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Make sample stages configurable and add Oxford magnet sample stick motor as an option.

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This commit is contained in:
Ferdi Franceschini
2014-08-05 13:49:10 +10:00
parent 7b6b11eef2
commit 2c753a3f18
5 changed files with 158 additions and 28 deletions
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5
site_ansto/instrument/hipd/config/motors/magnet_configuration.tcl → site_ansto/instrument/config/motors/magnet_configuration.tcl
View File

@ -1,7 +1,6 @@
set magmot "som"
Motor $magmot $motor_driver_type [params \
asyncqueue mc2\
axis D\
asyncqueue $magmot_aq\
axis $magmot_axis\
units degrees\
hardlowerlim -1440\
hardupperlim 1440\

5
site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
View File

@ -143,7 +143,10 @@ switch $axis_config {
3 {
# Rename the sample stage som to somss because
# som now controls the magnet sample stick
set sample_stage_rotate "somss"
set sample_stage_rotate "som"
set magmot "msom"
set magmot_aq "mc2"
set magmot_axis "D"
fileeval $cfPath(motors)/magnet_configuration.tcl
}
}

7
site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
View File

@ -134,9 +134,10 @@ switch $axis_config {
fileeval $cfPath(motors)/small_omega_config.tcl
}
3 {
# Rename the sample stage som to somss because
# som now controls the magnet sample stick
set sample_stage_rotate "somss"
set sample_stage_rotate "som"
set magmot "msom"
set magmot_aq "mc2"
set magmot_axis "D"
fileeval $cfPath(motors)/magnet_configuration.tcl
}
}

91
site_ansto/instrument/hrpd/config/motors/small_omega_config.tcl Normal file
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@ -0,0 +1,91 @@
# This must be loaded by motor_configuration.tcl
set sphi_Home 7937974
set schi_Home 7585956
set sy_Home 7557524
set sx_Home 7557304
# Sample Tilt 1, upper, phi
Motor sphi $motor_driver_type [params \
asyncqueue mc2\
axis A\
units degrees\
hardlowerlim -360\
hardupperlim 360\
maxSpeed 3\
maxAccel 2\
maxDecel 2\
stepsPerX 25000\
absEnc 0\
absEncHome $sphi_Home\
cntsPerX -8192]
setHomeandRange -motor sphi -home 0 -lowrange -360 -uprange 360
sphi speed 2
sphi movecount $move_count
sphi precision 0.02
sphi part sample
sphi long_name phi
# Sample Tilt 2, lower, chi
Motor schi $motor_driver_type [params \
asyncqueue mc2\
axis B\
units degrees\
hardlowerlim 75\
hardupperlim 105\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome $schi_Home\
cntsPerX 8192]
setHomeandRange -motor schi -home 90 -lowrange 15 -uprange 15
schi speed 1
schi movecount $move_count
schi precision 0.01
schi part sample
schi long_name chi
# Sample Trans 1, upper, y
Motor sy $motor_driver_type [params \
asyncqueue mc2\
axis C\
units mm\
hardlowerlim -20\
hardupperlim 20\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome $sy_Home\
cntsPerX 8192]
setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
sy speed 1
sy movecount $move_count
sy precision 0.01
sy part sample
sy long_name translate_y
# Sample Trans2, lower, x
Motor sx $motor_driver_type [params \
asyncqueue mc2\
axis D\
units mm\
hardlowerlim -20\
hardupperlim 20\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -25000\
absEnc 1\
absEncHome $sx_Home\
cntsPerX -8192]
setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
sx speed 1
sx movecount $move_count
sx precision 0.01
sx part sample
sx long_name translate_x

78
site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
View File

@ -67,6 +67,40 @@ set gv1_Shut 33221600
# hnotify messages to a reasonable level
set move_count 100
# CHOOSE HERE for sample stage configuration
##########################################
# Set axis_config as follows to use different axis configurations
# 0: normal stage configuration
# 1: Oxford magnet sample stick
set axis_config 0
if { [ info exists ::config_dict ] } {
if { [ dict exists $::config_dict sample_stage implementation ] } {
set implementation [ dict get $::config_dict sample_stage implementation ]
if {$implementation == "normal_sample_stage"} {
set axis_config 0
} elseif {$implementation == "12tmagnet_sample_insert"} {
set axis_config 1
} else {
set axis_config 0
}
}
}
switch $axis_config {
0 {
set use_normal_config "true"
}
1 {
set magmot "mscor"
set magmot_aq "mc2"
set magmot_axis "F"
set use_normal_config "false"
fileeval $cfPath(motors)/magnet_configuration.tcl
}
}
############################
# Motor Controller 1
# Motor Controller 1
@ -381,29 +415,31 @@ gom softlowerlim -15
gom softupperlim 15
gom home 0
if {$use_normal_config == "true"} {
# mc2: Sample rotation correction - 10 deg rotation
set scorStepRate [expr { 25000.0 * 100.0 / 360.0 }]
set scorStepRate [expr { 25000.0 * 100.0 / 360.0 }]
Motor scor $motor_driver_type [params \
asyncqueue mc2\
host mc2-pelican\
port pmc2-pelican\
axis F\
units degrees\
hardlowerlim 0\
hardupperlim 360\
maxSpeed [expr 25000.0/$scorStepRate]\
maxAccel [expr 25000.0/$scorStepRate]\
maxDecel [expr 25000.0/$scorStepRate]\
stepsPerX $scorStepRate\
absEnc 1\
absEncHome $scor_Home\
cntsPerX -[expr { 8192.0 * 100.0 / 360.0 }]]
scor part sample
scor long_name scor
scor softlowerlim 0
scor softupperlim 360
scor home 180
Motor scor $motor_driver_type [params \
asyncqueue mc2\
host mc2-pelican\
port pmc2-pelican\
axis F\
units degrees\
hardlowerlim 0\
hardupperlim 360\
maxSpeed [expr 25000.0/$scorStepRate]\
maxAccel [expr 25000.0/$scorStepRate]\
maxDecel [expr 25000.0/$scorStepRate]\
stepsPerX $scorStepRate\
absEnc 1\
absEncHome $scor_Home\
cntsPerX -[expr { 8192.0 * 100.0 / 360.0 }]]
scor part sample
scor long_name scor
scor softlowerlim 0
scor softupperlim 360
scor home 180
}
############################
# Motor Controller 3