SANS2D: Test Stober Drives (WC 24/01/2022)

[kjwoodsISIS]

As a developer, I want to test IBEX with the new Stober drives.
As a SANS2D scientist, I want to see IBEX successfully controlling the Stober drives.

Acceptance Criteria

1. IBEX can communicate with the new Stober drives (via the SANS2D front-end Galils)
2. IBEX can drive the SANS2D apertures and guides to specified positions
3. IBEX can drive the SANS2D apertures and guides to home positions

Notes

1. See also SANS2D: Log Diagnostic Information from Stober Drives #6183.

[rerpha]

https://github.com/ISISComputingGroup/ibex_developers_manual/wiki/Beckhoff#if-a-controller-has-more-than-8-axes

#6865 will allow this to work out of the box as the stobers are 12 axes.

things that are needed (and will be patched over) are #6823 , #6754

[rerpha]

This may be slightly delayed due to the TS2 beam update we had yesterday, new date is TBC but I've changed it to what is officially planned to be.

[rerpha]

Some success - had to apply ISISComputingGroup/EPICS-ioc#672 (have added to list of hotfixes) but managed to get all of the axes working at once and it works nicely. Tested limits and they work, also an IOC restart.

Remaining work involves blocks on diagnostic information, DESC setting, and axis aliasing setting up depending on scientists response.

Also worth noting that just the 5 guides are being controlled by the Beckhoff this time round, not 12 (including apertures) like i originally thought.

[rerpha]

DESCs have been set to G1-5 etc. Axes.cmd has been placed in the config dir pointing to MTR06 but the hotfix applied to LARMOR will need to be made in order for this to work. I'm not sure how the motionsetpoints stuff needs to be loaded in... will tackle that later when I can actualyl move the apertures