New motor driver now requires hard upper and lower limits.

r1482 | ffr | 2007-02-14 16:49:53 +1100 (Wed, 14 Feb 2007) | 2 lines

site_ansto/instrument/hipd/motor_configuration.tcl

@@ -1,7 +1,7 @@
-# $Revision: 1.6 $
-# $Date: 2007-01-29 20:57:24 $
+# $Revision: 1.7 $
+# $Date: 2007-02-14 05:49:53 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: dcl $
+# Last revision by: $Author: ffr $
 
 # START MOTOR CONFIGURATION
 
@@ -58,10 +58,12 @@ 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 vertSlitHome 0
 set vertSlitLowRange 25
 set vertSlitUpRange 100
 
 #Default upper and lower ranges for horizontal slits
+set horSlitHome 0
 set horSlitLowRange 25
 set horSlitUpRange 25
 
@@ -89,6 +91,8 @@ Motor mphi DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis A\
   units degrees\
+  hardlowerlim -5\
+  hardupperlim 5\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -106,6 +110,8 @@ Motor mchi DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis B\
   units degrees\
+  hardlowerlim 85\
+  hardupperlim 95\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -123,6 +129,8 @@ Motor my DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis C\
   units mm\
+  hardlowerlim -10\
+  hardupperlim 10\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -140,6 +148,8 @@ Motor mx DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis D\
   units mm\
+  hardlowerlim -10\
+  hardupperlim 10\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -157,6 +167,8 @@ Motor mom DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis E\
   units degrees\
+  hardlowerlim -180\
+  hardupperlim 180\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -174,6 +186,8 @@ Motor mtth DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis F\
   units degrees\
+  hardlowerlim 45\
+  hardupperlim 100\
   maxSpeed 0.2\
   maxAccel 0.2\
   maxDecel 0.2\
@@ -182,8 +196,6 @@ Motor mtth DMC2280 [params \
   absEncHome $mtth_Home\
   motoffdelay 5000\
   cntsPerX -93207]
-mtth hardlowerlim 45
-mtth hardupperlim 100
 mtth softlowerlim 45
 mtth softupperlim 100
 mtth home 90
@@ -206,6 +218,8 @@ Motor sphi DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis A\
   units degrees\
+  hardlowerlim -15\
+  hardupperlim 15\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -223,6 +237,8 @@ Motor schi DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis B\
   units degrees\
+  hardlowerlim 75\
+  hardupperlim 105\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -240,6 +256,8 @@ Motor sy DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis C\
   units mm\
+  hardlowerlim -20\
+  hardupperlim 20\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -257,6 +275,8 @@ Motor sx DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis D\
   units mm\
+  hardlowerlim -20\
+  hardupperlim 20\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -274,6 +294,8 @@ Motor som DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis E\
   units degrees\
+  hardlowerlim -54\
+  hardupperlim 120\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -291,6 +313,8 @@ Motor stth DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis F\
   units degrees\
+  hardlowerlim -60\
+  hardupperlim 84\
   maxSpeed 0.5\
   maxAccel 0.1\
   maxDecel 0.1\
@@ -298,8 +322,6 @@ Motor stth DMC2280 [params \
   absEnc 1\
   absEncHome $stth_Home\
   cntsPerX -93207]
-stth hardlowerlim -60
-stth hardupperlim 84
 stth softlowerlim -60
 stth softupperlim 80
 stth home 0
@@ -312,6 +334,8 @@ Motor oct DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis G\
   units degrees\
+  hardlowerlim -2\
+  hardupperlim 2\
   maxSpeed 0.5\
   maxAccel 0.1\
   maxDecel 0.1\
@@ -319,8 +343,6 @@ Motor oct DMC2280 [params \
   absEnc 1\
   absEncHome $oct_Home\
   cntsPerX -465]
-oct hardlowerlim -2
-oct hardupperlim 2
 oct softlowerlim -2
 oct softupperlim 2
 oct home 0
@@ -340,6 +362,8 @@ oct precision 0.01
 #  port $dmc2280_controller3(port)\
 #  axis A\
 #  units degrees\
+#  hardlowerlim xxxx\
+#  hardupperlim xxxx\
 #  maxSpeed xxxx\
 #  maxAccel xxxx\
 #  maxDecel xxxx\
@@ -357,6 +381,8 @@ oct precision 0.01
 #  port $dmc2280_controller3(port)\
 #  axis B\
 #  units degrees\
+#  hardlowerlim xxxx\
+#  hardupperlim xxxx\
 #  maxSpeed xxxx\
 #  maxAccel xxxx\
 #  maxDecel xxxx\
@@ -374,12 +400,14 @@ Motor ss1r DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis E\
   units mm\
+  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
+  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss1r_Home]
-setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
+setHomeandRange -motor ss1r -home $horSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 1, left
 Motor ss1l DMC2280 [params \
@@ -387,12 +415,14 @@ Motor ss1l DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis F\
   units mm\
+  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
+  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss1l_Home]
-setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
+setHomeandRange -motor ss1l -home $horSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 1, up
 Motor ss1u DMC2280 [params \
@@ -400,12 +430,14 @@ Motor ss1u DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis G\
   units mm\
+  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
+  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss1u_Home]
-setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+setHomeandRange -motor ss1u -home $horSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 # Slit 1, down
 Motor ss1d DMC2280 [params \
@@ -413,12 +445,14 @@ Motor ss1d DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis H\
   units mm\
+  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
+  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss1d_Home]
-setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+setHomeandRange -motor ss1d -home $vertSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 ############################
 # Motor Controller 4
@@ -433,12 +467,14 @@ Motor ss2r DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis E\
   units mm\
+  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
+  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss2r_Home]
-setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
+setHomeandRange -motor ss2r -home $vertSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 2, left
 Motor ss2l DMC2280 [params \
@@ -446,12 +482,14 @@ Motor ss2l DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis F\
   units mm\
+  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
+  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss2l_Home]
-setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
+setHomeandRange -motor ss2l -home $vertSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
 # Slit 2, up
 Motor ss2u DMC2280 [params \
@@ -459,12 +497,14 @@ Motor ss2u DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis G\
   units mm\
+  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
+  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss2u_Home]
-setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+setHomeandRange -motor ss2u -home $vertSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 # Slit 2, down
 Motor ss2d DMC2280 [params \
@@ -472,12 +512,14 @@ Motor ss2d DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis H\
   units mm\
+  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
+  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss2d_Home]
-setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+setHomeandRange -motor ss2d -home $vertSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
 proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}