linse/sics
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Updated motor configuration from ics1-kookaburra.

Browse Source
This commit is contained in:
Ferdi Franceschini
2013-11-23 19:51:41 +11:00
committed by Ferdi Franceschini
parent 2d96d3de69
commit 48edc7322a
1 changed files with 307 additions and 261 deletions
Download Patch File Download Diff File Expand all files Collapse all files

568
site_ansto/instrument/kookaburra/config/motors/motor_configuration.tcl
View File

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