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Incremental commissioning and calibration

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r2261 | dcl | 2007-12-07 10:22:38 +1100 (Fri, 07 Dec 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-12-07 10:22:38 +11:00
parent a2fb2b9571
commit 32595554bc
1 changed files with 41 additions and 22 deletions
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63
site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
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@@ -1,5 +1,5 @@
# $Revision: 1.17 $
# $Date: 2007-11-08 23:38:23 $
# $Revision: 1.18 $
# $Date: 2007-12-06 23:22:38 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: dcl $
@@ -38,11 +38,14 @@ set mchi_Home 7493025
set mx_Home 7431942
set my_Home 7891548
set mom_Home 28473827
set mtth_Home 11706130
#set mtth_Home 11706130
set mtth_Home 11701800
#set sz_home 2147458067
set sz_home 2147457556
set sx_Home 8405693
set sy_Home 7230717
#set sx_Home 8405693
set sx_Home 8414653
#set sy_Home 7230717
set sy_Home 7223739
set som_Home 23164850
set stth_Home 7500000
set mf1_Home 7500000
@@ -172,7 +175,7 @@ Motor mtth $motor_driver_type [params \
maxSpeed 0.2\
maxAccel 0.2\
maxDecel 0.2\
stepsPerX [expr 25000]\
stepsPerX [expr 12500]\
airpads 1\
settle 5\
motoffdelay 5000\
@@ -241,42 +244,56 @@ sz long_name vertical_translation
#sz2 long_name vertical_translation
# Sample Trans 1, upper, x
#
# values for pitch of screw changed from 5
# to 4.994810 (vll 16.11.2007)
#
set sx_pitch 4.994810
Motor sx $motor_driver_type [params \
asyncqueue mc2\
axis C\
units mm\
hardlowerlim -250\
hardupperlim 250\
maxSpeed 10\
maxSpeed 2\
maxAccel 1\
maxDecel 1\
stepsPerX [expr -2.0*25000.0/5.0]\
stepsPerX [expr -2.0*25000.0/$sx_pitch]\
absEnc 1\
absEncHome $sx_Home\
cntsPerX [expr 8192.0/5.0]]
cntsPerX [expr 8192.0/$sx_pitch]]
setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250
sx speed 5
sx speed 1
sx accel 0.1
sx decel 0.1
sx movecount $move_count
sx precision 0.01
sx part sample
sx long_name translate_x
# Sample Trans2, lower, y
#
# values for pitch of screw changed from 5
# to 4.9976934 (oki 19.11.2007)
#
set sy_pitch 4.9976934
Motor sy $motor_driver_type [params \
asyncqueue mc2\
axis D\
units mm\
hardlowerlim -250\
hardupperlim 250\
maxSpeed 10\
maxSpeed 2\
maxAccel 1\
maxDecel 1\
stepsPerX [expr 2.0*25000.0/5.0]\
stepsPerX [expr 2.0*25000.0/$sy_pitch]\
absEnc 1\
absEncHome $sy_Home\
cntsPerX [expr -8192.0/5.0]]
cntsPerX [expr -8192.0/$sy_pitch]]
setHomeandRange -motor sy -home 0 -lowrange 250 -uprange 250
sy speed 5
sy speed 1
sx accel 0.1
sx decel 0.1
sy movecount $move_count
sy precision 0.01
sy part sample
@@ -287,17 +304,19 @@ Motor som $motor_driver_type [params \
asyncqueue mc2\
axis E\
units degrees\
hardlowerlim -54\
hardupperlim 120\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX 12500\
hardlowerlim -200\
hardupperlim 200\
maxSpeed 2\
maxAccel 5\
maxDecel 5\
stepsPerX [expr 25000.0*(380.0/360.0)]\
absEnc 1\
absEncHome $som_Home\
cntsPerX 4096]
setHomeandRange -motor som -home 0 -lowrange 100 -uprange 100
cntsPerX [expr 8192.0*(380.0/360.0)]]
setHomeandRange -motor som -home 0 -lowrange 180 -uprange 180
som speed 1
som accel 0.1
som decel 0.1
som precision 0.01
som part sample
som long_name rotate