linse/sics
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added Dan's changes to motor acceleration. Axes now drive more smoothly.

Browse Source 
Also set creep control on focussing motors.  This has improved precision
of the monochromator focussing from 0.5 to 0.1 degrees.
This commit is contained in:
Ferdi Franceschini
2013-05-15 20:40:41 +10:00
parent bf3bd5342e
commit 3f75de6357
1 changed files with 24 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
site_ansto/instrument/tas/config/motors/motor_configuration.tcl
View File

@@ -203,9 +203,9 @@ Motor m2 $motor_driver_type [params \
precision 0.02088\
hardlowerlim 17\
hardupperlim 80\
maxSpeed 1\
maxAccel 0.1\
maxDecel 0.1\
maxSpeed 0.414\
maxAccel 0.04\
maxDecel 0.04\
stepsPerX $m2_stepsPerX\
absEnc 1\
absEncHome 2773144\
@@ -220,6 +220,9 @@ m2 motOffDelay 0
m2 backlash_offset 0.1
m2 creep_offset 0.1
m2 creep_precision 0.02088
m2 speed 0.4
m2 accel 0.04
m2 decel 0.04
# mc1: Detector Rotate
Motor a2 $motor_driver_type [params \
@@ -247,6 +250,9 @@ a2 motOffDelay 0
a2 backlash_offset -0.5
a2 creep_offset 0.1
a2 creep_precision 0.01
a2 speed 0.8
a2 accel 0.2
a2 decel 0.2
############################
@@ -355,8 +361,8 @@ Motor s1 $motor_driver_type [params \
port pmc2-taipan\
axis E\
units degrees\
hardlowerlim -100\
hardupperlim 110\
hardlowerlim -194\
hardupperlim 134\
maxSpeed 4\
maxAccel 2\
maxDecel 2\
@@ -367,7 +373,7 @@ Motor s1 $motor_driver_type [params \
s1 part sample
s1 long_name s1
s1 softlowerlim -170
s1 softupperlim 90
s1 softupperlim 120
s1 home 35.997
s1 backlash_offset -0.2
@@ -382,9 +388,9 @@ Motor s2 $motor_driver_type [params \
precision 0.01\
hardlowerlim -128\
hardupperlim 30\
maxSpeed 1.5\
maxAccel 0.5\
maxDecel 0.5\
maxSpeed 0.8\
maxAccel 0.2\
maxDecel 0.2\
stepsPerX 125000\
absEnc 1\
absEncHome 20305788\
@@ -402,9 +408,9 @@ s2 backlash_offset 0.5
s2 blockage_thresh 1
s2 creep_offset 0.015
s2 creep_precision 0.01
s2 speed 1.07
s2 accel 0.5
s2 decel 0.5
s2 speed 0.8
s2 accel 0.2
s2 decel 0.2
# mc2: Analyser Horizontal Focus
Motor ahfocus $motor_driver_type [params \
@@ -413,7 +419,7 @@ Motor ahfocus $motor_driver_type [params \
port pmc2-taipan\
axis G\
units degrees\
precision 0.25\
precision 0.5\
hardlowerlim 0\
hardupperlim 300\
maxSpeed 10\
@@ -430,16 +436,16 @@ ahfocus softupperlim 300
ahfocus home 0
ahfocus Blockage_Thresh 2
ahfocus Blockage_Check_Interval 2
ahfocus creep_offset 0.2
# mc2: Analyser Vertical Focus
# Jing: not fixed so far
Motor avfocus $motor_driver_type [params \
asyncqueue mc2\
host mc2-taipan\
port pmc2-taipan\
axis H\
units degrees\
precision 0.25\
precision 0.5\
hardlowerlim 0\
hardupperlim 300\
maxSpeed 10\
@@ -456,6 +462,7 @@ avfocus softupperlim 300
avfocus home 0
avfocus Blockage_Thresh 2
avfocus Blockage_Check_Interval 2
avfocus creep_offset 0.2
# mc3: Monochromator Vertical Focus
Motor mvfocus $motor_driver_type [params \
@@ -483,7 +490,7 @@ mvfocus softupperlim 300
mvfocus home 0.0
mvfocus Blockage_Thresh 2
mvfocus Blockage_Check_Interval 2
mvfocus creep_offset 0.2
# mc3: Monochromator Horizontal Focus
Motor mhfocus $motor_driver_type [params \
asyncqueue mc3\
@@ -510,6 +517,7 @@ mhfocus softupperlim 235
mhfocus home 0
mhfocus Blockage_Thresh 2
mhfocus Blockage_Check_Interval 2
mhfocus creep_offset 0.2
# mc3: Monochromator Rotate
Motor m1 $motor_driver_type [params \