(r1) ACMERebootAndCalibration < Imager

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---+Starting and Calibrating ACME

If Kiewa has been rebooted, then the motion controller card will have been reset, which means that the gantry and linear stages will have to be recalibrated. Log in to kiewa, and then do the following:

   * Run
     <verbatim>
     % /usr/bin/rtpatch
     </verbatim>
     This makes real-time Solaris extensions callable by regular users.

   * Turn off the gantry/stage power by hitting the red button on the
     big power box (which connects to the controller rack through a
     long grey cable).

   * Run
     <verbatim>
     % acmeboot
     </verbatim>
     The program will ask if you know what you're doing; enter "yes".

   * Make sure the gantry x axis (long side of the frame) is about 200 mm from its most negative
     direction of travel. You can position it by hand by manually
     turning the axle (this is the long spline that runs across the
     gantry at the positive end of the x axis).

   * Turn on the gantry/stage power by hitting the yellow button on the
     big power box. The pan/tilt head will move briefly
     as it autocalibrates; wait for this to stop.

   * Run 
     <verbatim>
     % acmehome
     </verbatim>
     This will move the gantry z first, then gantry y, then a few
     other joints in the test station, linear stage, and gantry.
     The process takes a few minutes, and should produce a bunch 
     of output that looks like this:
     <verbatim>     
          HOME: gantry-Z
          start: chan2: mode=1 setp=+00000041 curp=+00000041 maxerr=0000
          search:chan2: mode=1 setp=+00001229 curp=+00001323 maxerr=0000
          switch:chan2: mode=1 setp=-00104294 curp=-00104143 maxerr=0000
          zero:  chan2: mode=1 setp=-00099421 curp=-00099284 maxerr=0000
          home:  chan2: mode=1 setp=+00000000 curp=-00000023 maxerr=0121
          HOME: gantry-Y
          start: chan1: mode=1 setp=-00000001 curp=-00000001 maxerr=0000
          search:chan1: mode=1 setp=-00010005 curp=-00010005 maxerr=0000

           ...
    </verbatim>
    finishing with 
    <verbatim>
          HeadCfg: max step: 1000, start: 1000, accel: 16, power: 20
          GPA
          Moving to joint values:
          -757.057   67.030 -150.385 -180.000   -0.000
    </verbatim>
    Sometimes, the calibration process will bail out prematurely, with
    a message like
    <verbatim>
          stageX not homed
    </verbatim>
    If this happens, try calibrating again. If the problem repeats, it
    may be that the amps in the controller rack need to be power
    cycled. To do this, halt =kiewa= first (=kiewa= is connected to the
    rack). The proper way to halt =kiewa= is with the =/etc/halt= command,
    but you need an admin to do this. Otherwise, run =sync= a few
    times from the keyboard and then power cycle the rack using the
    switch on the bottom panel. Do not power off =kiewa= separately (a
    sign on =kiewa= will remind you of this).



-- Main.WolfgangHeidrich - 24 Nov 2005
Topic revision: r1 - 2005-11-24 - WolfgangHeidrich