Linmot

Getting initial values for a migration

There are no config files, values are hardcoded in labview VIs. On a block diagram you will find a number referred to as linmotcalibration - this will be MRES in ibex. So normally MRES = linmotcalibration

Also look at the offset values in the VI, these are in motor steps and in ibex need to be in EGU. Also note that they are usually applied in a way that requires a sign change, but check VI logic. So normally `OFST = -(offset_in_vi * linmotcalibration)

Velocity - this is hardcoded in VI, but often 50. It is in steps per second in both cases. So VELO = value_in_vi

COM port - due to an indirect logic lookup, the real COM port to use is 1 more than the number in the VI. ibex_com_port = labview port + 1

Check order axes are indexed A,B,C,D = MTR01,02,03,04 in ibex

If all is correct, values should agree onscreen when swapping between ibex and labview

Setting limits

To set limits use PV values in the configuration. For examples of this see ENGINX and/or MAPS jaw sets e.g. setting IN:ENGINX:MOT:MTR0102.HLM and IN:ENGINX:MOT:MTR0102.LLM. You can get the limits required from the labview front panel, right click on a control and look at "data entry properties" of blades and gaps. You should also set DRVH and DRVL on VGAP:SP and HGAP:SP if limits are set in labview. Taking SXD as an example, individual blades have a range of -4.5 to 41 and gaps 0.2 to 82