<<TableOfContents(3)>>

== Overview ==
[[attachment:configuration|{{attachment:スクリーンショット 2017-05-01 19.20.17.png|latest sensitivity curve|width="500"}}]]

This system is to control the stepper motor of GAS and IP in VIS suspension using the KAGRA DGS network.

 * If you control with serial in local place, please see the manual written by Sekiguch [[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=2512|JGW-T1402512]].
 * In this system, anyone control stepper motor with medm screen via EPICS channels managed by PCAS (Potable Channel Access Server).
 * 2017/10/13 :  medm screen is not yet.

== Motor Specifications ==
=== Environment ===
 * Controller: TMCM-6110
 * Motor: AML D42.2
=== Motor drive method and motor Rotation ===
 * FULL step: 200steps / Rotation
 * Micro step(x256): 51200steps / Rotation
=== stallGuard2 ===
 * [[KAGRA/Subgroups/DGS/Projects/StepperMotor/stallGuard2|stallGuard2]]

== How to use ==
=== About the control script ===
コマンド送信はPythonのソケット通信ライブラリを使って実装、ライブラリ化した。

 * モータドライバ側はBinaryでコマンドを受け付けるので注意が必要。設定すればASCIIでも可。
 * バイナリコマンドを直接socketで送りつけるPythonコードがあったので、それを使う。
 * それ改変して、最小限動かすのに必要な関数を集めたPythonクラス ’KAGRA_stepper’ を用意した。
 * 実際のモータを動かすための設定ファイルを用意した。（モータの配線、IPの自由度へのマトリックス）

=== Quick Start ===
Run the PCAS to activate the EPICS channels for stepper motor control.

 * PCAサーバは、各EPICSチャンネルの値の変更に応じて指定のコマンドを送るためのもの
 * なので起動しないと、ボタンを押してもコマンドが送れずモータが動作しない。
 * 起動をするには、MEDM画面からボタンを押すだけ（の予定）

After activate, control the stepper motor using the medm screen

 * --(まだスクリーンをつくっていない)--
 * 速度を設定する。デフォルトで500
 * 加速度を設定する。デフォルトで500
 * 動かす。FWDで正転、REVで反転

== Setup ==

See [[KAGRA/Subgroups/VIS/OpsManual/Stepper| Stepper motor driver installation]]
=== Nport5150 ===
Serial setting

 * Baudrte : 9600
 * DataBit : 8
 * StopBit : 1
 * Parity : None
 * FIFO : Enable

Network setting

 * IPaddress : 10.68.150.xx (Please change the IP address according to where you want to use it.)
 * Netmask : 255.255.0.0
 * Gateway : 10.68.10.1
 * IP Configuration : Static

Operation Mode setting

 * choose ’TCP Server Mode’
 * port : 4001

=== TMCM6110 ===
Do not use in ASCII mode. Use binary mode.

=== Control Script （No need） ===
ドライバーに接続されているモータの名前を[[https://www.dropbox.com/home/Personal/miyo/script/stepper?preview=param.py|param.py]]に書き下す。

 * param.py はモータ名とドライバに接続するポート番号を定義するためのファイル。
 * 原則的に一台目をGAS，二代目をIPにつかう。
 * しかし，TypeBではランダムで配線しているので，かならずparam.pyを書き換える。

IPだけ，どのモータがIPの自由度にたいしてつながっているかparam.pyに書き下す

 * 同時に動かすべきモータの組み合わせをparam.py内にある行列に書き換える。

== How to actuate (On 18/02/26) ==
=== Actuate fishing rods from medm screen (On 18/06/04) ===
==== Initial activate ====
{{{
$ ssh k1script1
$ step_start SERVER_NAME
}}}
SERVER_NAME is the EPICS channel name after K1:STEPPER_. (i.e., PR2_GAS) If the lines

Stepper has been migrated from k1script (Python2) to k1script1 (Python3).

{{{
Reconnecting...
Testing connection:
...ok
}}}
appears in the command line, it is ok. otherwise, check server configuration.

When the work is finished, step_start is exited.
After 2020/10/26, you can add "-kill" to the command argument to terminate it.
{{{
$ step_start SERVER_NAME -kill
}}}

==== How to use ====
 * Press "UPDATE" to check the current position of the motor. Note that the number is initialized when you turn the driver off.
 * Set '''RELATIVE''' steps to actuate in "STEP" box. (i,e, it does driver.setTargetPosition(POSITION+STEP,motorAddress))
 * Press '''ENTER''' one or more times until the desired position is reached.
 * Press "STOP" for emergency stop.

{{attachment:FR_medm.GIF}}

(ref: [[http://klog.icrr.u-tokyo.ac.jp/osl/?r=4161|klog4161]])

=== How to actuate IP stepping motors from medm screen (On 18/02/28) ===
==== Initial Activate ====
{{{
$ ssh k1script1
$ step_start SERVER_NAME
}}}
SERVER_NAME is the EPICS channel name after K1:STEPPER_. (i.e., BS_IP) If the lines

Stepper has been migrated from k1script (Python2) to k1script1 (Python3).

{{{
Reconnecting...
Testing connection:
...ok
}}}
appears in the command line, it is ok. otherwise, check server configuration.

When the work is finished, step_start is exited.
After 2020/10/26, you can add "-kill" to the command argument to terminate it.
{{{
$ step_start SERVER_NAME -kill
}}}

==== Configuration ====
There are two types of alignment of the IP stepping motors, which we call Type-SR (left), Type-BS (center), and Type-TM (right).

{{attachment:IP_Type-SR.gif||width="350"}} {{attachment:IP_Type-BS.gif||width="350"}} {{attachment:IP_Type-TM.gif||width="350"}}

SRs have Type-SR, while BS has Type-BS. Type-A towers have Type-TM.

The connection assign is loaded from conf.py in the script file, including the sign of the motor actuation. Refer the table below for the connection assignment as well.

=== How to check the log ===
The log files remain in /kagra/Dropbox/Subsystems/VIS/Scripts/StepMotor/LogFiles/ Check the log files with each prefix.

=== How to actuate from the command line (On 17/10/5) ===
確認のしかた

 * Go to the directory: /kagra/Dropbox/Subsystems/VIS/TypeBp/Scripts/steppingmotor/
 * start ipython
 * in ipython, type the command as follows.

{{{
from Trinamic_control6110 import *
driver = Trinamic_control6110()
driver.connectTCP('your ip address', 4001)
driver.reconnect()
}}}
and if it says '...ok', the motors are replying. If error occurs, try to restart the motor drivers as well as Nport. Just turn off and on the power.

 * In order to check the current position,

{{{
driver.getTargetPosition(motor_number)
}}}
 * In order to move it,

{{{
driver.setTargetPosition(step,motor_number)
}}}
Insert the absolute step in to the 'step', and insert the motor number into 'motor_number.'

<<BR>> B) B) B) Also, there is a convenient script which Miyamoto-san wrote. The script moves all the three stepping motors at once for the type A IPs so that one can request the motion in (L, T, Y) basis.

{{{
import controlInvertedPendulum as myip
miyamoto = myip.controlIP()
miyamoto.connectTCP('your ip address', 4001)
miyamoto.reconnect()
}}}
 * In order to move it,

{{{
miyamoto.move_LONG(step)
}}}
/!\ Caution that the step value in the `move_(LONG|YAW|TRANS)` command corresponds to the '''relative''' move from the current position.

== Driver List ==
[[https://docs.google.com/spreadsheets/d/1eePcJB_O5vPhrYg0hgAbrvU-9jwiHGU2hx-cbhrI6CM/edit?usp=sharing|Master List]]

||EPICS channel name ||Driver IP Address ||Installation ||klog ||JGW-S ||Memo ||Motor assign ||Sign of the script (when positive value) ||
||K1:STEPPER_PR2_GAS ||10.68.160.40 ||◯ ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=5642|JGW-S1605642]] ||- ||0:BF, 2: SF ||Supposed to rotate right||
||K1:STEPPER_PR0_GAS ||10.68.160.41 ||◯ ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6035|JGW-S1706035]] ||- ||0:BF, 1: SF ||Supposed to rotate right||
||K1:STEPPER_PR0_GAS ||10.68.160.41 ||◯ ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6035|JGW-S1706035]] ||- ||2:BF, 3: SF ||Supposed to rotate right||
||K1:STEPPER_ITMX_GAS ||10.68.160.43 ||◯ ||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=5321|5321]] ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6034|JGW-S1706034]] ||- ||0:F0, 1:F1, 2:F2, 3:F3, 4:BF, 5:- (2021/04/07) ||Supposed to rotate right||
||K1:STEPPER_ITMX_IP ||10.68.160.44 ||◯ ||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=5321|5321]] ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6042|JGW-S1706042]] ||- ||- ||Supposed to rotate right||
||K1:STEPPER_ETMX_GAS ||10.68.160.45 ||◯ ||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=3566|3566]] ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6041|JGW-S1706041]] ||- ||<style="text-align:center" |2>See [[http://gwwiki.icrr.u-tokyo.ac.jp/JGWwiki/KAGRA/Subgroups/VIS/TypeA/ETMX|ETMX status]](IP A:1, B:2, C:3, YAW:0) ||Supposed to rotate right||
||K1:STEPPER_ETMX_IP ||10.68.160.46 ||◯ ||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=3566|3566]] ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6037|JGW-S1706037]] ||- ||Supposed to rotate right||
||K1:STEPPER_ITMY_GAS ||10.68.160.47 ||◯ ||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=6162|6162]] ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6031|JGW-S1706031]] ||- ||- ||Supposed to rotate right||
||K1:STEPPER_ITMY_IP ||10.68.160.48 ||- ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=8437|JGW-S1808437]] ||- ||- ||Supposed to rotate right||
||K1:STEPPER_ETMY_GAS ||10.68.160.49 ||◯ ||<style="text-align:center" |2>[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=3790|3790]] ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6039|JGW-S1706039]] ||- ||<style="text-align:center" |2>See [[http://gwwiki.icrr.u-tokyo.ac.jp/JGWwiki/KAGRA/Subgroups/VIS/TypeA/ETMY|ETMY status]](IP A:1, B:2, C:3, YAW:0) ||Supposed to rotate right||
||K1:STEPPER_ETMY_IP ||10.68.160.50 ||◯ ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6043|JGW-S1706043]] ||- ||Supposed to rotate right||
||K1:STEPPER_BS_GAS ||[[http://10.68.160.51|10.68.160.51]] ||◯ ||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=3509|3509]] ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6032|JGW-S1706032]] ||BS second floor ||'''0: '''BF, '''1: '''F1, '''2:''' '''not used''', '''3:''' F0 ||Supposed to rotate right||
||K1:STEPPER_BS_IP ||[[http://10.68.160.52|10.68.160.52]] ||◯ ||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=7190|7190]] ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6044|JGW-S1706044]] ||BS second floor ||0:A, 1:B, 2:C, 3:YAW ||Supposed to rotate right||
||K1:STEPPER_SR2_GAS ||[[http://10.68.160.53|10.68.160.53]] ||◯ ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6036|JGW-S1706036]] ||SR2 small rack second floor ||'''0: '''BF, '''1: '''F1, '''2:''' F0 ||Supposed to rotate right(Plans to change the value of [[http://klog.icrr.u-tokyo.ac.jp/osl/?r= 15272 | 15272]]in the future)||
||K1:STEPPER_SR2_IP ||[[http://10.68.160.54|10.68.160.54]] ||◯ ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6040|JGW-S1706040]] ||SR2 small rack second floor ||0:A, 1:B, 2:C, 3:YAW ||Supposed to rotate right(Plans to change the value of [[http://klog.icrr.u-tokyo.ac.jp/osl/?r= 15272 | 15272]]in the future)||
||K1:STEPPER_SR3_GAS ||[[http://10.68.160.55|10.68.160.55]] ||◯ ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6038|JGW-S1706038]] ||SR3 second floor ||'''0: '''BF, '''1: '''F1, '''2:'''not used, '''3:''' F0 (2020/11/26change from 2 to 3:Klog#15541) ||Supposed to rotate right(Plans to change the value of [[http://klog.icrr.u-tokyo.ac.jp/osl/?r= 15272 | 15272]]in the future)||
||K1:STEPPER_SR3_IP ||[[http://10.68.160.56|10.68.160.56]] ||◯ ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=8436|JGW-S1808436]] ||SR3 second floor ||0:A, 1:B, 2:C, 3:YAW ||Supposed to rotate right(Plans to change the value of [[http://klog.icrr.u-tokyo.ac.jp/osl/?r= 15272 | 15272]]in the future)||
||K1:STEPPER_SRM_GAS ||[[http://10.68.160.57|10.68.160.57]] ||◯ ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6035|JGW-S1706035]] ||SRM small rack second floor ||'''0: '''BF, '''1: '''F1, '''2:''' '''F0''', '''4:''' Doesn't work([[http://klog.icrr.u-tokyo.ac.jp/osl/?r= 15685|15685]]) || Supposed to rotate right(Plans to change the value of [[http://klog.icrr.u-tokyo.ac.jp/osl/?r= 15272 | 15272]]in the future)||
||K1:STEPPER_SRM_IP ||[[http://10.68.160.58|10.68.160.58]] ||◯ ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=8438|JGW-S1808438]] ||SRM small rack second floor ||0:A, 1:B, 2:C, '''3,4: not used(Broken)''', '''5''':YAW (2020/11/25 change from 4 to 5) || Supposed to rotate right(Plans to change the value of [[http://klog.icrr.u-tokyo.ac.jp/osl/?r= 15272 | 15272]]in the future)||
||K1:PHY_ETMY ||10.68.150.59 ||- ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=12505|JGW-G2112505]] ||ETMY for cryo-p || Ch.1:Pitch(HR), Ch.2:Roll, Ch.3:Pitch(AR) || ||
||K1:PHY_ETMX ||10.68.150.60 ||- ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=12505|JGW-G2112505]] ||ETMX for cryo-p || Ch.1:Pitch(HR), Ch.2:Roll, Ch.3:Pitch(AR)  || ||
||K1:PHY_ITMY ||10.68.150.61 ||- ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=12505|JGW-G2112505]] ||ITMY for cryo-p || Ch.1:Pitch(HR), Ch.2:Roll, Ch.3:Pitch(AR)  || ||
||K1:PHY_ITMX ||10.68.150.62 ||- ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=12505|JGW-G2112505]] ||ITMX for cryo-p || Ch.1:Pitch(HR), Ch.2:Roll, Ch.3:Pitch(AR)  || ||
||- ||- ||- ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6045|JGW-S1706045]] ||water damaged; klog 7190 ||- || ||
||K1:STEPPER_TEST ||10.68.150.63 ||- ||- ||- ||STANDALONE ||- ||- ||
||K1:STEPPER_TEST2 ||10.68.150.64 ||- ||- ||- ||STANDALONE2 ||- ||- ||

== Limit Switch Install Status (2021/02/19) ==

[[https://docs.google.com/spreadsheets/d/1Mf6wRxduoaPjVKVyzZG_Qy_qiXHTcyyqVr5f9UqhaEE/edit#gid=0|Master]]

||EPICS channel name ||DOF ||Limit Switch Install ||Limit Switch Enable/Disable ||Memo ||
||<^|2>K1:STEPPER_PR2_GAS || SF ||None || || ||
||BF ||None || || ||
||<^|2>K1:STEPPER_PR0_GAS(PRM) ||SF ||None || || ||
||BF|| None || || ||
||<^|2>K1:STEPPER_PR0_GAS(PR3) ||SF ||None || || ||
||BF|| None || || ||
||<^|5>K1:STEPPER_ITMX_GAS ||F0 ||None(Plans to install) ||Disable(Plans to Enable) || ||
||F1 ||None || || ||
||F2 ||None || || ||
||F3 ||None || || ||
||BF ||None || || ||
||<^|4>K1:STEPPER_ITMX_IP || IP H1(A) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||IP H2(B) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||IP H3(C) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||F0 YAW ||None(Plans to install) ||Disable(Plans to Enable) || ||
||<^|5>K1:STEPPER_ETMX_GAS ||F0 || None(Plans to install) ||Disable(Plans to Enable) || ||
||F1 ||None || || ||
||F2 ||None || || ||
||F3 ||None || || ||
||BF ||None || || ||
||<^|4>K1:STEPPER_ETMX_IP || IP H1(A) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||IP H2(B) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||IP H3(C) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||F0 YAW ||None(Plans to install) ||Disable(Plans to Enable) || ||
||<^|5>K1:STEPPER_ITMY_GAS ||F0 ||None(Plans to install) ||Disable(Plans to Enable) || ||
||F1 ||None || || ||
||F2 ||None || || ||
||F3 ||None || || ||
||BF ||None || || ||
||<^|4>K1:STEPPER_ITMY_IP ||IP H1(A) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||IP H2(B) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||IP H3(C) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||F0 YAW ||None(Plans to install) ||Disable(Plans to Enable) || ||
||<^|5>K1:STEPPER_ETMY_GAS ||F0 ||None(Plans to install) ||Disable(Plans to Enable) || ||
||F1 ||None || || ||
||F2 ||None || || ||
||F3 ||None || || ||
||BF ||None || || ||
||<^|4>K1:STEPPER_ETMY_IP ||IP H1(A) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||IP H2(B) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||IP H3(C) ||Installed & Not Check(Plans to check) ||Disable(Plans to Enable) || ||
||F0 YAW ||None(Plans to install) ||Disable(Plans to Enable) || ||
||<^|3>K1:STEPPER_BS_GAS ||F0 ||Installed & Check OK || Enable ||[[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15680 |15680]], [[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r= 15729| 15729]]  ||
||F1 ||None || || ||
||BF ||None || || ||
||<^|4>K1:STEPPER_BS_IP ||IP H1(A) ||Installed & Check OK || Enable ||<^|3>[[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r= 15680 | 15680]] ||
||IP H2(B) ||Installed & Check OK || Enable ||
||IP H3(C) ||Installed & Check OK || Enable ||
||F0 YAW ||Installed & Check OK || Enable ||[[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r= 15729| 15729]]  ||
||<^|3>K1:STEPPER_SR2_GAS || F0 ||None(Plans to install) || Enable || [[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r= 15583 | 15583]] ||
||F1 ||None || || ||
||BF ||None || || ||
||<^|4>K1:STEPPER_SR2_IP ||IP H1(A) ||-Yaw(Left): Bad, +Yaw(Right):OK ||Disable(H1,H2 Broken) ||<^|3>[[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15583|15583]], [[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15593|15593]] ||
||IP H2(B) ||Both(L,R) OK, Install Spring useless? ||Disable(H1,H2 Broken) ||
||IP H3(C) ||Both(L,R) OK, Install Spring useless? ||Disable(H1,H2 Broken) ||
||F0 YAW ||None(Plans to install) || Enable ||[[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15583|15583]], [[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15593|15593]] ||
||<^|3>K1:STEPPER_SR3_GAS || F0 ||Installed & Check OK || Enable ||[[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15582|15582]] ||
||F1 ||None || || ||
||BF ||None || || ||
||<^|4>K1:STEPPER_SR3_IP ||IP H1(A) ||-Yaw(Left) Bad +Yaw(Right):OK ||Disable(H1 Broken) ||<^|3>[[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15592|15592]] ||
||IP H2(B) ||Both(L,R) OK Installed Spring useless? ||Disable(H1 Broken) ||
||IP H3(C) ||Both(L,R) OK Installed Spring useless? ||Disable(H1 Broken) ||
||F0 YAW ||None(Plans to install) || Enable ||[[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15592|15592]], [[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15541|15541]] ||
||<^|3>K1:STEPPER_SRM_GAS ||F0 ||Installed? Change the polarity?  ||Disable(Plans to Enable) ||[[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15534|15534]] ||
||F1 ||None || || ||
||BF ||None || || ||
||<^|4>K1:STEPPER_SRM_IP ||IP H1(A) ||-YAW(Left):didn't come back. Installed Spring useless ||Disable(Plans to Enable) ||<^|3>[[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15484|15484]], [[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15530|15530]]||
||IP H2(B) ||Installed Spring useless ||Disable(Plans to Enable) ||
||IP H3(C) ||Installed Spring useless ||Disable(Plans to Enable)  ||
||F0 YAW ||Installed & Check OK ||Disable(Plans to Enable) ||[[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15484|15484]], [[http://klog.icrr.u-tokyo.ac.jp/osl/index.php?r=15530|15530]] ||

== Stepper Screw pitch(2021/01/15) ==
||optic ||DOF ||Screw pitch || 1step辺りの駆動量[um/step] ||
||<(> PRM,PR3,PR2_GAS ||SF/BF ||M6(1.0mm) ||0.01953125 ||
||<(> ITMX,ETMX,ITMY,ETMY_GAS ||F0/F1/F2/F3/BF ||M6(1.0mm) ||0.01953125 ||
||<^|2(> ITMX,ETMX,ITMY,ETMY_IP ||IP H1/H2/H3 ||M6(1.0mm) ||0.01953125 ||
||<(> F0YAW ||M5(0.8mm) ||0.015625 ||
||<(> BS_GAS ||F0/F1/BF ||M6(1.0mm)  ||0.01953125 ||
||<^|2(> BS_IP ||IP H1/H2/H3 ||M5(0.8mm) ||0.015625 ||
||<(> F0YAW ||M5(0.8mm) ||0.015625 ||
||<(> SRM,SR2,SR3_GAS ||F0/F1/BF ||M6(1.0mm) ||0.01953125 ||
||<^|2(> SRM,SR2,SR3_IP ||IP H1/H2/H3 ||M6(1.0mm) ||0.01953125 ||
||<(> F0YAW ||M5(0.8mm) ||0.015625 ||

== The direction of KeyStone movement relative to the StepperMotor. ==
[[KAGRA/Subgroups/VIS//VIS/OpsManual/Stepper/Direction|The direction of KeyStone movement]]

== Driver Box List according to JGWDoc on 2018-02-08 ==
 * S1605642 2018-02-08 found in PR2 cleanbooth driving PR2 by Mark B.
 * S1706031 18/01/19- Testing in mozumi by K. Miyo
 * S1706032 2017-10-18 installed in BF second floor (klog 3527) by Enzo
 * S1706033 2018-02-08 Found in PR3 cleanbooth driving PR3/PRM by Mark B.
 * S1706034 2018-02-08 Found in AEL stockroom by Mark B.
 * S1706035 Moved to PRM at 2017/8/8 (A.Shoda) [but not found 2018-02-08 by Mark - apparently replaced by 6033 for both PR3 and PRM]
 * S1706036 2017-12-27 Installed in second floor of SR2 area as SR-GAS by Shoda-san.
 * S1706037 [2017/10/24] Installed into K1EX2 rack by K.Okutomi
 * S1706038 2018-02-07 Reallocated to SR3 and moved to SR3 second floor by Mark
 * S1706039 2017-12-06 Installed in K1EY1 rack as EYV_IP by K. Okutomi (klog 3790).
 * S1706040 2017-12-27 Installed in second floor of SR2 area as SR-PI by Shoda-san.
 * S1706041 [2017/08/22] Installed into K1EX2 rack by K. Okutomi
 * S1706042 2018-02-08 Found in AEL stockroom by Mark B.
 * S1706043 2017-12-06 Installed in K1EY1 rack as EYV_GAS by K. Okutomi (klog 3790).
 * S1706044 2018-02-07 Reallocated to SR3 and moved to SR3 second floor by Mark
 * S1706045 2017-10-18 installed in BF second floor (klog 3527) by Enzo

== Bug ==