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  LB def _align(self):
Y3         caput('%s:%s' % (self.sPpmPv, 'C2'), 1)Realignment checks
    CL Y4   val  = caget('%s:%s' % (self.sPpmPv, 'C2'))Save current speeds
    CL Y5   C2      = int(val)
  'Assign realignment speeds
    R3=N3-50      APR_000 = self.apr_000'Lower upper deadband
    R4=N4+50      APR_180 = self.apr_180'Upper lower deadband
    CL Y2, C2<R4  ALG_000 = self.alg_000
        ALG_180 = self.alg_180
        self._exe_align(C2, APR_000, APR_180, ALG_000, ALG_180)

    def _exe_align(self, C2, APR_000, APR_180, ALG_000, ALG_180):
        print '_exe_align self.homeDone', self.homeDone
        self._dis_pars()
        self._pr_log('Blades alignment -----------------')
        if not self.homeDone:
            self._pr_err('!! Need to home before alignment procedure')
            return False

        #cmd = '%s:%s' % (self.sPpmPv, 'C1'); val = '%d' % C2
        #self._pr_log('caput(\'%s\', %s)' % (cmd, val)) # set C1=C2
        caput('%s:%s' % (self.sPpmPv, 'SET_VM'), 25600)  # set EE=0 (open loop)
        caput('%s:%s' % (self.sPpmPv, 'SET_VI'),  2844) # set C1=0
        caput('%s:%s' % (self.sPpmPv, 'SET_A'),  45511) # set C1=0
        caput('%s:%s' % (self.sPpmPv, 'SET_D'),  45511) # set C1=0

        caput('%s:%s' % (self.sPpmPv, 'SET_C1'), C2) # set C1=C2
        caput('%s:%s' % (self.sPpmPv, 'SET_EE'), 1)  # set EE=1 (close loop)
        #cmd = '%s:%s' % (self.sPpmPv, 'EE'); val = 1
        #self._pr_log('caput(\'%s\', %s)' % (cmd, val)) # set EE=1 (close loop)

        print 'C2 >= APR_000', C2, APR_000
        print 'C2 < APR_180', C2, APR_180
        print 'C2 < APR_000', C2, APR_000
        print 'C2 >= APR_180', C2, APR_180

#        if C2 >= APR_000 and C2 < APR_180:
#    'If C2 is below this db, move to 0
    CL Y1, C2>R3  'If C2 above the db, move to 180
    CL Y1, N9=0   'If open, just move to 0
    CL Y6         'Restore PP speeds
    AD=1        # move absolute'Set toalign ALG_180done positionflag
#    H 100
    RT

  LB Y1 #cmd = '%s:%s' % (self.sPpmPv, 'MA'); val = '%d' % ALG_180
#Reset far end, C2>N3-SD
    EE=1        #self._pr_log('caput(\'%s\', %s)' % (cmd, val))
#'Enable encoder
    MA 8192     'Move to 180 degrees
    H caput('%s:%s' % (self.sPpmPv, 'MA'), ALG_180)
#      'Wait till elifmove C2is <done
 APR_000 and C2 >C1= APR_180:
#0        'Reset microsteps register
    #C2=0 move absolute to ALG_100 position
#   'Reset encoder register
    EE=0   #cmd = '%s:%s' % (self.sPpmPv, 'MA'); val = '%d' % ALG_000
#Disable encoder for trigger mode
    N9=1        #self._pr_log('caput(\'%s\', %s)' % (cmd, val))
#'Flag successful close
    H 100
    RT

  LB Y2      caput('%s:%s' % (self.sPpmPv, 'MA'), ALG_000)
#

Reset near zero, C2<N4+SD
    EE=1        caput('%s:%s' % (self.sPpmPv, 'MA'), ALG_000)
#'Enable encoder
    MA 0        'Move to 0 else:degrees
#    H        self.homeDone = False
# 'Wait till move is done
    C1=0   print '!! Need to home before'Reset alignmentmicrosteps procedure'register
#    C2=0        'Reset returnencoder False
#register
    EE=0        'Disable cmdencoder = '%s:%s' % (self.sPpmPv, 'EE'); val = 0
#for trigger mode
    N9=1         self._pr_log('caput(\'%s\', %s)' % (cmd, val)) # set EE=0 (open loop)
#   'Flag successful close
    H 100
    RT

  LB Y4     cmd = '%s:%s' % (self.sPpmPv, 'C1'); val = 0
#'Save current speeds
   V1=VM
   V2=VI
  self._pr_log('caput(\'%s\', %s)' % (cmd, val)) # set C1=0
    V3=A
   V4=D
   RT

  LB Y5     time.sleep(5)
    'Assign realignment speeds
  caput('%s:%s' % (self.sPpmPv, 'SET_EE'), 0)  # set EE=0 (open loop)
    VM=8192
   VI=2000
   A=2000
   D=2000
   RT

  LB Y6      caput('%s:%s' % (self.sPpmPv, 'SET_C1'), 0) # set C1=0Restore speeds
   VM=V1
   VI=V2
   A=V3
  caput('%s:%s' % (self.sPpmPv, 'SET_C2'), 0) # set C1=0 D=V4
   RT