parameter tuning in testing Jan 2012

r3333 | jgn | 2012-01-06 15:56:11 +1100 (Fri, 06 Jan 2012) | 1 line
2012-01-06 15:56:11 +11:00
parent 981ef28416
commit 22fa0b4251
1 changed files with 110 additions and 83 deletions
--- a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
@@ -30,11 +30,11 @@ if {$sim_mode == "true"} {
  set motor_driver_type asim
 } else {
  set motor_driver_type DMC2280
-  MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
-  MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
+#  MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
+#  MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
  MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
  MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
-  MakeAsyncQueue mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port)
+#  MakeAsyncQueue mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port)
 }


@@ -54,18 +54,25 @@ set sh2_Home      0
 set gom_Home      0
 set scor_Home     0

-set mra_Home      4286
-set moma_Home     8386659
+# AND abs Encoder Reading with FFF to get the lowest 12 bits only
+#set mra_Home      4286
+set mra_Home      191
+#set moma_Home     8386659
+set moma_Home     2147
+#set mrb_Home      294
 set mrb_Home      294
-set momb_Home     8386694
-set mrc_Home      4558982
-set momc_Home     12499198
+#set momb_Home     8386694
+set momb_Home     2182
+#set mrc_Home      4558982
+set mrc_Home      86
+#set momc_Home     12499198
+set momc_Home     2302

 set mphi_Home     0
-set nchi_Home     0
-set mx_Home       0
-set my_Home       0
-set mom_Home      0
+set mchi_Home     8383096
+set mx_Home       8390604
+set my_Home       8391084 
+set mom_Home      8389414

 set rco_Home      0
 set rcz_Home      0
@@ -87,7 +94,7 @@ set move_count 100

 # Dummy translation motor, useful for testing scans

-Motor dummy_motor asim [params \
+#Motor dummy_motor asim [params \
  asyncqueue mc1\
  host mc1-pelican\
  port pmc1-pelican\
@@ -102,11 +109,11 @@ Motor dummy_motor asim [params \
  absEnc 1\
  absEncHome $dummy_Home\
  cntsPerX [expr 8192.0/5.0]]
-dummy_motor part instrument
-dummy_motor long_name dummy_motor
-dummy_motor softlowerlim -500
-dummy_motor softupperlim 500
-dummy_motor home 0
+#dummy_motor part instrument
+#dummy_motor long_name dummy_motor
+#dummy_motor softlowerlim -500
+#dummy_motor softupperlim 500
+#dummy_motor home 0

 # mc1: Polariser & Spin Flipper - Z translation slide
 # Moto: 100:1 gear, 2mm pitch
@@ -397,20 +404,28 @@ set scorSetRate 25000
 # FOCUS STAGE GEARBOX 6:1
 # FOCUS STAGE RESOLVER DIRECT 310 DEG, 3527 COUNTS USABLE RANGE

-# Computed Monochromator step rates (steps per degree) of focusing and Rotation
+# Computes Monochromator step rates (steps per degree) of focusing and Rotation
+# 1 unit here is 1 degree
+set monoRotateStepsPerUnit [expr 25000.0*8.0*120.0/360.0]

-set monoRotateStepRate [expr 25000.0*8.0*120.0/360.0]
+# Encode reading at the roation, 1 unit here is 1 degree 
+set MonoRotateCntsPerUnit [expr 4096.0*360.0/55.0/360.0]

-# Encode reading at the roation 
-set MonoRotateEncoderCountRate [expr 4096.0*55.0]
+# Setup Focus range as min = 0 and max = 1, working range = 0 to 1 (310 degrees)
+# or, 0 for full focus and 1 for non focus
+# Focusing rate 25000 steps * 6:1 gears = 150000, 1 unit here is 310 degrees
+set monoFocusStepsPerUnit  [expr -25000.0*6.0*310.0/360.0]

-# Setup Focus range as min = 0 and max = 1, working range = 0 to 310/360
-# Focusing rate 25000 steps * 6:1 gears = 150000
-set monoFocusStepRate  [expr 25000.0*6.0]
+#  Encode reading at Focusing stage, 1 unit here is 310 degrees
+set monoFocusCntsPerUnit [expr 4096.0*310.0/360.0]

-#  Encode reading at Focusing stage
-set monoFocusEncoderCountRate 4096
+# Max speed for Focusing , -- currently set as 0.083
+# speed unit here is 310 degrees
+set monoFocusSpeed        0.05
+set monoFocusMaxSpeed     0.083

+# Precision setting turn/move, or 310*turn/move (degrees)
+set monoFocusprecision    0.001

 # mc3: Monochromator Focusing 1 - Focus 
 Motor mra $motor_driver_type [params \
@@ -418,21 +433,23 @@ Motor mra $motor_driver_type [params \
  host mc3-pelican\
  port pmc3-pelican\
  axis A\
-  units mm\
+  units degrees\
  hardlowerlim 0\
-  hardupperlim [expr 310.0/360.0]\
-  maxSpeed [expr 12500.0/25000.0]\
+  hardupperlim 1\
+  speed     $monoFocusSpeed\
+  precision $monoFocusprecision\
+  maxSpeed $monoFocusMaxSpeed\
  maxAccel [expr 25000.0/25000.0]\
  maxDecel [expr 25000.0/25000.0]\
-  stepsPerX $monoFocusStepRate\
+  stepsPerX $monoFocusStepsPerUnit\
  absEnc 1\
  absEncHome $mra_Home\
  bias_bits 12\
-  cntsPerX $monoFocusEncoderCountRate]
+  cntsPerX $monoFocusCntsPerUnit]
 mra part crystal 
 mra long_name mra
 mra softlowerlim 0
-mra softupperlim [expr 310.0/360.0]
+mra softupperlim 1
 mra home 0
 # fix the motor
 mra fixed -1
@@ -444,20 +461,21 @@ Motor moma $motor_driver_type [params \
  port pmc3-pelican\
  axis B\
  units degrees\
-  hardlowerlim 0\
-  hardupperlim 70\
+  hardlowerlim -72.003174\
+  hardupperlim -20.0379\
  maxSpeed [expr 12500.0/25000.0]\
  maxAccel [expr 50000.0/25000.0]\
  maxDecel [expr 50000.0/25000.0]\
-  stepsPerX $monoRotateStepRate\
+  stepsPerX $monoRotateStepsPerUnit\
  absEnc 1\
  absEncHome $moma_Home\
-  cntsPerX $MonoRotateEncoderCountRate]
+  bias_bits 12\
+  cntsPerX $MonoRotateCntsPerUnit]
 moma part crystal
 moma long_name moma
-moma softlowerlim 0
-moma softupperlim 70
-moma home 45
+moma softlowerlim -70
+moma softupperlim -20.537842
+moma home -45

 # mc3: Monochromator Focusing 2 - Focus
 Motor mrb $motor_driver_type [params \
@@ -465,21 +483,23 @@ Motor mrb $motor_driver_type [params \
  host mc3-pelican\
  port pmc3-pelican\
  axis C\
-  units mm\
+  units degrees\
  hardlowerlim 0\
-  hardupperlim [expr 310.0/360.0]\
-  maxSpeed [expr 12500.0/25000.0]\
+  hardupperlim 1\
+  precision $monoFocusprecision\
+  speed    $monoFocusSpeed\
+  maxSpeed $monoFocusMaxSpeed\
  maxAccel [expr 25000.0/25000.0]\
  maxDecel [expr 25000.0/25000.0]\
-  stepsPerX $monoFocusStepRate\
+  stepsPerX $monoFocusStepsPerUnit\
  absEnc 1\
  absEncHome $mrb_Home\
  bias_bits 12\
-  cntsPerX $monoFocusEncoderCountRate]
+  cntsPerX $monoFocusCntsPerUnit]
 mrb part crystal
 mrb long_name mrb
 mrb softlowerlim 0
-mrb softupperlim [expr 310.0/360.0]
+mrb softupperlim 1
 mrb home 0
 # fix the motor
 mrb fixed -1
@@ -491,20 +511,21 @@ Motor momb $motor_driver_type [params \
  port pmc3-pelican\
  axis D\
  units degree\
-  hardlowerlim 0\
-  hardupperlim 70\
+  hardlowerlim -72.003174\
+  hardupperlim -20.198975\
  maxSpeed [expr 12500.0/25000.0]\
  maxAccel [expr 50000.0/25000.0]\
  maxDecel [expr 50000.0/25000.0]\
-  stepsPerX $monoRotateStepRate\
+  stepsPerX $monoRotateStepsPerUnit\
  absEnc 1\
  absEncHome $momb_Home\
-  cntsPerX $MonoRotateEncoderCountRate]
+  bias_bits 12\
+  cntsPerX $MonoRotateCntsPerUnit]
 momb part crystal
 momb long_name momb
-momb softlowerlim 0
-momb softupperlim 70
-momb home 45
+momb softlowerlim -70
+momb softupperlim -20.698975
+momb home -45

 # mc3: Monochromator Focusing 3 - Focus
 Motor mrc $motor_driver_type [params \
@@ -512,21 +533,23 @@ Motor mrc $motor_driver_type [params \
  host mc3-pelican\
  port pmc3-pelican\
  axis E\
-  units mm\
+  units degrees\
  hardlowerlim 0\
-  hardupperlim [expr 310.0/360.0]\
-  maxSpeed [expr 12500.0/25000.0]\
+  hardupperlim 1\
+  precision $monoFocusprecision\
+  speed    $monoFocusSpeed\
+  maxSpeed $monoFocusMaxSpeed\
  maxAccel [expr 25000.0/25000.0]\
  maxDecel [expr 25000.0/25000.0]\
-  stepsPerX $monoFocusStepRate\
+  stepsPerX $monoFocusStepsPerUnit\
  absEnc 1\
  absEncHome $mrc_Home\
  bias_bits 12\
-  cntsPerX $monoFocusEncoderCountRate]
+  cntsPerX $monoFocusCntsPerUnit]
 mrc part crystal
 mrc long_name mrc
 mrc softlowerlim 0
-mrc softupperlim [expr 310.0/360.0]
+mrc softupperlim 1
 mrc home 0
 # fix the motor
 mrc fixed -1
@@ -538,20 +561,21 @@ Motor momc $motor_driver_type [params \
  port pmc3-pelican\
  axis F\
  units degree\
-  hardlowerlim 0\
-  hardupperlim 70\
+  hardlowerlim -72.003174\
+  hardupperlim -21.246338\
  maxSpeed [expr 12500.0/25000.0]\
  maxAccel [expr 50000.0/25000.0]\
  maxDecel [expr 50000.0/25000.0]\
-  stepsPerX $monoRotateStepRate\
+  stepsPerX $monoRotateStepsPerUnit\
  absEnc 1\
  absEncHome $momc_Home\
-  cntsPerX $MonoRotateEncoderCountRate]
+  bias_bits 12\
+  cntsPerX $MonoRotateCntsPerUnit]
 momc part crystal
 momc long_name momc
-momc softlowerlim 0
-momc softupperlim 70
-momc home 45
+momc softlowerlim -70
+momc softupperlim -21.746338
+momc home -45


 ############################
@@ -586,9 +610,9 @@ set mphiSetRate 25000
 #mphi home 0

 # mc4: Monochromator crystal stages tilt stage - G350
-set nchiSetRate 25000
+set mchiSetRate 25000

-#Motor nchi $motor_driver_type [params \
+Motor mchi $motor_driver_type [params \
  asyncqueue mc4\
  host mc4-pelican\
  port pmc4-pelican\
@@ -599,15 +623,18 @@ set nchiSetRate 25000
  maxSpeed [expr 50000.0/25000.0]\
  maxAccel [expr 12500.0/25000.0]\
  maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $nchiSetRate\
+  stepsPerX $mchiSetRate\
  absEnc 1\
-  absEncHome $nchi_Home\
+  absEncHome $mchi_Home\
  cntsPerX 4096]
-#nchi part crystal
-#nchi long_name nchi
-#nchi softlowerlim -5
-#nchi softupperlim 5
-#nchi home 0
+mchi part crystal
+mchi long_name mchi
+mchi softlowerlim -5
+mchi softupperlim 5
+mchi home 0
+mchi speed 0.2
+mchi accel 0.1
+mchi decel 0.1

 # mc4: Monochromator crystal stages Linear stage X - T250
 set mxSetRate 25000
@@ -662,14 +689,14 @@ my speed 1.0
 # mc4: Monochromator crystal stages  Rotation stage - R275 
 set momSetRate 25000

-#Motor mom $motor_driver_type [params \
+Motor mom $motor_driver_type [params \
  asyncqueue mc4\
  host mc4-pelican\
  port pmc4-pelican\
  axis E\
  units degrees\
-  hardlowerlim 20\
-  hardupperlim 70\
+  hardlowerlim -15\
+  hardupperlim 15\
  maxSpeed [expr 50000.0/25000.0]\
  maxAccel [expr 12500.0/25000.0]\
  maxDecel [expr 12500.0/25000.0]\
@@ -677,11 +704,11 @@ set momSetRate 25000
  absEnc 1\
  absEncHome $mom_Home\
  cntsPerX 4096]
-#mom part crystal
-#mom long_name mom
-#mom softlowerlim 20
-#mom softupperlim 70
-#mom home 0
+mom part crystal
+mom long_name mom
+mom softlowerlim -15
+mom softupperlim 15
+mom home 0


 ############################