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Configured focusing and mx and my

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r3329 | ffr | 2012-01-05 09:53:48 +1100 (Thu, 05 Jan 2012) | 2 lines
This commit is contained in:
Ferdi Franceschini
2012-01-05 09:53:48 +11:00
committed by Douglas Clowes
parent ab07d2c1e0
commit 2e4d446865
1 changed files with 42 additions and 38 deletions
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80
site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
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@@ -1,4 +1,5 @@
# Author: Jing Chen (jgn@ansto.gov.au)
# All Motors are 25000 steps per motor revolution
# SET TO 1 TO USE THE TILT STAGE ie sample phi and chi
set use_tiltstage 0
@@ -398,13 +399,14 @@ set scorSetRate 25000
# Computed Monochromator step rates (steps per degree) of focusing and Rotation
set monoRotateStepRate [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
set MonoRotateEncoderCountRate [expr 4096.0*360.0/55.0]
set MonoRotateEncoderCountRate [expr 4096.0*55.0]
# Focusing rate 12500 steps * 6:1 gears = 150000
set monoFocusStepRate [expr 12500.0/6.0]
# Setup Focus range as min = 0 and max = 1, working range = 0 to 310/360
# Focusing rate 25000 steps * 6:1 gears = 150000
set monoFocusStepRate [expr 25000.0*6.0]
# Encode reading at Focusing stage
set monoFocusEncoderCountRate 4096
@@ -418,10 +420,10 @@ Motor mra $motor_driver_type [params \
axis A\
units mm\
hardlowerlim 0\
hardupperlim 5\
maxSpeed [expr 12500.0/12500.0]\
maxAccel [expr 25000.0/12500.0]\
maxDecel [expr 25000.0/12500.0]\
hardupperlim [expr 310.0/360.0]\
maxSpeed [expr 12500.0/25000.0]\
maxAccel [expr 25000.0/25000.0]\
maxDecel [expr 25000.0/25000.0]\
stepsPerX $monoFocusStepRate\
absEnc 1\
absEncHome $mra_Home\
@@ -430,7 +432,7 @@ Motor mra $motor_driver_type [params \
mra part crystal
mra long_name mra
mra softlowerlim 0
mra softupperlim 5
mra softupperlim [expr 310.0/360.0]
mra home 0
# fix the motor
mra fixed -1
@@ -455,7 +457,7 @@ moma part crystal
moma long_name moma
moma softlowerlim 0
moma softupperlim 70
moma home 20
moma home 45
# mc3: Monochromator Focusing 2 - Focus
Motor mrb $motor_driver_type [params \
@@ -465,10 +467,10 @@ Motor mrb $motor_driver_type [params \
axis C\
units mm\
hardlowerlim 0\
hardupperlim 5\
maxSpeed [expr 12500.0/12500.0]\
maxAccel [expr 25000.0/12500.0]\
maxDecel [expr 25000.0/12500.0]\
hardupperlim [expr 310.0/360.0]\
maxSpeed [expr 12500.0/25000.0]\
maxAccel [expr 25000.0/25000.0]\
maxDecel [expr 25000.0/25000.0]\
stepsPerX $monoFocusStepRate\
absEnc 1\
absEncHome $mrb_Home\
@@ -477,7 +479,7 @@ Motor mrb $motor_driver_type [params \
mrb part crystal
mrb long_name mrb
mrb softlowerlim 0
mrb softupperlim 5
mrb softupperlim [expr 310.0/360.0]
mrb home 0
# fix the motor
mrb fixed -1
@@ -502,7 +504,7 @@ momb part crystal
momb long_name momb
momb softlowerlim 0
momb softupperlim 70
momb home 0
momb home 45
# mc3: Monochromator Focusing 3 - Focus
Motor mrc $motor_driver_type [params \
@@ -512,10 +514,10 @@ Motor mrc $motor_driver_type [params \
axis E\
units mm\
hardlowerlim 0\
hardupperlim 5\
maxSpeed [expr 12500.0/12500.0]\
maxAccel [expr 25000.0/12500.0]\
maxDecel [expr 25000.0/12500.0]\
hardupperlim [expr 310.0/360.0]\
maxSpeed [expr 12500.0/25000.0]\
maxAccel [expr 25000.0/25000.0]\
maxDecel [expr 25000.0/25000.0]\
stepsPerX $monoFocusStepRate\
absEnc 1\
absEncHome $mrc_Home\
@@ -524,7 +526,7 @@ Motor mrc $motor_driver_type [params \
mrc part crystal
mrc long_name mrc
mrc softlowerlim 0
mrc softupperlim 5
mrc softupperlim [expr 310.0/360.0]
mrc home 0
# fix the motor
mrc fixed -1
@@ -549,7 +551,7 @@ momc part crystal
momc long_name momc
momc softlowerlim 0
momc softupperlim 70
momc home 0
momc home 45
############################
@@ -610,14 +612,14 @@ set nchiSetRate 25000
# mc4: Monochromator crystal stages Linear stage X - T250
set mxSetRate 25000
#Motor mx $motor_driver_type [params \
Motor mx $motor_driver_type [params \
asyncqueue mc4\
host mc4-pelican\
port pmc4-pelican\
axis C\
units mm\
hardlowerlim -5\
hardupperlim 5\
hardlowerlim -20\
hardupperlim 20\
maxSpeed [expr 50000.0/25000.0]\
maxAccel [expr 12500.0/25000.0]\
maxDecel [expr 12500.0/25000.0]\
@@ -625,23 +627,24 @@ set mxSetRate 25000
absEnc 1\
absEncHome $mx_Home\
cntsPerX 4096]
#mx part crystal
#mx long_name mx
#mx softlowerlim -5
#mx softupperlim 5
#mx home 0
mx part crystal
mx long_name mx
mx softlowerlim -20
mx softupperlim 20
mx home 0
mx speed 1.0
# mc4: Monochromator crystal stages Linear stage Y - T250
set mySetRate 25000
#Motor my $motor_driver_type [params \
Motor my $motor_driver_type [params \
asyncqueue mc4\
host mc4-pelican\
port pmc4-pelican\
axis D\
units mm\
hardlowerlim -50\
hardupperlim 50\
hardlowerlim -20\
hardupperlim 20\
maxSpeed [expr 50000.0/25000.0]\
maxAccel [expr 12500.0/25000.0]\
maxDecel [expr 12500.0/25000.0]\
@@ -649,11 +652,12 @@ set mySetRate 25000
absEnc 1\
absEncHome $my_Home\
cntsPerX 4096]
#mx part crystal
#mx long_name my
#mx softlowerlim -50
#mx softupperlim 50
#mx home 0
my part crystal
my long_name my
my softlowerlim -10
my softupperlim 10
my home 0
my speed 1.0
# mc4: Monochromator crystal stages Rotation stage - R275
set momSetRate 25000