The pivot point should be (0,0,0) now but it appears unchanged in the notebook and no event generated in the EFD.

pivot at (0, 0, -2758400) microns

Starting the test at 2021-06-14 13:32:24 UTC:

1. Reading the event configuration

   hexConfig = await hexapod_csc.evt_configuration.aget(timeout=10.)

   Getting the Pivot point and limits:

   pivot at (0, 0, -2758400) microns

   maxXY = 11400.0 microns, maxZ= 13100.0 microns

   maxUV = 0.36 deg, maxW= 0.1 deg

2. Moving to test position
   x=2000,y=-3500,z=200,u=0.01,v=-0.05,w=0.002,sync=True)
   Result:

   INFO:Script:START- Camera Hexapod Integration Test -- LVV-T1600 Pivot test - Moving to testing position- Starting time: 2021-06-14 13:49:40.434948 UTC

   hex position 2000.57 -3499.85 200.17 0.01 -0.05 0.00

3. Setting new Pivot point

   await hexapod_csc.cmd_setPivot.set_start(x=0,y=0,z=0)

   Result:

   INFO:Script:START- Camera Hexapod Integration Test -- LVV-T1600 Pivot test - Pivot point set to (0,0,0)- Starting time: 2021-06-14 13:35:14.816864 UTC

   hex position -407.81 -3981.81 198.72 0.01 -0.05 0.00

Values changed in the EUI (Hex.Pos.Actual) and in the EFD.
Changes are shown in Chronograph.
Strut. Pos. Actual in the EUI unchanged – no movement
Pivot Point (microns!) value in the EUI did not change!

1. Reading the event configuration again

   hexConfig = await hexapod_csc.evt_configuration.aget(timeout=10.)

   Getting the Pivot point and limits:

   pivot at (0, 0, -2758400) microns

   maxXY = 11400.0 microns, maxZ= 13100.0 microns

   maxUV = 0.36 deg, maxW= 0.1 deg

   **
   The pivot point should be (0,0,0) now but appears unchanged here and no event generated in the EFD.

1. Setting back the Pivot point:

   await hexapod_csc.cmd_setPivot.set_start(x=0,y=0,z=-2758400)

1. Result:

   INFO:Script:START- Camera Hexapod Integration Test -- LVV-T1600 Test Step 29 - Pivot set (0,0,-2758400)- Starting time: 2021-06-14 13:49:40.434948 UTC

   hex position 4408.05 -3018.38 201.33 0.01 -0.05 0.00

    First try: Values did not change back! Not when reading from the EFD, not in the EUI.

*Second try: Restart the EUI, move to zero, move to test position. Change the Pivot point forth and back between (0,0,0) and (0,0,-2758400) everything seems to be normal. *

 
Note: Holger asks to add a print for the "pivot" field in the "config" events to the low-level controller.