linse/sics
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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