ALF Goniometer

The ALF Goniometer is a 6-axis goniometer. There is no specific logic required in controlling it, all that is required is the standard movement across the whole range with appropriate encoder/motor counts, and an ability to home all axes to a known position.

Axes Conventions

The numbering of the axes below corresponds to the number of the axes on the annotated diagram of the ALF goniometer.

1. Z-axis

2. theta (a.k.a. Rrot)

3. Cy (according to galil.ini for LabVIEW control)

4. Cx (according to galil.ini for LabVIEW control)

5. Rlower

6. Rupper

Axes & Motors

The table below defines how the goniometer axes are connected to motors, and the motor setup data needed:

Axis Name	Rupper	Rlower	Cx	Cy	theta	Z
Axis letter (crate)	F	E	D	C	B	A
Units	deg	deg	mm	mm	deg	mm
Acceleration	4000	4000	4000	4000	8192	2048
Deceleration	4000	4000	4000	4000	8192	2048
Speed	700	2000	2000	2000	2048	4096
LabVIEW Motor Steps per Unit	1358	1719	640	640	756	641
Motor Type	Reverse Active High	Reverse Active High	Reverse Active High	Forward Active High	Forward Active High	Forward Active High
Encoder Present	Yes	Yes	Yes	Yes	Yes	Yes
LabVIEW Encoder Steps per Unit	842	1074	400	400	472	400
Encoder Type	Normal Quadrature	Normal Quadrature	Normal Quadrature	Reverse Quadrature	Normal Quadrature	Reverse Quadrature
Home Method	Forward Limit	Forward Limit	Forward Limit	Forward Limit	None Available	Reverse Limit
Home Value	25.4	27.6	55.6	57.922	N/A	0
Max from Home	25.4	27.6	55.6	57.5	N/A	200
Min from Home	-25.4	-27.6	-55.6	-57.5	N/A	0
Max Travel	40	80	100	100	360	200