ISISComputingGroup / ISISComputingGroup/IBEX
IMAT: Jaws requiring power cycling and occasionally failing to home [timebox: 2 days]
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- 6
- Forks
- 2
- Avg merge
- 16h 40m
- Merged PRs (30d)
- 2
Description
As an IS on IMAT I would like my jaws to be reliable and moving them to be as easy as possible. Currently there are a number of issues that when taken together are very frustrating:
* The drive cards for the jaws require power cycling every time I do a move
* This causes the encoder and motor steps to go out of sync and the Galil to believe it is at a soft limit when it shouldn't be (e.g. https://github.com/ISISComputingGroup/IBEX/issues/4543)
* Homing the jaws (via the homing script) is then not always that reliable and so the homing script is very cautious and slow (~20 minutes to home everything). It may also be that homing speeds are slow
## Acceptance Criteria
* The reason that the drive card power cycling is required is determined (and fixed if possible)
* Homing is made more reliable and faster (if possible)
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Assessment
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