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parameter tuning in testing Jan 2012

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r3333 | jgn | 2012-01-06 15:56:11 +1100 (Fri, 06 Jan 2012) | 1 line
This commit is contained in:
Jing Chen
2012-01-06 15:56:11 +11:00
committed by Douglas Clowes
parent 981ef28416
commit 22fa0b4251
1 changed files with 110 additions and 83 deletions
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193
site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
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@@ -30,11 +30,11 @@ if {$sim_mode == "true"} {
set motor_driver_type asim set motor_driver_type asim
} else { } else {
set motor_driver_type DMC2280 set motor_driver_type DMC2280
MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port) # MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port) # MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port) MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(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 gom_Home 0
set scor_Home 0 set scor_Home 0
set mra_Home 4286 # AND abs Encoder Reading with FFF to get the lowest 12 bits only
set moma_Home 8386659 #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 mrb_Home 294
set momb_Home 8386694 #set momb_Home 8386694
set mrc_Home 4558982 set momb_Home 2182
set momc_Home 12499198 #set mrc_Home 4558982
set mrc_Home 86
#set momc_Home 12499198
set momc_Home 2302
set mphi_Home 0 set mphi_Home 0
set nchi_Home 0 set mchi_Home 8383096
set mx_Home 0 set mx_Home 8390604
set my_Home 0 set my_Home 8391084
set mom_Home 0 set mom_Home 8389414
set rco_Home 0 set rco_Home 0
set rcz_Home 0 set rcz_Home 0
@@ -87,7 +94,7 @@ set move_count 100
# Dummy translation motor, useful for testing scans # Dummy translation motor, useful for testing scans
Motor dummy_motor asim [params \ #Motor dummy_motor asim [params \
asyncqueue mc1\ asyncqueue mc1\
host mc1-pelican\ host mc1-pelican\
port pmc1-pelican\ port pmc1-pelican\
@@ -102,11 +109,11 @@ Motor dummy_motor asim [params \
absEnc 1\ absEnc 1\
absEncHome $dummy_Home\ absEncHome $dummy_Home\
cntsPerX [expr 8192.0/5.0]] cntsPerX [expr 8192.0/5.0]]
dummy_motor part instrument #dummy_motor part instrument
dummy_motor long_name dummy_motor #dummy_motor long_name dummy_motor
dummy_motor softlowerlim -500 #dummy_motor softlowerlim -500
dummy_motor softupperlim 500 #dummy_motor softupperlim 500
dummy_motor home 0 #dummy_motor home 0
# mc1: Polariser & Spin Flipper - Z translation slide # mc1: Polariser & Spin Flipper - Z translation slide
# Moto: 100:1 gear, 2mm pitch # Moto: 100:1 gear, 2mm pitch
@@ -397,20 +404,28 @@ set scorSetRate 25000
# FOCUS STAGE GEARBOX 6:1 # FOCUS STAGE GEARBOX 6:1
# FOCUS STAGE RESOLVER DIRECT 310 DEG, 3527 COUNTS USABLE RANGE # 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 # Setup Focus range as min = 0 and max = 1, working range = 0 to 1 (310 degrees)
set MonoRotateEncoderCountRate [expr 4096.0*55.0] # 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 # Encode reading at Focusing stage, 1 unit here is 310 degrees
# Focusing rate 25000 steps * 6:1 gears = 150000 set monoFocusCntsPerUnit [expr 4096.0*310.0/360.0]
set monoFocusStepRate [expr 25000.0*6.0]
# Encode reading at Focusing stage # Max speed for Focusing , -- currently set as 0.083
set monoFocusEncoderCountRate 4096 # 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 # mc3: Monochromator Focusing 1 - Focus
Motor mra $motor_driver_type [params \ Motor mra $motor_driver_type [params \
@@ -418,21 +433,23 @@ Motor mra $motor_driver_type [params \
host mc3-pelican\ host mc3-pelican\
port pmc3-pelican\ port pmc3-pelican\
axis A\ axis A\
units mm\ units degrees\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim [expr 310.0/360.0]\ hardupperlim 1\
maxSpeed [expr 12500.0/25000.0]\ speed $monoFocusSpeed\
precision $monoFocusprecision\
maxSpeed $monoFocusMaxSpeed\
maxAccel [expr 25000.0/25000.0]\ maxAccel [expr 25000.0/25000.0]\
maxDecel [expr 25000.0/25000.0]\ maxDecel [expr 25000.0/25000.0]\
stepsPerX $monoFocusStepRate\ stepsPerX $monoFocusStepsPerUnit\
absEnc 1\ absEnc 1\
absEncHome $mra_Home\ absEncHome $mra_Home\
bias_bits 12\ bias_bits 12\
cntsPerX $monoFocusEncoderCountRate] cntsPerX $monoFocusCntsPerUnit]
mra part crystal mra part crystal
mra long_name mra mra long_name mra
mra softlowerlim 0 mra softlowerlim 0
mra softupperlim [expr 310.0/360.0] mra softupperlim 1
mra home 0 mra home 0
# fix the motor # fix the motor
mra fixed -1 mra fixed -1
@@ -444,20 +461,21 @@ Motor moma $motor_driver_type [params \
port pmc3-pelican\ port pmc3-pelican\
axis B\ axis B\
units degrees\ units degrees\
hardlowerlim 0\ hardlowerlim -72.003174\
hardupperlim 70\ hardupperlim -20.0379\
maxSpeed [expr 12500.0/25000.0]\ maxSpeed [expr 12500.0/25000.0]\
maxAccel [expr 50000.0/25000.0]\ maxAccel [expr 50000.0/25000.0]\
maxDecel [expr 50000.0/25000.0]\ maxDecel [expr 50000.0/25000.0]\
stepsPerX $monoRotateStepRate\ stepsPerX $monoRotateStepsPerUnit\
absEnc 1\ absEnc 1\
absEncHome $moma_Home\ absEncHome $moma_Home\
cntsPerX $MonoRotateEncoderCountRate] bias_bits 12\
cntsPerX $MonoRotateCntsPerUnit]
moma part crystal moma part crystal
moma long_name moma moma long_name moma
moma softlowerlim 0 moma softlowerlim -70
moma softupperlim 70 moma softupperlim -20.537842
moma home 45 moma home -45
# mc3: Monochromator Focusing 2 - Focus # mc3: Monochromator Focusing 2 - Focus
Motor mrb $motor_driver_type [params \ Motor mrb $motor_driver_type [params \
@@ -465,21 +483,23 @@ Motor mrb $motor_driver_type [params \
host mc3-pelican\ host mc3-pelican\
port pmc3-pelican\ port pmc3-pelican\
axis C\ axis C\
units mm\ units degrees\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim [expr 310.0/360.0]\ hardupperlim 1\
maxSpeed [expr 12500.0/25000.0]\ precision $monoFocusprecision\
speed $monoFocusSpeed\
maxSpeed $monoFocusMaxSpeed\
maxAccel [expr 25000.0/25000.0]\ maxAccel [expr 25000.0/25000.0]\
maxDecel [expr 25000.0/25000.0]\ maxDecel [expr 25000.0/25000.0]\
stepsPerX $monoFocusStepRate\ stepsPerX $monoFocusStepsPerUnit\
absEnc 1\ absEnc 1\
absEncHome $mrb_Home\ absEncHome $mrb_Home\
bias_bits 12\ bias_bits 12\
cntsPerX $monoFocusEncoderCountRate] cntsPerX $monoFocusCntsPerUnit]
mrb part crystal mrb part crystal
mrb long_name mrb mrb long_name mrb
mrb softlowerlim 0 mrb softlowerlim 0
mrb softupperlim [expr 310.0/360.0] mrb softupperlim 1
mrb home 0 mrb home 0
# fix the motor # fix the motor
mrb fixed -1 mrb fixed -1
@@ -491,20 +511,21 @@ Motor momb $motor_driver_type [params \
port pmc3-pelican\ port pmc3-pelican\
axis D\ axis D\
units degree\ units degree\
hardlowerlim 0\ hardlowerlim -72.003174\
hardupperlim 70\ hardupperlim -20.198975\
maxSpeed [expr 12500.0/25000.0]\ maxSpeed [expr 12500.0/25000.0]\
maxAccel [expr 50000.0/25000.0]\ maxAccel [expr 50000.0/25000.0]\
maxDecel [expr 50000.0/25000.0]\ maxDecel [expr 50000.0/25000.0]\
stepsPerX $monoRotateStepRate\ stepsPerX $monoRotateStepsPerUnit\
absEnc 1\ absEnc 1\
absEncHome $momb_Home\ absEncHome $momb_Home\
cntsPerX $MonoRotateEncoderCountRate] bias_bits 12\
cntsPerX $MonoRotateCntsPerUnit]
momb part crystal momb part crystal
momb long_name momb momb long_name momb
momb softlowerlim 0 momb softlowerlim -70
momb softupperlim 70 momb softupperlim -20.698975
momb home 45 momb home -45
# mc3: Monochromator Focusing 3 - Focus # mc3: Monochromator Focusing 3 - Focus
Motor mrc $motor_driver_type [params \ Motor mrc $motor_driver_type [params \
@@ -512,21 +533,23 @@ Motor mrc $motor_driver_type [params \
host mc3-pelican\ host mc3-pelican\
port pmc3-pelican\ port pmc3-pelican\
axis E\ axis E\
units mm\ units degrees\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim [expr 310.0/360.0]\ hardupperlim 1\
maxSpeed [expr 12500.0/25000.0]\ precision $monoFocusprecision\
speed $monoFocusSpeed\
maxSpeed $monoFocusMaxSpeed\
maxAccel [expr 25000.0/25000.0]\ maxAccel [expr 25000.0/25000.0]\
maxDecel [expr 25000.0/25000.0]\ maxDecel [expr 25000.0/25000.0]\
stepsPerX $monoFocusStepRate\ stepsPerX $monoFocusStepsPerUnit\
absEnc 1\ absEnc 1\
absEncHome $mrc_Home\ absEncHome $mrc_Home\
bias_bits 12\ bias_bits 12\
cntsPerX $monoFocusEncoderCountRate] cntsPerX $monoFocusCntsPerUnit]
mrc part crystal mrc part crystal
mrc long_name mrc mrc long_name mrc
mrc softlowerlim 0 mrc softlowerlim 0
mrc softupperlim [expr 310.0/360.0] mrc softupperlim 1
mrc home 0 mrc home 0
# fix the motor # fix the motor
mrc fixed -1 mrc fixed -1
@@ -538,20 +561,21 @@ Motor momc $motor_driver_type [params \
port pmc3-pelican\ port pmc3-pelican\
axis F\ axis F\
units degree\ units degree\
hardlowerlim 0\ hardlowerlim -72.003174\
hardupperlim 70\ hardupperlim -21.246338\
maxSpeed [expr 12500.0/25000.0]\ maxSpeed [expr 12500.0/25000.0]\
maxAccel [expr 50000.0/25000.0]\ maxAccel [expr 50000.0/25000.0]\
maxDecel [expr 50000.0/25000.0]\ maxDecel [expr 50000.0/25000.0]\
stepsPerX $monoRotateStepRate\ stepsPerX $monoRotateStepsPerUnit\
absEnc 1\ absEnc 1\
absEncHome $momc_Home\ absEncHome $momc_Home\
cntsPerX $MonoRotateEncoderCountRate] bias_bits 12\
cntsPerX $MonoRotateCntsPerUnit]
momc part crystal momc part crystal
momc long_name momc momc long_name momc
momc softlowerlim 0 momc softlowerlim -70
momc softupperlim 70 momc softupperlim -21.746338
momc home 45 momc home -45
############################ ############################
@@ -586,9 +610,9 @@ set mphiSetRate 25000
#mphi home 0 #mphi home 0
# mc4: Monochromator crystal stages tilt stage - G350 # 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\ asyncqueue mc4\
host mc4-pelican\ host mc4-pelican\
port pmc4-pelican\ port pmc4-pelican\
@@ -599,15 +623,18 @@ set nchiSetRate 25000
maxSpeed [expr 50000.0/25000.0]\ maxSpeed [expr 50000.0/25000.0]\
maxAccel [expr 12500.0/25000.0]\ maxAccel [expr 12500.0/25000.0]\
maxDecel [expr 12500.0/25000.0]\ maxDecel [expr 12500.0/25000.0]\
stepsPerX $nchiSetRate\ stepsPerX $mchiSetRate\
absEnc 1\ absEnc 1\
absEncHome $nchi_Home\ absEncHome $mchi_Home\
cntsPerX 4096] cntsPerX 4096]
#nchi part crystal mchi part crystal
#nchi long_name nchi mchi long_name mchi
#nchi softlowerlim -5 mchi softlowerlim -5
#nchi softupperlim 5 mchi softupperlim 5
#nchi home 0 mchi home 0
mchi speed 0.2
mchi accel 0.1
mchi decel 0.1
# mc4: Monochromator crystal stages Linear stage X - T250 # mc4: Monochromator crystal stages Linear stage X - T250
set mxSetRate 25000 set mxSetRate 25000
@@ -662,14 +689,14 @@ my speed 1.0
# mc4: Monochromator crystal stages Rotation stage - R275 # mc4: Monochromator crystal stages Rotation stage - R275
set momSetRate 25000 set momSetRate 25000
#Motor mom $motor_driver_type [params \ Motor mom $motor_driver_type [params \
asyncqueue mc4\ asyncqueue mc4\
host mc4-pelican\ host mc4-pelican\
port pmc4-pelican\ port pmc4-pelican\
axis E\ axis E\
units degrees\ units degrees\
hardlowerlim 20\ hardlowerlim -15\
hardupperlim 70\ hardupperlim 15\
maxSpeed [expr 50000.0/25000.0]\ maxSpeed [expr 50000.0/25000.0]\
maxAccel [expr 12500.0/25000.0]\ maxAccel [expr 12500.0/25000.0]\
maxDecel [expr 12500.0/25000.0]\ maxDecel [expr 12500.0/25000.0]\
@@ -677,11 +704,11 @@ set momSetRate 25000
absEnc 1\ absEnc 1\
absEncHome $mom_Home\ absEncHome $mom_Home\
cntsPerX 4096] cntsPerX 4096]
#mom part crystal mom part crystal
#mom long_name mom mom long_name mom
#mom softlowerlim 20 mom softlowerlim -15
#mom softupperlim 70 mom softupperlim 15
#mom home 0 mom home 0
############################ ############################