Initial Bilby motor configuration. Just collimation system for now.

sicsmot_attlist.csv was generated by first running
../../../util/genmotconf.tcl Bilby_Motion_control_axes.csv COLLIMATOR_POSITIONS_D.csv hdb_info.csv
in the Bilby motor config directory and renaming the missing_attlist.csv to
sicsmot_attlist.csv.
NOTE
generated_motor_configuration.tcl was then made by running genmotconf again
with Bilby_Motion_control_axes.csv COLLIMATOR_POSITIONS_D.csv sicsmot_attlist.csv hdb_info.csv

site_ansto/instrument/bilby/config/motors/generated_motor_configuration.tcl

@@ -0,0 +1,438 @@
+#### SICS motor driver configuration ####
+# Generated by: ../../../util/genmotconf.tcl Bilby_Motion_control_axes.csv COLLIMATOR_POSITIONS_D.csv sicsmot_attlist.csv hdb_info.csv
+# Date: 2014-01-15T15:36:43
+# Generated from the following files,
+# file1: Bilby_Motion_control_axes.csv
+# file2: COLLIMATOR_POSITIONS_D.csv
+# file3: sicsmot_attlist.csv
+# file4: hdb_info.csv
+
+# Load motor driver configuration parameters
+set flist [list\
+              {Bilby_Motion_control_axes.csv}\
+              {COLLIMATOR_POSITIONS_D.csv}\
+              {sicsmot_attlist.csv}\
+              {hdb_info.csv}\
+          ]
+
+foreach fattfile $flist {
+  if [catch {
+    set fattpath config/motors/$fattfile
+    set fh [open $fattpath RDONLY]
+    while {[gets $fh line] >= 0} {
+      eval "set [split $line {,}]"
+    }
+    close $fh
+  } msg] {
+    clientput ERROR: $msg
+  }
+}
+
+
+set sim_mode [SplitReply [motor_simulation]]
+
+if {$sim_mode == true} {
+  set motor_driver_type asim
+} else {
+  set motor_driver_type DMC2280
+}
+
+if {$sim_mode == false} {
+  MakeAsyncQueue mc1 DMC2280 [dict get $::MOTOR_HOSTPORT MC1 HOST] [dict get $::MOTOR_HOSTPORT MC1 PORT]
+  MakeAsyncQueue mc2 DMC2280 [dict get $::MOTOR_HOSTPORT MC2 HOST] [dict get $::MOTOR_HOSTPORT MC2 PORT]
+  MakeAsyncQueue mc3 DMC2280 [dict get $::MOTOR_HOSTPORT MC3 HOST] [dict get $::MOTOR_HOSTPORT MC3 PORT]
+}
+
+# ap1 configuration
+Motor ap1 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis A\
+  units $ap1_units\
+  hardlowerlim $ap1_rev_lim\
+  hardupperlim $ap1_fwd_lim\
+  maxSpeed $ap1_maxspeed\
+  maxAccel $ap1_maxaccel\
+  maxDecel $ap1_maxdecel\
+  stepsPerX $ap1_steps_per_x\
+  posit_count 5\
+  posit_1 $ap1_100X100\
+  posit_2 $ap1_40X40\
+  posit_3 $ap1_D10\
+  posit_4 $ap1_D20\
+  posit_5 $ap1_D40\
+  absEnc 1\
+  absEncHome $ap1_absenchome\
+  cntsPerX $ap1_cnts_per_x]
+ap1 softlowerlim $ap1_rev_lim
+ap1 softupperlim $ap1_fwd_lim
+ap1 home $ap1_home
+ap1 part $ap1_part
+ap1 long_name ap1
+
+# ap2 configuration
+Motor ap2 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis B\
+  units $ap2_units\
+  hardlowerlim $ap2_rev_lim\
+  hardupperlim $ap2_fwd_lim\
+  maxSpeed $ap2_maxspeed\
+  maxAccel $ap2_maxaccel\
+  maxDecel $ap2_maxdecel\
+  stepsPerX $ap2_steps_per_x\
+  posit_count 5\
+  posit_1 $ap2_100X100\
+  posit_2 $ap2_40X40\
+  posit_3 $ap2_D10\
+  posit_4 $ap2_D20\
+  posit_5 $ap2_D40\
+  absEnc 1\
+  absEncHome $ap2_absenchome\
+  cntsPerX $ap2_cnts_per_x]
+ap2 softlowerlim $ap2_rev_lim
+ap2 softupperlim $ap2_fwd_lim
+ap2 home $ap2_home
+ap2 part $ap2_part
+ap2 long_name ap2
+
+# ap3 configuration
+Motor ap3 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis C\
+  units $ap3_units\
+  hardlowerlim $ap3_rev_lim\
+  hardupperlim $ap3_fwd_lim\
+  maxSpeed $ap3_maxspeed\
+  maxAccel $ap3_maxaccel\
+  maxDecel $ap3_maxdecel\
+  stepsPerX $ap3_steps_per_x\
+  posit_count 5\
+  posit_1 $ap3_100X100\
+  posit_2 $ap3_40X40\
+  posit_3 $ap3_D10\
+  posit_4 $ap3_D20\
+  posit_5 $ap3_D40\
+  absEnc 1\
+  absEncHome $ap3_absenchome\
+  cntsPerX $ap3_cnts_per_x]
+ap3 softlowerlim $ap3_rev_lim
+ap3 softupperlim $ap3_fwd_lim
+ap3 home $ap3_home
+ap3 part $ap3_part
+ap3 long_name ap3
+
+# ap4 configuration
+Motor ap4 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis D\
+  units $ap4_units\
+  hardlowerlim $ap4_rev_lim\
+  hardupperlim $ap4_fwd_lim\
+  maxSpeed $ap4_maxspeed\
+  maxAccel $ap4_maxaccel\
+  maxDecel $ap4_maxdecel\
+  stepsPerX $ap4_steps_per_x\
+  posit_count 5\
+  posit_1 $ap4_100X100\
+  posit_2 $ap4_40X40\
+  posit_3 $ap4_D10\
+  posit_4 $ap4_D20\
+  posit_5 $ap4_D40\
+  absEnc 1\
+  absEncHome $ap4_absenchome\
+  cntsPerX $ap4_cnts_per_x]
+ap4 softlowerlim $ap4_rev_lim
+ap4 softupperlim $ap4_fwd_lim
+ap4 home $ap4_home
+ap4 part $ap4_part
+ap4 long_name ap4
+
+# ap5 configuration
+Motor ap5 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis E\
+  units $ap5_units\
+  hardlowerlim $ap5_rev_lim\
+  hardupperlim $ap5_fwd_lim\
+  maxSpeed $ap5_maxspeed\
+  maxAccel $ap5_maxaccel\
+  maxDecel $ap5_maxdecel\
+  stepsPerX $ap5_steps_per_x\
+  posit_count 5\
+  posit_1 $ap5_100X100\
+  posit_2 $ap5_40X40\
+  posit_3 $ap5_D10\
+  posit_4 $ap5_D20\
+  posit_5 $ap5_D40\
+  absEnc 1\
+  absEncHome $ap5_absenchome\
+  cntsPerX $ap5_cnts_per_x]
+ap5 softlowerlim $ap5_rev_lim
+ap5 softupperlim $ap5_fwd_lim
+ap5 home $ap5_home
+ap5 part $ap5_part
+ap5 long_name ap5
+
+# ap6 configuration
+Motor ap6 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis F\
+  units $ap6_units\
+  hardlowerlim $ap6_rev_lim\
+  hardupperlim $ap6_fwd_lim\
+  maxSpeed $ap6_maxspeed\
+  maxAccel $ap6_maxaccel\
+  maxDecel $ap6_maxdecel\
+  stepsPerX $ap6_steps_per_x\
+  posit_count 5\
+  posit_1 $ap6_100X100\
+  posit_2 $ap6_40X40\
+  posit_3 $ap6_D10\
+  posit_4 $ap6_D20\
+  posit_5 $ap6_D40\
+  absEnc 1\
+  absEncHome $ap6_absenchome\
+  cntsPerX $ap6_cnts_per_x]
+ap6 softlowerlim $ap6_rev_lim
+ap6 softupperlim $ap6_fwd_lim
+ap6 home $ap6_home
+ap6 part $ap6_part
+ap6 long_name ap6
+
+# ap7 configuration
+Motor ap7 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis G\
+  units $ap7_units\
+  hardlowerlim $ap7_rev_lim\
+  hardupperlim $ap7_fwd_lim\
+  maxSpeed $ap7_maxspeed\
+  maxAccel $ap7_maxaccel\
+  maxDecel $ap7_maxdecel\
+  stepsPerX $ap7_steps_per_x\
+  posit_count 5\
+  posit_1 $ap7_100X100\
+  posit_2 $ap7_40X40\
+  posit_3 $ap7_D10\
+  posit_4 $ap7_D20\
+  posit_5 $ap7_D40\
+  absEnc 1\
+  absEncHome $ap7_absenchome\
+  cntsPerX $ap7_cnts_per_x]
+ap7 softlowerlim $ap7_rev_lim
+ap7 softupperlim $ap7_fwd_lim
+ap7 home $ap7_home
+ap7 part $ap7_part
+ap7 long_name ap7
+
+# ap8 configuration
+Motor ap8 $motor_driver_type [params\
+  asyncqueue mc2\
+  axis H\
+  units $ap8_units\
+  hardlowerlim $ap8_rev_lim\
+  hardupperlim $ap8_fwd_lim\
+  maxSpeed $ap8_maxspeed\
+  maxAccel $ap8_maxaccel\
+  maxDecel $ap8_maxdecel\
+  stepsPerX $ap8_steps_per_x\
+  posit_count 5\
+  posit_1 $ap8_100X100\
+  posit_2 $ap8_40X40\
+  posit_3 $ap8_D10\
+  posit_4 $ap8_D20\
+  posit_5 $ap8_D40\
+  absEnc 1\
+  absEncHome $ap8_absenchome\
+  cntsPerX $ap8_cnts_per_x]
+ap8 softlowerlim $ap8_rev_lim
+ap8 softupperlim $ap8_fwd_lim
+ap8 home $ap8_home
+ap8 part $ap8_part
+ap8 long_name ap8
+
+# col1 configuration
+Motor col1 $motor_driver_type [params\
+  asyncqueue mc1\
+  axis A\
+  units $col1_units\
+  hardlowerlim $col1_rev_lim\
+  hardupperlim $col1_fwd_lim\
+  maxSpeed $col1_maxspeed\
+  maxAccel $col1_maxaccel\
+  maxDecel $col1_maxdecel\
+  stepsPerX $col1_steps_per_x\
+  posit_count 2\
+  posit_1 $col1_aperture\
+  posit_2 $col1_guide\
+  absEnc 1\
+  absEncHome $col1_absenchome\
+  cntsPerX $col1_cnts_per_x]
+col1 softlowerlim $col1_rev_lim
+col1 softupperlim $col1_fwd_lim
+col1 home $col1_home
+col1 part $col1_part
+col1 long_name col1
+
+# col2 configuration
+Motor col2 $motor_driver_type [params\
+  asyncqueue mc1\
+  axis B\
+  units $col2_units\
+  hardlowerlim $col2_rev_lim\
+  hardupperlim $col2_fwd_lim\
+  maxSpeed $col2_maxspeed\
+  maxAccel $col2_maxaccel\
+  maxDecel $col2_maxdecel\
+  stepsPerX $col2_steps_per_x\
+  posit_count 2\
+  posit_1 $col2_aperture\
+  posit_2 $col2_guide\
+  absEnc 1\
+  absEncHome $col2_absenchome\
+  cntsPerX $col2_cnts_per_x]
+col2 softlowerlim $col2_rev_lim
+col2 softupperlim $col2_fwd_lim
+col2 home $col2_home
+col2 part $col2_part
+col2 long_name col2
+
+# col3 configuration
+Motor col3 $motor_driver_type [params\
+  asyncqueue mc1\
+  axis C\
+  units $col3_units\
+  hardlowerlim $col3_rev_lim\
+  hardupperlim $col3_fwd_lim\
+  maxSpeed $col3_maxspeed\
+  maxAccel $col3_maxaccel\
+  maxDecel $col3_maxdecel\
+  stepsPerX $col3_steps_per_x\
+  posit_count 2\
+  posit_1 $col3_aperture\
+  posit_2 $col3_guide\
+  absEnc 1\
+  absEncHome $col3_absenchome\
+  cntsPerX $col3_cnts_per_x]
+col3 softlowerlim $col3_rev_lim
+col3 softupperlim $col3_fwd_lim
+col3 home $col3_home
+col3 part $col3_part
+col3 long_name col3
+
+# col4 configuration
+Motor col4 $motor_driver_type [params\
+  asyncqueue mc1\
+  axis D\
+  units $col4_units\
+  hardlowerlim $col4_rev_lim\
+  hardupperlim $col4_fwd_lim\
+  maxSpeed $col4_maxspeed\
+  maxAccel $col4_maxaccel\
+  maxDecel $col4_maxdecel\
+  stepsPerX $col4_steps_per_x\
+  posit_count 2\
+  posit_1 $col4_aperture\
+  posit_2 $col4_guide\
+  absEnc 1\
+  absEncHome $col4_absenchome\
+  cntsPerX $col4_cnts_per_x]
+col4 softlowerlim $col4_rev_lim
+col4 softupperlim $col4_fwd_lim
+col4 home $col4_home
+col4 part $col4_part
+col4 long_name col4
+
+# col5 configuration
+Motor col5 $motor_driver_type [params\
+  asyncqueue mc1\
+  axis E\
+  units $col5_units\
+  hardlowerlim $col5_rev_lim\
+  hardupperlim $col5_fwd_lim\
+  maxSpeed $col5_maxspeed\
+  maxAccel $col5_maxaccel\
+  maxDecel $col5_maxdecel\
+  stepsPerX $col5_steps_per_x\
+  posit_count 2\
+  posit_1 $col5_aperture\
+  posit_2 $col5_guide\
+  absEnc 1\
+  absEncHome $col5_absenchome\
+  cntsPerX $col5_cnts_per_x]
+col5 softlowerlim $col5_rev_lim
+col5 softupperlim $col5_fwd_lim
+col5 home $col5_home
+col5 part $col5_part
+col5 long_name col5
+
+# col6 configuration
+Motor col6 $motor_driver_type [params\
+  asyncqueue mc1\
+  axis F\
+  units $col6_units\
+  hardlowerlim $col6_rev_lim\
+  hardupperlim $col6_fwd_lim\
+  maxSpeed $col6_maxspeed\
+  maxAccel $col6_maxaccel\
+  maxDecel $col6_maxdecel\
+  stepsPerX $col6_steps_per_x\
+  posit_count 2\
+  posit_1 $col6_aperture\
+  posit_2 $col6_guide\
+  absEnc 1\
+  absEncHome $col6_absenchome\
+  cntsPerX $col6_cnts_per_x]
+col6 softlowerlim $col6_rev_lim
+col6 softupperlim $col6_fwd_lim
+col6 home $col6_home
+col6 part $col6_part
+col6 long_name col6
+
+# col7 configuration
+Motor col7 $motor_driver_type [params\
+  asyncqueue mc1\
+  axis G\
+  units $col7_units\
+  hardlowerlim $col7_rev_lim\
+  hardupperlim $col7_fwd_lim\
+  maxSpeed $col7_maxspeed\
+  maxAccel $col7_maxaccel\
+  maxDecel $col7_maxdecel\
+  stepsPerX $col7_steps_per_x\
+  posit_count 2\
+  posit_1 $col7_aperture\
+  posit_2 $col7_guide\
+  absEnc 1\
+  absEncHome $col7_absenchome\
+  cntsPerX $col7_cnts_per_x]
+col7 softlowerlim $col7_rev_lim
+col7 softupperlim $col7_fwd_lim
+col7 home $col7_home
+col7 part $col7_part
+col7 long_name col7
+
+# col8 configuration
+Motor col8 $motor_driver_type [params\
+  asyncqueue mc1\
+  axis H\
+  units $col8_units\
+  hardlowerlim $col8_rev_lim\
+  hardupperlim $col8_fwd_lim\
+  maxSpeed $col8_maxspeed\
+  maxAccel $col8_maxaccel\
+  maxDecel $col8_maxdecel\
+  stepsPerX $col8_steps_per_x\
+  posit_count 2\
+  posit_1 $col8_aperture\
+  posit_2 $col8_guide\
+  absEnc 1\
+  absEncHome $col8_absenchome\
+  cntsPerX $col8_cnts_per_x]
+col8 softlowerlim $col8_rev_lim
+col8 softupperlim $col8_fwd_lim
+col8 home $col8_home
+col8 part $col8_part
+col8 long_name col8
+
+proc motor_set_sobj_attributes {} {}

site_ansto/instrument/bilby/config/motors/motor_configuration.tcl

@@ -0,0 +1,6 @@
+# @file Loads the generated_motor_configuration.tcl file which is created by util/genmotconf.tcl from CSV files.
+fileeval config/motors/generated_motor_configuration.tcl
+# Motors which should not be driven should be set as "fixed" here.
+# Configurable virtual motors can be defined here.
+# Eg, mot fixed 1
+# Define "proc motor_set_sobj_attributes {}" if we need to define extra sicslist attributes for some motors.

site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv

@@ -0,0 +1,112 @@
+ap1_absenchome,74080
+ap1_fwd_lim,104.24377441406246
+ap1_home,0
+ap1_maxaccel,1
+ap1_maxdecel,1
+ap1_maxspeed,1
+ap1_rev_lim,0
+ap2_absenchome,55223
+ap2_fwd_lim,108.00659179687496
+ap2_home,0
+ap2_maxaccel,1
+ap2_maxdecel,1
+ap2_maxspeed,1
+ap2_rev_lim,0
+ap3_absenchome,13986
+ap3_fwd_lim,102.21679687499996
+ap3_home,0
+ap3_maxaccel,1
+ap3_maxdecel,1
+ap3_maxspeed,1
+ap3_rev_lim,0
+ap4_absenchome,5616
+ap4_fwd_lim,107.88574218749996
+ap4_home,0
+ap4_maxaccel,1
+ap4_maxdecel,1
+ap4_maxspeed,1
+ap4_rev_lim,0
+ap5_absenchome,73254
+ap5_fwd_lim,101.83227539062496
+ap5_home,0
+ap5_maxaccel,1
+ap5_maxdecel,1
+ap5_maxspeed,1
+ap5_rev_lim,0
+ap6_absenchome,72533
+ap6_fwd_lim,108.62182617187496
+ap6_home,0
+ap6_maxaccel,1
+ap6_maxdecel,1
+ap6_maxspeed,1
+ap6_rev_lim,0
+ap7_absenchome,74427
+ap7_fwd_lim,103.56811523437496
+ap7_home,0
+ap7_maxaccel,1
+ap7_maxdecel,1
+ap7_maxspeed,1
+ap7_rev_lim,0
+ap8_absenchome,7189
+ap8_fwd_lim,110.12695312499996
+ap8_home,0
+ap8_maxaccel,1
+ap8_maxdecel,1
+ap8_maxspeed,1
+ap8_rev_lim,0
+col1_absenchome,4666
+col1_fwd_lim,269
+col1_home,0
+col1_maxaccel,1
+col1_maxdecel,1
+col1_maxspeed,1
+col1_rev_lim,0
+col2_absenchome,10598
+col2_fwd_lim,269
+col2_home,0
+col2_maxaccel,1
+col2_maxdecel,1
+col2_maxspeed,1
+col2_rev_lim,0
+col3_absenchome,28865
+col3_fwd_lim,268
+col3_home,0
+col3_maxaccel,1
+col3_maxdecel,1
+col3_maxspeed,1
+col3_rev_lim,0
+col4_absenchome,11788
+col4_fwd_lim,270
+col4_home,0
+col4_maxaccel,1
+col4_maxdecel,1
+col4_maxspeed,1
+col4_rev_lim,0
+col5_absenchome,376887
+col5_fwd_lim,269
+col5_home,0
+col5_maxaccel,1
+col5_maxdecel,1
+col5_maxspeed,1
+col5_rev_lim,0
+col6_absenchome,190872
+col6_fwd_lim,272
+col6_home,0
+col6_maxaccel,1
+col6_maxdecel,1
+col6_maxspeed,1
+col6_rev_lim,0
+col7_absenchome,23912
+col7_fwd_lim,270
+col7_home,0
+col7_maxaccel,1
+col7_maxdecel,1
+col7_maxspeed,1
+col7_rev_lim,0
+col8_absenchome,12085
+col8_fwd_lim,269
+col8_home,0
+col8_maxaccel,1
+col8_maxdecel,1
+col8_maxspeed,1
+col8_rev_lim,0