Driving Motors

1. Pre-checks:
   1. there are a few things which can cause serious damage to the diffractometer:(i) driving a motor when the worm gear is not fully engaged, (ii) forcing a worm-gear to engage using the set-screw, and, (iii) driving a hard arm into something else hard. Thus,
   2. check that all of the motors are properly engaged (the motor should be completly parallel to the edge of the worm-gear housing) and that the set-scews are snug and finger tight. If in doubt, ask someone who knows before driving anything.
   3. visually check the hardware limit screws to make sure that they have not been moved and are in a logical place to prevent a crash. If you don't know what these are, don't drive any motors.
2. switch on the motor driver unit (power switch on the front panel of the black motor driver box: UP is on).
3. log on to hiside and type ``fourc'' to get in to SPEC.
4. check that the software limits are correct (type ``lm'').
5. find the current software position of the motors by typing ``wa''. Check that the physical position of the motors bears some relationship to these numbers. If it doesn't then reset the software by typing `` set ''.
6. a motor can be moved to a specific angle by typing `` mv ''.
7. a motor can be moved through an angular distance by typing `` mvr ''. Don't mix these up!
8. AS SOON AS YOU HIT ``RETURN'', START WATCHING THE MOTORS. Keep watching them and make sure they are doing what you intended.