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multichan becomes AsyncQueue and AsyncProtocol

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r1963 | dcl | 2007-05-15 12:47:58 +1000 (Tue, 15 May 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-05-15 12:47:58 +10:00
parent c47e4ad45c
commit 27d849ea23
1 changed files with 52 additions and 109 deletions
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161
site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
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@@ -1,7 +1,7 @@
# $Revision: 1.13 $ # $Revision: 1.14 $
# $Date: 2007-05-10 06:12:25 $ # $Date: 2007-05-15 02:47:58 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au) # Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $ # Last revision by: $Author: dcl $
# START MOTOR CONFIGURATION # START MOTOR CONFIGURATION
@@ -14,22 +14,22 @@ if {$sim_mode == "true"} {
} }
# Setup addresses of Galil DMC2280 controllers. # Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller1(host) mc1-$animal set controller1(host) mc1-$animal
set dmc2280_controller1(port) pmc1-$animal set controller1(port) pmc1-$animal
set dmc2280_controller2(host) mc2-$animal set controller2(host) mc2-$animal
set dmc2280_controller2(port) pmc2-$animal set controller2(port) pmc2-$animal
set dmc2280_controller3(host) mc3-$animal set controller3(host) mc3-$animal
set dmc2280_controller3(port) pmc3-$animal set controller3(port) pmc3-$animal
set dmc2280_controller4(host) mc4-$animal set controller4(host) mc4-$animal
set dmc2280_controller4(port) pmc4-$animal set controller4(port) pmc4-$animal
MakeMultiChan mc1 $dmc2280_controller1(host) $dmc2280_controller1(port) MakeAsyncQueue mc1 DMC2280 $controller1(host) $controller1(port)
MakeMultiChan mc2 $dmc2280_controller2(host) $dmc2280_controller2(port) MakeAsyncQueue mc2 DMC2280 $controller2(host) $controller2(port)
MakeMultiChan mc3 $dmc2280_controller3(host) $dmc2280_controller3(port) MakeAsyncQueue mc3 DMC2280 $controller3(host) $controller3(port)
MakeMultiChan mc4 $dmc2280_controller4(host) $dmc2280_controller4(port) MakeAsyncQueue mc4 DMC2280 $controller4(host) $controller4(port)
#Measured absolute encoder reading at home position #Measured absolute encoder reading at home position
@@ -50,7 +50,9 @@ set dz_home 7805000
#Measured or computed step rate for sz (Sample Raise) #Measured or computed step rate for sz (Sample Raise)
#set szStepRate -116500 #set szStepRate -116500
set szStepRate -125000 set szStepRate -125000
set szCountRate [expr -(8192.0/5.0/0.932)] #set szCountRate [expr -(8192.0/5.0/0.932)]
# 8192 count encoder, 5mm/Turn screw, 14:15 gearing?
set szCountRate [expr -(8192.0/5.0/(14.0/15.0))]
#Measured or computed slit motor steps per millimetre #Measured or computed slit motor steps per millimetre
# 2mm per turn pitch, # 2mm per turn pitch,
@@ -151,9 +153,7 @@ set move_count 100
# Beam Shade Vertical Translation (6mm/T double helix, 500mm) # Beam Shade Vertical Translation (6mm/T double helix, 500mm)
Motor bz $motor_driver_type [params \ Motor bz $motor_driver_type [params \
multichan mc1\ asyncqueue mc1\
host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\
axis A\ axis A\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
@@ -173,9 +173,7 @@ bz home 0
# Collimator Table Horizontal Translation, X # Collimator Table Horizontal Translation, X
Motor c1ht $motor_driver_type [params \ Motor c1ht $motor_driver_type [params \
multichan mc1\ asyncqueue mc1\
host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\
axis B\ axis B\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
@@ -195,9 +193,7 @@ c1ht home 0
# Collimator Tilt, Z axis, positive is down # Collimator Tilt, Z axis, positive is down
Motor m1ro $motor_driver_type [params \ Motor m1ro $motor_driver_type [params \
multichan mc1\ asyncqueue mc1\
host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\
axis C\ axis C\
units degrees\ units degrees\
hardlowerlim -3.5\ hardlowerlim -3.5\
@@ -217,9 +213,7 @@ m1ro home 0
# Beam Attenuator (16mm/turn, 200mm travel) # Beam Attenuator (16mm/turn, 200mm travel)
Motor bat $motor_driver_type [params \ Motor bat $motor_driver_type [params \
multichan mc1\ asyncqueue mc1\
host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\
axis D\ axis D\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
@@ -239,9 +233,7 @@ bat home 0
# Slit 3 Tower Translation (1mm/T, +/- 100mm) # Slit 3 Tower Translation (1mm/T, +/- 100mm)
Motor st3vt $motor_driver_type [params \ Motor st3vt $motor_driver_type [params \
multichan mc1\ asyncqueue mc1\
host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\
axis E\ axis E\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
@@ -261,9 +253,7 @@ st3vt home 0
# Slit 4 Tower Translation (1mm/T, +/- 100mm) # Slit 4 Tower Translation (1mm/T, +/- 100mm)
Motor st4vt $motor_driver_type [params \ Motor st4vt $motor_driver_type [params \
multichan mc1\ asyncqueue mc1\
host $dmc2280_controller1(host)\
port $dmc2280_controller1(port)\
axis F\ axis F\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
@@ -291,9 +281,7 @@ st4vt home 0
# Sample Tilt 1, upper (1 degree/turn) # Sample Tilt 1, upper (1 degree/turn)
Motor sth $motor_driver_type [params \ Motor sth $motor_driver_type [params \
multichan mc2\ asyncqueue mc2\
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis A\ axis A\
units degrees\ units degrees\
hardlowerlim -15\ hardlowerlim -15\
@@ -302,6 +290,7 @@ Motor sth $motor_driver_type [params \
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX 25000\ stepsPerX 25000\
backlash_offset -0.25\
absEnc 1\ absEnc 1\
absEncHome $sth_home\ absEncHome $sth_home\
cntsPerX 8192] cntsPerX 8192]
@@ -313,9 +302,7 @@ sth precision 0.01
# Sample Tilt 2, lower (1 degree/turn) # Sample Tilt 2, lower (1 degree/turn)
Motor sphi $motor_driver_type [params \ Motor sphi $motor_driver_type [params \
multichan mc2\ asyncqueue mc2\
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis B\ axis B\
units degrees\ units degrees\
hardlowerlim -5\ hardlowerlim -5\
@@ -335,9 +322,7 @@ sphi precision 0.01
# Sample Translation, Linear X (5mm/T, 0-750mm) # Sample Translation, Linear X (5mm/T, 0-750mm)
Motor sx $motor_driver_type [params \ Motor sx $motor_driver_type [params \
multichan mc2\ asyncqueue mc2\
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis C\ axis C\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
@@ -357,9 +342,7 @@ sx home 0
# Sample Translation, Linear Y # Sample Translation, Linear Y
#Motor sy $motor_driver_type [params \ #Motor sy $motor_driver_type [params \
# multichan mc2\ # asyncqueue mc2\
# host $dmc2280_controller2(host)\
# port $dmc2280_controller2(port)\
# axis D\ # axis D\
# units mm\ # units mm\
# hardlowerlim -600\ # hardlowerlim -600\
@@ -379,9 +362,7 @@ sx home 0
# Sample Translation, Linear Z (??/T, 300mm) # Sample Translation, Linear Z (??/T, 300mm)
Motor sz $motor_driver_type [params \ Motor sz $motor_driver_type [params \
multichan mc2\ asyncqueue mc2\
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis E\ axis E\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
@@ -390,6 +371,8 @@ Motor sz $motor_driver_type [params \
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX $szStepRate\ stepsPerX $szStepRate\
backlash_offset -1\
creep_offset 0.01\
absEnc 1\ absEnc 1\
absEncHome $sz_home\ absEncHome $sz_home\
cntsPerX $szCountRate] cntsPerX $szCountRate]
@@ -403,9 +386,7 @@ sth precision 0.001
# Detector Translation, Linear Y (Not Motorized) # Detector Translation, Linear Y (Not Motorized)
#Motor dy $motor_driver_type [params \ #Motor dy $motor_driver_type [params \
# multichan mc2\ # asyncqueue mc2\
# host $dmc2280_controller2(host)\
# port $dmc2280_controller2(port)\
# axis F\ # axis F\
# units mm\ # units mm\
# hardlowerlim -595\ # hardlowerlim -595\
@@ -423,9 +404,7 @@ sth precision 0.001
# Detector Translation, Linear Z (5mm/T gearing unknown) # Detector Translation, Linear Z (5mm/T gearing unknown)
Motor dz $motor_driver_type [params \ Motor dz $motor_driver_type [params \
multichan mc2\ asyncqueue mc2\
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
axis G\ axis G\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
@@ -452,9 +431,7 @@ dz home 0
# Slit 1, left # Slit 1, left
Motor ss1l $motor_driver_type [params \ Motor ss1l $motor_driver_type [params \
multichan mc3\ asyncqueue mc3\
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis A\ axis A\
units mm\ units mm\
hardlowerlim $ss1l_LoRange\ hardlowerlim $ss1l_LoRange\
@@ -472,9 +449,7 @@ ss1l home 0
# Slit 1, right # Slit 1, right
Motor ss1r $motor_driver_type [params \ Motor ss1r $motor_driver_type [params \
multichan mc3\ asyncqueue mc3\
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis B\ axis B\
units mm\ units mm\
hardlowerlim $ss1r_LoRange\ hardlowerlim $ss1r_LoRange\
@@ -492,9 +467,7 @@ ss1r home 0
# Slit 1, upper # Slit 1, upper
Motor ss1u $motor_driver_type [params \ Motor ss1u $motor_driver_type [params \
multichan mc3\ asyncqueue mc3\
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis C\ axis C\
units mm\ units mm\
hardlowerlim $ss1u_LoRange\ hardlowerlim $ss1u_LoRange\
@@ -512,9 +485,7 @@ ss1u home 0
# Slit 1, lower # Slit 1, lower
Motor ss1d $motor_driver_type [params \ Motor ss1d $motor_driver_type [params \
multichan mc3\ asyncqueue mc3\
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis D\ axis D\
units mm\ units mm\
hardlowerlim $ss1d_LoRange\ hardlowerlim $ss1d_LoRange\
@@ -532,9 +503,7 @@ ss1d home 0
# Slit 2, left # Slit 2, left
Motor ss2l $motor_driver_type [params \ Motor ss2l $motor_driver_type [params \
multichan mc3\ asyncqueue mc3\
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis E\ axis E\
units mm\ units mm\
hardlowerlim $ss2l_LoRange\ hardlowerlim $ss2l_LoRange\
@@ -552,9 +521,7 @@ ss2l home 0
# Slit 2, right # Slit 2, right
Motor ss2r $motor_driver_type [params \ Motor ss2r $motor_driver_type [params \
multichan mc3\ asyncqueue mc3\
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis F\ axis F\
units mm\ units mm\
hardlowerlim $ss2r_LoRange\ hardlowerlim $ss2r_LoRange\
@@ -572,9 +539,7 @@ ss2r home 0
# Slit 2, upper # Slit 2, upper
Motor ss2u $motor_driver_type [params \ Motor ss2u $motor_driver_type [params \
multichan mc3\ asyncqueue mc3\
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis G\ axis G\
units mm\ units mm\
hardlowerlim $ss2u_LoRange\ hardlowerlim $ss2u_LoRange\
@@ -592,9 +557,7 @@ ss2u home 0
# Slit 2, lower # Slit 2, lower
Motor ss2d $motor_driver_type [params \ Motor ss2d $motor_driver_type [params \
multichan mc3\ asyncqueue mc3\
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis H\ axis H\
units mm\ units mm\
hardlowerlim $ss2d_LoRange\ hardlowerlim $ss2d_LoRange\
@@ -619,9 +582,7 @@ ss2d home 0
# Slit 3, lower # Slit 3, lower
Motor ss3d $motor_driver_type [params \ Motor ss3d $motor_driver_type [params \
multichan mc4\ asyncqueue mc4\
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis A\ axis A\
units mm\ units mm\
hardlowerlim $ss3d_LoRange\ hardlowerlim $ss3d_LoRange\
@@ -639,9 +600,7 @@ ss3d home 0
# Slit 3, upper # Slit 3, upper
Motor ss3u $motor_driver_type [params \ Motor ss3u $motor_driver_type [params \
multichan mc4\ asyncqueue mc4\
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis B\ axis B\
units mm\ units mm\
hardlowerlim $ss3u_LoRange\ hardlowerlim $ss3u_LoRange\
@@ -659,9 +618,7 @@ ss3u home 0
# Slit 3, Left # Slit 3, Left
Motor ss3l $motor_driver_type [params \ Motor ss3l $motor_driver_type [params \
multichan mc4\ asyncqueue mc4\
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis C\ axis C\
units mm\ units mm\
hardlowerlim $ss3l_LoRange\ hardlowerlim $ss3l_LoRange\
@@ -679,9 +636,7 @@ ss3l home 0
# Slit 3, right # Slit 3, right
Motor ss3r $motor_driver_type [params \ Motor ss3r $motor_driver_type [params \
multichan mc4\ asyncqueue mc4\
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis D\ axis D\
units mm\ units mm\
hardlowerlim $ss3r_LoRange\ hardlowerlim $ss3r_LoRange\
@@ -699,9 +654,7 @@ ss3r home 0
# Slit 4, lower # Slit 4, lower
Motor ss4d $motor_driver_type [params \ Motor ss4d $motor_driver_type [params \
multichan mc4\ asyncqueue mc4\
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis E\ axis E\
units mm\ units mm\
hardlowerlim $ss4d_LoRange\ hardlowerlim $ss4d_LoRange\
@@ -719,9 +672,7 @@ ss4d home 0
# Slit 4, upper # Slit 4, upper
Motor ss4u $motor_driver_type [params \ Motor ss4u $motor_driver_type [params \
multichan mc4\ asyncqueue mc4\
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis F\ axis F\
units mm\ units mm\
hardlowerlim $ss4u_LoRange\ hardlowerlim $ss4u_LoRange\
@@ -739,9 +690,7 @@ ss4u home 0
# Slit 4, left # Slit 4, left
Motor ss4l $motor_driver_type [params \ Motor ss4l $motor_driver_type [params \
multichan mc4\ asyncqueue mc4\
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis G\ axis G\
units mm\ units mm\
hardlowerlim $ss4l_LoRange\ hardlowerlim $ss4l_LoRange\
@@ -759,9 +708,7 @@ ss4l home 0
# Slit 4, right # Slit 4, right
Motor ss4r $motor_driver_type [params \ Motor ss4r $motor_driver_type [params \
multichan mc4\ asyncqueue mc4\
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis H\ axis H\
units mm\ units mm\
hardlowerlim $ss4r_LoRange\ hardlowerlim $ss4r_LoRange\
@@ -779,9 +726,7 @@ ss4r home 0
## Polarization Analyzer Vertical Translation, Z ## Polarization Analyzer Vertical Translation, Z
#Motor anzvt $motor_driver_type [params \ #Motor anzvt $motor_driver_type [params \
# multichan mc2\ # asyncqueue mc2\
# host $dmc2280_controller2(host)\
# port $dmc2280_controller2(port)\
# axis xxxx\ # axis xxxx\
# units mm\ # units mm\
# maxSpeed 1\ # maxSpeed 1\
@@ -801,9 +746,7 @@ ss4r home 0
## Polarization Analyzer Rotation ## Polarization Analyzer Rotation
#Motor anro $motor_driver_type [params \ #Motor anro $motor_driver_type [params \
# multichan mc2\ # asyncqueue mc2\
# host $dmc2280_controller2(host)\
# port $dmc2280_controller2(port)\
# axis xxxx\ # axis xxxx\
# units mm\ # units mm\
# hardlowerlim -10\ # hardlowerlim -10\