Further refinement of slit configurations
r1408 | dcl | 2007-01-18 14:18:01 +1100 (Thu, 18 Jan 2007) | 2 lines
This commit is contained in:
Douglas Clowes
@@ -1,22 +1,64 @@
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# $Revision: 1.4 $
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# $Date: 2006-12-12 21:03:10 $
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# $Revision: 1.5 $
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# $Date: 2007-01-18 03:16:56 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: dcl $
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# START MOTOR CONFIGURATION
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set animal wombat
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# Setup addresses of Galil DMC2280 controllers.
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set dmc2280_controller1(host) mc1-wombat
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set dmc2280_controller1(port) pmc1-wombat
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set dmc2280_controller1(host) mc1-$animal
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set dmc2280_controller1(port) pmc1-$animal
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set dmc2280_controller2(host) mc2-wombat
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set dmc2280_controller2(port) pmc2-wombat
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set dmc2280_controller2(host) mc2-$animal
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set dmc2280_controller2(port) pmc2-$animal
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set dmc2280_controller3(host) mc3-wombat
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set dmc2280_controller3(port) pmc3-wombat
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set dmc2280_controller3(host) mc3-$animal
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set dmc2280_controller3(port) pmc3-$animal
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set dmc2280_controller4(host) mc4-wombat
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set dmc2280_controller4(port) pmc4-wombat
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set dmc2280_controller4(host) mc4-$animal
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set dmc2280_controller4(port) pmc4-$animal
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#Measured absolute encoder reading at home position
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set mphi_Home 7414753
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set mchi_Home 7818915
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set my_Home 7781680
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set mx_Home 7562793
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set mom_Home 17694127
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set mtth_Home 10299428
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set sphi_Home 7934290
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set schi_Home 7581355
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set sy_Home 7562793
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set sx_Home 7562793
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set som_Home 17694127
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set stth_Home 6559259
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#Measured or computed slit motor steps per millimetre
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# 125 steps * 161:1 gears = 20125
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set slitStepRate 20125
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#Measured slit gap, in units, after homing on limit switches
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set ss1h_Gap 52.5
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set ss1v_Gap 205.9
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set ss2h_Gap 51.3
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set ss2v_Gap 203.3
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set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
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set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
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set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
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set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
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set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
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set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
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set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
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set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
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#Default upper and lower ranges for vertical slits
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set vertSlitLowRange 25
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set vertSlitUpRange 100
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#Default upper and lower ranges for horizontal slits
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set horSlitLowRange 25
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set horSlitUpRange 25
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# Run slit homing routines on controllers 3 and 4
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#if [catch {dmc_connect dmc2280_controller3} ] {
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@@ -47,7 +89,7 @@ Motor mphi DMC2280 [params \
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome 7414753\
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absEncHome $mphi_Home\
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cntsPerX -8192]
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setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
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mphi speed 1
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@@ -64,7 +106,7 @@ Motor mchi DMC2280 [params \
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome 7818915\
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absEncHome $mchi_Home\
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cntsPerX 8192]
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setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
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mchi speed 1
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@@ -81,7 +123,7 @@ Motor my DMC2280 [params \
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome 7781680\
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absEncHome $my_Home\
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cntsPerX 8192]
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setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
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my speed 1
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@@ -98,7 +140,7 @@ Motor mx DMC2280 [params \
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome 7562793\
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absEncHome $mx_Home\
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cntsPerX -8192]
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setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
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mx speed 1
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@@ -115,7 +157,7 @@ Motor mom DMC2280 [params \
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maxDecel 1\
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stepsPerX -12500\
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absEnc 1\
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absEncHome 17694127\
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absEncHome $mom_Home\
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cntsPerX -4096]
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setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
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mom speed 1
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@@ -127,19 +169,19 @@ Motor mtth DMC2280 [params \
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port $dmc2280_controller1(port)\
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axis F\
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units degrees\
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maxSpeed 0.5\
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maxSpeed 0.2\
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maxAccel 0.2\
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maxDecel 0.2\
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stepsPerX [expr 25000*18]\
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absEnc 1\
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absEncHome 10299428\
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cntsPerX 93207]
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mtth hardlowerlim 86
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mtth hardupperlim 137
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mtth softlowerlim 86
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mtth softupperlim 137
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absEncHome $mtth_Home\
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cntsPerX -93207]
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mtth hardlowerlim 45
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mtth hardupperlim 100
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mtth softlowerlim 45
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mtth softupperlim 100
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mtth home 90
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mtth speed 0.5
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mtth speed 0.2
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mtth accel 0.01
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mtth decel 0.01
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mtth precision 0.02
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@@ -151,8 +193,6 @@ mtth failafter 10
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# Motor Controller 2
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# Motor Controller 2
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############################
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#:TP at HOME
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#
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# Sample Tilt 1, upper, phi
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Motor sphi DMC2280 [params \
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@@ -165,7 +205,7 @@ Motor sphi DMC2280 [params \
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome 7934290\
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absEncHome $sphi_Home\
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cntsPerX -8192]
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setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
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sphi speed 1
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@@ -182,7 +222,7 @@ Motor schi DMC2280 [params \
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome 7581355\
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absEncHome $schi_Home\
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cntsPerX 8192]
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setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
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schi speed 1
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@@ -199,7 +239,7 @@ Motor sy DMC2280 [params \
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome 7562793\
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absEncHome $sy_Home\
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cntsPerX 8192]
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setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
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sy speed 1
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@@ -216,7 +256,7 @@ Motor sx DMC2280 [params \
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome 7562793\
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absEncHome $sx_Home\
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cntsPerX -8192]
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setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
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sx speed 1
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@@ -233,9 +273,9 @@ Motor som DMC2280 [params \
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maxDecel 1\
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stepsPerX 12500\
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absEnc 1\
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absEncHome 17694127\
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absEncHome $som_Home\
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cntsPerX 4096]
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setHomeandRange -motor som -home 0 -lowrange 180 -uprange 180
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setHomeandRange -motor som -home 0 -lowrange 90 -uprange 90
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som speed 1
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som precision 0.01
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@@ -246,12 +286,12 @@ Motor stth DMC2280 [params \
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axis F\
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units degrees\
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maxSpeed 0.5\
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maxAccel 0.2\
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maxDecel 0.2\
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maxAccel 0.1\
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maxDecel 0.1\
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stepsPerX 125000\
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absEnc 1\
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absEncHome 6559259\
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cntsPerX 93207]
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absEncHome $stth_Home\
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cntsPerX -93207]
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stth hardlowerlim -60
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stth hardupperlim 60
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stth softlowerlim -60
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@@ -260,17 +300,6 @@ stth home 0
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stth speed 0.5
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stth precision 0.01
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#Default upper and lower ranges for vertical slits
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set vertSlitLowRange 20
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set vertSlitUpRange 100
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#Default upper and lower ranges for horizontal slits
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set horSlitLowRange 15
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set horSlitUpRange 35
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#Measured or computed slit motor steps per millimetre
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set slitStepRate 20180
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############################
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# Motor Controller 3
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# Motor Controller 3
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@@ -289,7 +318,7 @@ set slitStepRate 20180
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# maxDecel xxxx\
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# stepsPerX xxxx\
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# absEnc 1\
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# absEncHome xxxx\
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# absEncHome $mf1_Home\
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# cntsPerX xxxx]
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#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
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#mf1 speed 1
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@@ -322,7 +351,7 @@ Motor ss1r DMC2280 [params \
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome [expr 54.5/2*$slitStepRate]]
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motorHome $ss1r_Home]
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setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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# Slit 1, left
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@@ -335,7 +364,7 @@ Motor ss1l DMC2280 [params \
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome [expr 54.5/2*$slitStepRate]]
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motorHome $ss1l_Home]
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setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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# Slit 1, up
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@@ -348,7 +377,7 @@ Motor ss1u DMC2280 [params \
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome [expr 207.5/2*$slitStepRate]]
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motorHome $ss1u_Home]
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setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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# Slit 1, down
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@@ -361,7 +390,7 @@ Motor ss1d DMC2280 [params \
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome [expr 207.5/2*$slitStepRate]]
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motorHome $ss1d_Home]
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setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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############################
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@@ -381,7 +410,7 @@ Motor ss2r DMC2280 [params \
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome [expr 52.25/2*$slitStepRate]]
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motorHome $ss2r_Home]
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setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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# Slit 2, left
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@@ -394,7 +423,7 @@ Motor ss2l DMC2280 [params \
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome [expr 52.25/2*$slitStepRate]]
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motorHome $ss2l_Home]
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setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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# Slit 2, up
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@@ -407,7 +436,7 @@ Motor ss2u DMC2280 [params \
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome [expr 204.1/2*$slitStepRate]]
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motorHome $ss2u_Home]
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setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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# Slit 2, down
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@@ -420,7 +449,7 @@ Motor ss2d DMC2280 [params \
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome [expr 204.1/2*$slitStepRate]]
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motorHome $ss2d_Home]
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setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
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