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Further refinement of slit configurations

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r1408 | dcl | 2007-01-18 14:18:01 +1100 (Thu, 18 Jan 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-01-18 14:18:01 +11:00
parent 60ed8a9a72
commit 4514dc01db
3 changed files with 191 additions and 133 deletions
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139
site_ansto/instrument/hipd/motor_configuration.tcl
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@@ -1,22 +1,64 @@
# $Revision: 1.4 $
# $Date: 2006-12-12 21:03:10 $
# $Revision: 1.5 $
# $Date: 2007-01-18 03:16:56 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: dcl $
# START MOTOR CONFIGURATION
set animal wombat
# Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller1(host) mc1-wombat
set dmc2280_controller1(port) pmc1-wombat
set dmc2280_controller1(host) mc1-$animal
set dmc2280_controller1(port) pmc1-$animal
set dmc2280_controller2(host) mc2-wombat
set dmc2280_controller2(port) pmc2-wombat
set dmc2280_controller2(host) mc2-$animal
set dmc2280_controller2(port) pmc2-$animal
set dmc2280_controller3(host) mc3-wombat
set dmc2280_controller3(port) pmc3-wombat
set dmc2280_controller3(host) mc3-$animal
set dmc2280_controller3(port) pmc3-$animal
set dmc2280_controller4(host) mc4-wombat
set dmc2280_controller4(port) pmc4-wombat
set dmc2280_controller4(host) mc4-$animal
set dmc2280_controller4(port) pmc4-$animal
#Measured absolute encoder reading at home position
set mphi_Home 7414753
set mchi_Home 7818915
set my_Home 7781680
set mx_Home 7562793
set mom_Home 17694127
set mtth_Home 10299428
set sphi_Home 7934290
set schi_Home 7581355
set sy_Home 7562793
set sx_Home 7562793
set som_Home 17694127
set stth_Home 6559259
#Measured or computed slit motor steps per millimetre
# 125 steps * 161:1 gears = 20125
set slitStepRate 20125
#Measured slit gap, in units, after homing on limit switches
set ss1h_Gap 52.5
set ss1v_Gap 205.9
set ss2h_Gap 51.3
set ss2v_Gap 203.3
set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
#Default upper and lower ranges for vertical slits
set vertSlitLowRange 25
set vertSlitUpRange 100
#Default upper and lower ranges for horizontal slits
set horSlitLowRange 25
set horSlitUpRange 25
# Run slit homing routines on controllers 3 and 4
#if [catch {dmc_connect dmc2280_controller3} ] {
@@ -47,7 +89,7 @@ Motor mphi DMC2280 [params \
maxDecel 1\
stepsPerX -25000\
absEnc 1\
absEncHome 7414753\
absEncHome $mphi_Home\
cntsPerX -8192]
setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
mphi speed 1
@@ -64,7 +106,7 @@ Motor mchi DMC2280 [params \
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7818915\
absEncHome $mchi_Home\
cntsPerX 8192]
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
mchi speed 1
@@ -81,7 +123,7 @@ Motor my DMC2280 [params \
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7781680\
absEncHome $my_Home\
cntsPerX 8192]
setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
my speed 1
@@ -98,7 +140,7 @@ Motor mx DMC2280 [params \
maxDecel 1\
stepsPerX -25000\
absEnc 1\
absEncHome 7562793\
absEncHome $mx_Home\
cntsPerX -8192]
setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
mx speed 1
@@ -115,7 +157,7 @@ Motor mom DMC2280 [params \
maxDecel 1\
stepsPerX -12500\
absEnc 1\
absEncHome 17694127\
absEncHome $mom_Home\
cntsPerX -4096]
setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
mom speed 1
@@ -127,19 +169,19 @@ Motor mtth DMC2280 [params \
port $dmc2280_controller1(port)\
axis F\
units degrees\
maxSpeed 0.5\
maxSpeed 0.2\
maxAccel 0.2\
maxDecel 0.2\
stepsPerX [expr 25000*18]\
absEnc 1\
absEncHome 10299428\
cntsPerX 93207]
mtth hardlowerlim 86
mtth hardupperlim 137
mtth softlowerlim 86
mtth softupperlim 137
absEncHome $mtth_Home\
cntsPerX -93207]
mtth hardlowerlim 45
mtth hardupperlim 100
mtth softlowerlim 45
mtth softupperlim 100
mtth home 90
mtth speed 0.5
mtth speed 0.2
mtth accel 0.01
mtth decel 0.01
mtth precision 0.02
@@ -151,8 +193,6 @@ mtth failafter 10
# Motor Controller 2
# Motor Controller 2
############################
#:TP at HOME
#
# Sample Tilt 1, upper, phi
Motor sphi DMC2280 [params \
@@ -165,7 +205,7 @@ Motor sphi DMC2280 [params \
maxDecel 1\
stepsPerX -25000\
absEnc 1\
absEncHome 7934290\
absEncHome $sphi_Home\
cntsPerX -8192]
setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
sphi speed 1
@@ -182,7 +222,7 @@ Motor schi DMC2280 [params \
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7581355\
absEncHome $schi_Home\
cntsPerX 8192]
setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
schi speed 1
@@ -199,7 +239,7 @@ Motor sy DMC2280 [params \
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7562793\
absEncHome $sy_Home\
cntsPerX 8192]
setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
sy speed 1
@@ -216,7 +256,7 @@ Motor sx DMC2280 [params \
maxDecel 1\
stepsPerX -25000\
absEnc 1\
absEncHome 7562793\
absEncHome $sx_Home\
cntsPerX -8192]
setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
sx speed 1
@@ -233,9 +273,9 @@ Motor som DMC2280 [params \
maxDecel 1\
stepsPerX 12500\
absEnc 1\
absEncHome 17694127\
absEncHome $som_Home\
cntsPerX 4096]
setHomeandRange -motor som -home 0 -lowrange 180 -uprange 180
setHomeandRange -motor som -home 0 -lowrange 90 -uprange 90
som speed 1
som precision 0.01
@@ -246,12 +286,12 @@ Motor stth DMC2280 [params \
axis F\
units degrees\
maxSpeed 0.5\
maxAccel 0.2\
maxDecel 0.2\
maxAccel 0.1\
maxDecel 0.1\
stepsPerX 125000\
absEnc 1\
absEncHome 6559259\
cntsPerX 93207]
absEncHome $stth_Home\
cntsPerX -93207]
stth hardlowerlim -60
stth hardupperlim 60
stth softlowerlim -60
@@ -260,17 +300,6 @@ stth home 0
stth speed 0.5
stth precision 0.01
#Default upper and lower ranges for vertical slits
set vertSlitLowRange 20
set vertSlitUpRange 100
#Default upper and lower ranges for horizontal slits
set horSlitLowRange 15
set horSlitUpRange 35
#Measured or computed slit motor steps per millimetre
set slitStepRate 20180
############################
# Motor Controller 3
# Motor Controller 3
@@ -289,7 +318,7 @@ set slitStepRate 20180
# maxDecel xxxx\
# stepsPerX xxxx\
# absEnc 1\
# absEncHome xxxx\
# absEncHome $mf1_Home\
# cntsPerX xxxx]
#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
#mf1 speed 1
@@ -322,7 +351,7 @@ Motor ss1r DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 54.5/2*$slitStepRate]]
motorHome $ss1r_Home]
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
# Slit 1, left
@@ -335,7 +364,7 @@ Motor ss1l DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 54.5/2*$slitStepRate]]
motorHome $ss1l_Home]
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
# Slit 1, up
@@ -348,7 +377,7 @@ Motor ss1u DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 207.5/2*$slitStepRate]]
motorHome $ss1u_Home]
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
# Slit 1, down
@@ -361,7 +390,7 @@ Motor ss1d DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 207.5/2*$slitStepRate]]
motorHome $ss1d_Home]
setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
############################
@@ -381,7 +410,7 @@ Motor ss2r DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 52.25/2*$slitStepRate]]
motorHome $ss2r_Home]
setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
# Slit 2, left
@@ -394,7 +423,7 @@ Motor ss2l DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 52.25/2*$slitStepRate]]
motorHome $ss2l_Home]
setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
# Slit 2, up
@@ -407,7 +436,7 @@ Motor ss2u DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 204.1/2*$slitStepRate]]
motorHome $ss2u_Home]
setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
# Slit 2, down
@@ -420,7 +449,7 @@ Motor ss2d DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 204.1/2*$slitStepRate]]
motorHome $ss2d_Home]
setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}

129
site_ansto/instrument/hrpd/motor_configuration.tcl
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@@ -1,22 +1,66 @@
# $Revision: 1.11 $
# $Date: 2007-01-17 05:30:10 $
# $Revision: 1.12 $
# $Date: 2007-01-18 03:15:58 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $
# Last revision by: $Author: dcl $
# START MOTOR CONFIGURATION
set animal echidna
# Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller1(host) mc1-echidna
set dmc2280_controller1(port) pmc1-echidna
set dmc2280_controller1(host) mc1-$animal
set dmc2280_controller1(port) pmc1-$animal
set dmc2280_controller2(host) mc2-echidna
set dmc2280_controller2(port) pmc2-echidna
set dmc2280_controller2(host) mc2-$animal
set dmc2280_controller2(port) pmc2-$animal
set dmc2280_controller3(host) mc3-echidna
set dmc2280_controller3(port) pmc3-echidna
set dmc2280_controller3(host) mc3-$animal
set dmc2280_controller3(port) pmc3-$animal
set dmc2280_controller4(host) mc4-echidna
set dmc2280_controller4(port) pmc4-echidna
set dmc2280_controller4(host) mc4-$animal
set dmc2280_controller4(port) pmc4-$animal
#Measured absolute encoder reading at home position
set mphi_Home 7415177
set mchi_Home 7818798
set my_Home 7779997
set mx_Home 7580365
set mom_Home 13442932
set mtth_Home 11477617
set pcx_Home 8345644
set pcr_Home 6197934
set sphi_Home 7924507
set schi_Home 7542917
set sy_Home 7626584
set sx_Home 24029910
set som_Home 24984596
set stth_Home 14530407
#Measured or computed slit motor steps per millimetre
# 125 steps * 161:1 gears = 20125
set slitStepRate 20125
#Measured slit gap, in units, after homing on limit switches
set ss1h_Gap 54.0
set ss1v_Gap 207.5
set ss2h_Gap 52.0
set ss2v_Gap 203.4
set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
#Default upper and lower ranges for vertical slits
set vertSlitLowRange 25
set vertSlitUpRange 100
#Default upper and lower ranges for horizontal slits
set horSlitLowRange 25
set horSlitUpRange 25
# Run slit homing routines on controllers 3 and 4
#if [catch {dmc_connect dmc2280_controller3} ] {
@@ -47,7 +91,7 @@ Motor mphi DMC2280 [params \
maxDecel 1\
stepsPerX -25000\
absEnc 1\
absEncHome 7415177\
absEncHome $mphi_Home\
cntsPerX -8192]
setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
mphi speed 1
@@ -64,7 +108,7 @@ Motor mchi DMC2280 [params \
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7818798\
absEncHome $mchi_Home\
cntsPerX 8192]
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
mchi speed 1
@@ -81,7 +125,7 @@ Motor my DMC2280 [params \
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7779997\
absEncHome $my_Home\
cntsPerX 8192]
setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
my speed 1
@@ -98,7 +142,7 @@ Motor mx DMC2280 [params \
maxDecel 1\
stepsPerX -25000\
absEnc 1\
absEncHome 7580365\
absEncHome $mx_Home\
cntsPerX -8192]
setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
mx speed 1
@@ -115,7 +159,7 @@ Motor mom DMC2280 [params \
maxDecel 1\
stepsPerX -12500\
absEnc 1\
absEncHome 13442932\
absEncHome $mom_Home\
cntsPerX -4096]
setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
mom speed 1
@@ -132,7 +176,7 @@ Motor mtth DMC2280 [params \
maxDecel 0.2\
stepsPerX [expr 25000*18]\
absEnc 1\
absEncHome 11477617\
absEncHome $mtth_Home\
cntsPerX -93207]
mtth hardlowerlim 90
mtth hardupperlim 137
@@ -157,7 +201,7 @@ Motor pcx DMC2280 [params \
maxDecel 1\
stepsPerX [expr -25000/6]\
absEnc 1\
absEncHome 8345644\
absEncHome $pcx_Home\
cntsPerX [expr 8192/6]]
setHomeandRange -motor pcx -home 0 -lowrange 0 -uprange 140
pcx speed 1
@@ -174,7 +218,7 @@ Motor pcr DMC2280 [params \
maxDecel 0.1\
stepsPerX [expr -25000/(360/100)]\
absEnc 1\
absEncHome 6197934\
absEncHome $pcr_Home\
cntsPerX [expr 8192/(360/100)]]
setHomeandRange -motor pcr -home 0 -lowrange 10 -uprange 10
pcr speed 0.1
@@ -185,8 +229,6 @@ pcr precision 0.01
# Motor Controller 2
# Motor Controller 2
############################
#:TP at HOME
# 7924507, 7542917, 7626584, 24029910, 24984596, 14530407, 22369621, 22369621
# Sample Tilt 1, upper, phi
Motor sphi DMC2280 [params \
@@ -199,7 +241,7 @@ Motor sphi DMC2280 [params \
maxDecel 1\
stepsPerX -25000\
absEnc 1\
absEncHome 7924507\
absEncHome $sphi_Home\
cntsPerX -8192]
setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
sphi speed 1
@@ -216,7 +258,7 @@ Motor schi DMC2280 [params \
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7542917\
absEncHome $schi_Home\
cntsPerX 8192]
setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
schi speed 1
@@ -233,7 +275,7 @@ Motor sy DMC2280 [params \
maxDecel 1\
stepsPerX 25000\
absEnc 1\
absEncHome 7626584\
absEncHome $sy_Home\
cntsPerX 8192]
setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
sy speed 1
@@ -250,7 +292,7 @@ Motor sx DMC2280 [params \
maxDecel 1\
stepsPerX -25000\
absEnc 1\
absEncHome 24029910\
absEncHome $sx_Home\
cntsPerX -8192]
setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
sx speed 1
@@ -267,7 +309,7 @@ Motor som DMC2280 [params \
maxDecel 1\
stepsPerX 12500\
absEnc 1\
absEncHome 24984596\
absEncHome $som_Home\
cntsPerX 4096]
setHomeandRange -motor som -home 0 -lowrange 142 -uprange 218
som speed 1
@@ -284,7 +326,7 @@ Motor stth DMC2280 [params \
maxDecel 0.1\
stepsPerX 125000\
absEnc 1\
absEncHome 14530407\
absEncHome $stth_Home\
cntsPerX -93207]
stth hardlowerlim -79
stth hardupperlim 77
@@ -294,17 +336,6 @@ stth home 0
stth speed 0.5
stth precision 0.01
#Default upper and lower ranges for vertical slits
set vertSlitLowRange 20
set vertSlitUpRange 100
#Default upper and lower ranges for horizontal slits
set horSlitLowRange 15
set horSlitUpRange 35
#Measured or computed slit motor steps per millimetre
set slitStepRate 20180
############################
# Motor Controller 3
# Motor Controller 3
@@ -323,7 +354,7 @@ set slitStepRate 20180
# maxDecel xxxx\
# stepsPerX xxxx\
# absEnc 1\
# absEncHome xxxx\
# absEncHome $mf1_Home\
# cntsPerX xxxx]
#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
#mf1 speed 1
@@ -339,7 +370,7 @@ Motor ss1r DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 54.5/2*$slitStepRate]]
motorHome $ss1r_Home]
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
# Slit 1, left
@@ -352,7 +383,7 @@ Motor ss1l DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 54.5/2*$slitStepRate]]
motorHome $ss1l_Home]
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
# Slit 1, up
@@ -365,7 +396,7 @@ Motor ss1u DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 207.5/2*$slitStepRate]]
motorHome $ss1u_Home]
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
# Slit 1, down
@@ -378,7 +409,7 @@ Motor ss1d DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 207.5/2*$slitStepRate]]
motorHome $ss1d_Home]
setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
############################
@@ -400,7 +431,7 @@ setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSl
# maxDecel xxxx\
# stepsPerX xxxx\
# absEnc 1\
# absEncHome xxxx\
# absEncHome $ephi_Home\
# cntsPerX xxxx]
#setHomeandRange -motor ephi -home 0 -lowrange 180 -uprange 180
@@ -414,7 +445,7 @@ setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSl
# maxDecel xxxx\
# stepsPerX xxxx\
# absEnc 1\
# absEncHome xxxx\
# absEncHome $echi_Home\
# cntsPerX xxxx]
#setHomeandRange -motor echi -home 0 -lowrange 180 -uprange 180
@@ -428,7 +459,7 @@ Motor ss2r DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 52.25/2*$slitStepRate]]
motorHome $ss2r_Home]
setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
# Slit 2, left
@@ -441,7 +472,7 @@ Motor ss2l DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 52.25/2*$slitStepRate]]
motorHome $ss2l_Home]
setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
# Slit 2, up
@@ -454,7 +485,7 @@ Motor ss2u DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 204.1/2*$slitStepRate]]
motorHome $ss2u_Home]
setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
# Slit 2, down
@@ -467,7 +498,7 @@ Motor ss2d DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 204.1/2*$slitStepRate]]
motorHome $ss2d_Home]
setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}

56
site_ansto/instrument/qld/motor_configuration.tcl
View File

@@ -1,7 +1,9 @@
set slit2active 0
set animal koala
# Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller2(host) mc2-koala
set dmc2280_controller2(port) pmc2-koala
set dmc2280_controller2(host) mc2-$animal
set dmc2280_controller2(port) pmc2-$animal
# Run slit homing routines
#if [catch {dmc_connect dmc2280_controller2} ] {
@@ -19,29 +21,26 @@ set dmc2280_controller2(port) pmc2-koala
#
#Measured or computed slit motor steps per unit (mm)
set slitStepRate 20180
set slitStepRate 20125
#Measured slit gap, in units, after homing on limit switches
set s1vGap 128
set s1hGap 53
set s2vGap 205
set s2hGap 51
set ss1h_Gap 52.6
set ss1v_Gap 128.6
set ss2h_Gap 51
set ss2v_Gap 205
#Measured offset for centre opening in units, positive up
set s1vOff 0
set s1uHome [expr $s1vGap/2*$slitStepRate]
set s1dHome [expr $s1vGap/2*$slitStepRate]
set s1rHome [expr $s1hGap/2*$slitStepRate]
set s1lHome [expr $s1hGap/2*$slitStepRate]
set s2uHome [expr $s2vGap/2*$slitStepRate]
set s2dHome [expr $s2vGap/2*$slitStepRate]
set s2rHome [expr $s2hGap/2*$slitStepRate]
set s2lHome [expr $s2hGap/2*$slitStepRate]
set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
#Default upper and lower ranges for vertical slits
set vertSlitLowRange 60
set vertSlitUpRange 60
set vertSlitLowRange 64
set vertSlitUpRange 64
#Default upper and lower ranges for horizontal slits
set horSlitLowRange 25
@@ -56,7 +55,7 @@ Motor ss1r DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s1rHome]
motorHome $ss1r_Home]
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
Motor ss1l DMC2280 [params \
@@ -68,7 +67,7 @@ Motor ss1l DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s1lHome]
motorHome $ss1l_Home]
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
Motor ss1u DMC2280 [params \
@@ -80,7 +79,7 @@ Motor ss1u DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s1uHome]
motorHome $ss1u_Home]
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
Motor ss1d DMC2280 [params \
@@ -92,7 +91,7 @@ Motor ss1d DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s1dHome]
motorHome $ss1d_Home]
setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
if {$slit2active} {
@@ -105,7 +104,7 @@ Motor ss2r DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s2rHome]
motorHome $ss2r_Home]
setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
Motor ss2l DMC2280 [params \
@@ -117,7 +116,7 @@ Motor ss2l DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s2lHome]
motorHome $ss2l_Home]
setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
Motor ss2u DMC2280 [params \
@@ -129,7 +128,7 @@ Motor ss2u DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s2uHome]
motorHome $ss2u_Home]
setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
Motor ss2d DMC2280 [params \
@@ -141,7 +140,7 @@ Motor ss2d DMC2280 [params \
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $s2dHome]
motorHome $ss2d_Home]
setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
}
@@ -325,4 +324,3 @@ ss2vo readscript ss2readvertoffset
}
# END MOTOR CONFIGURATION