Commissioning WIP
r3545 | dcl | 2012-05-17 11:04:14 +1000 (Thu, 17 May 2012) | 1 line
This commit is contained in:
Douglas Clowes
@@ -1,4 +1,3 @@
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# Author: Jing Chen (jgn@ansto.gov.au)
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# All Motors are 25000 steps per motor revolution
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set animal pelican
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@@ -72,11 +71,14 @@ set my_Home 8391084
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set mom_Home 8389414
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set rco_Home 33531098
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# TODO get real values from Dan
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set rcz_Home 33141607
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set rcz_Home 33137920
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set rcz_Beam 33479215
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set bsr_Home 1192516
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set gv1_Home 0
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set gv2_Home 0
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set gv1_Open 33468000
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set gv1_Shut 33221600
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# set movecount high to reduce the frequency of
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@@ -142,6 +144,7 @@ ptz home 0
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ptz posit_1 31408274
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ptz posit_2 32096132
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ptz posit_3 33171650
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ptz creep_offset 0.001
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# mc1: Beryllium / Graphite filter shared - Z translation slide
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# Moto: 100:1 gear, 2mm pitch
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@@ -168,10 +171,11 @@ ftz long_name ftz
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ftz softlowerlim -280
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ftz softupperlim 160
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ftz home 0
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# 1:RevLimit, 2:PG, 3:Open, 4:Be, 5:FwdLim
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# 1:PG, 2:Open, 3:Be
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ftz posit_1 590157
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ftz posit_2 1242083
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ftz posit_3 2348104
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ftz creep_offset 0.001
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# mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
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set pomStepRate [expr { 1176 * 25000 }]
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@@ -184,7 +188,7 @@ Motor pom $motor_driver_type [params \
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units degrees\
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hardlowerlim -1.5\
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hardupperlim 1.5\
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maxSpeed [expr { 100000.0 / $pomStepRate }]\
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maxSpeed [expr { 200000.0 / $pomStepRate }]\
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maxAccel [expr { 25000.0 / $pomStepRate }]\
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maxDecel [expr { 25000.0 / $pomStepRate }]\
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stepsPerX $pomStepRate\
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@@ -196,10 +200,14 @@ pom long_name pom
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pom softlowerlim -1.5
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pom softupperlim 1.5
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pom home 0
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pom blockage_thresh 1.0
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pom backlash_offset -0.2
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pom MotOffDelay 2000
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pom creep_offset 0.1
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# mc1: Sample/Detector Chamber Rotation (Detector)
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#set stthStepRate 66807.314
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set stthStepRate [expr { 25000 * 100.0 * (3800.0 / 395.0) / 360.0 }]
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set stthStepRate [expr { 25000 * 400.0 * (2 * 1800.0 / 400.0) / 360.0 }]
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Motor stth $motor_driver_type [params \
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asyncqueue mc1\
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@@ -207,24 +215,30 @@ Motor stth $motor_driver_type [params \
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port pmc1-pelican\
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axis F\
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units degrees\
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hardlowerlim -60\
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hardupperlim 50\
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maxSpeed [expr { 25000.0 / $stthStepRate }]\
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hardlowerlim -50\
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hardupperlim 60\
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maxSpeed [expr { 50000.0 / $stthStepRate }]\
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maxAccel [expr { 5000.0 / $stthStepRate }]\
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maxDecel [expr { 5000.0 / $stthStepRate }]\
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stepsPerX $stthStepRate\
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stepsPerX [expr {0.8 * $stthStepRate}]\
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absEnc 1\
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absEncHome $stth_Home\
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cntsPerX -[expr { 8192.0 / 360.0 }]]
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stth part detector
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stth long_name stth
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stth softlowerlim -60
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stth softupperlim 50
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stth softlowerlim -50
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stth softupperlim 60
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stth home 0
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stth Blockage_Thresh 2.000000
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stth Blockage_Ratio 5.000000
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stth Backlash_offset -0.100000
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stth MotOffDelay 2000
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stth creep_offset 1
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stth creep_precision 0.022
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# mc1: Instrument Drive System (Main Drive) (Flight Tube)
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#set mtthStepRate 222222.222
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set mtthStepRate [expr { 25000 * 100.0 / (66.0/2112) / 360.0 }]
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set mtthStepRate [expr { 25000 * 400.0 / (66.0/2112) / 360.0 }]
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Motor mtth $motor_driver_type [params \
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asyncqueue mc1\
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@@ -237,16 +251,20 @@ Motor mtth $motor_driver_type [params \
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maxSpeed [expr { 100000.0 / $mtthStepRate }]\
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maxAccel [expr { 25000.0 / $mtthStepRate }]\
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maxDecel [expr { 25000.0 / $mtthStepRate }]\
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stepsPerX $mtthStepRate\
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stepsPerX -$mtthStepRate\
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absEnc 1\
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absEncHome $mtth_Home\
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cntsPerX [expr { (1<<25)/360.0 }]]
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cntsPerX -[expr { (1<<25)/360.0 }]]
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mtth part detector
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mtth long_name mtth
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mtth softlowerlim 43
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mtth softupperlim 134
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mtth home 90
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mtth MotOffDelay 2000
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mtth Blockage_Thresh 2.0
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mtth Backlash_offset -0.100000
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mtth Creep_Offset 1.000000
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mtth Creep_Precision 0.005000
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############################
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# Motor Controller 2
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@@ -461,8 +479,6 @@ mra long_name mra
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mra softlowerlim 0
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mra softupperlim 1
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mra home 0
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# fix the motor
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mra fixed -1
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# mc3: Monochromator Focusing 1 - Rotation
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Motor moma $motor_driver_type [params \
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@@ -513,8 +529,6 @@ mrb long_name mrb
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mrb softlowerlim 0
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mrb softupperlim 1
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mrb home 0
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# fix the motor
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mrb fixed -1
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# mc3: Monochromator Focusing 2 - Rotation
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Motor momb $motor_driver_type [params \
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@@ -565,8 +579,6 @@ mrc long_name mrc
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mrc softlowerlim 0
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mrc softupperlim 1
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mrc home 0
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# fix the motor
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mrc fixed -1
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# mc3: Monochromator Focusing 3 - Rotation
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Motor momc $motor_driver_type [params \
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@@ -751,16 +763,20 @@ Motor rco $motor_driver_type [params \
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stepsPerX $rcoStepRate\
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absEnc 1\
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absEncHome $rco_Home\
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cntsPerX [expr { (1200.26 / 60.0) * (8192.0 / 360.0) }]]
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cntsPerX [expr { (1200.26 / 60.0) * (8192.0 / 360.0) }]\
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posit_count 3]
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rco part collimator
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rco long_name rco
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rco softlowerlim 0
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rco softupperlim 0
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# 1:RevLimit, 2:Center, 3:FwdLim
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rco posit_1 33529987
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rco posit_2 33531098
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rco posit_3 33532000
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rco home 0
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# fix this motor
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rco fixed 1
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# mc6: Radial Collimator -- Z Translation
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#set rczStepRate [expr { 25000.0 * 100.0 / 10.0 }]
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set rczStepRate [expr { 25000.0 * 100.0 / 10.0 }]
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Motor rcz $motor_driver_type [params \
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@@ -777,14 +793,16 @@ Motor rcz $motor_driver_type [params \
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stepsPerX $rczStepRate\
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absEnc 1\
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absEncHome $rcz_Home\
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cntsPerX [expr { 8192.0 / 10.0 }]]
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cntsPerX [expr { 8192.0 / 10.0 }]\
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posit_count 2]
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rcz part collimator
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rcz long_name rcz
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rcz softlowerlim 0
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rcz softupperlim 450
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rcz home 0
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# fix this motor
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rcz fixed 1
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# 1:Down 2:Up
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rcz posit_1 $rcz_Home
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rcz posit_2 $rcz_Beam
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# mc6: Beam Stop Stage - Rotation
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set bsrStepRate [expr { 25000.0 / 2.0 }]
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@@ -809,10 +827,8 @@ bsr long_name bsr
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bsr softlowerlim -150
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bsr softupperlim 180
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bsr home 0
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# fix this motor
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bsr fixed 1
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# mc6: Isolation Vaue -- Axis 1, currently this Axis is set to read ONLY to read the encoder
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# mc6: Isolation Valve -- Axis 1, currently this Axis is set to read ONLY to read the encoder
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Motor gv1 $motor_driver_type [params \
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asyncqueue mc6\
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host mc6-pelican\
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@@ -826,48 +842,20 @@ Motor gv1 $motor_driver_type [params \
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maxDecel 0\
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stepsPerX 1\
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absEnc 1\
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absEncHome $gv1_Home\
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cntsPerX 1\
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absEncHome $gv1_Shut\
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cntsPerX [expr { ($gv1_Open - $gv1_Shut) / 100.0 }]\
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posit_count 2]
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gv1 part sample
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gv1 long_name gv1
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gv1 softlowerlim 0
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gv1 softupperlim 180
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gv1 softupperlim 0
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gv1 home 0
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# 1:open, 2:closed
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gv1 posit_1 33468000
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gv1 posit_2 33221600
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gv1 posit_1 $gv1_Open
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gv1 posit_2 $gv1_Shut
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# fix the motor
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gv1 fixed 1
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# mc6: Isolation Vaue -- Axis 2, currently this Axis is set to read ONLY to read the encoder
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Motor gv2 $motor_driver_type [params \
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asyncqueue mc6\
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host mc6-pelican\
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port pmc6-pelican\
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axis F\
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units degrees\
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hardlowerlim 0\
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hardupperlim 0\
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maxSpeed 0\
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maxAccel 0\
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maxDecel 0\
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stepsPerX 1\
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absEnc 1\
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absEncHome $gv2_Home\
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cntsPerX 1\
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posit_count 2]
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gv2 part sample
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gv2 long_name gv2
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gv2 softlowerlim 0
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gv2 softupperlim 0
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gv2 home 0
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# 1:open, 2:closed
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gv2 posit_1 33549541
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gv2 posit_2 33549541
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# fix the motor
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gv2 fixed 1
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proc motor_set_sobj_attributes {} {
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}
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# END MOTOR CONFIGURATION
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@@ -887,3 +875,21 @@ proc motor_set_sobj_attributes {} {
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#make_coll_motor_1 c9 section_9 pc10 $vc_units
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#unset vc_units
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# Generator functions
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proc make_virtual_motor_1 { vm1 vm1_name pm1 aunits klass } {
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eval "proc get_$vm1 {} { get_virtual_1 $pm1 }"
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set v {$var}
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eval "proc set_$vm1 {var} { set_virtual_1 $pm1 $v }"
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MakeConfigurableMotor $vm1
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$vm1 readscript get_$vm1
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$vm1 drivescript set_$vm1
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sicslist setatt $vm1 units $aunits
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sicslist setatt $vm1 klass $klass
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sicslist setatt $vm1 long_name $vm1_name
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sicslist setatt $vm1 hdbchain $pm1
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}
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make_virtual_motor_1 { vrcz RCollZ rcz count collimator }
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make_virtual_motor_1 { vptz PolarizerZ ptz count thing }
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make_virtual_motor_1 { vftz FilterZ ftz count thing }
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make_virtual_motor_1 { vgv GateValve gv1 count thing }
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