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Incremental commissioning and calibration

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r2302 | dcl | 2008-01-31 10:32:41 +1100 (Thu, 31 Jan 2008) | 2 lines
This commit is contained in:
Douglas Clowes
2008-01-31 10:32:41 +11:00
parent fb967be939
commit 4f92b60077
1 changed files with 30 additions and 13 deletions
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43
site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
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@@ -1,5 +1,5 @@
# $Revision: 1.19 $
# $Date: 2008-01-15 01:36:08 $
# $Revision: 1.20 $
# $Date: 2008-01-30 23:32:41 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: dcl $
@@ -42,16 +42,23 @@ set mom_Home 28473827
set mtth_Home 11701800
#set sz_home 2147458067
set sz_home 2147457556
#set sx_Home 8405693
#set sx_Home 8414653
#
# set sx_Home 8405693
# set sx_Home 8414653
# set value from 8376253 to 8385562 after cor 5.12.07
set sx_Home 8385562
# set value from 8385562 to 8350648
#set sx_Home 8350648
#
set sx_Home 9065892
#set sy_Home 7230717
# set value from 7223739 to 7224686 after cor 5.12.07
#set sy_Home 7223739
set sy_Home 7224686
#set sy_Home 7224686
set sy_Home 18597074
set som_Home 23164850
set stth_Home 7500000
set stth_Home 28686300
set mf1_Home 7500000
#set psho_home 542093
@@ -274,7 +281,8 @@ sz long_name vertical_translation
# to 4.995608 (v13 23.11.2007)
# to 4.997291 (v14 05.12.2007) after realignement of x and y table
# to 4.99841687 (oki 06.12.2007) after bearing adjustment on x table
set sx_pitch 4.99841687
# to 5.0 09.01.2008
set sx_pitch 5.0
Motor sx $motor_driver_type [params \
asyncqueue mc2\
axis C\
@@ -305,7 +313,16 @@ sx creep_offset 0.5
# to 4.9976934 (oki 19.11.2007)
# to 4.9996395 after x and y table alignement (ok, 10.12.2007)
# to 4.9996810 after x and y table alignement (ok, 10.12.2007)
set sy_pitch 4.9996810
# to 5.000187 after bearing repositioning
# to 4.999444939 after improved statistics
# to 4.99930 after some headscratching
# to 4.999610818
# best accuracies so far with 4.999444939
# set pitch to 4.9995324 (...24 added by ok for no good reason :-)
#
# change hw limits temporarily from -250...250 to -215...285, 4.1.2007
#
set sy_pitch 4.9995324
Motor sy $motor_driver_type [params \
asyncqueue mc2\
axis D\
@@ -335,15 +352,15 @@ Motor som $motor_driver_type [params \
asyncqueue mc2\
axis E\
units degrees\
hardlowerlim -200\
hardupperlim 200\
hardlowerlim -275\
hardupperlim 95\
maxSpeed 2\
maxAccel 5\
maxDecel 5\
stepsPerX [expr 25000.0*(380.0/360.0)]\
stepsPerX [expr 25000.0*(383.0/360.0)]\
absEnc 1\
absEncHome $som_Home\
cntsPerX [expr 8192.0*(380.0/360.0)]]
cntsPerX [expr -8192.0*(383.0/360.0)]]
setHomeandRange -motor som -home 0 -lowrange 180 -uprange 180
som speed 1
som accel 0.1