Incremental commissioning and calibration

r2261 | dcl | 2007-12-07 10:22:38 +1100 (Fri, 07 Dec 2007) | 2 lines

site_ansto/instrument/rsd/config/motors/motor_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.17 $
+# $Revision: 1.18 $
-# $Date: 2007-11-08 23:38:23 $
+# $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 sx_Home 8405693
-set sy_Home 7230717
+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\
+  hardlowerlim -200\
-  hardupperlim 120\
+  hardupperlim 200\
-  maxSpeed 1\
+  maxSpeed 2\
-  maxAccel 1\
+  maxAccel 5\
-  maxDecel 1\
+  maxDecel 5\
-  stepsPerX 12500\
+  stepsPerX [expr 25000.0*(380.0/360.0)]\
   absEnc 1\
   absEncHome $som_Home\
-  cntsPerX 4096]
+  cntsPerX [expr 8192.0*(380.0/360.0)]]
-setHomeandRange -motor som -home 0 -lowrange 100 -uprange 100
+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