Renamed file.
r1149 | ffr | 2006-10-13 16:42:03 +1000 (Fri, 13 Oct 2006) | 2 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
70f4e78b3d
commit
4535468776
@@ -1,714 +0,0 @@
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# $Revision: 1.2 $
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# $Date: 2006-05-22 05:00:36 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: ffr $
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#START SERVER CONFIGURATION SECTION
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installprotocolhandler
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# Use this to create an array of named parameters to inilise motors.
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proc params {args} {
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upvar 1 "" x;
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if [info exists x] {unset x}
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eval "array set x [list $args]"
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}
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ServerOption statusfile /home/sics/SICS/log/status.tcl
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ServerOption RedirectFile /home/sics/SICS/log/stdout
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ServerOption LogFileBaseName /home/sics/SICS/log/serverlog
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ServerOption LogFileDir /home/sics/SICS/log
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ServerOption QuieckPort 60004
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ServerOption ServerPort 60003
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ServerOption InterruptPort 60002
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ServerOption TelWord sicslogin
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ServerOption TelnetPort 60001
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ServerOption ReadUserPasswdTimeout 600000
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ServerOption AcceptTimeOut 10
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ServerOption ReadTimeOut 10
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SicsUser manager ansto 1
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SicsUser user sydney 2
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SicsUser spy 007 3
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MakeDataNumber SicsDataNumber /home/sics/SICS/data/DataNumber
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VarMake SicsDataPath Text Internal
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SicsDataPath /home/sics/SICS/data/
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SicsDataPath lock
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VarMake SicsDataPrefix Text Internal
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SicsDataPrefix smp
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SicsDataPrefix lock
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VarMake SicsDataPostFix Text Internal
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SicsDataPostFix .hdf
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SicsDataPostFix lock
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VarMake Title Text User
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VarMake Sample Text User
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VarMake User Text User
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VarMake starttime Text User
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VarMake currentfile Text User
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VarMake batchroot Text User
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VarMake Instrument Text Internal
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Instrument Wombat
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Instrument lock
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MakeDrive
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#END SERVER CONFIGURATION SECTION
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########################################
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# INSTRUMENT SPECIFIC CONFIGURATION
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#xxxx WHICH CONTROLLER DO ECHI AND EPHI BELONG TO
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#Motor echi DMC2280 [params \
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# host xxxx\
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# port xxxx\
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# axis A\
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# units xxxx\
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# maxSpeed xxxx\
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# maxAccel xxxx\
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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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# cntsPerX xxxx]
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#echi hardlowerlim 0
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#echi hardupperlim 360
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#echi softlowerlim 0
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#echi softupperlim 360
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#echi home 0
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#Motor ephi DMC2280 [params \
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# host xxxx\
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# port xxxx\
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# axis xxxx\
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# units xxxx\
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# maxSpeed xxxx\
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# maxAccel xxxx\
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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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# cntsPerX xxxx]
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#ephi hardlowerlim 0
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#ephi hardupperlim 360
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#ephi softlowerlim 0
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#ephi softupperlim 360
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#ephi home 0
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# Setup addresses of Galil DMC2280 controllers.
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set dmc2280_controller1(host) 137.157.201.130
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set dmc2280_controller1(port) 1034
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set dmc2280_controller2(host) 137.157.201.131
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set dmc2280_controller2(port) 1034
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set dmc2280_controller3(host) 137.157.201.132
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set dmc2280_controller3(port) 1034
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set dmc2280_controller4(host) 137.157.201.133
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set dmc2280_controller4(port) 1034
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Motor mth DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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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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cntsPerX xxxx]
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mth hardlowerlim -180
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mth hardupperlim 180
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mth softlowerlim -180
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mth softupperlim 180
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mth home 0
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Motor mom DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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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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cntsPerX xxxx]
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mom hardlowerlim -180
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mom hardupperlim 180
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mom softlowerlim -180
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mom softupperlim 180
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mom home 0
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Motor mtth DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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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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cntsPerX xxxx]
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mtth hardlowerlim 85
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mtth hardupperlim 155
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mtth softlowerlim 85
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mtth softupperlim 155
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mtth home 120
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Motor mchi DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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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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cntsPerX xxxx]
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mchi hardlowerlim 70
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mchi hardupperlim 110
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mchi softlowerlim 70
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mchi softupperlim 110
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mchi home 90
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Motor mphi DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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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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cntsPerX xxxx]
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mphi hardlowerlim -20
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mphi hardupperlim 20
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mphi softlowerlim -20
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mphi softupperlim 20
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mphi home 0
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Motor mx DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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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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cntsPerX xxxx]
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mx hardlowerlim -20
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mx hardupperlim 20
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mx softlowerlim -20
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mx softupperlim 20
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mx home 0
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Motor my DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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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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cntsPerX xxxx]
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my hardlowerlim -20
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my hardupperlim 20
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my softlowerlim -20
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my softupperlim 20
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my home 0
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Motor mr DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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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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cntsPerX xxxx]
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mr hardlowerlim xxxx
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mr hardupperlim xxxx
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mr softlowerlim xxxx
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mr softupperlim xxxx
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mr home 0
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Motor pc1 DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis F\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx]
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pc1 hardlowerlim xxxx
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pc1 hardupperlim xxxx
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pc1 softlowerlim xxxx
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pc1 softupperlim xxxx
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pc1 home 0
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Motor pc2 DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis G\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx]
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pc2 hardlowerlim xxxx
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pc2 hardupperlim xxxx
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pc2 softlowerlim xxxx
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pc2 softupperlim xxxx
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pc2 home 0
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Motor sth DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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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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cntsPerX xxxx]
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sth hardlowerlim -180
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sth hardupperlim 180
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sth softlowerlim -180
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sth softupperlim 180
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sth home 0
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Motor som DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis B\
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units degrees\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome 17694127\
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cntsPerX 8192]
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som hardlowerlim -180
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som hardupperlim 180
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som softlowerlim -1.9
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som softupperlim 1.9
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som home 0
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Motor stth DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis A\
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units degrees\
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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 125000\
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absEnc 1\
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absEncHome 6559259\
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cntsPerX -93207]
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stth hardlowerlim 85
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stth hardupperlim 155
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stth softlowerlim 85
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stth softupperlim 155
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stth home 120
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Motor schi DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis E\
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units degrees\
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maxSpeed 1\
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maxAccel 1\
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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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cntsPerX -8192]
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schi hardlowerlim 70
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schi hardupperlim 110
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schi softlowerlim 70
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schi softupperlim 110
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schi home 90
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Motor sphi DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis F\
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units degrees\
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maxSpeed 1\
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maxAccel 1\
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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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cntsPerX -8192]
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sphi hardlowerlim -20
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sphi hardupperlim 20
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sphi softlowerlim -20
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sphi softupperlim 20
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sphi home 0
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Motor sx DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis D\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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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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cntsPerX -8192]
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sx hardlowerlim -20
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sx hardupperlim 20
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sx softlowerlim -20
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sx softupperlim 20
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sx home 0
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Motor sy DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis C\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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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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cntsPerX -8192]
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sy hardlowerlim -20
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sy hardupperlim 20
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sy softlowerlim -20
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sy softupperlim 20
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sy home 0
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Motor ss1u DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis C\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -20125\
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motorHome 2040518]
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ss1u hardlowerlim 0
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ss1u hardupperlim 50
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ss1u softlowerlim 0
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ss1u softupperlim 50
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ss1u home 0
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Motor ss1d DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis D\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -20125\
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motorHome 2040518]
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ss1d hardlowerlim 0
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ss1d hardupperlim 50
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ss1d softlowerlim 0
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ss1d softupperlim 50
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ss1d home 0
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Motor ss1l DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis A\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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||||
stepsPerX -20125\
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||||
motorHome 542093]
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ss1l hardlowerlim 0
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ss1l hardupperlim 50
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ss1l softlowerlim 0
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ss1l softupperlim 50
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ss1l home 0
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Motor ss1r DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis B\
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||||
units mm\
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maxSpeed 1\
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||||
maxAccel 1\
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||||
maxDecel 1\
|
||||
stepsPerX -20125\
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||||
motorHome 542093]
|
||||
ss1r hardlowerlim 0
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ss1r hardupperlim 50
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ss1r softlowerlim 0
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ss1r softupperlim 50
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ss1r home 0
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Motor ss2u DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis C\
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||||
units mm\
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||||
maxSpeed 1\
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||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
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||||
motorHome 2043085]
|
||||
ss2u hardlowerlim 0
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ss2u hardupperlim 50
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||||
ss2u softlowerlim 0
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ss2u softupperlim 50
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ss2u home 0
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|
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Motor ss2d DMC2280 [params \
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||||
host $dmc2280_controller4(host)\
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||||
port $dmc2280_controller4(port)\
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axis D\
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||||
units mm\
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||||
maxSpeed 1\
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||||
maxAccel 1\
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||||
maxDecel 1\
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||||
stepsPerX -20125\
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||||
motorHome 2043085]
|
||||
ss2d hardlowerlim 0
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||||
ss2d hardupperlim 50
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||||
ss2d softlowerlim 0
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ss2d softupperlim 50
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ss2d home 0
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||||
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Motor ss2l DMC2280 [params \
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||||
host $dmc2280_controller4(host)\
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||||
port $dmc2280_controller4(port)\
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||||
axis A\
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||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
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||||
motorHome 500000]
|
||||
ss2l hardlowerlim 0
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||||
ss2l hardupperlim 50
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||||
ss2l softlowerlim 0
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||||
ss2l softupperlim 50
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||||
ss2l home 0
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||||
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||||
Motor ss2r DMC2280 [params \
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||||
host $dmc2280_controller4(host)\
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||||
port $dmc2280_controller4(port)\
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||||
axis B\
|
||||
units mm\
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||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 500000]
|
||||
ss2r hardlowerlim 0
|
||||
ss2r hardupperlim 50
|
||||
ss2r softlowerlim 0
|
||||
ss2r softupperlim 50
|
||||
ss2r home 0
|
||||
|
||||
|
||||
proc SplitReply { text } {
|
||||
set l [split $text =]
|
||||
return [lindex $l 1]
|
||||
}
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss1widthscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1R [expr [SplitReply [ss1r]] + $diff/2]
|
||||
set newD1L [expr [SplitReply [ss1l]] + $diff/2]
|
||||
return "ss1r=$newD1R,ss1l=$newD1L"
|
||||
}
|
||||
publish ss1widthscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readwidth {} {
|
||||
return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
|
||||
}
|
||||
publish ss1readwidth user
|
||||
MakeConfigurableMotor ss1hg
|
||||
ss1hg drivescript ss1widthscript
|
||||
ss1hg readscript ss1readwidth
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss1horoffsetscript {val} {
|
||||
set SR [SplitReply [ss1r]]
|
||||
set SL [SplitReply [ss1l]]
|
||||
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1R [expr $SR + $diff]
|
||||
set newD1L [expr $SL - $diff]
|
||||
return "ss1r=$newD1R,ss1l=$newD1L"
|
||||
}
|
||||
publish ss1horoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readhoroffset {} {
|
||||
set SR [SplitReply [ss1r]]
|
||||
return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
|
||||
}
|
||||
publish ss1readhoroffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss1ho
|
||||
ss1ho drivescript ss1horoffsetscript
|
||||
ss1ho readscript ss1readhoroffset
|
||||
|
||||
#-----------------------------------------------------
|
||||
proc ss1heightscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1B [expr [SplitReply [ss1d]] + $diff/2]
|
||||
set newD1T [expr [SplitReply [ss1u]] + $diff/2]
|
||||
return "ss1d=$newD1B,ss1u=$newD1T"
|
||||
}
|
||||
publish ss1heightscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readheight {} {
|
||||
return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
|
||||
}
|
||||
publish ss1readheight user
|
||||
|
||||
#---------------------------------------------------------
|
||||
MakeConfigurableMotor ss1vg
|
||||
ss1vg drivescript ss1heightscript
|
||||
ss1vg readscript ss1readheight
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss1vertoffsetscript {val} {
|
||||
set SU [SplitReply [ss1u]]
|
||||
set SD [SplitReply [ss1d]]
|
||||
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1U [expr $SU + $diff]
|
||||
set newD1D [expr $SD - $diff]
|
||||
return "ss1u=$newD1U,ss1d=$newD1D"
|
||||
}
|
||||
publish ss1vertoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readvertoffset {} {
|
||||
set SU [SplitReply [ss1u]]
|
||||
return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
|
||||
}
|
||||
publish ss1readvertoffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss1vo
|
||||
ss1vo drivescript ss1vertoffsetscript
|
||||
ss1vo readscript ss1readvertoffset
|
||||
###############################################
|
||||
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss2widthscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1R [expr [SplitReply [ss2r]] + $diff/2]
|
||||
set newD1L [expr [SplitReply [ss2l]] + $diff/2]
|
||||
return "ss2r=$newD1R,ss2l=$newD1L"
|
||||
}
|
||||
publish ss2widthscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readwidth {} {
|
||||
return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
|
||||
}
|
||||
publish ss2readwidth user
|
||||
MakeConfigurableMotor ss2hg
|
||||
ss2hg drivescript ss2widthscript
|
||||
ss2hg readscript ss2readwidth
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss2horoffsetscript {val} {
|
||||
set SR [SplitReply [ss2r]]
|
||||
set SL [SplitReply [ss2l]]
|
||||
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1R [expr $SR + $diff]
|
||||
set newD1L [expr $SL - $diff]
|
||||
return "ss2r=$newD1R,ss2l=$newD1L"
|
||||
}
|
||||
publish ss2horoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readhoroffset {} {
|
||||
set SR [SplitReply [ss2r]]
|
||||
return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
|
||||
}
|
||||
publish ss2readhoroffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss2ho
|
||||
ss2ho drivescript ss2horoffsetscript
|
||||
ss2ho readscript ss2readhoroffset
|
||||
|
||||
#-----------------------------------------------------
|
||||
proc ss2heightscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1B [expr [SplitReply [ss2d]] + $diff/2]
|
||||
set newD1T [expr [SplitReply [ss2u]] + $diff/2]
|
||||
return "ss2d=$newD1B,ss2u=$newD1T"
|
||||
}
|
||||
publish ss2heightscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readheight {} {
|
||||
return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
|
||||
}
|
||||
publish ss2readheight user
|
||||
|
||||
#---------------------------------------------------------
|
||||
MakeConfigurableMotor ss2vg
|
||||
ss2vg drivescript ss2heightscript
|
||||
ss2vg readscript ss2readheight
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss2vertoffsetscript {val} {
|
||||
set SU [SplitReply [ss2u]]
|
||||
set SD [SplitReply [ss2d]]
|
||||
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1U [expr $SU + $diff]
|
||||
set newD1D [expr $SD - $diff]
|
||||
return "ss2u=$newD1U,ss2d=$newD1D"
|
||||
}
|
||||
publish ss2vertoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readvertoffset {} {
|
||||
set SU [SplitReply [ss2u]]
|
||||
return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
|
||||
}
|
||||
publish ss2readvertoffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss2vo
|
||||
ss2vo drivescript ss2vertoffsetscript
|
||||
ss2vo readscript ss2readvertoffset
|
||||
Reference in New Issue
Block a user