Initalization

Initialization (a.k.a. "Homing") set the motors to known physical positions. These positions are then set in the Motor Controller. This allows the system to keep track of where it moves after initialization, and repeat the same positions between sessions.

In PVA TepLa-OKOS software, the cartesian coordinate system of the XYZ axes is set so that the bottom left corner of the scan envelope is considered (0,0,0), as seen from a user facing the front of the scanner. The initialization point is set to the upper left corner, and the motor position of each axis is set to the appropriate position, based on the range of motion of the linear axis.

Turntables and rotators are generally set to zero on initialization unless a latch is present: if the latter, the latch position is found first before re-zeroing the axis.

Gimbal/Swivel systems must be pointed straight down.