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SANS2D vacuum tank collision avoidance

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RaiBishal edited this page Oct 21, 2021 · 4 revisions

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 4 primary 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
  • .DISP is set to MOVE_ALL pv if movement is not allowed due to potential collision

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
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