ESI Renishaw Encoder PM Procedure

Renishaw Encoder Measurement Procedure

Background

The Renishaw encoders on the ESI triple wheel stages have historically been the most trouble-prone part of the instrument. Both the tape and the optical sensors which read it are subject to particulate contamination, resulting in degraded performance and eventually the inability to position the stage reliably. The following performance monitoring (PM) procedure is recommended prior to each ESI run to verify that the encoders are performing well.

Data Acquisition

Setup. Verify that ESI is cabled up and powered on, and that summit personnel are clear of the instrument. Bring up an xterm window on esiserver as user kics.

Execute ktest script. Run the following command to launch the ESI ktest suite:

	cd /u/kics/cvs/kroot/kss/esi/ktest
	KtRun esi.cfg

The ktest suite tests all moving stages on the instrument and requires several hours to run. Here is a typical transcript:

kanaha{kics}18: KtRun esi.cfg
RUN DIR (cwd) is /u/kics/cvs/kroot/kss/esi/ktest/Runs/2010_01_11_1
------------------ esi TEST RUN STARTS -------------------
Mon Jan 11 23:58:53 HST 2010
MY PID is 8400
Controller CTRL0 is alive, start monitor
Controller CTRL0 is under surveillance, start stage tests
STAGE is APMSK
Started APMSK test suite pid 8617 Tue Jan 12 00:00:14 HST 2010
STAGE is DWFIL
Started DWFIL test suite pid 8735 Tue Jan 12 00:01:28 HST 2010
STAGE is SLMSK
Started SLMSK test suite pid 8851 Tue Jan 12 00:02:28 HST 2010
STAGE is TVFIL
Started TVFIL test suite pid 8912 Tue Jan 12 00:03:07 HST 2010
STAGE is TVFOC
Started TVFOC test suite pid 9030 Tue Jan 12 00:03:48 HST 2010
Started COLL test suite pid 9031 Tue Jan 12 00:03:48 HST 2010
Controller CTRL1 is alive, start monitor
Controller CTRL1 is under surveillance, start stage tests
STAGE is IMFLT
Started IMFLT test suite pid 9260 Tue Jan 12 00:05:46 HST 2010
STAGE is LDFLT
Started LDFLT test suite pid 9442 Tue Jan 12 00:07:32 HST 2010
STAGE is PRISM
Started PRISM test suite pid 9626 Tue Jan 12 00:09:23 HST 2010
Started HATCH test suite pid 9627 Tue Jan 12 00:09:23 HST 2010
Waiting for all tests to complete...
Tue Jan 12 00:12:34 HST 2010 Pid(HATCH) 9627 is DONE (00:00:00, reset
Tue Jan 12 00:19:24 HST 2010 checking for done-ness of tests
...test IMFLT is not done -- 00:15:29 elapsed
...test APMSK is not done -- 00:20:22 elapsed
...test TVFIL is not done -- 00:16:56 elapsed
...test LDFLT is not done -- 00:13:38 elapsed
...test COLL is not done -- 00:15:36 elapsed
...test TVFOC is not done -- 00:16:17 elapsed
...test SLMSK is not done -- 00:17:56 elapsed
...test DWFIL is not done -- 00:19:10 elapsed
...test PRISM is not done -- 00:11:52 elapsed
Tue Jan 12 00:28:25 HST 2010 Pid(COLL) 9031 is DONE (00:15:36, reset
Tue Jan 12 00:29:24 HST 2010 checking for done-ness of tests
...test IMFLT is not done -- 00:25:29 elapsed
...test APMSK is not done -- 00:30:22 elapsed
...test TVFIL is not done -- 00:26:56 elapsed
...test LDFLT is not done -- 00:23:38 elapsed
...test TVFOC is not done -- 00:26:17 elapsed
...test SLMSK is not done -- 00:27:56 elapsed
...test DWFIL is not done -- 00:29:10 elapsed
...test PRISM is not done -- 00:21:52 elapsed
Tue Jan 12 00:35:11 HST 2010 Pid(IMFLT) 9260 is DONE (00:25:29, reset
Tue Jan 12 00:37:26 HST 2010 Pid(LDFLT) 9442 is DONE (00:23:38, reset
Tue Jan 12 00:39:11 HST 2010 Pid(PRISM) 9626 is DONE (00:21:52, reset
Tue Jan 12 00:39:24 HST 2010 checking for done-ness of tests
...test APMSK is not done -- 00:40:22 elapsed
...test TVFIL is not done -- 00:36:56 elapsed
...test TVFOC is not done -- 00:36:17 elapsed
...test SLMSK is not done -- 00:37:56 elapsed
...test DWFIL is not done -- 00:39:10 elapsed
Tue Jan 12 00:46:02 HST 2010 Pid(TVFIL) 8912 is DONE (00:36:56, reset
Tue Jan 12 00:46:07 HST 2010 Pid(TVFOC) 9030 is DONE (00:36:17, reset
Tue Jan 12 00:49:24 HST 2010 checking for done-ness of tests
...test APMSK is not done -- 00:50:22 elapsed
...test SLMSK is not done -- 00:47:56 elapsed
...test DWFIL is not done -- 00:49:10 elapsed
Tue Jan 12 00:59:24 HST 2010 checking for done-ness of tests
...test APMSK is not done -- 01:00:22 elapsed
...test SLMSK is not done -- 00:57:56 elapsed
...test DWFIL is not done -- 00:59:10 elapsed
Tue Jan 12 01:09:24 HST 2010 checking for done-ness of tests
...test APMSK is not done -- 01:10:22 elapsed
...test SLMSK is not done -- 01:07:56 elapsed
...test DWFIL is not done -- 01:09:10 elapsed
Tue Jan 12 01:13:40 HST 2010 Pid(DWFIL) 8735 is DONE (01:09:10, reset
Tue Jan 12 01:19:24 HST 2010 checking for done-ness of tests
...test APMSK is not done -- 01:20:22 elapsed
...test SLMSK is not done -- 01:17:56 elapsed
Tue Jan 12 01:29:24 HST 2010 checking for done-ness of tests
...test APMSK is not done -- 01:30:22 elapsed
...test SLMSK is not done -- 01:27:56 elapsed
Tue Jan 12 01:32:52 HST 2010 Pid(APMSK) 8617 is DONE (01:30:22, reset
Tue Jan 12 01:39:24 HST 2010 checking for done-ness of tests
...test SLMSK is not done -- 01:37:56 elapsed
Tue Jan 12 01:49:24 HST 2010 checking for done-ness of tests
...test SLMSK is not done -- 01:47:56 elapsed
Tue Jan 12 01:59:24 HST 2010 checking for done-ness of tests
...test SLMSK is not done -- 01:57:56 elapsed
Tue Jan 12 02:09:24 HST 2010 checking for done-ness of tests
...test SLMSK is not done -- 02:07:56 elapsed
Tue Jan 12 02:19:24 HST 2010 checking for done-ness of tests
...test SLMSK is not done -- 02:17:56 elapsed
Tue Jan 12 02:29:24 HST 2010 checking for done-ness of tests
...test SLMSK is not done -- 02:27:56 elapsed
Tue Jan 12 02:39:24 HST 2010 checking for done-ness of tests
...test SLMSK is not done -- 02:37:56 elapsed
Tue Jan 12 02:45:19 HST 2010 Pid(SLMSK) 8851 is DONE (02:37:56, reset
Tue Jan 12 02:49:24 HST 2010 checking for done-ness of tests
All tests have completed (or died) as of Tue Jan 12 02:49:24 HST 2010
Kill the controller monitors:
... byebye CTRL0
KILL 15 process CTRL0 (pid 8464)
... byebye CTRL1
KILL 15 process CTRL1 (pid 9036)
*** CLEAN UP:  run ESIdefaults test
ERROR in exec /kroot/bin/ktrun /kroot/data/esi/ktest/ESIdefaults
      -------------------------------------------------------
               KTEST UI Version 1.7
               Tue Jan 12 02:49:24 HST 2010
KROOT /kroot KLIB /kroot/lib, KDATA /kroot/data
****----  Try to load /kroot/lib/libKtcl.so.8.0:
          LOADED : /kroot/lib/libKtcl.so.8.0

INITIALIZATION Phase I COMPLETE, ready to roll.


KTRUN Test ESIdefaults...

File /u/kics/cvs/kroot/kss/esi/ktest/Runs/2010_01_11_1/ESIdefaults/ESIdefaults.dat.1263300564 is 0 length, try to delete it
File /u/kics/cvs/kroot/kss/esi/ktest/Runs/2010_01_11_1/ESIdefaults/ESIdefaults.err.1263300564 is 0 length, try to delete it
File /u/kics/cvs/kroot/kss/esi/ktest/Runs/2010_01_11_1/ESIdefaults/ESIdefaults.log.1263300564 is 0 length, try to delete it
File /u/kics/cvs/kroot/kss/esi/ktest/Runs/2010_01_11_1/ESIdefaults/ESIdefaults.trp.1263300564 is 0 length, try to delete it
Trying to do ktl ioctl call
Looking for KWfile
**** Looking around for esi.kwd in /kroot/data/esi ... 
Found file esi.kwd : /kroot/data/esi/esi.kwd
Trying to eat file /kroot/data/esi/dyna/mapRON.cfg
EMR: No meme for esi,TVFOCPOS
EMR: No meme for esi,PRISMPOS
EMR: No meme for esi,COLL1POS
EMR: No meme for esi,COLL3POS
EMR: No meme for esi,SLMSKPOS
EMR: No meme for esi,IMFLTPOS
EMR: No meme for esi,APMSKPOS
EMR: No meme for esi,COLL2POS
EMR: No meme for esi,TVFILPOS
EMR: No meme for esi,LDFLTPOS
EMR: No meme for esi,DWFILPOS
No propaDyna, can't be a ktui app.  Probably ktest.
ERROR in varChange esi APMSKMSG
invalid command name "varChange"
no varChange proc : disabling future varChange calls
----------------- TEST ENDS Tue Jan 12 02:59:59 HST 2010 --------------
 Extracting the test results...


----------------- TEST CHECK Tue Jan 12 03:00:00 HST 2010 --------------
 Extracting test results...

Data Analysis

Setupe Plots.
Generate Plots.

Sample output

Here are resulting plots from testing performed on 2010-Jan-12.

Imaging Flat

Low-Dispersion Flat

Prism

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