Updated motor configuration from ics1-kookaburra.
This commit is contained in:
Ferdi Franceschini
committed by
Ferdi Franceschini
Ferdi Franceschini
parent
2d96d3de69
commit
48edc7322a
@@ -48,6 +48,10 @@ dummy_motor home 0
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# all motor rate is 25000steps/turn if no other specify
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set motorrate 25000.0
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# maxi motor speed for all slits
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set maxSpeedSlit 300000.0
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############################
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# Motor Controller 1
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# Motor Controller 1
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@@ -56,158 +60,148 @@ set motorrate 25000.0
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# mc1: Be Filter Y Translation
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# Gearbox
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set bex_Home 0
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set bexStepRate [expr (300000.0/100.0)/2.0]
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# Gearbox 1:1, pitch 2mm
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# Encoder 2P12
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# center Bin position
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set bex_Home 8671062
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set bexStepRate [expr $motorrate/2.0]
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Motor bex $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-kookaburra\
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port pmc1-kookaburra\
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axis A\
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units mm\
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hardlowerlim 0\
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hardupperlim 500\
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maxSpeed [expr 400000.0/300000.0]\
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maxAccel [expr 150000.0/300000.0]\
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maxDecel [expr 150000.0/300000.0]\
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stepsPerX $bexStepRate\
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hardlowerlim -7.373000\
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hardupperlim 134.001465\
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maxSpeed 2\
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maxAccel 2\
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maxDecel 2\
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stepsPerX -$bexStepRate\
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absEnc 1\
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absEncHome $bex_Home\
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cntsPerX 4096]
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cntsPerX [expr -4096/2.0] ]
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bex speed 2
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bex part crystal
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bex long_name bex
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bex softlowerlim 0
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bex softupperlim 500
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bex softlowerlim -7.000000
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bex softupperlim 133.000000
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bex home 0
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# mc1: Premonochromator Crystal Si(111) Tilt
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# Gearbox 50:1,
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set pmchi_Home 0
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set pmchiStepRate [expr (300000.0/100.0)/2.0]
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# Gearbox 55:1, 0.5 degree
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# Encoder 2P12,
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set pmchi_Home 8410424
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set pmchiStepRate [expr $motorrate*55.0/0.5]
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Motor pmchi $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-kookaburra\
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port pmc1-kookaburra\
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axis B\
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units degrees\
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hardlowerlim 0\
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hardupperlim 500\
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maxSpeed [expr 400000.0/300000.0]\
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maxAccel [expr 150000.0/300000.0]\
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maxDecel [expr 150000.0/300000.0]\
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stepsPerX $pmchiStepRate\
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hardlowerlim -1.2\
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hardupperlim 1.309937\
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maxSpeed 0.018\
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maxAccel 0.05\
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maxDecel 0.05\
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stepsPerX -$pmchiStepRate\
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absEnc 1\
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absEncHome $pmchi_Home\
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cntsPerX 4096]
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cntsPerX [expr 4096.0*2] ]
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pmchi precision 0.0001
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pmchi speed 0.018
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pmchi part crystal
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pmchi long_name pmchi
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pmchi softlowerlim 0
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pmchi softupperlim 500
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pmchi softlowerlim -1.15
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pmchi softupperlim 1.309937
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pmchi home 0
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# mc1: Premonochromator Crystal Si(111) Rotate
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# Gearbox 100:1,
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set pmom_Home 0
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set pmomStepRate [expr (300000.0/100.0)/2.0]
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# Gearbox 50:1, pitch 1 degree
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# Encoder 2P25
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# Crystal B 0, 18889883
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# Crystal HOPG position 179.603806, 2149592
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# Crystal HOPG loading position 49.740612, 14253738
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set pmom_Home 2102963
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set pmomStepRate [expr $motorrate*50.0]
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Motor pmom $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-kookaburra\
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port pmc1-kookaburra\
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axis C\
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units degrees\
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hardlowerlim 0\
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hardupperlim 500\
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maxSpeed [expr 400000.0/300000.0]\
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maxAccel [expr 150000.0/300000.0]\
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maxDecel [expr 150000.0/300000.0]\
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stepsPerX $pmomStepRate\
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hardlowerlim -10\
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hardupperlim 80\
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maxSpeed 0.2\
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maxAccel 0.08\
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maxDecel 0.2\
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stepsPerX -$pmomStepRate\
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absEnc 1\
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absEncHome $pmom_Home\
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cntsPerX 4096]
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cntsPerX 93206.755555556 ]
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pmom precision 0.0001
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pmom speed 0.16
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pmom part crystal
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pmom long_name pmom
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pmom softlowerlim 0
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pmom softupperlim 500
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pmom softlowerlim -7
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pmom softupperlim 77
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pmom home 0
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# mc1: Main Detector - Y Translate
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# Gearbox 23:1
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set mdet_Home 0
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set mdetStepRate [expr (300000.0/100.0)/2.0]
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# mc1: Main Detector - X Translate
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# Gearbox 20:1, pitch 5mm
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# Encoder 2p17
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set mdet_Home 521939864
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set mdetStepRate [expr $motorrate *20.0/5.0]
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Motor mdet $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-kookaburra\
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port pmc1-kookaburra\
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axis D\
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units mm\
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hardlowerlim 0\
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hardupperlim 500\
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maxSpeed [expr 400000.0/300000.0]\
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maxAccel [expr 150000.0/300000.0]\
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maxDecel [expr 150000.0/300000.0]\
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stepsPerX $mdetStepRate\
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hardlowerlim -3\
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hardupperlim 498\
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maxSpeed [expr 100000.0/$mdetStepRate]\
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maxAccel [expr 25000.0/$mdetStepRate]\
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maxDecel [expr 25000.0/$mdetStepRate]\
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stepsPerX -$mdetStepRate\
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absEnc 1\
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absEncHome $mdet_Home\
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cntsPerX 4096]
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mdet part detector
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cntsPerX [expr 131072/5.0] ]
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mdet precision 0.01
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mdet speed 1
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mdet part crystal
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mdet long_name mdet
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mdet softlowerlim 0
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mdet softupperlim 500
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mdet home 0
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# mc1: Tertiary Beam Shutter, status only and is controlled via PLC panel
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# Gearbox
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set plc_tertiary 0
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set plc_tertiaryStepRate [expr (300000.0/100.0)/2.0]
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Motor plc_tertiary $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-kookaburra\
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port pmc1-kookaburra\
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axis F\
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units mm\
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hardlowerlim 0\
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hardupperlim 2\
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maxSpeed [expr 250000.0/$plc_tertiarySetRate]\
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maxAccel [expr 25000.0/$plc_tertiarySetRate]\
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maxDecel [expr 25000.0/$plc_tertiarySetRate]\
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stepsPerX $plc_tertiarySetRate\
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absEnc 1\
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absEncHome $plc_tertiary_Home\
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cntsPerX 4096]
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plc_tertiary part detector
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plc_tertiary long_name plc_tertiary
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plc_tertiary softlowerlim 0
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plc_tertiary softupperlim 2
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plc_tertiary home 0
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mdet softlowerlim -2.5
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mdet hardupperlim 497
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# mc1: Detector Stage Y Attenuator
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# Gearbox
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set att_Home 0
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set attSetRate 25000
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set att_Home 546986
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set attSetRate [expr $motorrate/5.0]
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Motor att $motor_driver_type [params \
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asyncqueue mc1\
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host mc1-kookaburra\
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port pmc1-kookaburra\
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axis G\
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axis E\
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units mm\
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hardlowerlim -125\
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hardupperlim 8\
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hardlowerlim -215\
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hardupperlim 5.8\
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maxSpeed [expr 150000.0/$attSetRate]\
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maxAccel [expr 5000.0/$attSetRate]\
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maxDecel [expr 5000.0/$attSetRate]\
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stepsPerX $attSetRate\
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stepsPerX -$attSetRate\
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absEnc 1\
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absEncHome $att_Home\
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cntsPerX 4096]
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cntsPerX [expr 8192/5.0]]
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att precision 0.01
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att speed 2
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att part detector
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att long_name att
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att softlowerlim -125
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att softupperlim 8
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att softlowerlim -214.5
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att softupperlim 5.5
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att home 0
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@@ -216,195 +210,218 @@ att home 0
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# Motor Controller 2
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# Motor Controller 2
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############################
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#
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#
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# mc2: CC1 Monochromator Stage Tilt
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# Gearbox 50:1
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set m1chi_Home 0
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set m1chiSetRate 25000
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# Gearbox 20:1, screw pitch 356
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# Encoder 2p17
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# 68.681
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set m1chi_Home 15016533
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set m1chiSetRate [expr $motorrate*20*100/68.681]
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Motor m1chi $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-kookaburra\
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port pmc2-kookaburra\
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axis A\
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units degrees\
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hardlowerlim -2\
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hardupperlim 60\
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maxSpeed [expr 25000.0/$m1chiSetRate]\
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hardlowerlim -7.5\
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hardupperlim 7.5\
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maxSpeed [expr 100000.0/$m1chiSetRate]\
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maxAccel [expr 25000.0/$m1chiSetRate]\
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maxDecel [expr 25000.0/$m1chiSetRate]\
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stepsPerX $m1chiSetRate\
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maxDecel [expr 250000.0/$m1chiSetRate]\
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stepsPerX -$m1chiSetRate\
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absEnc 1\
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absEncHome $m1chi_Home\
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cntsPerX 4096]
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cntsPerX [expr 131072*100.0/68.681] ]
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m1chi precision 0.001
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m1chi speed 0.200
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m1chi part crystal
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m1chi long_name m1chi
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m1chi softlowerlim -2
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m1chi softupperlim 60
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m1chi home 0
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m1chi softupperlim 2
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m1chi home 0
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# mc2: CC1 Monochromator Stage Rotation
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# Gearbox 60:1
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set m1om_Home 0
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set m1omSetRate 25000
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# Gearbox 100:1, screw pitch 356
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# Encoder 2p25
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# m1om_Home 13617081
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set m1om_Home 30395150
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set m1omSetRate [expr $motorrate*100*356/360]
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Motor m1om $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-kookaburra\
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port pmc2-kookaburra\
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axis B\
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units degrees\
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hardlowerlim -2\
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hardupperlim 50\
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maxSpeed [expr 25000.0/$m1omSetRate]\
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hardlowerlim -0.01\
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hardupperlim 182\
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maxSpeed [expr 300000.0/$m1omSetRate]\
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maxAccel [expr 25000.0/$m1omSetRate]\
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maxDecel [expr 25000.0/$m1omSetRate]\
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stepsPerX $m1omSetRate\
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absEnc 1\
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absEncHome $m1om_Home\
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cntsPerX 4096]
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cntsPerX [expr 33554432.0/360.0]\
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nopowersave 1]
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m1om precision 0.00001
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m1om speed 0.1
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m1om part crystal
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m1om long_name m1om
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m1om softlowerlim -2
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m1om softupperlim 50
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m1om home 0
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m1om softlowerlim 0
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m1om softupperlim 182
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m1om home 180
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m1om precision 0.00001
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m1om Creep_Offset 0.001
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m1om Creep_Precision 0.000009
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m1om Creep_Factor 0.5
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m1om Creep_Substep 0.04
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# mc2: CC1 Monochromator Stage Y Translation
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# Gearbox 20:1
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set m1x_Home 0
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set m1xSetRate 25000
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# mc2: CC1 Monochromator Stage X Translation
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# Gearbox 20:1, pitch 5mm
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# Encoder 2p17
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set m1x_Home 3754723
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set m1xSetRate [expr $motorrate*20.0/5.0]
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Motor m1x $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-kookaburra\
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port pmc2-kookaburra\
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axis C\
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units mm\
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hardlowerlim -2\
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hardupperlim 40\
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maxSpeed [expr 25000.0/$m1xSetRate]\
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hardlowerlim -82.5\
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hardupperlim 50.0\
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maxSpeed [expr 100000.0/$m1xSetRate]\
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maxAccel [expr 25000.0/$m1xSetRate]\
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maxDecel [expr 25000.0/$m1xSetRate]\
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stepsPerX $m1xSetRate\
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absEnc 1\
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absEncHome $m1x_Home\
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cntsPerX 4096]
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cntsPerX [expr -131072/5.0]]
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m1x speed 0.3
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m1x part crystal
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m1x long_name m1x
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m1x softlowerlim -2
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m1x softupperlim 40
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m1x softlowerlim -82
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m1x softupperlim 49
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m1x home 0
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# mc2: Slit system - 1 TOP Blade
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# Gearbox 55:1
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set ss1u_Home 0
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set ss1uSetRate 25000
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# Gearbox 55:1, pitch 0.5mm
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# Encoder 2p13
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set ss1u_Home 918407
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set ss1uSetRate [expr $motorrate*55.0/0.5]
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Motor ss1u $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-kookaburra\
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port pmc2-kookaburra\
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axis D\
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units mm\
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hardlowerlim -2\
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hardupperlim 30\
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maxSpeed [expr 25000.0/$ss1uSetRate]\
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maxAccel [expr 25000.0/$ss1uSetRate]\
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maxDecel [expr 25000.0/$ss1uSetRate]\
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stepsPerX $ss1uSetRate\
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hardlowerlim -33.5\
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hardupperlim 37.8\
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maxSpeed [expr $maxSpeedSlit/$ss1uSetRate]\
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maxAccel [expr 5000.0/$ss1uSetRate/0.5]\
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maxDecel [expr 5000.0/$ss1uSetRate/0.5]\
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stepsPerX -$ss1uSetRate\
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absEnc 1\
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absEncHome $ss1u_Home\
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cntsPerX 4096]
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ss1u parts slits
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cntsPerX 16384]
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ss1u speed 0.1
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ss1u part slits
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ss1u long_name ss1u
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ss1u softlowerlim -2
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ss1u softupperlim 30
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ss1u softlowerlim -33
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ss1u softupperlim 37
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ss1u home 0
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# mc2: Slit system - 1 BOTTOM Blade
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# Gearbox 55:1
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set ss1d_Home 0
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set ss1dSetRate 25000
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# Gearbox 55:1, pitch 0.5mm
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# Encoder 2p13
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set ss1d_Home 1157895
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set ss1dSetRate [expr $motorrate*55.0/0.5]
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Motor ss1d $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-kookaburra\
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port pmc2-kookaburra\
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axis E\
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units mm\
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hardlowerlim 0\
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hardupperlim 15\
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maxSpeed [expr 50000.0/$ss1dSetRate]\
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maxAccel [expr 25000.0/$ss1dSetRate]\
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maxDecel [expr 25000.0/$ss1dSetRate]\
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stepsPerX $ss1dSetRate\
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hardlowerlim -38.866577\
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hardupperlim 35\
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maxSpeed [expr $maxSpeedSlit/$ss1dSetRate]\
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maxAccel [expr 5000.0/$ss1dSetRate/0.5]\
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maxDecel [expr 5000.0/$ss1dSetRate/0.5]\
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stepsPerX -$ss1dSetRate\
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absEnc 1\
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absEncHome $ss1d_Home\
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cntsPerX 4096]
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cntsPerX 16384]
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ss1d speed 0.1
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ss1d part slits
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ss1d long_name ss1d
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ss1d softlowerlim 0
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ss1d softupperlim 15
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ss1d softlowerlim -37.8
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ss1d softupperlim 35
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ss1d home 0
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# mc2: Slit system - 1 LEFT Blade
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# Gearbox 55:1
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set ss1l_Home 0
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set ss1lSetRate 25000
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# Gearbox 55:1, pitch 0.5mm
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# Encoder 2p13
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set ss1l_Home 32548210
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set ss1lSetRate [expr $motorrate*55.0/0.5]
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Motor ss1l $motor_driver_type [params \
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asyncqueue mc2\
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host mc2-kookaburra\
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||||
port pmc2-kookaburra\
|
||||
axis F\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 360\
|
||||
maxSpeed [expr 50000.0/$ss1lSetRate]\
|
||||
maxAccel [expr 25000.0/$ss1lSetRate]\
|
||||
maxDecel [expr 25000.0/$ss1lSetRate]\
|
||||
hardlowerlim -58\
|
||||
hardupperlim 55\
|
||||
maxSpeed [expr $maxSpeedSlit/$ss1lSetRate]\
|
||||
maxAccel [expr 5000.0/$ss1lSetRate/0.5]\
|
||||
maxDecel [expr 5000.0/$ss1lSetRate/0.5]\
|
||||
stepsPerX $ss1lSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $ss1l_Home\
|
||||
cntsPerX 4096]
|
||||
cntsPerX -16384]
|
||||
ss1l speed 0.1
|
||||
ss1l part slits
|
||||
ss1l long_name ss1l
|
||||
ss1l softlowerlim 0
|
||||
ss1l softupperlim 360
|
||||
ss1l softlowerlim -56
|
||||
ss1l softupperlim 54
|
||||
ss1l home 0
|
||||
|
||||
|
||||
# mc2: Slit system - 1 RIGHT Blade
|
||||
# Gearbox 55:1
|
||||
set ss1r_Home 0
|
||||
set ss1rSetRate 25000
|
||||
# Gearbox 55:1, pitch 0.5mm
|
||||
# Encoder 2p13
|
||||
set ss1r_Home 1656697
|
||||
set ss1rSetRate [expr $motorrate*55.0/0.5]
|
||||
Motor ss1r $motor_driver_type [params \
|
||||
asyncqueue mc2\
|
||||
host mc2-kookaburra\
|
||||
port pmc2-kookaburra\
|
||||
axis G\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 15\
|
||||
maxSpeed [expr 50000.0/$ss1rSetRate]\
|
||||
maxAccel [expr 25000.0/$ss1rSetRate]\
|
||||
maxDecel [expr 25000.0/$ss1rSetRate]\
|
||||
hardlowerlim -57\
|
||||
hardupperlim 58\
|
||||
maxSpeed [expr $maxSpeedSlit/$ss1rSetRate]\
|
||||
maxAccel [expr 5000.0/$ss1rSetRate/0.5]\
|
||||
maxDecel [expr 5000.0/$ss1rSetRate/0.5]\
|
||||
stepsPerX $ss1rSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $ss1r_Home\
|
||||
cntsPerX 4096]
|
||||
cntsPerX -16384]
|
||||
ss1r speed 0.1
|
||||
ss1r part slits
|
||||
ss1r long_name ss1r
|
||||
ss1r softlowerlim 0
|
||||
ss1r softupperlim 15
|
||||
ss1r softlowerlim -55
|
||||
ss1r softupperlim 57
|
||||
ss1r home 0
|
||||
|
||||
|
||||
# mc2: Sample Changer (Sample Stage) Z Translation
|
||||
# Gearbox 1:1
|
||||
set samz_Home 0
|
||||
set samzSetRate 25000
|
||||
Motor samz $motor_driver_type [params \
|
||||
#set samz_Home
|
||||
#set samzSetRate 25000
|
||||
#Motor samz $motor_driver_type [params \
|
||||
asyncqueue mc2\
|
||||
host mc2-kookaburra\
|
||||
port pmc2-kookaburra\
|
||||
@@ -419,11 +436,11 @@ Motor samz $motor_driver_type [params \
|
||||
absEnc 1\
|
||||
absEncHome $samz_Home\
|
||||
cntsPerX 4096]
|
||||
samz part sample
|
||||
samz long_name samz
|
||||
samz softlowerlim 0
|
||||
samz softupperlim 360
|
||||
samz home 0
|
||||
#samz part sample
|
||||
#samz long_name samz
|
||||
#samz softlowerlim 0
|
||||
#samz softupperlim 360
|
||||
#samz home 0
|
||||
|
||||
|
||||
############################
|
||||
@@ -434,210 +451,239 @@ samz home 0
|
||||
#
|
||||
|
||||
# mc3: Slit system - 2 TOP Blade
|
||||
# Gearbox 55:1
|
||||
set ss2u_Home 0
|
||||
set ss2uSetRate 25000
|
||||
# Gearbox 55:1, pitch 0.5mm
|
||||
# Encoder 2p13
|
||||
set ss2u_Home 31240374
|
||||
set ss2uSetRate [expr $motorrate*55.0/0.5]
|
||||
#maxSpeed [expr 400000.0/$ss1uSetRate]
|
||||
Motor ss2u $motor_driver_type [params \
|
||||
asyncqueue mc3\
|
||||
host mc3-kookaburra\
|
||||
port pmc3-kookaburra\
|
||||
axis A\
|
||||
units mm\
|
||||
hardlowerlim -2\
|
||||
hardupperlim 30\
|
||||
maxSpeed [expr 25000.0/$ss1uSetRate]\
|
||||
maxAccel [expr 25000.0/$ss1uSetRate]\
|
||||
maxDecel [expr 25000.0/$ss1uSetRate]\
|
||||
stepsPerX $ss2uSetRate\
|
||||
hardlowerlim -33.1\
|
||||
hardupperlim 37\
|
||||
maxSpeed [expr $maxSpeedSlit/$ss1uSetRate]\
|
||||
maxAccel [expr 5000.0/$ss1uSetRate/0.5]\
|
||||
maxDecel [expr 5000.0/$ss1uSetRate/0.5]\
|
||||
stepsPerX -$ss2uSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $ss2u_Home\
|
||||
cntsPerX 4096]
|
||||
ss2u parts slits
|
||||
cntsPerX 16384]
|
||||
ss2u speed 0.1
|
||||
ss2u part slits
|
||||
ss2u long_name ss2u
|
||||
ss2u softlowerlim -2
|
||||
ss2u softupperlim 30
|
||||
ss2u softlowerlim -32.0
|
||||
ss2u softupperlim 36
|
||||
ss2u home 0
|
||||
|
||||
|
||||
# mc3: Slit system - 2 BOTTOM Blade
|
||||
# Gearbox 55:1
|
||||
set ss2d_Home 0
|
||||
set ss2dSetRate 25000
|
||||
# Gearbox 55:1, pitch 0.5mm
|
||||
# Encoder 2p13
|
||||
set ss2d_Home 830475
|
||||
set ss2dSetRate [expr $motorrate*55.0/0.5]
|
||||
#maxSpeed [expr 4000000.0/$ss2dSetRate]
|
||||
Motor ss2d $motor_driver_type [params \
|
||||
asyncqueue mc3\
|
||||
host mc3-kookaburra\
|
||||
port pmc3-kookaburra\
|
||||
axis B\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 15\
|
||||
maxSpeed [expr 50000.0/$ss2dSetRate]\
|
||||
maxAccel [expr 25000.0/$ss2dSetRate]\
|
||||
maxDecel [expr 25000.0/$ss2dSetRate]\
|
||||
stepsPerX $ss2dSetRate\
|
||||
hardlowerlim -34.6\
|
||||
hardupperlim 35\
|
||||
maxSpeed [expr $maxSpeedSlit/$ss2dSetRate]\
|
||||
maxAccel [expr 5000.0/$ss2dSetRate/0.5]\
|
||||
maxDecel [expr 5000.0/$ss2dSetRate/0.5]\
|
||||
stepsPerX -$ss2dSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $ss2d_Home\
|
||||
cntsPerX 4096]
|
||||
cntsPerX 16384]
|
||||
ss2d speed 0.1
|
||||
ss2d part slits
|
||||
ss2d long_name ss2d
|
||||
ss2d softlowerlim 0
|
||||
ss2d softupperlim 15
|
||||
ss2d softlowerlim -33
|
||||
ss2d softupperlim 34
|
||||
ss2d home 0
|
||||
|
||||
|
||||
# mc3: Slit system - 2 LEFT Blade
|
||||
# Gearbox 55:1
|
||||
set ss2l_Home 0
|
||||
set ss2lSetRate 25000
|
||||
# Gearbox 55:1, pitch 0.5mm
|
||||
# Encoder 2p13
|
||||
set ss2l_Home 808402
|
||||
set ss2lSetRate [expr $motorrate*55.0/0.5]
|
||||
#maxSpeed [expr 400000.0/$ss2lSetRate]
|
||||
Motor ss2l $motor_driver_type [params \
|
||||
asyncqueue mc3\
|
||||
host mc3-kookaburra\
|
||||
port pmc3-kookaburra\
|
||||
axis C\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 360\
|
||||
maxSpeed [expr 50000.0/$ss2lSetRate]\
|
||||
maxAccel [expr 25000.0/$ss2lSetRate]\
|
||||
maxDecel [expr 25000.0/$ss2lSetRate]\
|
||||
stepsPerX $ss2lSetRate\
|
||||
hardlowerlim -35\
|
||||
hardupperlim 34.5\
|
||||
maxSpeed [expr $maxSpeedSlit/$ss2lSetRate]\
|
||||
maxAccel [expr 5000.0/$ss2lSetRate/0.5]\
|
||||
maxDecel [expr 5000.0/$ss2lSetRate/0.5]\
|
||||
stepsPerX -$ss2lSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $ss2l_Home\
|
||||
cntsPerX 4096]
|
||||
cntsPerX 16384]
|
||||
ss2l speed 0.1
|
||||
ss2l part slits
|
||||
ss2l long_name ss2l
|
||||
ss2l softlowerlim 0
|
||||
ss2l softupperlim 360
|
||||
ss2l softlowerlim -34.5
|
||||
ss2l softupperlim 33
|
||||
ss2l home 0
|
||||
|
||||
|
||||
# mc3: Slit system - 2 RIGHT Blade
|
||||
# Gearbox 55:1
|
||||
set ss2r_Home 0
|
||||
set ss2rSetRate 25000
|
||||
# Gearbox 55:1, pitch 0.5mm
|
||||
# Encoder 2p13
|
||||
set ss2r_Home 32713034
|
||||
set ss2rSetRate [expr $motorrate*55.0/0.5]
|
||||
#maxSpeed [expr 400000.0/$ss2rSetRate]
|
||||
Motor ss2r $motor_driver_type [params \
|
||||
asyncqueue mc3\
|
||||
host mc3-kookaburra\
|
||||
port pmc3-kookaburra\
|
||||
axis D\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 15\
|
||||
maxSpeed [expr 50000.0/$ss2rSetRate]\
|
||||
maxAccel [expr 25000.0/$ss2rSetRate]\
|
||||
maxDecel [expr 25000.0/$ss2rSetRate]\
|
||||
stepsPerX $ss2rSetRate\
|
||||
hardlowerlim -36\
|
||||
hardupperlim 35\
|
||||
maxSpeed [expr $maxSpeedSlit/$ss2rSetRate]\
|
||||
maxAccel [expr 5000.0/$ss2rSetRate/0.5]\
|
||||
maxDecel [expr 5000.0/$ss2rSetRate/0.5]\
|
||||
stepsPerX -$ss2rSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $ss2r_Home\
|
||||
cntsPerX 4096]
|
||||
cntsPerX 16384]
|
||||
ss2r speed 0.1
|
||||
ss2r part slits
|
||||
ss2r long_name ss2r
|
||||
ss2r softlowerlim 0
|
||||
ss2r softupperlim 15
|
||||
ss2r softlowerlim -35
|
||||
ss2r softupperlim 34
|
||||
ss2r home 0
|
||||
|
||||
|
||||
# mc3: CC2 Analyser Stage - Tilt
|
||||
# Gearbox 50:1
|
||||
set m2chi_Home 0
|
||||
set m2chiSetRate 25000
|
||||
# Gearbox 20:1, screw pitch 356
|
||||
# Encoder 2p17
|
||||
# 68.681
|
||||
set m2chi_Home 15512615
|
||||
set m2chiSetRate [expr $motorrate*20*100/68.681]
|
||||
Motor m2chi $motor_driver_type [params \
|
||||
asyncqueue mc3\
|
||||
host mc3-kookaburra\
|
||||
port pmc3-kookaburra\
|
||||
axis E\
|
||||
units degrees\
|
||||
hardlowerlim -2\
|
||||
hardupperlim 60\
|
||||
maxSpeed [expr 25000.0/$m2chiSetRate]\
|
||||
hardlowerlim -7.5\
|
||||
hardupperlim 7.5\
|
||||
maxSpeed [expr 100000.0/$m2chiSetRate]\
|
||||
maxAccel [expr 25000.0/$m2chiSetRate]\
|
||||
maxDecel [expr 25000.0/$m2chiSetRate]\
|
||||
stepsPerX $m2chiSetRate\
|
||||
stepsPerX -$m2chiSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $m2chi_Home\
|
||||
cntsPerX 4096]
|
||||
cntsPerX [expr 131072*100.0/68.681]]
|
||||
m2chi precision 0.001
|
||||
m2chi speed 0.200
|
||||
m2chi part crystal
|
||||
m2chi long_name m2chi
|
||||
m2chi softlowerlim -2
|
||||
m2chi softupperlim 60
|
||||
m2chi softupperlim 2
|
||||
m2chi home 0
|
||||
|
||||
|
||||
# set m2om_Home 15776972
|
||||
# mc3: CC2 Analyser Stage - Rotation
|
||||
# Gearbox 60:1
|
||||
set m2om_Home 0
|
||||
set m2omSetRate 25000
|
||||
# Gearbox 100:1, screw pitch 356
|
||||
# Encoder 2p25
|
||||
set m2om_Home 23155978
|
||||
set m2omSetRate [expr $motorrate*100.0*356.0/360.0]
|
||||
Motor m2om $motor_driver_type [params \
|
||||
asyncqueue mc3\
|
||||
host mc3-kookaburra\
|
||||
port pmc3-kookaburra\
|
||||
axis F\
|
||||
units degrees\
|
||||
hardlowerlim -2\
|
||||
hardupperlim 50\
|
||||
maxSpeed [expr 25000.0/$m2omSetRate]\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 182\
|
||||
maxSpeed [expr 300000.0/$m2omSetRate]\
|
||||
maxAccel [expr 25000.0/$m2omSetRate]\
|
||||
maxDecel [expr 25000.0/$m2omSetRate]\
|
||||
stepsPerX $m2omSetRate\
|
||||
stepsPerX -$m2omSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $m2om_Home\
|
||||
cntsPerX 4096]
|
||||
cntsPerX [expr 33554432.0/360.0]\
|
||||
nopowersave 1]
|
||||
m2om speed 0.1
|
||||
m2om part crystal
|
||||
m2om long_name m2om
|
||||
m2om softlowerlim -2
|
||||
m2om softupperlim 50
|
||||
m2om home 0
|
||||
m2om softlowerlim 0
|
||||
m2om softupperlim 182
|
||||
m2om home 180
|
||||
m2om precision 0.00001
|
||||
m2om Creep_Offset 0.001
|
||||
m2om Creep_Precision 0.000009
|
||||
m2om Creep_Factor 0.5
|
||||
m2om Creep_Substep 0.04
|
||||
|
||||
|
||||
# mc3: CC2 Analyser Stage - X Translate
|
||||
# Gearbox 20:1
|
||||
set m2x_Home 0
|
||||
set m2xSetRate 25000
|
||||
# Gearbox 20:1, pitch 5mm
|
||||
# Encoder 2p17
|
||||
set m2x_Home 524680153
|
||||
set m2xSetRate [expr $motorrate*20.0/5.0]
|
||||
Motor m2x $motor_driver_type [params \
|
||||
asyncqueue mc3\
|
||||
host mc3-kookaburra\
|
||||
port pmc3-kookaburra\
|
||||
axis G\
|
||||
units mm\
|
||||
hardlowerlim -2\
|
||||
hardupperlim 40\
|
||||
maxSpeed [expr 25000.0/$m2xSetRate]\
|
||||
hardlowerlim -130\
|
||||
hardupperlim 114.4\
|
||||
maxSpeed [expr 100000.0/$m2xSetRate]\
|
||||
maxAccel [expr 25000.0/$m2xSetRate]\
|
||||
maxDecel [expr 25000.0/$m2xSetRate]\
|
||||
stepsPerX $m2xSetRate\
|
||||
absEnc 1\
|
||||
absEncHome $m2x_Home\
|
||||
cntsPerX 4096]
|
||||
cntsPerX [expr -131072/5.0]]
|
||||
m2x speed 0.5
|
||||
m2x part crystal
|
||||
m2x long_name m2x
|
||||
m2x softlowerlim -2
|
||||
m2x softupperlim 40
|
||||
m2x softlowerlim -129
|
||||
m2x softupperlim 114
|
||||
m2x home 0
|
||||
|
||||
|
||||
# mc3: CC2 Analyser Stage - Y Translation
|
||||
# Gearbox 20:1
|
||||
set m2y_Home 0
|
||||
set m2ySetRate 25000
|
||||
# Gearbox 20:1, pitch 5mm
|
||||
# Encoder 2p17
|
||||
set m2y_Home 516940434
|
||||
set m2ySetRate [expr $motorrate*20.0/5.0]
|
||||
Motor m2y $motor_driver_type [params \
|
||||
asyncqueue mc3\
|
||||
host mc3-kookaburra\
|
||||
port pmc3-kookaburra\
|
||||
axis H\
|
||||
units mm\
|
||||
hardlowerlim -2\
|
||||
hardupperlim 40\
|
||||
maxSpeed [expr 25000.0/$m2ySetRate]\
|
||||
hardlowerlim -4.35\
|
||||
hardupperlim 357.9\
|
||||
maxSpeed [expr 100000.0/$m2ySetRate]\
|
||||
maxAccel [expr 25000.0/$m2ySetRate]\
|
||||
maxDecel [expr 25000.0/$m2ySetRate]\
|
||||
stepsPerX $m2ySetRate\
|
||||
absEnc 1\
|
||||
absEncHome $m2y_Home\
|
||||
cntsPerX 4096]
|
||||
cntsPerX [expr 131072/5.0]]
|
||||
m2y speed 0.5
|
||||
m2y part crystal
|
||||
m2y long_name m2y
|
||||
m2y softlowerlim -2
|
||||
m2y softupperlim 40
|
||||
m2y softlowerlim -4.3
|
||||
m2y softupperlim 355
|
||||
m2y home 0
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user