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Progressive refinement and alignment with HRPD

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r1372 | dcl | 2006-12-13 09:30:13 +1100 (Wed, 13 Dec 2006) | 2 lines
This commit is contained in:
Douglas Clowes
2006-12-13 09:30:13 +11:00
parent 730a66a13d
commit 0fa28079a0
1 changed files with 265 additions and 184 deletions
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449
site_ansto/instrument/rsd/motor_configuration.tcl
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@@ -1,3 +1,10 @@
# $Revision: 1.4 $
# $Date: 2006-12-12 22:30:13 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: dcl $
# START MOTOR CONFIGURATION
# Setup addresses of Galil DMC2280 controllers. # Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller1(host) mc1-kowari set dmc2280_controller1(host) mc1-kowari
set dmc2280_controller1(port) pmc1-kowari set dmc2280_controller1(port) pmc1-kowari
@@ -21,184 +28,253 @@ set dmc2280_controller4(port) pmc4-kowari
# dmc_close dmc2280_controller4 # dmc_close dmc2280_controller4
#} #}
############################
# Motor Controller 1
# Motor Controller 1
# Motor Controller 1
############################
#:TP at HOME
#
# Monochromator phi, Tilt 1, upper # Monochromator phi, Tilt 1, upper
Motor mphi DMC2280 [params \ Motor mphi DMC2280 [params \
host $dmc2280_controller1(host)\ host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\ port $dmc2280_controller1(port)\
axis A\ axis A\
units degrees\ units degrees\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -25000] stepsPerX -25000\
setHomeandRange -motor mphi -home 0 -lowrange 20 -uprange 20 absEnc 1\
absEncHome 7414753\
cntsPerX -8192]
setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
mphi speed 1 mphi speed 1
mphi precision 0.01 mphi precision 0.01
# Monochromator chi, Tilt 2, lower # Monochromator chi, Tilt 2, lower
Motor mchi DMC2280 [params \ Motor mchi DMC2280 [params \
host $dmc2280_controller1(host)\ host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\ port $dmc2280_controller1(port)\
axis B\ axis B\
units degrees\ units degrees\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX 25000] stepsPerX 25000\
setHomeandRange -motor mchi -home 90 -lowrange 20 -uprange 20 absEnc 1\
absEncHome 7818915\
cntsPerX 8192]
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
mchi speed 1 mchi speed 1
mchi precision 0.01 mchi precision 0.01
# Monochromator Trans 1, upper # Monochromator Trans 1, upper
Motor my DMC2280 [params \ Motor my DMC2280 [params \
host $dmc2280_controller1(host)\ host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\ port $dmc2280_controller1(port)\
axis C\ axis C\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX 25000] stepsPerX 25000\
setHomeandRange -motor my -home 0 -lowrange 5 -uprange 5 absEnc 1\
absEncHome 7781680\
cntsPerX 8192]
setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
my speed 1 my speed 1
my precision 0.01 my precision 0.01
# Monochromator Trans 2, lower # Monochromator Trans 2, lower
Motor mx DMC2280 [params \ Motor mx DMC2280 [params \
host $dmc2280_controller1(host)\ host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\ port $dmc2280_controller1(port)\
axis D\ axis D\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX 25000] stepsPerX -25000\
setHomeandRange -motor mx -home 0 -lowrange 5 -uprange 5 absEnc 1\
absEncHome 7562793\
cntsPerX -8192]
setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
mx speed 1 mx speed 1
mx precision 0.01 mx precision 0.01
# Monochromator omega, rotate # Monochromator omega, rotate
Motor mom DMC2280 [params \ Motor mom DMC2280 [params \
host $dmc2280_controller1(host)\ host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\ port $dmc2280_controller1(port)\
axis E\ axis E\
units degrees\ units degrees\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -12500] stepsPerX -12500\
absEnc 1\
absEncHome 17694127\
cntsPerX -4096]
setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180 setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
mom speed 1 mom speed 1
mom precision 0.01 mom precision 0.01
# Monochromator two-theta, flight-tube rotate # Monochromator two-theta, flight-tube rotate
Motor mtth DMC2280 [params \ Motor mtth DMC2280 [params \
host $dmc2280_controller1(host)\ host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\ port $dmc2280_controller1(port)\
axis F\ axis F\
units degrees\ units degrees\
maxSpeed 0.5\ maxSpeed 0.5\
maxAccel 0.2\ maxAccel 0.2\
maxDecel 0.2\ maxDecel 0.2\
stepsPerX 25000] stepsPerX 25000\
absEnc 1\
absEncHome 10299428\
cntsPerX 93207]
setHomeandRange -motor mtth -home 120 -lowrange 35 -uprange 35 setHomeandRange -motor mtth -home 120 -lowrange 35 -uprange 35
mtth speed 0.5 mtth speed 0.5
mtth precision 0.01 mtth accel 0.01
mtth decel 0.01
mtth precision 0.02
# Sample Trans3 (vertical) ############################
Motor sz DMC2280 [params \ # Motor Controller 2
host $dmc2280_controller2(host)\ # Motor Controller 2
port $dmc2280_controller2(port)\ # Motor Controller 2
axis A\ ############################
units mm\ #:TP at HOME
maxSpeed 1\ #
maxAccel 1\
maxDecel 1\
stepsPerX 25000]
setHomeandRange -motor sz -home 0 -lowrange 0 -uprange 700
sz speed 1
sz precision 0.01
# Sample Trans 1 (upper) # Sample Trans, vertical, first stage
Motor sz1 DMC2280 [params \
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis A\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX 25000]
setHomeandRange -motor sz1 -home 0 -lowrange 0 -uprange 350
sz1 speed 1
sz1 precision 0.01
# Sample Trans, vertical, second stage
Motor sz2 DMC2280 [params \
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis B\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX 25000]
setHomeandRange -motor sz2 -home 0 -lowrange 0 -uprange 350
sz2 speed 1
sz2 precision 0.01
# Sample Trans 1, upper, y
Motor sy DMC2280 [params \ Motor sy DMC2280 [params \
host $dmc2280_controller2(host)\ host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\ port $dmc2280_controller2(port)\
axis C\ axis C\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX 25000] stepsPerX 5000\
absEnc 1\
absEncHome 7626584\
cntsPerX 1638.4]
setHomeandRange -motor sy -home 0 -lowrange 250 -uprange 250 setHomeandRange -motor sy -home 0 -lowrange 250 -uprange 250
sy speed 1 sy speed 1
sy precision 0.01 sy precision 0.01
# Sample Trans2 (lower) # Sample Trans2, lower, x
Motor sx DMC2280 [params \ Motor sx DMC2280 [params \
host $dmc2280_controller2(host)\ host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\ port $dmc2280_controller2(port)\
axis D\ axis D\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX 25000] stepsPerX 5000\
absEnc 1\
absEncHome 24029910\
cntsPerX 1638.4]
setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250 setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250
sx speed 1 sx speed 1
sx precision 0.01 sx precision 0.01
# Sample Omega, rotate # Sample Omega, rotate
Motor som DMC2280 [params \ Motor som DMC2280 [params \
host $dmc2280_controller2(host)\ host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\ port $dmc2280_controller2(port)\
axis E\ axis E\
units degrees\ units degrees\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -12500] stepsPerX 12500\
setHomeandRange -motor som -home 0 -lowrange 0 -uprange 360 absEnc 1\
absEncHome 24984596\
cntsPerX 4096]
setHomeandRange -motor som -home 0 -lowrange 100 -uprange 100
som speed 1 som speed 1
som precision 0.01 som precision 0.01
# Sample two-theta, detector rotate # Sample two-theta, detector rotate
Motor stth DMC2280 [params \ Motor stth DMC2280 [params \
host $dmc2280_controller2(host)\ host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\ port $dmc2280_controller2(port)\
axis F\ axis F\
units degrees\ units degrees\
maxSpeed 0.2\ maxSpeed 0.5\
maxAccel 0.2\ maxAccel 0.2\
maxDecel 0.2\ maxDecel 0.2\
stepsPerX 125000] stepsPerX 125000\
setHomeandRange -motor stth -home 90 -lowrange 15 -uprange 15 absEnc 1\
absEncHome 14530407\
cntsPerX -93207]
setHomeandRange -motor stth -home 0 -lowrange 100 -uprange 100
stth speed 0.5 stth speed 0.5
stth precision 0.01 stth precision 0.01
############################
# Motor Controller 3
# Motor Controller 3
# Motor Controller 3
############################
#
# Monochromator Focusing (HOPG) # Monochromator Focusing (HOPG)
Motor mf1 DMC2280 [params \ Motor mf1 DMC2280 [params \
host $dmc2280_controller3(host)\ host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\ port $dmc2280_controller3(port)\
axis A\ axis A\
units degrees\ units degrees\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX 25000] stepsPerX 25000]
setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360 setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
mf1 speed 1 mf1 speed 1
mf1 precision 0.01 mf1 precision 0.01
# Monochromator Fucusing (Ge) # Monochromator Focusing (Ge)
Motor mf2 DMC2280 [params \ Motor mf2 DMC2280 [params \
host $dmc2280_controller3(host)\ host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\ port $dmc2280_controller3(port)\
axis B\ axis B\
units degrees\ units degrees\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX 25000] stepsPerX 25000]
setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 360 setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 360
mf2 speed 1 mf2 speed 1
mf2 precision 0.01 mf2 precision 0.01
@@ -231,45 +307,50 @@ mf2 precision 0.01
#ephi speed 1 #ephi speed 1
#ephi precision 0.01 #ephi precision 0.01
#-------------------------------------------------------- ############################
# Motor Controller 4
# Motor Controller 4
# Motor Controller 4
############################
#
# Primary Slit, horizontal offset, 0-30mm # Primary Slit, horizontal offset, 0-30mm
Motor psho DMC2280 [params \ Motor psho DMC2280 [params \
host $dmc2280_controller4(host)\ host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis A\ axis A\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -20125\ stepsPerX -20125\
motorHome 542093] motorHome 542093]
setHomeandRange -motor psho -home 0 -lowrange 0 -uprange 30 setHomeandRange -motor psho -home 0 -lowrange 0 -uprange 30
# Primary Slit, position 0-150mm # Primary Slit, position 0-150mm
Motor psp DMC2280 [params \ Motor psp DMC2280 [params \
host $dmc2280_controller4(host)\ host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis B\ axis B\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -20125\ stepsPerX -20125\
motorHome 2040518] motorHome 2040518]
setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150 setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
# Primary Slit, width, 0-30mm # Primary Slit, width, 0-30mm
Motor psw DMC2280 [params \ Motor psw DMC2280 [params \
host $dmc2280_controller4(host)\ host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis C\ axis C\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -20125\ stepsPerX -20125\
motorHome 2040518] motorHome 2040518]
setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30 setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
## Primary Slit, height, 0-30mm ## Primary Slit, height, 0-30mm
@@ -289,54 +370,54 @@ setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
# Secondary Slit, horizontal offset # Secondary Slit, horizontal offset
Motor ssho DMC2280 [params \ Motor ssho DMC2280 [params \
host $dmc2280_controller4(host)\ host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis E\ axis E\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -20125\ stepsPerX -20125\
motorHome 500000] motorHome 500000]
setHomeandRange -motor ssho -home 0 -lowrange 0 -uprange 30 setHomeandRange -motor ssho -home 0 -lowrange 0 -uprange 30
# Secondary Slit, position # Secondary Slit, position
Motor ssp DMC2280 [params \ Motor ssp DMC2280 [params \
host $dmc2280_controller4(host)\ host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis F\ axis F\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -20125\ stepsPerX -20125\
motorHome 2043085] motorHome 2043085]
setHomeandRange -motor ssp -home 0 -lowrange 0 -uprange 150 setHomeandRange -motor ssp -home 0 -lowrange 0 -uprange 150
# Secondary Slit, width # Secondary Slit, width
Motor ssw DMC2280 [params \ Motor ssw DMC2280 [params \
host $dmc2280_controller4(host)\ host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis G\ axis G\
units mm\ units mm\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -20125\ stepsPerX -20125\
motorHome 2043085] motorHome 2043085]
setHomeandRange -motor ssw -home 0 -lowrange 0 -uprange 30 setHomeandRange -motor ssw -home 0 -lowrange 0 -uprange 30
## Secondary Slit, height ## Secondary Slit, height
#Motor ssh DMC2280 [params \ #Motor ssh DMC2280 [params \
# host $dmc2280_controller4(host)\ # host $dmc2280_controller4(host)\
# port $dmc2280_controller4(port)\ # port $dmc2280_controller4(port)\
# axis H\ # axis H\
# units mm\ # units mm\
# maxSpeed 1\ # maxSpeed 1\
# maxAccel 1\ # maxAccel 1\
# maxDecel 1\ # maxDecel 1\
# stepsPerX -20125\ # stepsPerX -20125\
# motorHome 500000] # motorHome 500000]
#setHomeandRange -motor ssh -home 0 -lowrange 0 -uprange 30 #setHomeandRange -motor ssh -home 0 -lowrange 0 -uprange 30
#-------------------------------------------------------- #--------------------------------------------------------
@@ -351,8 +432,8 @@ mth drivescript mthSet
proc sthGet {} { return [expr [SplitReply [stth]]/2.0]} proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
proc sthSet {val} { return "stth=[SplitReply [stth]]"} proc sthSet {val} { return "stth=[SplitReply [stth]]"}
publish sthSet user
publish sthGet user publish sthGet user
publish sthSet user
MakeConfigurableMotor sth MakeConfigurableMotor sth
sth readscript sthGet sth readscript sthGet
sth drivescript sthSet sth drivescript sthSet