commissioning refinement

r2278 | dcl | 2008-01-15 12:36:08 +1100 (Tue, 15 Jan 2008) | 2 lines

site_ansto/instrument/rsd/config/motors/motor_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.18 $
+# $Revision: 1.19 $
-# $Date: 2007-12-06 23:22:38 $
+# $Date: 2008-01-15 01:36:08 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -43,12 +43,35 @@ set mtth_Home 11701800
 #set sz_home 2147458067
 set sz_home 2147457556
 #set sx_Home 8405693
-set sx_Home 8414653
+#set sx_Home 8414653
+# set value from 8376253 to 8385562 after cor 5.12.07
+set sx_Home 8385562
 #set sy_Home 7230717
-set sy_Home 7223739
+# set value from 7223739 to 7224686 after cor 5.12.07
+#set sy_Home 7223739
+set sy_Home 7224686
 set som_Home 23164850
 set stth_Home 7500000
 set mf1_Home 7500000
+
+#set psho_home 542093
+set psho_home 7576691
+#set psp_home 2040518
+#set psp_home 3479157
+#set psp_home 3783500
+set psp_home 3679100
+#set psw_home 2040518
+set psw_home 7784698
+
+#set ssho_home 500000
+#set ssho_home 7193394
+set ssho_home 6877100
+#set ssp_home 2043085
+#set ssp_home 8701689
+set ssp_home 8701400
+#set ssw_home 2043085
+set ssw_home 8215625
+
 set move_count 10
 
 ############################
@@ -247,15 +270,18 @@ sz long_name vertical_translation
 #
 # values for pitch of screw changed from 5
 # to 4.994810 (vll 16.11.2007)
-#
+# to 4.995444 (v12 23.11.2007)
-set sx_pitch 4.994810
+# to 4.995608 (v13 23.11.2007)
+# to 4.997291 (v14 05.12.2007) after realignement of x and y table
+# to 4.99841687 (oki 06.12.2007) after bearing adjustment on x table
+set sx_pitch 4.99841687
 Motor sx $motor_driver_type [params \
   asyncqueue mc2\
   axis C\
   units mm\
   hardlowerlim -250\
   hardupperlim 250\
-  maxSpeed 2\
+  maxSpeed 10\
   maxAccel 1\
   maxDecel 1\
   stepsPerX [expr -2.0*25000.0/$sx_pitch]\
@@ -263,27 +289,30 @@ Motor sx $motor_driver_type [params \
   absEncHome $sx_Home\
   cntsPerX [expr 8192.0/$sx_pitch]]
 setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250 
-sx speed 1
+sx speed 5
-sx accel 0.1
+sx accel 1.0
-sx decel 0.1
+sx decel 1.0
 sx movecount $move_count
 sx precision 0.01
 sx part sample
 sx long_name translate_x
+sx backlash_offset -5
+sx creep_offset 0.5
 
 # Sample Trans2, lower, y
 #
 # values for pitch of screw changed from 5
 # to 4.9976934 (oki 19.11.2007)
-#
+# to 4.9996395 after x and y table alignement (ok, 10.12.2007)
-set sy_pitch 4.9976934
+# to 4.9996810 after x and y table alignement (ok, 10.12.2007)
+set sy_pitch 4.9996810
 Motor sy $motor_driver_type [params \
   asyncqueue mc2\
   axis D\
   units mm\
   hardlowerlim -250\
   hardupperlim 250\
-  maxSpeed 2\
+  maxSpeed 10\
   maxAccel 1\
   maxDecel 1\
   stepsPerX [expr 2.0*25000.0/$sy_pitch]\
@@ -291,13 +320,15 @@ Motor sy $motor_driver_type [params \
   absEncHome $sy_Home\
   cntsPerX [expr -8192.0/$sy_pitch]]
 setHomeandRange -motor sy -home 0 -lowrange 250 -uprange 250 
-sy speed 1
+sy speed 5
-sx accel 0.1
+sx accel 1.0
-sx decel 0.1
+sx decel 1.0
 sy movecount $move_count
 sy precision 0.01
 sy part sample
 sy long_name translate_y
+sy backlash_offset -5
+sy creep_offset 0.5
 
 # Sample Omega, rotate
 Motor som $motor_driver_type [params \
@@ -429,7 +460,7 @@ mf2 long_name mf2
 # Primary Slit, horizontal offset, 0-30mm (X-axis)
 Motor psho $motor_driver_type [params \
   asyncqueue mc4\
-  axis B\
+  axis A\
   units mm\
   hardlowerlim 0\
   hardupperlim 30\
@@ -438,7 +469,7 @@ Motor psho $motor_driver_type [params \
   maxDecel 1\
   stepsPerX -25000\
   absenc 1\
-  absenchome 542093\
+  absenchome $psho_home\
   cntsPerX 8192]
 psho part aperture.primary
 psho long_name horizontal_offset
@@ -447,7 +478,7 @@ setHomeandRange -motor psho  -home 0 -lowrange 0 -uprange 30
 # Primary Slit, position 0-150mm (Y-axis)
 Motor psp $motor_driver_type [params \
   asyncqueue mc4\
-  axis A\
+  axis B\
   units mm\
   hardlowerlim 0\
   hardupperlim 150\
@@ -456,7 +487,7 @@ Motor psp $motor_driver_type [params \
   maxDecel 1\
   stepsPerX -25000\
   absenc 1\
-  absenchome 2040518\
+  absenchome $psp_home\
   cntsPerX 8192]
 psp part aperture.primary
 psp long_name position
@@ -472,10 +503,10 @@ Motor psw $motor_driver_type [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -25000\
+  stepsPerX +25000\
   absenc 1\
-  absenchome 2040518\
+  absenchome $psw_home\
-  cntsPerX 8192]
+  cntsPerX -8192]
 psw part aperture.primary
 psw long_name width
 setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30 
@@ -488,13 +519,13 @@ Motor ssho $motor_driver_type [params \
   axis D\
   units mm\
   hardlowerlim 0\
-  hardupperlim 30\
+  hardupperlim 38.5\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -25000\
   absenc 1\
-  absenchome 500000\
+  absenchome $ssho_home\
   cntsPerX 8192]
 ssho part aperture.secondary
 ssho long_name horizontal_offset
@@ -510,10 +541,10 @@ Motor ssp $motor_driver_type [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -25000\
+  stepsPerX 25000\
   absenc 1\
-  absenchome 2043085\
+  absenchome $ssp_home\
-  cntsPerX 8192]
+  cntsPerX -8192]
 ssp part aperture.secondary
 ssp long_name position
 setHomeandRange -motor ssp  -home 0 -lowrange 0 -uprange 150
@@ -528,10 +559,10 @@ Motor ssw $motor_driver_type [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -25000\
+  stepsPerX 25000\
   absenc 1\
-  absenchome 2043085\
+  absenchome $ssw_home\
-  cntsPerX 8192]
+  cntsPerX -8192]
 ssw part aperture.secondary
 ssw long_name width
 setHomeandRange -motor ssw  -home 0 -lowrange 0 -uprange 30