Changes to backlash, creep and precision for many motors

r2315 | dcl | 2008-02-04 12:30:44 +1100 (Mon, 04 Feb 2008) | 2 lines

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

@@ -1,5 +1,5 @@
-# $Revision: 1.24 $
-# $Date: 2008-01-15 01:36:59 $
+# $Revision: 1.25 $
+# $Date: 2008-02-04 01:30:44 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -220,6 +220,7 @@ bz long_name shade_vertical_translation
 bz softlowerlim 0
 bz softupperlim 275
 bz home 0
+bz precision 0.1
 
 # Collimator Table Horizontal Translation, X
 Motor c1ht $motor_driver_type [params \
@@ -246,6 +247,7 @@ c1ht posit_2 [expr $c1ht_home + 400 * (-8192.0/5.0)]
 c1ht posit_3 [expr $c1ht_home + 550 * (-8192.0/5.0)]
 c1ht posit_4 [expr $c1ht_home + 800 * (-8192.0/5.0)]
 c1ht posit_5 [expr $c1ht_home + 1060 * (-8192.0/5.0)]
+c1ht precision 0.1
 
 # Collimator Tilt, Z axis, positive is down
 Motor m1ro $motor_driver_type [params \
@@ -266,6 +268,10 @@ m1ro long_name rotation
 m1ro softlowerlim -3.5
 m1ro softupperlim 3.5
 m1ro home 0
+m1ro backlash_offset -0.1
+m1ro creep_offset 0.05
+m1ro creep_precision 0.0005
+m1ro precision 0.001
 
 # Beam Attenuator (16mm/turn, 200mm travel)
 Motor bat $motor_driver_type [params \
@@ -306,6 +312,10 @@ st3vt long_name st3vt
 st3vt softlowerlim 0
 st3vt softupperlim 253
 st3vt home 0
+st3vt backlash_offset -0.1
+st3vt creep_offset 0.05
+st3vt creep_precision 0.0005
+st3vt precision 0.005
 
 # Slit 4 Tower Translation (1mm/T, +/- 100mm)
 Motor st4vt $motor_driver_type [params \
@@ -326,6 +336,10 @@ st4vt long_name st4vt
 st4vt softlowerlim 0
 st4vt softupperlim 249
 st4vt home 0
+st4vt backlash_offset -0.1
+st4vt creep_offset 0.05
+st4vt creep_precision 0.0005
+st4vt precision 0.005
 
 # Detector Translation, Linear Y (along beam)
 Motor dy $motor_driver_type [params \
@@ -347,6 +361,7 @@ dy softlowerlim 2436
 dy softupperlim 3530
 dy speed 2
 dy home 0
+dy precision 0.1
 
 ############################
 # Motor Controller 2
@@ -375,7 +390,10 @@ sth part sample
 sth long_name sth
 setHomeandRange -motor sth -home 0 -lowrange 5 -uprange 5
 sth speed 1
-sth precision 0.01
+sth backlash_offset -0.1
+sth creep_offset 0.05
+sth creep_precision 0.0005
+sth precision 0.001
 
 # Sample Tilt 2, lower (1 degree/turn)
 Motor sphi $motor_driver_type [params \
@@ -395,7 +413,10 @@ sphi part sample
 sphi long_name sphi
 setHomeandRange -motor sphi -home 0 -lowrange 5 -uprange 5
 sphi speed 1
-sphi precision 0.01
+sphi backlash_offset -0.1
+sphi creep_offset 0.05
+sphi creep_precision 0.0005
+sphi precision 0.001
 
 # Sample Translation, Linear X (5mm/T, 0-750mm)
 Motor sx $motor_driver_type [params \
@@ -416,6 +437,7 @@ sx long_name translate_x
 sx softlowerlim 0
 sx softupperlim 730
 sx home 0
+sx precision 0.1
 
 # Sample Translation, Linear Y
 #Motor sy $motor_driver_type [params \
@@ -459,7 +481,10 @@ sz softlowerlim 0
 sz softupperlim 280.0
 sz home 0
 sz speed 2
-sth precision 0.001
+sz backlash_offset -0.1
+sz creep_offset 0.05
+sz creep_precision 0.0005
+sz precision 0.005
 
 # Detector Translation, Linear Z (5mm/T gearing unknown)
 Motor dz $motor_driver_type [params \
@@ -480,6 +505,10 @@ dz long_name vertical_translation
 dz softlowerlim 0
 dz softupperlim 1351
 dz home 0
+dz backlash_offset -0.5
+dz creep_offset 0.05
+dz creep_precision 0.001
+dz precision 0.1
 
 ############################
 # Motor Controller 3
@@ -505,6 +534,8 @@ ss1l long_name left
 ss1l softlowerlim $ss1l_LoRange
 ss1l softupperlim $ss1l_HiRange
 ss1l home 0
+ss1l backlash_offset -0.5
+ss1l precision 0.005
 
 # Slit 1, right
 Motor ss1r $motor_driver_type [params \
@@ -523,6 +554,8 @@ ss1r long_name right
 ss1r softlowerlim $ss1r_LoRange
 ss1r softupperlim $ss1r_HiRange
 ss1r home 0
+ss1r backlash_offset -0.5
+ss1r precision 0.005
 
 # Slit 1, upper
 Motor ss1u $motor_driver_type [params \
@@ -541,6 +574,8 @@ ss1u long_name upper
 ss1u softlowerlim $ss1u_LoRange
 ss1u softupperlim $ss1u_HiRange
 ss1u home 0
+ss1u backlash_offset -0.5
+ss1u precision 0.005
 
 # Slit 1, lower
 Motor ss1d $motor_driver_type [params \
@@ -559,6 +594,8 @@ ss1d long_name lower
 ss1d softlowerlim $ss1d_LoRange
 ss1d softupperlim $ss1d_HiRange
 ss1d home 0
+ss1d backlash_offset -0.5
+ss1d precision 0.005
 
 # Slit 2, left
 Motor ss2l $motor_driver_type [params \
@@ -577,6 +614,8 @@ ss2l long_name left
 ss2l softlowerlim $ss2l_LoRange
 ss2l softupperlim $ss2l_HiRange
 ss2l home 0
+ss2l backlash_offset -0.5
+ss2l precision 0.005
 
 # Slit 2, right
 Motor ss2r $motor_driver_type [params \
@@ -595,6 +634,8 @@ ss2r long_name right
 ss2r softlowerlim $ss2r_LoRange
 ss2r softupperlim $ss2r_HiRange
 ss2r home 0
+ss2r backlash_offset -0.5
+ss2r precision 0.005
 
 # Slit 2, upper
 Motor ss2u $motor_driver_type [params \
@@ -613,6 +654,8 @@ ss2u long_name upper
 ss2u softlowerlim $ss2u_LoRange
 ss2u softupperlim $ss2u_HiRange
 ss2u home 0
+ss2u backlash_offset -0.5
+ss2u precision 0.005
 
 # Slit 2, lower
 Motor ss2d $motor_driver_type [params \
@@ -631,6 +674,8 @@ ss2d long_name lower
 ss2d softlowerlim $ss2d_LoRange
 ss2d softupperlim $ss2d_HiRange
 ss2d home 0
+ss2d backlash_offset -0.5
+ss2d precision 0.005
 
 ############################
 # Motor Controller 4
@@ -656,6 +701,8 @@ ss3d long_name lower
 ss3d softlowerlim $ss3d_LoRange
 ss3d softupperlim $ss3d_HiRange
 ss3d home 0
+ss3d backlash_offset -0.5
+ss3d precision 0.005
 
 # Slit 3, upper
 Motor ss3u $motor_driver_type [params \
@@ -674,6 +721,8 @@ ss3u long_name upper
 ss3u softlowerlim $ss3u_LoRange
 ss3u softupperlim $ss3u_HiRange
 ss3u home 0
+ss3u backlash_offset -0.5
+ss3u precision 0.005
 
 # Slit 3, Left
 Motor ss3l $motor_driver_type [params \
@@ -692,6 +741,8 @@ ss3l long_name left
 ss3l softlowerlim $ss3l_LoRange
 ss3l softupperlim $ss3l_HiRange
 ss3l home 0
+ss3l backlash_offset -0.5
+ss3l precision 0.005
 
 # Slit 3, right
 Motor ss3r $motor_driver_type [params \
@@ -710,6 +761,8 @@ ss3r long_name right
 ss3r softlowerlim $ss3r_LoRange
 ss3r softupperlim $ss3r_HiRange
 ss3r home 0
+ss3r backlash_offset -0.5
+ss3r precision 0.005
 
 # Slit 4, lower
 Motor ss4d $motor_driver_type [params \
@@ -728,6 +781,8 @@ ss4d long_name lower
 ss4d softlowerlim $ss4d_LoRange
 ss4d softupperlim $ss4d_HiRange
 ss4d home 0
+ss4d backlash_offset -0.5
+ss4d precision 0.005
 
 # Slit 4, upper
 Motor ss4u $motor_driver_type [params \
@@ -746,6 +801,8 @@ ss4u long_name upper
 ss4u softlowerlim $ss4u_LoRange
 ss4u softupperlim $ss4u_HiRange
 ss4u home 0
+ss4u backlash_offset -0.5
+ss4u precision 0.005
 
 # Slit 4, left
 Motor ss4l $motor_driver_type [params \
@@ -764,6 +821,8 @@ ss4l long_name left
 ss4l softlowerlim $ss4l_LoRange
 ss4l softupperlim $ss4l_HiRange
 ss4l home 0
+ss4l backlash_offset -0.5
+ss4l precision 0.005
 
 # Slit 4, right
 Motor ss4r $motor_driver_type [params \
@@ -782,6 +841,8 @@ ss4r long_name right
 ss4r softlowerlim $ss4r_LoRange
 ss4r softupperlim $ss4r_HiRange
 ss4r home 0
+ss4r backlash_offset -0.5
+ss4r precision 0.005
 
 ## Polarization Analyzer Vertical Translation, Z
 #Motor anzvt $motor_driver_type [params \