To: John Rayner

      From: Tony Denault

   Subject: Help on taking calibration data for array focus stage.

      Date: 12/16/99


   1. login to littledogm as spex

   2. Run the test stepper program
       % testStepper

   3. Run this command to initialize program's motor parameters.
         Enter Command: io
         IO%  au pa hl st ln ac25000; vl5000;

   4. Obtain calibration data:

      a. Center mechanism it is as close to 0 volts as you can get. You can
         do this my hand, or use IO mode and run motor commands, ie:

         au lp0;         <- lp to load position.
         au ma5000; go   <- example move absolute command.
         au mr5000; go   <- example move relative command.
         au rp           <- report position.
         au st           <- stop

      b. execute the 'AfocData' command. This is the procedure to measure
         steps vs volt.

      c. You should run this 4 time:
           2 times from 0 to max positive steps.
               BegPos = 0
               EndPos = Max_Positive_Steps
               Skip   = 5000
           2 times from 0 to max negative steps.
               BegPos = 0
               EndPos = -Max_Negative_Steps
               Skip   = -5000

    d. If you hit a limit, the should report and error and abort further measurement.
       You should them manual, re-center the mechanism and start again from step 3.

   5. It is good for me to know:

      a. Max hardware limit in Negative direction:


         Max software limit in Negative direction:


      b. Max hardware limit in Positive direction:


         Max software limit in Positive direction:


      c. On 99-06-17, the measured hardware limits were:

          Negative direction: -309652 steps,   -2.803 volts

          Position direction:  349548 steps,    4.676 volts