ -638,6 +734,7 @@ open inverse
    prg.append("  qW=W")
    prg.append("  W=W*%g"%(d2r/1000.)) #scale from 1000*deg to rad
    prg.append('''
+  
  p0_x=x_0+r_0*sin(phi_0+W)
  p1_x=x_1+r_1*sin(phi_1+W)
  p0_y=y_0
@@ -645,7 +742,7 @@ open inverse
  p0_z=z_0+r_0*cos(phi_0+W)
  p1_z=z_1+r_1*cos(phi_1+W)

-  scale=(qFY-y_0)/(y_1-y_0)
+  scale=(Y-y_0)/(y_1-y_0)
  p0_x=p0_x+scale*(p1_x-p0_x)
  p0_y=p0_y+scale*(p1_y-p0_y)
  p0_z=p0_z+scale*(p1_z-p0_z)
@@ -654,10 +751,90 @@ open inverse
  qFY=Y
  //send 1"inverse result    %f %f %f %f\\n",qCX,qCZ,qW,qFY
  //P1002+=1
-
 close
 ''')

+    # ****** TESTING CODE ******
+    #this is testcode to check linear coordinate transformation and
+    #simple (same as before) fwd and inv-kinematics
+    #When using pvt mode they do not behave the same:
+    #(Power PMAC Users Manual P648)
+    #Enabling Move Segmentation:
+    #If segmentation mode is disabled, a circle-mode move will execute as a linear-mode move
+    #directly from the start point to the end point. Segmentation mode must also be enabled to use the
+    #special lookahead buffer, tool-radius compensation, and kinematic-subroutine calculations.
+
+    #set ct to:
+    #  1 for simple linear transformation
+    #  2 simple linear fwd/inv kinematics
+    ct=0;
+    if ct==1:
+    #simple linear transformation
+      prg = []
+      prg.append('''
+//motors CX CZ RY FY
+//        4  5  3  1
+&1
+a
+#4->0
+#5->0
+#3->0
+#1->0
+
+#4->X
+#5->Z
+#3->B
+#1->Y
+''')
+    elif ct==2:
+    #simple linear fwd/inv kinematics
+      prg = []
+      prg.append('''
+// Set the motors as inverse kinematic axes in CS 1
+//motors CX CZ RY FY
+//        4  5  3  1
+&1
+a
+#4->0
+#5->0
+#3->0
+#1->0
+
+#4->I
+#5->I
+#3->I
+#1->I
+
+open forward
+  define(qCX='L4', qCZ='L5', qW='L3', qFY='L1')
+  define(DX='C6', DZ='C8', W='C1', Y='C7')
+  //coord    X        Z       B       Y
+  send 1"forward D0: %f \\n",D0
+  if(D0>0) callsub 100
+  D0=$000001c2; //B=$2 X=$40 Y=$80 Z=$100 hex(2+int('40',16)+int('80',16)+int('100',16)) -> 0x1c2
+N100:
+  DX=qCX
+  DZ=qCZ
+  W=qW
+  Y=qFY
+  send 1"forward result    %f %f %f %f\\n",DX,DZ,W,Y
+  P1001+=1
+close
+
+open inverse
+  define(DX='C6', DZ='C8', W='C1', Y='C7')
+  //coord    X        Z       B       Y
+  //D0 is set to $000001c2
+  define(qCX='L4', qCZ='L5', qW='L3', qFY='L1')
+  qCX=DX
+  qCZ=DZ
+  qW=W
+  qFY=Y
+  send 1"inverse result    %f %f %f %f\\n",qCX,qCZ,qW,qFY
+  P1002+=1
+close
+    ''')
+
    if self.args.verbose & 4:
      for ln in prg:
        print(ln)
@@ -695,7 +872,7 @@ close
        yRng    : starting and ending height
    '''
    prg=[]
-    acq_per=kwargs.get('acq_per',1)
+    acq_per=kwargs.get('acq_per',10)
    gather={"MaxSamples":1000000, "Period":acq_per}
    #Sys.ServoPeriod is dependent of !common() macro
    ServoPeriod= .2 #0.2ms
@@ -703,7 +880,7 @@ close
    self.meta = {'timebase': ServoPeriod*gather['Period']}
    #channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos"]
    #          CX                CZ                W                 FY
-    channels=["Motor[7].ActPos","Motor[8].ActPos","Motor[1].ActPos","Motor[2].ActPos"]
+    channels=["Motor[4].ActPos","Motor[5].ActPos","Motor[3].ActPos","Motor[1].ActPos"]
    prg.append('Gather.Enable=0')
    prg.append('Gather.Items=%d'%len(channels))
    for k,v in gather.iteritems():
@@ -757,11 +934,16 @@ close
      pt[:,2]= np.linspace(wRng[0],wRng[1],numPt) #w
      pt[:,3]= np.repeat(np.linspace(yRng[0],yRng[1],cntVert),cntHor) #y
      self.points=pt
-      prg.append('  Coord[1].SegMoveTime=.05') #to calculate every 0.05 ms the inverse kinematics
+      #prg.append('  Coord[1].SegMoveTime=.05') #to calculate every 0.05 ms the inverse kinematics
+      prg.append('  nofrax') #needed to set all axis to use AltFeedRate
+      prg.append('  Coord[1].AltFeedRate=0') # allow maximum speed
+      prg.append('  Coord[1].SegMoveTime=0') #turn off segmented mode
      prg.append('  linear abs')
      prg.append('  X%g Z%g B%g Y%g' % tuple(pt[0, :]))
      prg.append('  dwell 100')
      prg.append('  Gather.Enable=2')
+      prg.append('  Coord[1].AltFeedRate=0') # allow maximum speed
+      prg.append('  Coord[1].SegMoveTime=1') #to calculate every 1 ms the inverse kinematics
      for i in range(pt.shape[0]):
        prg.append('  X%g Z%g B%g Y%g' % tuple(pt[i, :]))
        prg.append('  dwell 100')
@@ -776,7 +958,7 @@ close
      hRng = kwargs.get('hRng', (-.2,.2))
      wRng = kwargs.get('wRng', (0,360000))
      yRng = kwargs.get('yRng', (2.3,6.2))
-      pt2pt_time = kwargs.get('pt2pt_time ', 100)
+      pt2pt_time = kwargs.get('pt2pt_time', 100)
      numPt=cntVert*cntHor
      pt=np.zeros((numPt,4))
      if cntHor>1:
@@ -798,6 +980,9 @@ close
      dist=pv[2:,(0,1,2,3)] - pv[:-2,(0,1,2,3)]
      pv[  1:-1,(4,5,6,7)] = 1000.*dist/(2.*pt2pt_time)

+      prg.append('  nofrax') #needed to set all axis to use AltFeedRate
+      prg.append('  Coord[1].AltFeedRate=0') # allow maximum speed
+      prg.append('  Coord[1].SegMoveTime=0') #turn off segmented mode
      prg.append('  linear abs')
      prg.append('  X%g Z%g B%g Y%g' % tuple(pv[0, (0,1,2,3)]))
      prg.append('  dwell 10')
@@ -805,10 +990,14 @@ close
      if cnt>1:
        prg.append('  P100=%d'%cnt)
        prg.append('  N100:')
+      prg.append('  Coord[1].AltFeedRate=0') # allow maximum speed
+      prg.append('  Coord[1].SegMoveTime=1') #to calculate every 1 ms the inverse kinematics
      prg.append('  pvt%g abs'%pt2pt_time) #100ms to next position
      for idx in range(1,pv.shape[0]):
-        prg.append('  P2000=%d'%idx)
+        #prg.append('  P2000=%d'%idx)
        prg.append('  X%g:%g Z%g:%g B%g:%g Y%g:%g' % tuple(pv[idx, (0,4,1,5,2,6,3,7)]))
+        #prg.append('Y%g:%g' % tuple(pv[idx, (5, 7)]))
+        #prg.append('B%g:%g' %(idx*1000,0))
      if cnt>1:
        prg.append('  dwell 10')
        prg.append('  P100=P100-1')
@@ -847,6 +1036,7 @@ close
        ack=GpasciiCommunicator.gpascii_ack
        sys.stdout.write('wait execution...');sys.stdout.flush()
        while(True):
+          #Gather.MaxLines calculates maximum numbewr of gathering into memory
          com.write('P1000\n')
          val=com.read_until(ack)
          #print val
@@ -938,20 +1128,27 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
    #hs.test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6)

    hs.calcParam()
-    #hs.test_coord_trf()
+    hs.test_coord_trf()
    #hs.interactive_cx_cz_w_fy()
    #hs.interactive_dx_dz_w_y()

+    #SAR-CPPM-EXPMX1  MOTTEST-CPPM-CRM0485
    hs.gen_coord_trf_code('/tmp/helicalscan.cfg','MOTTEST-CPPM-CRM0485')
    #hs.gen_prog(file='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=-1)
-    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0)
+    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0,cntHor=1,cntVert=3,wRng=(120000,120000))
    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0,cntHor=1)
+    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0)
+    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0,cntHor=1,cntVert=5,wRng=(120000,120000))
+    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100)
+    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(0,360000))
    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1)
-    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,
-    #            pt2pt_time=100,cnt=1,cntVert=35,cntHor=7,hRng=(-.3,.3),wRng=(0,360000*3),yRng=(6.2,2.3))
+    hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,
+                pt2pt_time=100,cnt=1,cntVert=35,cntHor=7,hRng=(-.3,.3),wRng=(0,360000*3),yRng=(6.2,2.3))
    hs.load_rec()
+    hs.show_pos();hs.show_vel()
    hs.interactive_anim()
-    hs.show_vel();    plt.show()
+    #hs.show_vel();    plt.show()
+    #hs.show_pos();    plt.show()

    return

--- a/python/shapepath.py
+++ b/python/shapepath.py
@@ -85,7 +85,7 @@ class ShapePath:
        #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_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=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'.npz")']}
+        cfg = {"sequencer": ['gen_grid_points(w=10,h=10,pitch=100,rnd=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', '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")']}
        #cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','gen_prog(file="'+fn+'_corr.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'_corr.npz")']}
@@ -182,7 +182,7 @@ class ShapePath:
      #ServoPeriod = .05
      self.meta = {'timebase': ServoPeriod*gather['Period']}
      #channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos"]
-      channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos","Motor[1].DesPos","Motor[2].DesPos","Motor[3].DesPos"]
+      channels=["Motor[3].ActPos","Motor[2].ActPos","Motor[1].ActPos","Motor[3].DesPos","Motor[2].DesPos","Motor[1].DesPos"]
      prg.append('Gather.Enable=0')
      prg.append('Gather.Items=%d'%len(channels))
      for k,v in gather.iteritems():