Configure motor controller 1 motors and clean up a bit

r3537 | dcl | 2012-04-26 13:10:46 +1000 (Thu, 26 Apr 2012) | 1 line

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

@@ -41,11 +41,11 @@ if {$sim_mode == "true"} {
 #Measured absolute encoder reading at home position
 set dummy_Home    0
 
-set ftz_Home      0
-set ptz_Home      0
-set pom_Home      0
-set stth_Home     0
-set mtth_Home     0
+set ftz_Home      32096132
+set ptz_Home      1242083
+set pom_Home      34677
+set stth_Home     152965
+set mtth_Home     24409175
 
 set sv1_Home      0 
 set sh1_Home      0
@@ -117,9 +117,9 @@ set move_count 100
 
 # mc1: Polariser & Spin Flipper - Z translation slide
 # Moto: 100:1 gear, 2mm pitch
-set ptzStepRate [expr (300000.0/100.0)/2.0]
+set ptzStepRate [expr { 25000 * 100 / 2.0 }]
 
-#Motor ptz $motor_driver_type [params \
+Motor ptz $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
   port pmc1-pelican\
@@ -127,25 +127,32 @@ set ptzStepRate [expr (300000.0/100.0)/2.0]
   units mm\
   hardlowerlim 0\
   hardupperlim 500\
-  maxSpeed [expr 400000.0/300000.0]\
-  maxAccel [expr 150000.0/300000.0]\
-  maxDecel [expr 150000.0/300000.0]\
+  maxSpeed [expr { 300000.0 / $ptzStepRate }]\
+  maxAccel [expr { 150000.0 / $ptzStepRate }]\
+  maxDecel [expr { 150000.0 / $ptzStepRate }]\
   stepsPerX $ptzStepRate\
   absEnc 1\
   absEncHome $ptz_Home\
-  cntsPerX 4096]
-#ptz part crystal
-#ptz long_name ptz
-#ptz softlowerlim 0
-#ptz softupperlim 500
-#ptz home 0
+  cntsPerX 4096\
+  posit_count 5]
+ptz part crystal
+ptz long_name ptz
+ptz softlowerlim 0
+ptz softupperlim 500
+ptz home 0
+# 1:RevLimit, 2:Coll, 3:Open, 4:Polarizer, 5:FwdLim
+ptz posit_1 31327313
+ptz posit_2 31408274
+ptz_posit_3 32096132
+ptz posit_4 33171650
+ptz posit_5 33179305
 
 #if $use_tiltstage {
 # mc1: Beryllium / Graphite filter  shared - Z translation slide
 # Moto: 100:1 gear, 2mm pitch
-set  ftzStepRate [expr (300000.0/100.0)/2.0]
+set ftzStepRate [expr { 25000 * 100 / 2.0 }]
 
-#Motor ftz $motor_driver_type [params \
+Motor ftz $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
   port pmc1-pelican\
@@ -153,91 +160,99 @@ set  ftzStepRate [expr (300000.0/100.0)/2.0]
   units mm\
   hardlowerlim 0\
   hardupperlim 500\
-  maxSpeed [expr 400000.0/300000.0]\
-  maxAccel [expr 150000.0/300000.0]\
-  maxDecel [expr 150000.0/300000.0]\
+  maxSpeed [expr { 300000.0 / $ftzStepRate }]\
+  maxAccel [expr { 150000.0 / $ftzStepRate }]\
+  maxDecel [expr { 150000.0 / $ftzStepRate }]\
   stepsPerX $ftzStepRate\
   absEnc 1\
   absEncHome $ftz_Home\
-  cntsPerX 4096]
-#ftz part crystal
-#ftz long_name ftz
-#ftz softlowerlim 0
-#ftz softupperlim 500
-#ftz home 0
-#}
+  cntsPerX 4096\
+  posit_count 5]
+ftz part crystal
+ftz long_name ftz
+ftz softlowerlim 0
+ftz softupperlim 500
+ftz home 0
+# 1:RevLimit, 2:PG, 3:Open, 4:Be, 5:FwdLim
+ptz posit_1 590458
+ptz posit_2 590157
+ptz_posit_3 1242083
+ptz posit_4 2348104
+ptz posit_5 2426769
 
 # mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
-set pomSetRate 25000
+set pomStepRate [expr { 1176 * 25000 }]
 
-#Motor pom $motor_driver_type [params \
+Motor pom $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
   port pmc1-pelican\
   axis E\
   units degrees\
-  hardlowerlim 0\
-  hardupperlim 2\
-  maxSpeed [expr 250000.0/$pomSetRate]\
-  maxAccel [expr 25000.0/$pomSetRate]\
-  maxDecel [expr 25000.0/$pomSetRate]\
-  stepsPerX $pomSetRate\
+  hardlowerlim -1.5\
+  hardupperlim 1.5\
+  maxSpeed [expr { 100000.0 / $pomStepRate }]\
+  maxAccel [expr {  25000.0 / $pomStepRate }]\
+  maxDecel [expr {  25000.0 / $pomStepRate }]\
+  stepsPerX $pomStepRate\
   absEnc 1\
   absEncHome $pom_Home\
-  cntsPerX 4096]
-#pom part crystal
-#pom long_name pom
-#pom softlowerlim 0
-#pom softupperlim 2
-#pom home 0
+  cntsPerX [expr { 8192.0 / 360.0 }]]
+pom part crystal
+pom long_name pom
+pom softlowerlim -1.5
+pom softupperlim 1.5
+pom home 0
 
 # mc1: Sample/Detector Chamber Rotation (Detector)
-set stthSetRate 25000
+#set stthStepRate 66807.314
+set stthStepRate [expr { 25000 * 100.0 * (3800.0 / 395.0) / 360.0) }]
 
-#Motor stth $motor_driver_type [params \
+Motor stth $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
   port pmc1-pelican\
   axis F\
   units degrees\
-  hardlowerlim -125\
-  hardupperlim 8\
-  maxSpeed [expr 150000.0/$stthSetRate]\
-  maxAccel [expr 5000.0/$stthSetRate]\
-  maxDecel [expr 5000.0/$stthSetRate]\
-  stepsPerX $stthSetRate\
+  hardlowerlim -60\
+  hardupperlim 50\
+  maxSpeed [expr { 25000.0 / $stthStepRate }]\
+  maxAccel [expr {  5000.0 / $stthStepRate }]\
+  maxDecel [expr {  5000.0 / $stthStepRate }]\
+  stepsPerX $stthStepRate\
   absEnc 1\
   absEncHome $stth_Home\
-  cntsPerX 4096]
-#stth part detector
-#stth long_name stth
-#stth softlowerlim -125
-#stth softupperlim 8
-#stth home 0
+  cntsPerX [expr { -8192.0 / 360.0 }]]
+stth part detector
+stth long_name stth
+stth softlowerlim -60
+stth softupperlim 50
+stth home 0
 
-# mc1: Instrument Drive System (Main Drive)
-set mtthSetRate 25000
+# mc1: Instrument Drive System (Main Drive) (Flight Tube)
+#set mtthStepRate 222222.222
+set mtthStepRate [expr { 25000 * 100.0 / (66.0/2112) / 360.0 }]
 
-#Motor mtth $motor_driver_type [params \
+Motor mtth $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-pelican\
   port pmc1-pelican\
   axis G\
   units mm\
-  hardlowerlim 40\
-  hardupperlim 140\
-  maxSpeed [expr 150000.0/$mtthSetRate]\
-  maxAccel [expr 25000.0/$mtthSetRate]\
-  maxDecel [expr 25000.0/$mtthSetRate]\
-  stepsPerX $mtthSetRate\
+  hardlowerlim 43\
+  hardupperlim 134\
+  maxSpeed [expr { 100000.0 / $mtthStepRate }]\
+  maxAccel [expr {  25000.0 / $mtthStepRate }]\
+  maxDecel [expr {  25000.0 / $mtthStepRate }]\
+  stepsPerX $mtthStepRate\
   absEnc 1\
   absEncHome $mtth_Home\
-  cntsPerX 4096]
-#mtth part detector
-#mtth long_name mtth
-#mtth softlowerlim 40
-#mtth softupperlim 140
-#mtth home 0
+  cntsPerX [expr { (1<<25)/360.0 }]]
+mtth part detector
+mtth long_name mtth
+mtth softlowerlim 43
+mtth softupperlim 134
+mtth home 90
 
 
 ############################
@@ -248,7 +263,7 @@ set mtthSetRate 25000
 # 
 
 # mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
-set sv1SetRate 25000
+set sv1StepRate 25000
 
 #Motor sv1 $motor_driver_type [params \
   asyncqueue mc2\
@@ -258,10 +273,10 @@ set sv1SetRate 25000
   units mm\
   hardlowerlim -2\
   hardupperlim 60\
-  maxSpeed [expr 25000.0/$sv1SetRate]\
-  maxAccel [expr 25000.0/$sv1SetRate]\
-  maxDecel [expr 25000.0/$sv1SetRate]\
-  stepsPerX $sv1SetRate\
+  maxSpeed [expr 25000.0/$sv1StepRate]\
+  maxAccel [expr 25000.0/$sv1StepRate]\
+  maxDecel [expr 25000.0/$sv1StepRate]\
+  stepsPerX $sv1StepRate\
   absEnc 1\
   absEncHome $sv1_Home\
   cntsPerX 4096]
@@ -272,7 +287,7 @@ set sv1SetRate 25000
 #sv1 home 0
 
 # mc2: Slits Set AB2- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
-set sh1SetRate 25000
+set sh1StepRate 25000
 
 #Motor sh1 $motor_driver_type [params \
   asyncqueue mc2\
@@ -282,10 +297,10 @@ set sh1SetRate 25000
   units mm\
   hardlowerlim -2\
   hardupperlim 50\
-  maxSpeed [expr 25000.0/$sh1SetRate]\
-  maxAccel [expr 25000.0/$sh1SetRate]\
-  maxDecel [expr 25000.0/$sh1SetRate]\
-  stepsPerX $sh1SetRate\
+  maxSpeed [expr 25000.0/$sh1StepRate]\
+  maxAccel [expr 25000.0/$sh1StepRate]\
+  maxDecel [expr 25000.0/$sh1StepRate]\
+  stepsPerX $sh1StepRate\
   absEnc 1\
   absEncHome $sh1_Home\
   cntsPerX 4096]
@@ -296,7 +311,7 @@ set sh1SetRate 25000
 #sh1 home 0
 
 # mc2: Slits Set AF1- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
-set sv2SetRate 25000
+set sv2StepRate 25000
 
 #Motor sv2 $motor_driver_type [params \
   asyncqueue mc2\
@@ -306,10 +321,10 @@ set sv2SetRate 25000
   units mm\
   hardlowerlim -2\
   hardupperlim 40\
-  maxSpeed [expr 25000.0/$sv2SetRate]\
-  maxAccel [expr 25000.0/$sv2SetRate]\
-  maxDecel [expr 25000.0/$sv2SetRate]\
-  stepsPerX $sv2SetRate\
+  maxSpeed [expr 25000.0/$sv2StepRate]\
+  maxAccel [expr 25000.0/$sv2StepRate]\
+  maxDecel [expr 25000.0/$sv2StepRate]\
+  stepsPerX $sv2StepRate\
   absEnc 1\
   absEncHome $sv2_Home\
   cntsPerX 4096]
@@ -320,7 +335,7 @@ set sv2SetRate 25000
 #sv2 home 0
 
 # mc2: Slits Set AF2- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
-set sh2SetRate 25000
+set sh2StepRate 25000
 
 #Motor sh2 $motor_driver_type [params \
   asyncqueue mc2\
@@ -330,10 +345,10 @@ set sh2SetRate 25000
   units mm\
   hardlowerlim -2\
   hardupperlim 30\
-  maxSpeed [expr 25000.0/$sh2SetRate]\
-  maxAccel [expr 25000.0/$sh2SetRate]\
-  maxDecel [expr 25000.0/$sh2SetRate]\
-  stepsPerX $sh2SetRate\
+  maxSpeed [expr 25000.0/$sh2StepRate]\
+  maxAccel [expr 25000.0/$sh2StepRate]\
+  maxDecel [expr 25000.0/$sh2StepRate]\
+  stepsPerX $sh2StepRate\
   absEnc 1\
   absEncHome $sh2_Home\
   cntsPerX 4096]
@@ -344,7 +359,7 @@ set sh2SetRate 25000
 #sh2 home 0
 
 # mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper)
-set gomSetRate 25000
+set gomStepRate 25000
 
 #Motor gom $motor_driver_type [params \
   asyncqueue mc2\
@@ -354,10 +369,10 @@ set gomSetRate 25000
   units degrees\
   hardlowerlim 0\
   hardupperlim 15\
-  maxSpeed [expr 50000.0/$gomSetRate]\
-  maxAccel [expr 25000.0/$gomSetRate]\
-  maxDecel [expr 25000.0/$gomSetRate]\
-  stepsPerX $gomSetRate\
+  maxSpeed [expr 50000.0/$gomStepRate]\
+  maxAccel [expr 25000.0/$gomStepRate]\
+  maxDecel [expr 25000.0/$gomStepRate]\
+  stepsPerX $gomStepRate\
   absEnc 1\
   absEncHome $gom_Home\
   cntsPerX 4096]
@@ -368,7 +383,7 @@ set gomSetRate 25000
 #gom home 0
 
 # mc2: Sample rotation correction - 10 deg rotation
-set scorSetRate 25000
+set scorStepRate 25000
 
 #Motor scor $motor_driver_type [params \
   asyncqueue mc2\
@@ -378,10 +393,10 @@ set scorSetRate 25000
   units degrees\
   hardlowerlim 0\
   hardupperlim 360\
-  maxSpeed [expr 50000.0/$scorSetRate]\
-  maxAccel [expr 25000.0/$scorSetRate]\
-  maxDecel [expr 25000.0/$scorSetRate]\
-  stepsPerX $scorSetRate\
+  maxSpeed [expr 50000.0/$scorStepRate]\
+  maxAccel [expr 25000.0/$scorStepRate]\
+  maxDecel [expr 25000.0/$scorStepRate]\
+  stepsPerX $scorStepRate\
   absEnc 1\
   absEncHome $scor_Home\
   cntsPerX 4096]
@@ -592,7 +607,7 @@ momc home -45
 # 
 
 # mc4: Monochromator crystal stages tilt stage - G270
-set mphiSetRate 25000
+set mphiStepRate 25000
 
 Motor mphi $motor_driver_type [params \
   asyncqueue mc4\
@@ -605,7 +620,7 @@ Motor mphi $motor_driver_type [params \
   maxSpeed [expr 50000.0/25000.0]\
   maxAccel [expr 12500.0/25000.0]\
   maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $mphiSetRate\
+  stepsPerX $mphiStepRate\
   absEnc 1\
   absEncHome $mphi_Home\
   cntsPerX 4096]
@@ -616,7 +631,7 @@ mphi softupperlim 2
 mphi home 0
 
 # mc4: Monochromator crystal stages tilt stage - G350
-set mchiSetRate 25000
+set mchiStepRate 25000
 
 # NOTE: A limit of +-2 degrees ensures that you cannot drive the crystals into the face of the guide even when the crystal y translation is at the maximum
 Motor mchi $motor_driver_type [params \
@@ -630,7 +645,7 @@ Motor mchi $motor_driver_type [params \
   maxSpeed [expr 50000.0/25000.0]\
   maxAccel [expr 12500.0/25000.0]\
   maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $mchiSetRate\
+  stepsPerX $mchiStepRate\
   absEnc 1\
   absEncHome $mchi_Home\
   cntsPerX 4096]
@@ -644,7 +659,7 @@ mchi accel 0.1
 mchi decel 0.1
 
 # mc4: Monochromator crystal stages Linear stage X - T250
-set mxSetRate 25000
+set mxStepRate 25000
 
 Motor mx $motor_driver_type [params \
   asyncqueue mc4\
@@ -657,7 +672,7 @@ Motor mx $motor_driver_type [params \
   maxSpeed [expr 50000.0/25000.0]\
   maxAccel [expr 12500.0/25000.0]\
   maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $mxSetRate\
+  stepsPerX $mxStepRate\
   absEnc 1\
   absEncHome $mx_Home\
   cntsPerX 4096]
@@ -669,7 +684,7 @@ mx home 0
 mx speed 1.0
 
 # mc4: Monochromator crystal stages Linear stage Y - T250
-set mySetRate 25000
+set myStepRate 25000
 
 Motor my $motor_driver_type [params \
   asyncqueue mc4\
@@ -682,7 +697,7 @@ Motor my $motor_driver_type [params \
   maxSpeed [expr 50000.0/25000.0]\
   maxAccel [expr 12500.0/25000.0]\
   maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $mySetRate\
+  stepsPerX $myStepRate\
   absEnc 1\
   absEncHome $my_Home\
   cntsPerX 4096]
@@ -694,7 +709,7 @@ my home 0
 my speed 1.0
 
 # mc4: Monochromator crystal stages  Rotation stage - R275 
-set momSetRate 25000
+set momStepRate 25000
 
 Motor mom $motor_driver_type [params \
   asyncqueue mc4\
@@ -707,7 +722,7 @@ Motor mom $motor_driver_type [params \
   maxSpeed [expr 50000.0/25000.0]\
   maxAccel [expr 12500.0/25000.0]\
   maxDecel [expr 12500.0/25000.0]\
-  stepsPerX $momSetRate\
+  stepsPerX $momStepRate\
   absEnc 1\
   absEncHome $mom_Home\
   cntsPerX 4096]