Refactored kowari configuration layout.
r1942 | ffr | 2007-05-07 16:10:55 +1000 (Mon, 07 May 2007) | 2 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
a33918149c
commit
4ce126650e
@@ -1,443 +0,0 @@
|
|||||||
# $Revision: 1.4 $
|
|
||||||
# $Date: 2006-12-12 22:30:13 $
|
|
||||||
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
|
|
||||||
# Last revision by: $Author: dcl $
|
|
||||||
|
|
||||||
# START MOTOR CONFIGURATION
|
|
||||||
|
|
||||||
# Setup addresses of Galil DMC2280 controllers.
|
|
||||||
set dmc2280_controller1(host) mc1-kowari
|
|
||||||
set dmc2280_controller1(port) pmc1-kowari
|
|
||||||
|
|
||||||
set dmc2280_controller2(host) mc2-kowari
|
|
||||||
set dmc2280_controller2(port) pmc2-kowari
|
|
||||||
|
|
||||||
set dmc2280_controller3(host) mc3-kowari
|
|
||||||
set dmc2280_controller3(port) pmc3-kowari
|
|
||||||
|
|
||||||
set dmc2280_controller4(host) mc4-kowari
|
|
||||||
set dmc2280_controller4(port) pmc4-kowari
|
|
||||||
|
|
||||||
# Run slit homing routines on controllers 3 and 4
|
|
||||||
#if [catch {dmc_connect dmc2280_controller3} ] {
|
|
||||||
# dmc_sendCmd dmc2280_controller3 "XQ#HOME,1"
|
|
||||||
# dmc_close dmc2280_controller3
|
|
||||||
#}
|
|
||||||
#if [catch {dmc_connect dmc2280_controller4} ] {
|
|
||||||
# dmc_sendCmd dmc2280_controller4 "XQ#HOME,1"
|
|
||||||
# dmc_close dmc2280_controller4
|
|
||||||
#}
|
|
||||||
|
|
||||||
############################
|
|
||||||
# Motor Controller 1
|
|
||||||
# Motor Controller 1
|
|
||||||
# Motor Controller 1
|
|
||||||
############################
|
|
||||||
#:TP at HOME
|
|
||||||
#
|
|
||||||
|
|
||||||
# Monochromator phi, Tilt 1, upper
|
|
||||||
Motor mphi DMC2280 [params \
|
|
||||||
host $dmc2280_controller1(host)\
|
|
||||||
port $dmc2280_controller1(port)\
|
|
||||||
axis A\
|
|
||||||
units degrees\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX -25000\
|
|
||||||
absEnc 1\
|
|
||||||
absEncHome 7414753\
|
|
||||||
cntsPerX -8192]
|
|
||||||
setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
|
|
||||||
mphi speed 1
|
|
||||||
mphi precision 0.01
|
|
||||||
|
|
||||||
# Monochromator chi, Tilt 2, lower
|
|
||||||
Motor mchi DMC2280 [params \
|
|
||||||
host $dmc2280_controller1(host)\
|
|
||||||
port $dmc2280_controller1(port)\
|
|
||||||
axis B\
|
|
||||||
units degrees\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX 25000\
|
|
||||||
absEnc 1\
|
|
||||||
absEncHome 7818915\
|
|
||||||
cntsPerX 8192]
|
|
||||||
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
|
|
||||||
mchi speed 1
|
|
||||||
mchi precision 0.01
|
|
||||||
|
|
||||||
# Monochromator Trans 1, upper
|
|
||||||
Motor my DMC2280 [params \
|
|
||||||
host $dmc2280_controller1(host)\
|
|
||||||
port $dmc2280_controller1(port)\
|
|
||||||
axis C\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX 25000\
|
|
||||||
absEnc 1\
|
|
||||||
absEncHome 7781680\
|
|
||||||
cntsPerX 8192]
|
|
||||||
setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
|
|
||||||
my speed 1
|
|
||||||
my precision 0.01
|
|
||||||
|
|
||||||
# Monochromator Trans 2, lower
|
|
||||||
Motor mx DMC2280 [params \
|
|
||||||
host $dmc2280_controller1(host)\
|
|
||||||
port $dmc2280_controller1(port)\
|
|
||||||
axis D\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX -25000\
|
|
||||||
absEnc 1\
|
|
||||||
absEncHome 7562793\
|
|
||||||
cntsPerX -8192]
|
|
||||||
setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
|
|
||||||
mx speed 1
|
|
||||||
mx precision 0.01
|
|
||||||
|
|
||||||
# Monochromator omega, rotate
|
|
||||||
Motor mom DMC2280 [params \
|
|
||||||
host $dmc2280_controller1(host)\
|
|
||||||
port $dmc2280_controller1(port)\
|
|
||||||
axis E\
|
|
||||||
units degrees\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX -12500\
|
|
||||||
absEnc 1\
|
|
||||||
absEncHome 17694127\
|
|
||||||
cntsPerX -4096]
|
|
||||||
setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
|
|
||||||
mom speed 1
|
|
||||||
mom precision 0.01
|
|
||||||
|
|
||||||
# Monochromator two-theta, flight-tube rotate
|
|
||||||
Motor mtth DMC2280 [params \
|
|
||||||
host $dmc2280_controller1(host)\
|
|
||||||
port $dmc2280_controller1(port)\
|
|
||||||
axis F\
|
|
||||||
units degrees\
|
|
||||||
maxSpeed 0.5\
|
|
||||||
maxAccel 0.2\
|
|
||||||
maxDecel 0.2\
|
|
||||||
stepsPerX 25000\
|
|
||||||
absEnc 1\
|
|
||||||
absEncHome 10299428\
|
|
||||||
cntsPerX 93207]
|
|
||||||
setHomeandRange -motor mtth -home 120 -lowrange 35 -uprange 35
|
|
||||||
mtth speed 0.5
|
|
||||||
mtth accel 0.01
|
|
||||||
mtth decel 0.01
|
|
||||||
mtth precision 0.02
|
|
||||||
|
|
||||||
############################
|
|
||||||
# Motor Controller 2
|
|
||||||
# Motor Controller 2
|
|
||||||
# Motor Controller 2
|
|
||||||
############################
|
|
||||||
#:TP at HOME
|
|
||||||
#
|
|
||||||
|
|
||||||
# Sample Trans, vertical, first stage
|
|
||||||
Motor sz1 DMC2280 [params \
|
|
||||||
host $dmc2280_controller2(host)\
|
|
||||||
port $dmc2280_controller2(port)\
|
|
||||||
axis A\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX 25000]
|
|
||||||
setHomeandRange -motor sz1 -home 0 -lowrange 0 -uprange 350
|
|
||||||
sz1 speed 1
|
|
||||||
sz1 precision 0.01
|
|
||||||
|
|
||||||
# Sample Trans, vertical, second stage
|
|
||||||
Motor sz2 DMC2280 [params \
|
|
||||||
host $dmc2280_controller2(host)\
|
|
||||||
port $dmc2280_controller2(port)\
|
|
||||||
axis B\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX 25000]
|
|
||||||
setHomeandRange -motor sz2 -home 0 -lowrange 0 -uprange 350
|
|
||||||
sz2 speed 1
|
|
||||||
sz2 precision 0.01
|
|
||||||
|
|
||||||
# Sample Trans 1, upper, y
|
|
||||||
Motor sy DMC2280 [params \
|
|
||||||
host $dmc2280_controller2(host)\
|
|
||||||
port $dmc2280_controller2(port)\
|
|
||||||
axis C\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX 5000\
|
|
||||||
absEnc 1\
|
|
||||||
absEncHome 7626584\
|
|
||||||
cntsPerX 1638.4]
|
|
||||||
setHomeandRange -motor sy -home 0 -lowrange 250 -uprange 250
|
|
||||||
sy speed 1
|
|
||||||
sy precision 0.01
|
|
||||||
|
|
||||||
# Sample Trans2, lower, x
|
|
||||||
Motor sx DMC2280 [params \
|
|
||||||
host $dmc2280_controller2(host)\
|
|
||||||
port $dmc2280_controller2(port)\
|
|
||||||
axis D\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX 5000\
|
|
||||||
absEnc 1\
|
|
||||||
absEncHome 24029910\
|
|
||||||
cntsPerX 1638.4]
|
|
||||||
setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250
|
|
||||||
sx speed 1
|
|
||||||
sx precision 0.01
|
|
||||||
|
|
||||||
# Sample Omega, rotate
|
|
||||||
Motor som DMC2280 [params \
|
|
||||||
host $dmc2280_controller2(host)\
|
|
||||||
port $dmc2280_controller2(port)\
|
|
||||||
axis E\
|
|
||||||
units degrees\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX 12500\
|
|
||||||
absEnc 1\
|
|
||||||
absEncHome 24984596\
|
|
||||||
cntsPerX 4096]
|
|
||||||
setHomeandRange -motor som -home 0 -lowrange 100 -uprange 100
|
|
||||||
som speed 1
|
|
||||||
som precision 0.01
|
|
||||||
|
|
||||||
# Sample two-theta, detector rotate
|
|
||||||
Motor stth DMC2280 [params \
|
|
||||||
host $dmc2280_controller2(host)\
|
|
||||||
port $dmc2280_controller2(port)\
|
|
||||||
axis F\
|
|
||||||
units degrees\
|
|
||||||
maxSpeed 0.5\
|
|
||||||
maxAccel 0.2\
|
|
||||||
maxDecel 0.2\
|
|
||||||
stepsPerX 125000\
|
|
||||||
absEnc 1\
|
|
||||||
absEncHome 14530407\
|
|
||||||
cntsPerX -93207]
|
|
||||||
setHomeandRange -motor stth -home 0 -lowrange 100 -uprange 100
|
|
||||||
stth speed 0.5
|
|
||||||
stth precision 0.01
|
|
||||||
|
|
||||||
############################
|
|
||||||
# Motor Controller 3
|
|
||||||
# Motor Controller 3
|
|
||||||
# Motor Controller 3
|
|
||||||
############################
|
|
||||||
#
|
|
||||||
|
|
||||||
# Monochromator Focusing (HOPG)
|
|
||||||
Motor mf1 DMC2280 [params \
|
|
||||||
host $dmc2280_controller3(host)\
|
|
||||||
port $dmc2280_controller3(port)\
|
|
||||||
axis A\
|
|
||||||
units degrees\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX 25000]
|
|
||||||
setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
|
|
||||||
mf1 speed 1
|
|
||||||
mf1 precision 0.01
|
|
||||||
|
|
||||||
# Monochromator Focusing (Ge)
|
|
||||||
Motor mf2 DMC2280 [params \
|
|
||||||
host $dmc2280_controller3(host)\
|
|
||||||
port $dmc2280_controller3(port)\
|
|
||||||
axis B\
|
|
||||||
units degrees\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX 25000]
|
|
||||||
setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 360
|
|
||||||
mf2 speed 1
|
|
||||||
mf2 precision 0.01
|
|
||||||
|
|
||||||
## Eulerian-chi
|
|
||||||
#Motor echi DMC2280 [params \
|
|
||||||
# host $dmc2280_controller3(host)\
|
|
||||||
# port $dmc2280_controller3(port)\
|
|
||||||
# axis G\
|
|
||||||
# units degrees\
|
|
||||||
# maxSpeed 1\
|
|
||||||
# maxAccel 1\
|
|
||||||
# maxDecel 1\
|
|
||||||
# stepsPerX 25000]
|
|
||||||
#setHomeandRange -motor echi -home 0 -lowrange 0 -uprange 360
|
|
||||||
#echi speed 1
|
|
||||||
#echi precision 0.01
|
|
||||||
|
|
||||||
## Eulerian-phi
|
|
||||||
#Motor ephi DMC2280 [params \
|
|
||||||
# host $dmc2280_controller3(host)\
|
|
||||||
# port $dmc2280_controller3(port)\
|
|
||||||
# axis H\
|
|
||||||
# units degrees\
|
|
||||||
# maxSpeed 1\
|
|
||||||
# maxAccel 1\
|
|
||||||
# maxDecel 1\
|
|
||||||
# stepsPerX 25000]
|
|
||||||
#setHomeandRange -motor ephi -home 0 -lowrange 0 -uprange 360
|
|
||||||
#ephi speed 1
|
|
||||||
#ephi precision 0.01
|
|
||||||
|
|
||||||
############################
|
|
||||||
# Motor Controller 4
|
|
||||||
# Motor Controller 4
|
|
||||||
# Motor Controller 4
|
|
||||||
############################
|
|
||||||
#
|
|
||||||
|
|
||||||
# Primary Slit, horizontal offset, 0-30mm
|
|
||||||
Motor psho DMC2280 [params \
|
|
||||||
host $dmc2280_controller4(host)\
|
|
||||||
port $dmc2280_controller4(port)\
|
|
||||||
axis A\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX -20125\
|
|
||||||
motorHome 542093]
|
|
||||||
setHomeandRange -motor psho -home 0 -lowrange 0 -uprange 30
|
|
||||||
|
|
||||||
# Primary Slit, position 0-150mm
|
|
||||||
Motor psp DMC2280 [params \
|
|
||||||
host $dmc2280_controller4(host)\
|
|
||||||
port $dmc2280_controller4(port)\
|
|
||||||
axis B\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX -20125\
|
|
||||||
motorHome 2040518]
|
|
||||||
setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
|
|
||||||
|
|
||||||
# Primary Slit, width, 0-30mm
|
|
||||||
Motor psw DMC2280 [params \
|
|
||||||
host $dmc2280_controller4(host)\
|
|
||||||
port $dmc2280_controller4(port)\
|
|
||||||
axis C\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX -20125\
|
|
||||||
motorHome 2040518]
|
|
||||||
setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
|
|
||||||
|
|
||||||
## Primary Slit, height, 0-30mm
|
|
||||||
#Motor psh DMC2280 [params \
|
|
||||||
# host $dmc2280_controller4(host)\
|
|
||||||
# port $dmc2280_controller4(port)\
|
|
||||||
# axis D\
|
|
||||||
# units mm\
|
|
||||||
# maxSpeed 1\
|
|
||||||
# maxAccel 1\
|
|
||||||
# maxDecel 1\
|
|
||||||
# stepsPerX -20125\
|
|
||||||
# motorHome 542093]
|
|
||||||
#setHomeandRange -motor psh -home 0 -lowrange 0 -uprange 30
|
|
||||||
|
|
||||||
#--------------------------------------------------------
|
|
||||||
|
|
||||||
# Secondary Slit, horizontal offset
|
|
||||||
Motor ssho DMC2280 [params \
|
|
||||||
host $dmc2280_controller4(host)\
|
|
||||||
port $dmc2280_controller4(port)\
|
|
||||||
axis E\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX -20125\
|
|
||||||
motorHome 500000]
|
|
||||||
setHomeandRange -motor ssho -home 0 -lowrange 0 -uprange 30
|
|
||||||
|
|
||||||
# Secondary Slit, position
|
|
||||||
Motor ssp DMC2280 [params \
|
|
||||||
host $dmc2280_controller4(host)\
|
|
||||||
port $dmc2280_controller4(port)\
|
|
||||||
axis F\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX -20125\
|
|
||||||
motorHome 2043085]
|
|
||||||
setHomeandRange -motor ssp -home 0 -lowrange 0 -uprange 150
|
|
||||||
|
|
||||||
# Secondary Slit, width
|
|
||||||
Motor ssw DMC2280 [params \
|
|
||||||
host $dmc2280_controller4(host)\
|
|
||||||
port $dmc2280_controller4(port)\
|
|
||||||
axis G\
|
|
||||||
units mm\
|
|
||||||
maxSpeed 1\
|
|
||||||
maxAccel 1\
|
|
||||||
maxDecel 1\
|
|
||||||
stepsPerX -20125\
|
|
||||||
motorHome 2043085]
|
|
||||||
setHomeandRange -motor ssw -home 0 -lowrange 0 -uprange 30
|
|
||||||
|
|
||||||
## Secondary Slit, height
|
|
||||||
#Motor ssh DMC2280 [params \
|
|
||||||
# host $dmc2280_controller4(host)\
|
|
||||||
# port $dmc2280_controller4(port)\
|
|
||||||
# axis H\
|
|
||||||
# units mm\
|
|
||||||
# maxSpeed 1\
|
|
||||||
# maxAccel 1\
|
|
||||||
# maxDecel 1\
|
|
||||||
# stepsPerX -20125\
|
|
||||||
# motorHome 500000]
|
|
||||||
#setHomeandRange -motor ssh -home 0 -lowrange 0 -uprange 30
|
|
||||||
|
|
||||||
#--------------------------------------------------------
|
|
||||||
|
|
||||||
proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
|
|
||||||
proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
|
|
||||||
publish mthSet user
|
|
||||||
publish mthGet user
|
|
||||||
MakeConfigurableMotor mth
|
|
||||||
mth readscript mthGet
|
|
||||||
mth drivescript mthSet
|
|
||||||
|
|
||||||
proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
|
|
||||||
proc sthSet {val} { return "stth=[SplitReply [stth]]"}
|
|
||||||
publish sthGet user
|
|
||||||
publish sthSet user
|
|
||||||
MakeConfigurableMotor sth
|
|
||||||
sth readscript sthGet
|
|
||||||
sth drivescript sthSet
|
|
||||||
|
|
||||||
#--------------------------------------------------------
|
|
||||||
|
|
||||||
# END MOTOR CONFIGURATION
|
|
||||||
@@ -1,22 +0,0 @@
|
|||||||
# Kowari troubleshooter setup
|
|
||||||
|
|
||||||
# $Revision: 1.2 $
|
|
||||||
# $Date: 2006-12-12 22:31:05 $
|
|
||||||
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
|
|
||||||
# Last revision by $Author: dcl $
|
|
||||||
|
|
||||||
set configFileName "motor_configuration.tcl"
|
|
||||||
|
|
||||||
# These subroutines should be installed on the controllers
|
|
||||||
set contSubs(dmc2280_controller1) "#AUTO #LIMSWI #SOLCTRL #TCPERR"
|
|
||||||
set contSubs(dmc2280_controller2) "#AUTO #LIMSWI #SOLCTRL #TCPERR"
|
|
||||||
set contSubs(dmc2280_controller3) "#AUTO #HOME #LOOPER #RES #TCPERR"
|
|
||||||
set contSubs(dmc2280_controller4) "#AUTO #HOME #LIMSWI #LOOPER #TCPERR"
|
|
||||||
|
|
||||||
|
|
||||||
# These threads should be running on the controllers.
|
|
||||||
set contThreads(dmc2280_controller1) "0"
|
|
||||||
set contThreads(dmc2280_controller2) "0"
|
|
||||||
set contThreads(dmc2280_controller3) "0"
|
|
||||||
set contThreads(dmc2280_controller4) "0"
|
|
||||||
|
|
||||||
Reference in New Issue
Block a user