How to realize X arm GR/IR alignment(from IMMT2(SR3) to ETMXY)
(2019/11/18/Miyoki, Yokozawa, Takano, Nakano, Yamamoto)

  1. Waht is Traget ?

  2. Enter Alignment Mode1

  3. Enter Alignment Mode2

  4. X arm GR alignment (ITMY misalign).

  5. X arm GR alignment (Resonate GR).

  6. X arm GR alignment (Check spot position).

  7. X arm GR alignment (PR3 Dithering).

    • Go to Guardian Overview.

    • Select "XARM" in Guardian Overview.

    • Select "request [All]" in XARM.

    • Select "MANUAL", then "ENGAGE_PR3_ADS" in All.

  8. X arm GR alignment (find good FP axis & PR3 P/Y).

    • Go to Commissioning.Doc.

    • Select "ALL VIS" in Commissioning.Doc.

    • Select "CRY-P" for both ITMX and ETMX in ALL VIS.

    • Select "SETPOINT" in "TM OPLEV DC CONTROL" for ITMX and ETMX in CRY-P.

    • You can find for both ITMX and ETMX. Right click on slide bar and select “-1” as an increment. Never select large increment.

    • Adjust (IE)TMX alignment to lead their spots on both (IE)TMX to be around center. Ideally, K1:AOS-TMSX_GR_PDA1_OUTPUT should be maximized.
    • Or, Maximize K1:AOS-TMSX_GR_PDA1_OUTPUT by adjusting, firstly Yaw of IETMX and secondly Pitch.

      1. Remember the value of K1:AOS-TMSX_GR_PDA1_OUTPUT (assuming VtmsxGR-0).

      2. Anyway, move Yaw/ETMX in one direction until you observe slight reduction of VtmsxGR-0.
      3. Move Yaw/ITMX in both direction to find max of VtmsxGR.
      4. (4-1) If you can find better VtmsxGR than VtmsxGR-0, it means your selection for ETMX actuation is good direction.
        • (4-2) If worse, bad direction.
      5. If good, repeat (2) (3) until you encounter (4-2). If bad, select opposite actuation then repeat (2)(3) until you encounter (4-2) again.
      6. If you find max point, perform (1)~(5) for Pitch/(IE)TMX.
        • (1)~(6) is regarded as one “set” optimization.Ideally, it is better to perform 2 sets for each Yaw/Pitch.

  9. X arm FP axis is established and PR3 P/Y is fixed.

  10. X arm GR alignment (Record good TMSX).

  11. X arm IR alignment (Resonate IR).

  12. X arm IR alignment (PR2-IMMT2 alignment).

    • Go to Commissioning.Doc.

    • Select "ALL VIS" in Commissioning.Doc.

    • Select PR2 "OVERViEW" in ALL VIS.

    • Select "OPTIC SETPOINT" for PR2 in OVERVIEW for PR2.

    • You can find for PR2. Right click on slide bar and select “-1” as an increment. Never select large increment.

    • Select "IMMT2 in ALL VIS.

    • Select "OLSET OPTIC" for IMMT2. in OVERVIEW for IMMT2.

    • You can find for IMMT2. Right click on slide bar and select “-1” as an increment. Never select large increment.

    • Maximize K1:AOS-TMSX_IR_PDA1_OUTPUT by adjusting, firstly Yaw of PR2/IMMT2 and secondly Pitch.

      1. Remember the value of K1:AOS-TMSX_IR_PDA1_OUTPUT (assuming VtmsxIR-0).

      2. Anyway, move Yaw/PR2 in one direction until you observe slight reduction of VtmsxIR-0.
      3. Move Yaw/IMMT2 in both direction to find max of VtmsxIR.
      4. (4-1) If you can find better VtmsxIR than VtmsxIR-0, it means your selection for PR2 actuation is good direction.
        • (4-2) If worse, bad direction.
      5. If good, repeat (2) (3) until you encounter (4-2). If bad, select opposite actuation then repeat (2)(3) until you encounter (4-2) again.
      6. If you find max point, perform (1)~(5) forPitch/PR2/IMMT2.
        • (1)~(6) is regarded as one “set” optimization.Ideally, it is better to perform 2 sets for each Yaw/Pitch.

  13. X arm IR alignment (GR/IR resonance check).

    • Go to Commissioning.Doc.

    • Select "SEMI AUTO ALIGNMENT" in Commissioning.Doc.

    • Select "Align Xarm" in SEMI AUTO ALIGNMENT.

    • Wait until auto alignment seems to be stable.
    • Select left “!record” for GR, select right “!record” for IR.
    • Select “Disable Xarm”

  14. X arm GR/IR alignment Established.

  15. Y arm IR alignment Preparation.

    • Go to Guardian Overview.

    • Select "VIS_ITMY" in Guardian Overview.

    • Select "request [All]" in VIS_ITMY.

    • Select "ALIGNED" in All.

    • Select "VIS_ETMX" in Guardian Overview.

    • Select "request [All]" in VIS_ETMX.

    • Select "MISALIGNED" in All.

  16. Y arm IR alignment (Resonate IR).

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