Diff for "KAGRA/Subgroups/DGS/Projects/StepperMotor"

Differences between revisions 97 and 160 (spanning 63 versions)

Contents

Overview
Motor Specifications
How to use
1. About the control script
2. Quick Start
Setup
How to actuate (On 18/02/26)
Driver List
Limit Switch Install Status
Driver Box List according to JGWDoc on 2018-02-08
Bug

Overview

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 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

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 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 k1script
$ step_start SERVER_NAME

SERVER_NAME is the EPICS channel name after K1:STEPPER_. (i.e., PR2_GAS) If the lines

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.

(ref: klog4161)

How to actuate IP stepping motors from medm screen (On 18/02/28)

Initial Activate

$ ssh k1script
$ step_start SERVER_NAME

SERVER_NAME is the EPICS channel name after K1:STEPPER_. (i.e., BS_IP) If the lines

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).

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.'

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

EPICS channel name	Driver IP Address	Installation	klog	JGW-S	Memo	Motor assign	Sign of the script (when positive value)
K1:STEPPER_PR2_GAS	10.68.150.40	◯	-	JGW-S1605642	-	0:BF, 1: SF	Supposed to rotate right
K1:STEPPER_PR0_GAS	10.68.150.41	◯	-	JGW-S1706035	-	0:BF, 1: SF	Supposed to rotate right
K1:STEPPER_PR0_GAS	10.68.150.41	◯	-	JGW-S1706035	-	2:BF, 3: SF	Supposed to rotate right
K1:STEPPER_ITMX_GAS	10.68.150.43	◯	5321	JGW-S1706034	-	-	Supposed to rotate right
K1:STEPPER_ITMX_IP	10.68.150.44	◯	5321	JGW-S1706042	-	-	Supposed to rotate right
K1:STEPPER_ETMX_GAS	10.68.150.45	◯	3566	JGW-S1706041	-	See ETMX status(IP A:1, B:2, C:3, YAW:0)	Supposed to rotate right
K1:STEPPER_ETMX_IP	10.68.150.46	◯	3566	JGW-S1706037	-	See ETMX status(IP A:1, B:2, C:3, YAW:0)	Supposed to rotate right
-	K1:STEPPER_ITMY_GAS	10.68.150.47	◯	6162	JGW-S1706031	-	Supposed to rotate right
K1:STEPPER_ITMY_IP	10.68.150.48	-	-	JGW-S1808437	-	-	Supposed to rotate right
K1:STEPPER_ETMY_GAS	10.68.150.49	◯	3790	JGW-S1706043	-	See ETMY status(IP A:1, B:2, C:3, YAW:0)	Supposed to rotate right
K1:STEPPER_ETMY_IP	10.68.150.50	◯	3790	JGW-S1706039	-	See ETMY status(IP A:1, B:2, C:3, YAW:0)	Supposed to rotate right
K1:STEPPER_BS_GAS	10.68.150.51	◯	3509	JGW-S1706032	BS second floor	0: BF, 1: F1, 2: not used, 3: F0	Supposed to rotate right
K1:STEPPER_BS_IP	10.68.150.52	◯	7190	JGW-S1706044	BS second floor	0:A, 1:B, 2:C, 3:YAW	Supposed to rotate right
K1:STEPPER_SR2_GAS	10.68.150.53	◯	-	JGW-S1706036	SR2 small rack second floor	0: BF, 1: F1, 2: F0	Supposed to rotate right(Plans to change the value of 15272in the future)
K1:STEPPER_SR2_IP	10.68.150.54	◯	-	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 15272in the future)
K1:STEPPER_SR3_GAS	10.68.150.55	◯	-	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 15272in the future)
K1:STEPPER_SR3_IP	10.68.150.56	◯	-	JGW-S1808436	SR3 second floor	0:A, 1:B, 2:C, 3:YAW	Supposed to rotate right(Plans to change the value of 15272in the future)
K1:STEPPER_SRM_GAS	10.68.150.57	◯	-	JGW-S1706035	SRM small rack second floor	0: BF, 1: F1, 2: not used, 3: F0	Supposed to rotate right(Plans to change the value of 15272in the future)
K1:STEPPER_SRM_IP	10.68.150.58	◯	-	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 15272in the future)
-	10.68.150.59	-	-	-	ETMY for cryo-p	-
-	10.68.150.60	-	-	-	ETMX for cryo-p	-
-	10.68.150.61	-	-	-	ITMY for cryo-p	-
-	10.68.150.62	-	-	-	ITMX for cryo-p	-
-	-	-	-	JGW-S1706045	water damaged; klog 7190	-

Limit Switch Install Status

EPICS channel name	Limit Switch
K1:STEPPER_PR2_GAS	SF:None, BF:None
K1:STEPPER_PR0_GAS	SF:None, BF:None
K1:STEPPER_PR0_GAS	SF:None, BF:None
K1:STEPPER_ITMX_GAS	F0,F1,F2,F3,BF: None
K1:STEPPER_ITMX_IP	IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None
K1:STEPPER_ETMX_GAS	F0,F1,F2,F3,BF: None
K1:STEPPER_ETMX_IP	IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None
K1:STEPPER_ITMY_GAS	F0,F1,F2,F3,BF: None
K1:STEPPER_ITMY_IP	IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None
K1:STEPPER_ETMY_GAS	F0,F1,F2,F3,BF: None
K1:STEPPER_ETMY_IP	IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None
K1:STEPPER_BS_GAS	F0,F1,BF: None
K1:STEPPER_BS_IP	IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None
K1:STEPPER_SR2_GAS	F0,F1,BF: None
K1:STEPPER_SR2_IP	IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None
K1:STEPPER_SR3_GAS	F0,F1,BF: None
K1:STEPPER_SR3_IP	IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None
K1:STEPPER_SRM_GAS	F0:Connection Testing, F1,BF: None
K1:STEPPER_SRM_IP	IP H1(A),H2(B),H3(C):Install Spring & Useless, YAW:Installed(Invalid)

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

KAGRA/Subgroups/DGS/Projects/StepperMotor (last edited 2022-08-02 16:57:38 by satoru.ikeda)

-  ⇤ ← Revision 97 as of 2018-02-09 17:10:00 → 
  Size: 8877
  Editor: AyakaShoda
  Comment:
+   ← Revision 160 as of 2020-12-08 20:03:57 → ⇥
  Size: 15980
  Editor: satoru.ikeda
  Comment:
-Deletions are marked like this.
+Additions are marked like this.
 Line 7:
-Line 8:
+Line 9:
  * In this system, anyone control stepper motor with medm screen via EPICS channels managed by PCAS (Potable Channel Access Server).
-Line 11:
+Line 12:
+== 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]]
-Line 15:
+Line 25:
-Line 22:
+Line 33:
-Line 27:
+Line 39:
- * (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xxx
 * ステップを設定する。デフォルトでxxx
+ * --(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
-Line 33:
+Line 46:
+See [[KAGRA/Subgroups/VIS/OpsManual/Stepper| Stepper motor driver installation]]
-Line 35:
+Line 50:
-Line 42:
+Line 58:
-Line 48:
+Line 65:
- * choose ’TCP Server Mode’
+ * choose ’TCP Server Mode’
-Line 56:
+Line 74:
-Line 61:
+Line 80:
- *　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。

=== Check the connection (On 17/10/5) ===
+ * 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 k1script
$ step_start SERVER_NAME
}}}
SERVER_NAME is the EPICS channel name after K1:STEPPER_. (i.e., PR2_GAS) If the lines

{{{
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 k1script
$ step_start SERVER_NAME
}}}
SERVER_NAME is the EPICS channel name after K1:STEPPER_. (i.e., BS_IP) If the lines

{{{
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) ===
-Line 65:
+Line 150:
-Line 68:
+Line 154:
-Line 75:
+Line 162:
-Line 76:
+Line 164:
-Line 78:
+Line 167:
 }}}
-Line 81:
+Line 169:
-Line 83:
+Line 172:
 }}}
-Line 86:
+Line 175:
+<<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.
-Line 88:
+Line 191:
-||EPICS channel name||Driver IP Address||Instalation||klog||JGW-S||Memo||Motor assign||
||K1:STEPPER_PR2_GAS||10.68.150.40||◯||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=5642|JGW-S1605642]]||-||0:BF, 1: SF||
||K1:STEPPER_PR0_GAS||10.68.150.41||◯||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6035|JGW-S1706035]]||-||0:BF, 1: SF||
||K1:STEPPER_PR0_GAS||10.68.150.41||◯||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6035|JGW-S1706035]]||-||2:BF, 3: SF||
||K1:STEPPER_IXV_GAS||10.68.150.43||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-||
||K1:STEPPER_IXV_IP||10.68.150.44||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-||
||K1:STEPPER_EXV_GAS||10.68.150.45||◯||[[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]]||-||<|2>See [[http://gwwiki.icrr.u-tokyo.ac.jp/JGWwiki/KAGRA/Subgroups/VIS/TypeA/ETMX|ETMX status]]||
||K1:STEPPER_EXV_IP||10.68.150.46||◯||[[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]]||-||
||K1:STEPPER_IYV_GAS||10.68.150.47||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-||
||K1:STEPPER_IYV_IP||10.68.150.48||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-||
||K1:STEPPER_EYV_GAS||10.68.150.49||◯||<|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=6043|JGW-S1706043]]||-||<|2> See [[http://gwwiki.icrr.u-tokyo.ac.jp/JGWwiki/KAGRA/Subgroups/VIS/TypeA/ETMY|ETMY status]]||
||K1:STEPPER_EYV_IP||10.68.150.50||◯||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6039|JGW-S1706039]]||-||
||K1:STEPPER_BS_GAS||10.68.150.51||◯||[[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]]||-||-||
||K1:STEPPER_BS_IP||10.68.150.52||◯||[[http://klog.icrr.u-tokyo.ac.jp/osl/?r=3509|3509]]||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6045|JGW-S1706045]]||-||-||
||K1:STEPPER_SR2_GAS||10.68.150.53||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6036|JGW-S1706036]]||-||-||
||K1:STEPPER_SR2_IP||10.68.150.54||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6040|JGW-S1706040]]||-||-||
||K1:STEPPER_SR3_GAS||10.68.150.55||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6038|JGW-S1706038]]||in SR3 second floor; needs config||-||
||K1:STEPPER_SR3_IP||10.68.150.56||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6044|JGW-S1706044]]||in SR3 second floor; needs config||-||
||K1:STEPPER_SRM_GAS||10.68.150.57||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-||
||K1:STEPPER_SRM_IP||10.68.150.58||-||-||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=|JGW-S170]]||-||-||
||-||10.68.150.59||-||-||-||ETMY for cryo-p||-||
||-||10.68.150.60||-||-||-||ETMX for cryo-p||-||
||-||10.68.150.61||-||-||-||ITMY for cryo-p||-||
||-||10.68.150.62||-||-||-||ITMX for cryo-p||-||
+||EPICS channel name ||Driver IP Address ||Installation ||klog ||JGW-S ||Memo ||Motor assign ||Sign of the script (when positive value) ||
||K1:STEPPER_PR2_GAS ||10.68.150.40 ||◯ ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=5642|JGW-S1605642]] ||- ||0:BF, 1: SF ||Supposed to rotate right||
||K1:STEPPER_PR0_GAS ||10.68.150.41 ||◯ ||- ||[[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 ||10.68.150.41 ||◯ ||- ||[[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 ||10.68.150.43 ||◯ ||[[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]] ||- ||- ||Supposed to rotate right||
||K1:STEPPER_ITMX_IP ||10.68.150.44 ||◯ ||[[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 ||10.68.150.45 ||◯ ||[[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 ||10.68.150.46 ||◯ ||[[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 ||10.68.150.47 ||◯ ||[[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 ||10.68.150.48 ||- ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=8437|JGW-S1808437]] ||- ||- ||Supposed to rotate right||
||K1:STEPPER_ETMY_GAS ||10.68.150.49 ||◯ ||<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=6043|JGW-S1706043]] ||- ||<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 ||10.68.150.50 ||◯ ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6039|JGW-S1706039]] ||- ||Supposed to rotate right||
||K1:STEPPER_BS_GAS ||[[http://10.68.150.51|10.68.150.51]] ||◯ ||[[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://10.68.150.52|10.68.150.52]] ||◯ ||[[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://10.68.150.53|10.68.150.53]] ||◯ ||- ||[[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://10.68.150.54|10.68.150.54]] ||◯ ||- ||[[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://10.68.150.55|10.68.150.55]] ||◯ ||- ||[[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://10.68.150.56|10.68.150.56]] ||◯ ||- ||[[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://10.68.150.57|10.68.150.57]] ||◯ ||- ||[[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:''' '''not used''', '''3:''' 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_SRM_IP ||[[http://10.68.150.58|10.68.150.58]] ||◯ ||- ||[[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)||
||- ||10.68.150.59 ||- ||- ||- ||ETMY for cryo-p ||- || ||
||- ||10.68.150.60 ||- ||- ||- ||ETMX for cryo-p ||- || ||
||- ||10.68.150.61 ||- ||- ||- ||ITMY for cryo-p ||- || ||
||- ||10.68.150.62 ||- ||- ||- ||ITMX for cryo-p ||- || ||
||- ||- ||- ||- ||[[https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=6045|JGW-S1706045]] ||water damaged; klog 7190 ||- || ||

== Limit Switch Install Status ==
||EPICS channel name ||Limit Switch ||
||K1:STEPPER_PR2_GAS || SF:None, BF:None ||
||K1:STEPPER_PR0_GAS || SF:None, BF:None ||
||K1:STEPPER_PR0_GAS || SF:None, BF:None ||
||K1:STEPPER_ITMX_GAS || F0,F1,F2,F3,BF: None ||
||K1:STEPPER_ITMX_IP || IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None ||
||K1:STEPPER_ETMX_GAS || F0,F1,F2,F3,BF: None ||
||K1:STEPPER_ETMX_IP || IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None ||
||K1:STEPPER_ITMY_GAS || F0,F1,F2,F3,BF: None ||
||K1:STEPPER_ITMY_IP || IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None ||
||K1:STEPPER_ETMY_GAS ||F0,F1,F2,F3,BF: None ||
||K1:STEPPER_ETMY_IP || IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None ||
||K1:STEPPER_BS_GAS || F0,F1,BF: None ||
||K1:STEPPER_BS_IP || IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None ||
||K1:STEPPER_SR2_GAS || F0,F1,BF: None ||
||K1:STEPPER_SR2_IP || IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None ||
||K1:STEPPER_SR3_GAS || F0,F1,BF: None ||
||K1:STEPPER_SR3_IP || IP H1(A),H2(B),H3(C):Install Spring & Not Check, F0Y: None ||
||K1:STEPPER_SRM_GAS || F0:Connection Testing, F1,BF: None  ||
||K1:STEPPER_SRM_IP || IP H1(A),H2(B),H3(C):Install Spring & Useless, YAW:Installed(Invalid) ||
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