RE: Help setting up coordinated motions for Galil controller

[Mark via Tech-talk <tech-talk at aps.anl.gov>]

Hi Jesse,
The plan outlined for setting up a CS motor using the Galil driver 
sounds correct to me.
Following this through, I found a bug in the provided 
galil_csmotor_kinematics.adl medm screen.
The text entry widget has been updated to type string now.  The fix has 
been pushed to github for versions 3-6-90 and 4-0-01.

The Galil driver example IOC provides motor record support for CS motors 
I through P, and sscan support.
CS motors can also be used for on the fly scans in linear or PVT mode 
(results are similar for linear/PVT modes).

Here are some tips for using Galil driver CS motors for point to point 
moves:

Background:
On the galil_dmc_ctrl.adl screen there is a PV/setting "Deferred moves 
mode" that has enumerated options "Sync start/stop" or "Sync start only".

A)  "Sync start/stop" mode
To use a controller coordinate system (ie. S or T) then set "Deferred 
moves mode" to "Sync start/stop".  In this case linear coordinated 
motion is used for the move.
The motor group will begin and complete motion synchronously.  This mode 
provides the highest level of coordination and synchronicity.

A)  "Sync start only" mode
With "Sync start only" mode, a controller coordinate system is not 
used.  Instead the motor group have a synchronized start, and may also 
complete at the same time, it is equation dependent.
With slit equations it's expected that the motors will also complete the 
move in a synchronized way.  Greater coordination can be achieved using 
"Sync start/stop" than using the "Sync start only" mode, particularly 
for motion complete synchronization.

Good luck with your project.)
Kind regards,
Mark Clift

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