Changes since gantry stage was removed

In mid-2008 the gantry robot and surrounding frame was disassembled. The linear and rotary stages continue to work. However, some modifications must be made to the acmehome script in order to work in the new configuration. The original script attempts to calibrate each axis in turn, beginning with the gantry, and it halts upon first error. Therefore we must remove the offending code. Since we don't have write access to the /lci/project/pai/acme/ACME_2.0/bin/ directory, an easy way to do this is to copy the acmehome file from that directory to somewhere in your own space, make the changes described below, and execute it from there.

changes to acmehome

   print STDERR "HOME: gantry-Z\n";
   &homeList( 2 );
   $MC8::GOAL[2] = +100000 + $HomeZero[2];
   &domotion() || die "$0: gantry-Z safe motion failed\n";

   print STDERR "HOME: gantry-Y\n";
   &homeList( 1 );
   $MC8::GOAL[1] = -400000 + $HomeZero[1];
   &domotion() || die "$0: gantry-Y safe motion failed\n";

   print STDERR "HOME: gantry-X & motion stages\n";
   &homeList( 0, 3, 4, 5, 6 );

   print STDERR "Moving gantry X axis away from limits:\n";

   system "move gantry by 150";

   &homeList( 3, 4, 5, 6 );

The axes are:

• 3: E1 motor on rotary stage (translation)
• 4: E2 motor on rotary stage (translation)
• 5: E3 motor on rotary stage (rotation)
• 6: linear stage