Update the beam attenuator (bat) home, increase deceleration for slit motors to prevent overrun, adjust slit ranges individually for maximum scan range

r2031 | dcl | 2007-06-27 11:02:36 +1000 (Wed, 27 Jun 2007) | 2 lines

site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.15 $
-# $Date: 2007-05-15 03:15:00 $
+# $Revision: 1.16 $
+# $Date: 2007-06-27 01:02:36 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -36,7 +36,7 @@ MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
 set bz_home 8142000
 set c1ht_home 8265000
 set m1ro_home 134658
-set bat_home 7500000
+set bat_home 8308518
 set st3vt_home 8742250
 set st4vt_home 8806900
 set sth_home 23511400
@@ -101,6 +101,7 @@ set hSlitHome 0
 set hSlitLoRange 5
 set hSlitHiRange 25
 
+if {0} {
 #calculate individual slit motor low ranges
 set ss1r_LoRange [expr $hSlitHome - $hSlitLoRange]
 set ss1l_LoRange [expr $hSlitHome - $hSlitHiRange]
@@ -138,6 +139,45 @@ set ss4r_HiRange [expr $hSlitHome + $hSlitHiRange]
 set ss4l_HiRange [expr $hSlitHome + $hSlitLoRange]
 set ss4u_HiRange [expr $vSlitHome + $vSlitHiRange]
 set ss4d_HiRange [expr $vSlitHome + $vSlitLoRange]
+} else {
+#calculate individual slit motor low ranges
+set ss1r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss1l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss1u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss1d_LoRange [expr $vSlitHome - $vSlitHiRange]
+set ss2r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss2l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss2u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss2d_LoRange [expr $vSlitHome - $vSlitHiRange]
+
+set ss3r_LoRange -12.0
+set ss3l_LoRange -26.0
+set ss3u_LoRange -5.0
+set ss3d_LoRange -26.0
+set ss4r_LoRange -13.0
+set ss4l_LoRange -27.0
+set ss4u_LoRange -6.0
+set ss4d_LoRange -26.0
+
+#calculate individual slit motor high ranges
+set ss1r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss1l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss1u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss1d_HiRange [expr $vSlitHome + $vSlitLoRange]
+set ss2r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss2l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss2u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss2d_HiRange [expr $vSlitHome + $vSlitLoRange]
+
+set ss3r_HiRange 27.0
+set ss3l_HiRange 14.0
+set ss3u_HiRange 29.0
+set ss3d_HiRange 8.0
+set ss4r_HiRange 32.0
+set ss4l_HiRange 14.0
+set ss4u_HiRange 27.0
+set ss4d_HiRange 8.0
+}
 
 # set movecount high to reduce the frequency of
 # hnotify messages to a reasonable level
@@ -160,7 +200,7 @@ Motor bz $motor_driver_type [params \
   hardupperlim 275\
   maxSpeed 5\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX [expr -25000.0/6.0]\
   absEnc 1\
   absEncHome $bz_home\
@@ -180,7 +220,7 @@ Motor c1ht $motor_driver_type [params \
   hardupperlim 1065\
   maxSpeed 10\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 10\
   stepsPerX [expr 25000.0/5.0]\
   absEnc 1\
   absEncHome $c1ht_home\
@@ -240,7 +280,7 @@ Motor st3vt $motor_driver_type [params \
   hardupperlim 253\
   maxSpeed 10\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 10\
   stepsPerX 25000\
   absEnc 1\
   absEncHome $st3vt_home\
@@ -260,7 +300,7 @@ Motor st4vt $motor_driver_type [params \
   hardupperlim 249\
   maxSpeed 10\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 10\
   stepsPerX 25000\
   absEnc 1\
   absEncHome $st4vt_home\
@@ -329,7 +369,7 @@ Motor sx $motor_driver_type [params \
   hardupperlim 734\
   maxSpeed 10\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 10\
   stepsPerX [expr 25000.0/5.0]\
   absEnc 1\
   absEncHome $sx_home\
@@ -369,7 +409,7 @@ Motor sz $motor_driver_type [params \
   hardupperlim 280.0\
   maxSpeed 2\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 2\
   stepsPerX $szStepRate\
   backlash_offset -1\
   creep_offset 0.01\
@@ -411,7 +451,7 @@ Motor dz $motor_driver_type [params \
   hardupperlim 1351\
   maxSpeed 5\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX -25000\
   absEnc 1\
   absEncHome $dz_home\
@@ -438,7 +478,7 @@ Motor ss1l $motor_driver_type [params \
   hardupperlim $ss1l_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX $slitStepRate\
   motorHome $ss1l_Home]
 ss1l part aperture.1/horizontal
@@ -456,7 +496,7 @@ Motor ss1r $motor_driver_type [params \
   hardupperlim $ss1r_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX -$slitStepRate\
   motorHome $ss1r_Home]
 ss1r part aperture.1/horizontal
@@ -474,7 +514,7 @@ Motor ss1u $motor_driver_type [params \
   hardupperlim $ss1u_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX -$slitStepRate\
   motorHome $ss1u_Home]
 ss1u part aperture.1/vertical
@@ -492,7 +532,7 @@ Motor ss1d $motor_driver_type [params \
   hardupperlim $ss1d_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX $slitStepRate\
   motorHome $ss1d_Home]
 ss1d part aperture.1/vertical
@@ -510,7 +550,7 @@ Motor ss2l $motor_driver_type [params \
   hardupperlim $ss2l_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX $slitStepRate\
   motorHome $ss2l_Home]
 ss2l part aperture.2/horizontal
@@ -528,7 +568,7 @@ Motor ss2r $motor_driver_type [params \
   hardupperlim $ss2r_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX -$slitStepRate\
   motorHome $ss2r_Home]
 ss2r part aperture.2/horizontal
@@ -546,7 +586,7 @@ Motor ss2u $motor_driver_type [params \
   hardupperlim $ss2u_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX -$slitStepRate\
   motorHome $ss2u_Home]
 ss2u part aperture.2/vertical
@@ -564,7 +604,7 @@ Motor ss2d $motor_driver_type [params \
   hardupperlim $ss2d_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX $slitStepRate\
   motorHome $ss2d_Home]
 ss2d part aperture.2/vertical
@@ -589,7 +629,7 @@ Motor ss3d $motor_driver_type [params \
   hardupperlim $ss3d_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX $slitStepRate\
   motorHome $ss3d_Home]
 ss3d part aperture.3/vertical
@@ -607,7 +647,7 @@ Motor ss3u $motor_driver_type [params \
   hardupperlim $ss3u_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX -$slitStepRate\
   motorHome $ss3u_Home]
 ss3u part aperture.3/vertical
@@ -625,7 +665,7 @@ Motor ss3l $motor_driver_type [params \
   hardupperlim $ss3l_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX $slitStepRate\
   motorHome $ss3l_Home]
 ss3l part aperture.3/horizontal
@@ -643,7 +683,7 @@ Motor ss3r $motor_driver_type [params \
   hardupperlim $ss3r_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX -$slitStepRate\
   motorHome $ss3r_Home]
 ss3r part aperture.3/horizontal
@@ -661,7 +701,7 @@ Motor ss4d $motor_driver_type [params \
   hardupperlim $ss4d_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX $slitStepRate\
   motorHome $ss4d_Home]
 ss4d part aperture.4/vertical
@@ -679,7 +719,7 @@ Motor ss4u $motor_driver_type [params \
   hardupperlim $ss4u_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX -$slitStepRate\
   motorHome $ss4u_Home]
 ss4u part aperture.4/vertical
@@ -697,7 +737,7 @@ Motor ss4l $motor_driver_type [params \
   hardupperlim $ss4l_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX $slitStepRate\
   motorHome $ss4l_Home]
 ss4l part aperture.4/horizontal
@@ -715,7 +755,7 @@ Motor ss4r $motor_driver_type [params \
   hardupperlim $ss4r_HiRange\
   maxSpeed 1\
   maxAccel 1\
-  maxDecel 1\
+  maxDecel 5\
   stepsPerX -$slitStepRate\
   motorHome $ss4r_Home]
 ss4r part aperture.4/horizontal