CombinedMotor

Use to do coupled motion of several motors by one combined motor (VM)

To setup full the MOTOR array with (<motor>, <coupling coefficient>, <position coefficient>) tuples, where:

<motor> - tango address of motor

<coupling coefficients> - how the position, speed, acceleration of physical motor scaled relative to the CM properties i.e.:

physical motor position = coupling coefficient * combined motor position

<position coefficient> - coefficient for calculation of combined motor property out of physical motors i.e.:

combined motor position = motor1 * position coefficient1 + motor2 * position coefficient2 + ....

Important: both coefficients must obey condition: 1 = coupling coefficients1 * position coefficient1 + coupling coefficients2 * position coefficient2 + ...

Examples:

For slit center (cy) assuming that slit_top, slit_bottom moves positive up

coupling coefficient 1 = 1 coupling coefficient 2 = 1

position coefficient 1 = 0.5 position coefficient 2 = 0.5

For slit gap (dy) assuming slit_top, slit_bottom moves positive up

coupling coefficient 1 = 0.5 coupling coefficient 2 = -0.5

position coefficient 1 = 1 position coefficient 2 = -1

For table with 3 legs y1, y2, y3 using 1st leg to define value of virtual motor

coupling coefficient 1 = 1 coupling coefficient 2 = 1 coupling coefficient 3 = 1

position coefficient 1 = 1 position coefficient 2 = 0 position coefficient 3 = 0

For theta 2 theta motor with th, 2th - real motors

coupling coefficient 1 = 1 coupling coefficient 2 = 2

position coefficient 1 = 1 position coefficient 2 = 0

Limits for motion taken correctly from soft limits of physical motors. Change of limits of virtual motor is not allowed

Calibration of the position of the virtual motor is allowed and done for via calibration of physical motors using COEF (like motion).