How to realize X arm GR/IR alignment(from IMMT2(SR3) to ETMXY)

  1. Enter Alignment Mode1

  2. Enter Alignment Mode2

  3. X arm GR alignment (ITMY misalign).

  4. X arm GR alignment (Resonate GR).

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

  6. 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.

  7. 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 "OL SETPOINT" 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.