SANS2D vacuum tank collision avoidance

Wiki > The Backend System > Specific Device IOC > Miscellaneous motion control > 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

There is a collision avoidance check implement in DB records in the motorExtensions module. These DB records does the following things:

• Checks if the SP between two axes are above the minimum threshold
• .SPMG is set to Pause after axis has stopped moving and after STOP ALL button is pressed
• .DISP is set to 1 in axis and motor layer during movement and set back to 0 after axis is no longer moving

The minimum distance between axes can be controlled using the pvs:

• front detector to front baffle: %MYPVPREFIX%MOT:SANS2DVAC:FDFB:MINIMUM_INTERVAL
• front baffle to rear baffle: %MYPVPREFIX%MOT:SANS2DVAC:FBRB:MINIMUM_INTERVAL
• rear baffle to rear detector: %MYPVPREFIX%MOT:SANS2DVAC:RBRD:MINIMUM_INTERVAL