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SANS2D vacuum tank collision avoidance
SANS2D's vacuum tank contains 4 primary axes that can potentially collide with each other:
- Front detector
- Front baffle
- Rear baffle
- Rear detector
To reduce the risk of collisions, there is a collision avoidance system implemented in DB records in the motorExtensions module. These DB records monitor the gaps between pairs of axes next to each other, and will stop the axes in the following cases:
- The gap is too small and is becoming smaller
- There is a persistent (>5s) comms fault with one of the galil controllers
Collision avoidance can be switched on or off using the PV %MYPVPREFIX%MOT:SANS2DVAC:COLLISION_AVOIDANCE in case it is blocking a valid move (e.g. the motors have lost positions and think they are too close, when in reality they are not).
When the collision avoidance system stops axes, it will write the current time to TE:NDW1799:MOT:SANS2DVAC:_LAST_STOP_TIME, so that users can tell when an axis was stopped by this system.