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 toPause
after axis has stopped moving and afterSTOP ALL
button is pressed.DISP
is set to1
in axis and motor layer during movement and set back to0
after axis is no longer moving.DISP
is set toMOVE_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