Added simplified scripted sequence scan
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// Test program for simple zig-zag line scanning with PSO window output
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// "enable" signal and DDC synchronized to external trigger input.
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// The file expects external parameter validation
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// The PSO locations arrays are set externally from EPICS PV
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//
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enum ScanType
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Pos = 0
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Neg = 1
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PosNeg = 2
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NegPos = 3
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end
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program
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//////////////////////////////////////////////////////////////////////////
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// External parameters - USE THEESE
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var $fStartPosition as real = {{ scan.startpos }}
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var $fScanRange as real = $fStartPosition + {{ scan.scanrange }}
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var $iNumRepeat as integer = {{ scan.nrepeat }}
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var $eScanType as ScanType = ScanType.{{ scan.scandir or 'Pos' }}
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var $iNumDdcRead as integer = {{ scan.npoints }}
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var $fVelJog as real = {{ scan.jogvel or 200 }}
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var $fVelScan as real = {{ scan.scanvel }}
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var $fAcceleration = {{ scan.scanacc or 500 }}
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var $fSafeDist = 10.0
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//////////////////////////////////////////////////////////////////////////
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// Internal parameters - dont use
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var $axis as axis = ROTY
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var $ii as integer
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var $iDdcSafeSpace as integer = 4096
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// Set acceleration
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SetupAxisRampType($axis, RampType.Linear)
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SetupAxisRampValue($axis,0,$fAcceleration)
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var $fAccDistance as real = 0.5 * $fVelScan * $fVelScan / $fAcceleration + $fSafeDist
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// set the actual scan range
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var $fPosStart as real
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var $fPosEnd as real
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if $eScanType == ScanType.Pos
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$fPosStart = $fStartPosition - $fAccDistance
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$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
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elseif $eScanType == ScanType.Neg
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$fPosStart = $fStartPosition + $fAccDistance
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$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
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elseif $eScanType == ScanType.PosNeg
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$fPosStart = $fStartPosition - $fAccDistance
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$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
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elseif $eScanType == ScanType.NegPos
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$fPosStart = $fStartPosition + $fAccDistance
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$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
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end
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// Move to start position before the scan
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MoveAbsolute($axis, $fPosStart, $fVelJog)
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WaitForInPosition($axis)
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// Configure PSO
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PsoDistanceCounterOff($axis)
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PsoDistanceEventsOff($axis)
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PsoWindowConfigureEvents($axis, PsoWindowEventMode.None)
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PsoWaveformOff($axis)
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PsoOutputConfigureSource($axis, PsoOutputSource.Waveform)
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var $iPsoArrayAddr as integer = 0
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// Simple PSO trigger pattern
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var $iPsoArrayPos[] as real = [{% for psoDist in scan.psoBoundsPos[:-1] %} UnitsToCounts($axis, {{ psoDist }}), {% endfor %} UnitsToCounts($axis, {{ scan.psoBoundsPos[-1] }})]
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// var $iPsoArrayPos[] as real = [UnitsToCounts($axis, $fAccDistance), {% for psoDist in scan.psoBoundsPos[:-1] %} UnitsToCounts($axis, psoDist), {% endfor %}]
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// var $iPsoArrayNeg[] as real = [UnitsToCounts($axis, $fAccDistance), {% for psoDist in scan.psoBoundsNeg[:-1] %} UnitsToCounts($axis, psoDist), {% endfor %}]
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DriveArrayWrite($axis, $iPsoArrayPos, $iPsoArrayAddr, length($iPsoArrayPos), DriveArrayType.PsoDistanceEventDistances)
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PsoDistanceConfigureArrayDistances($axis, $iPsoArrayAddr, length($iPsoArrayPos), 0)
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PsoDistanceEventsOn($axis)
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PsoWaveformConfigureMode($axis, PsoWaveformMode.Toggle)
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PsoWaveformOn($axis)
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// Configure Drive Data Collection
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var $iDdcArrayAddr as integer = 8388608
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var $iDdcArraySize as integer = $iNumDdcRead
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DriveDataCaptureConfigureInput($axis, 0, DriveDataCaptureInput.PrimaryFeedback);
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DriveDataCaptureConfigureInput($axis, 1, DriveDataCaptureInput.AnalogInput0 );
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DriveDataCaptureConfigureTrigger($axis, 0, DriveDataCaptureTrigger.PsoOutput );
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DriveDataCaptureConfigureTrigger($axis, 1, DriveDataCaptureTrigger.PsoOutput );
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DriveDataCaptureConfigureArray($axis, 0, $iDdcArrayAddr, $iDdcArraySize);
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DriveDataCaptureConfigureArray($axis, 1, $iDdcArrayAddr + $iDdcSafeSpace + 8 * $iDdcArraySize, $iDdcArraySize);
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// Directly before scan
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PsoDistanceCounterOn($axis)
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DriveDataCaptureOn($axis, 0)
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DriveDataCaptureOn($axis, 1)
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///////////////////////////////////////////////////////////
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// Start the actual scanning
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///////////////////////////////////////////////////////////
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for $ii = 0 to ($iNumRepeat-1)
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PsoDistanceConfigureArrayDistances($axis, $iPsoArrayAddr, length($iPsoArrayPos), 0)
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if $eScanType == ScanType.Pos
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MoveAbsolute($axis, $fPosEnd, $fVelScan)
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WaitForInPosition($axis)
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MoveAbsolute($axis, $fPosStart, $fVelScan)
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WaitForInPosition($axis)
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elseif $eScanType == ScanType.Neg
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MoveAbsolute($axis, $fPosEnd, $fVelScan)
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WaitForInPosition($axis)
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MoveAbsolute($axis, $fPosStart, $fVelScan)
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WaitForInPosition($axis)
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elseif $eScanType == ScanType.PosNeg
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if ($ii % 2) == 0
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MoveAbsolute($axis, $fPosEnd, $fVelScan)
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WaitForInPosition($axis)
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elseif ($ii % 2) == 1
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MoveAbsolute($axis, $fPosStart, $fVelScan)
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WaitForInPosition($axis)
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end
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elseif $eScanType == ScanType.NegPos
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if ($ii % 2) == 0
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MoveAbsolute($axis, $fPosEnd, $fVelScan)
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WaitForInPosition($axis)
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elseif ($ii % 2) == 1
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MoveAbsolute($axis, $fPosStart, $fVelScan)
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WaitForInPosition($axis)
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end
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end
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Dwell(0.2)
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end
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// Directly after scan
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PsoDistanceCounterOff($axis)
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DriveDataCaptureOff($axis, 0)
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DriveDataCaptureOff($axis, 1)
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end
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