From 2e4d4468659f1a2ded2ed6a8d9409c8c1cb2c366 Mon Sep 17 00:00:00 2001 From: Ferdi Franceschini Date: Thu, 5 Jan 2012 09:53:48 +1100 Subject: [PATCH] Configured focusing and mx and my r3329 | ffr | 2012-01-05 09:53:48 +1100 (Thu, 05 Jan 2012) | 2 lines --- .../config/motors/motor_configuration.tcl | 80 ++++++++++--------- 1 file changed, 42 insertions(+), 38 deletions(-) diff --git a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl index b32b2735..f8eadaa4 100644 --- a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl +++ b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl @@ -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