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Reorder, add slit 2, configure

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r1400 | dcl | 2007-01-15 09:14:10 +1100 (Mon, 15 Jan 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-01-15 09:14:10 +11:00
parent e96652d818
commit 0bbf8b304c
1 changed files with 210 additions and 42 deletions
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238
site_ansto/instrument/qld/motor_configuration.tcl
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@@ -1,72 +1,149 @@
set slit2active 0
# Setup addresses of Galil DMC2280 controllers. # Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller1(host) mc1-koala set dmc2280_controller2(host) mc2-koala
set dmc2280_controller1(port) pmc1-koala set dmc2280_controller2(port) pmc2-koala
# Run slit homing routines # Run slit homing routines
#if [catch {dmc_connect dmc2280_controller1} ] { #if [catch {dmc_connect dmc2280_controller2} ] {
# dmc_sendCmd dmc2280_controller1 "XQ#HOME,1" # dmc_sendCmd dmc2280_controller2 "XQ#HOME,1"
# dmc_close dmc2280_controller1 # dmc_close dmc2280_controller2
#} #}
#if [catch {dmc_connect dmc2280_controller1} ] { #if [catch {dmc_connect dmc2280_controller2} ] {
# dmc_sendCmd dmc2280_controller1 "XQ#HOME,1" # dmc_sendCmd dmc2280_controller2 "XQ#HOME,1"
# dmc_close dmc2280_controller1 # dmc_close dmc2280_controller2
#} #}
#
#TD at upper switches
# 1048508, 1062259, 2651595, 2644121, 1017903, 1041617, 2715943, 2683888
#
#Measured or computed slit motor steps per unit (mm)
set slitStepRate 20180
#Measured slit gap, in units, after homing on limit switches
set s1vGap 128
set s1hGap 53
set s2vGap 205
set s2hGap 51
#Measured offset for centre opening in units, positive up
set s1vOff 0
set s1uHome [expr $s1vGap/2*$slitStepRate]
set s1dHome [expr $s1vGap/2*$slitStepRate]
set s1rHome [expr $s1hGap/2*$slitStepRate]
set s1lHome [expr $s1hGap/2*$slitStepRate]
set s2uHome [expr $s2vGap/2*$slitStepRate]
set s2dHome [expr $s2vGap/2*$slitStepRate]
set s2rHome [expr $s2hGap/2*$slitStepRate]
set s2lHome [expr $s2hGap/2*$slitStepRate]
#Default upper and lower ranges for vertical slits #Default upper and lower ranges for vertical slits
set vertSlitLowRange 25 set vertSlitLowRange 60
set vertSlitUpRange 95 set vertSlitUpRange 60
#Default upper and lower ranges for horizontal slits #Default upper and lower ranges for horizontal slits
set horSlitLowRange 20 set horSlitLowRange 25
set horSlitUpRange 25 set horSlitUpRange 25
Motor ss1u DMC2280 [params \ Motor ss1r DMC2280 [params \
host $dmc2280_controller1(host)\ host $dmc2280_controller2(host)\
port $dmc2280_controller1(port)\ port $dmc2280_controller2(port)\
axis G\ axis A\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -20125\ stepsPerX -$slitStepRate\
motorHome 2040518] motorHome $s1rHome]
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
Motor ss1l DMC2280 [params \
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis B\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s1lHome]
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
Motor ss1u DMC2280 [params \
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis C\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s1uHome]
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
Motor ss1d DMC2280 [params \ Motor ss1d DMC2280 [params \
host $dmc2280_controller1(host)\ host $dmc2280_controller2(host)\
port $dmc2280_controller1(port)\ port $dmc2280_controller2(port)\
axis H\ axis D\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -20125\ stepsPerX -$slitStepRate\
motorHome 2040518] motorHome $s1dHome]
setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
Motor ss1l DMC2280 [params \ if {$slit2active} {
host $dmc2280_controller1(host)\ Motor ss2r DMC2280 [params \
port $dmc2280_controller1(port)\ host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis E\ axis E\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -20125\ stepsPerX -$slitStepRate\
motorHome 542093] motorHome $s2rHome]
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
Motor ss1r DMC2280 [params \ Motor ss2l DMC2280 [params \
host $dmc2280_controller1(host)\ host $dmc2280_controller2(host)\
port $dmc2280_controller1(port)\ port $dmc2280_controller2(port)\
axis F\ axis B\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -20125\ stepsPerX -$slitStepRate\
motorHome 542093] motorHome $s2lHome]
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
Motor ss2u DMC2280 [params \
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis G\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s2uHome]
setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
Motor ss2d DMC2280 [params \
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis H\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s2dHome]
setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
}
#-------------------------------------------------------- #--------------------------------------------------------
proc ss1widthscript {val} { proc ss1widthscript {val} {
@@ -156,5 +233,96 @@ MakeConfigurableMotor ss1vo
ss1vo drivescript ss1vertoffsetscript ss1vo drivescript ss1vertoffsetscript
ss1vo readscript ss1readvertoffset ss1vo readscript ss1readvertoffset
############################################### ###############################################
if {$slit2active} {
#--------------------------------------------------------
proc ss2widthscript {val} {
set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
set diff [expr $val - $currentWidth]
set newD1R [expr [SplitReply [ss2r]] + $diff/2]
set newD1L [expr [SplitReply [ss2l]] + $diff/2]
return "ss2r=$newD1R,ss2l=$newD1L"
}
publish ss2widthscript user
#-------------------------------------------------------
proc ss2readwidth {} {
return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
}
publish ss2readwidth user
MakeConfigurableMotor ss2hg
ss2hg drivescript ss2widthscript
ss2hg readscript ss2readwidth
#--------------------------------------------------------
proc ss2horoffsetscript {val} {
set SR [SplitReply [ss2r]]
set SL [SplitReply [ss2l]]
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
set diff [expr $val - $currentOffset]
set newD1R [expr $SR + $diff]
set newD1L [expr $SL - $diff]
return "ss2r=$newD1R,ss2l=$newD1L"
}
publish ss2horoffsetscript user
#-------------------------------------------------------
proc ss2readhoroffset {} {
set SR [SplitReply [ss2r]]
return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
}
publish ss2readhoroffset user
#-------------------------------------------------------
MakeConfigurableMotor ss2ho
ss2ho drivescript ss2horoffsetscript
ss2ho readscript ss2readhoroffset
#-----------------------------------------------------
proc ss2heightscript {val} {
set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
set diff [expr $val - $currentWidth]
set newD1B [expr [SplitReply [ss2d]] + $diff/2]
set newD1T [expr [SplitReply [ss2u]] + $diff/2]
return "ss2d=$newD1B,ss2u=$newD1T"
}
publish ss2heightscript user
#-------------------------------------------------------
proc ss2readheight {} {
return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
}
publish ss2readheight user
#---------------------------------------------------------
MakeConfigurableMotor ss2vg
ss2vg drivescript ss2heightscript
ss2vg readscript ss2readheight
#--------------------------------------------------------
proc ss2vertoffsetscript {val} {
set SU [SplitReply [ss2u]]
set SD [SplitReply [ss2d]]
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
set diff [expr $val - $currentOffset]
set newD1U [expr $SU + $diff]
set newD1D [expr $SD - $diff]
return "ss2u=$newD1U,ss2d=$newD1D"
}
publish ss2vertoffsetscript user
#-------------------------------------------------------
proc ss2readvertoffset {} {
set SU [SplitReply [ss2u]]
return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
}
publish ss2readvertoffset user
#-------------------------------------------------------
MakeConfigurableMotor ss2vo
ss2vo drivescript ss2vertoffsetscript
ss2vo readscript ss2readvertoffset
###############################################
}
# END MOTOR CONFIGURATION # END MOTOR CONFIGURATION