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The cnts_per_x for shd and vs should be negative to match our RH coord system.

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NOTE: The ap8 encoder values seem to be wrong in the Bilby spreadsheet.
Also the det encoder values for the limits are missing in the spreadsheet.
This commit is contained in:
Ferdi Franceschini
2014-02-07 14:32:24 +11:00
parent 0c9df4d523
commit 51afda1185
3 changed files with 23 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv
View File

@ -371,7 +371,7 @@ sdh_5a_in,1535698
sdh_5b_in,3747542 sdh_5b_in,3747542
sdh_axis,B sdh_axis,B
sdh_axis_number,26 sdh_axis_number,26
sdh_cnts_per_x,12288 sdh_cnts_per_x,-12288
sdh_description,SDH Box sdh_description,SDH Box
sdh_fwd_enc_lim,1189505 sdh_fwd_enc_lim,1189505
sdh_mc,mc4 sdh_mc,mc4
@ -435,7 +435,7 @@ ss1u_rev_enc_lim,33297987
ss1u_steps_per_x,50000 ss1u_steps_per_x,50000
vs_axis,D vs_axis,D
vs_axis_number,28 vs_axis_number,28
vs_cnts_per_x,12288 vs_cnts_per_x,-12288
vs_description,Velocity Selector Trans vs_description,Velocity Selector Trans
vs_dflt_accel_steps,15000 vs_dflt_accel_steps,15000
vs_dflt_decel_steps,50000 vs_dflt_decel_steps,50000

1 ap1_100X40 110608
371 sdh_5b_in 3747542
372 sdh_axis B
373 sdh_axis_number 26
374 sdh_cnts_per_x 12288 -12288
375 sdh_description SDH Box
376 sdh_fwd_enc_lim 1189505
377 sdh_mc mc4
435 ss1u_steps_per_x 50000
436 vs_axis D
437 vs_axis_number 28
438 vs_cnts_per_x 12288 -12288
439 vs_description Velocity Selector Trans
440 vs_dflt_accel_steps 15000
441 vs_dflt_decel_steps 50000

4
site_ansto/instrument/bilby/config/motors/generated_motor_configuration.tcl
View File

@ -691,8 +691,8 @@ Motor sdh $motor_driver_type [params\
maxDecel $sdh_maxdecel\ maxDecel $sdh_maxdecel\
stepsPerX $sdh_steps_per_x\ stepsPerX $sdh_steps_per_x\
posit_count 2\ posit_count 2\
posit_1 $sdh_5a_in\ posit_1 $sdh_5b_in\
posit_2 $sdh_5b_in\ posit_2 $sdh_5a_in\
absEnc 1\ absEnc 1\
absEncHome $sdh_absenchome\ absEncHome $sdh_absenchome\
cntsPerX $sdh_cnts_per_x] cntsPerX $sdh_cnts_per_x]

44
site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv
View File

@ -57,95 +57,91 @@ ap8_speed,1.4062
att_absenchome,33021197.0000 att_absenchome,33021197.0000
att_accel,3.6000 att_accel,3.6000
att_decel,3.6000 att_decel,3.6000
att_fwd_lim,-273.7734 att_fwd_lim,273.7734
att_home,0.0000 att_home,0.0000
att_rev_lim,0.0000 att_rev_lim,0.0000
att_speed,3.6000 att_speed,3.6000
cdd_absenchome,4159255.0000 cdd_absenchome,4159255.0000
cdd_accel,0.2500 cdd_accel,0.2500
cdd_decel,0.2500 cdd_decel,0.2500
cdd_fwd_lim,349.0000 cdd_fwd_lim,349.7198
cdd_home,0.0000 cdd_home,0.0000
cdd_part,instrument
cdd_rev_lim,0.0000 cdd_rev_lim,0.0000
cdd_speed,1.5000 cdd_speed,1.5000
cdl_absenchome,5769621.0000 cdl_absenchome,5769621.0000
cdl_accel,0.2500 cdl_accel,0.2500
cdl_decel,0.2500 cdl_decel,0.2500
cdl_fwd_lim,356.0000 cdl_fwd_lim,356.9644
cdl_home,0.0000 cdl_home,0.0000
cdl_rev_lim,0.0000 cdl_rev_lim,0.0000
cdl_speed,1.5000 cdl_speed,1.5000
cdl_units,xxx
cdr_absenchome,4371043.0000 cdr_absenchome,4371043.0000
cdr_accel,0.2500 cdr_accel,0.2500
cdr_decel,0.2500 cdr_decel,0.2500
cdr_fwd_lim,358.0000 cdr_fwd_lim,358.0801
cdr_home,0.0000 cdr_home,0.0000
cdr_part,instrument
cdr_rev_lim,0.0000 cdr_rev_lim,0.0000
cdr_speed,1.5000 cdr_speed,1.5000
cdu_absenchome,21804679.0000 cdu_absenchome,21804679.0000
cdu_accel,0.2500 cdu_accel,0.2500
cdu_decel,0.2500 cdu_decel,0.2500
cdu_fwd_lim,356.0000 cdu_fwd_lim,356.9028
cdu_home,0.0000 cdu_home,0.0000
cdu_rev_lim,0.0000 cdu_rev_lim,0.0000
cdu_speed,1.5000 cdu_speed,1.5000
cdu_units,xxx
col1_absenchome,3902.0000 col1_absenchome,3902.0000
col1_accel,0.3333 col1_accel,0.3333
col1_decel,0.3333 col1_decel,0.3333
col1_fwd_lim,270.0000 col1_fwd_lim,270.2969
col1_home,0.0000 col1_home,0.0000
col1_rev_lim,0.0000 col1_rev_lim,0.0000
col1_speed,0.6667 col1_speed,0.6667
col2_absenchome,9598.0000 col2_absenchome,9598.0000
col2_accel,0.3333 col2_accel,0.3333
col2_decel,0.3333 col2_decel,0.3333
col2_fwd_lim,270.0000 col2_fwd_lim,270.9961
col2_home,0.0000 col2_home,0.0000
col2_rev_lim,0.0000 col2_rev_lim,0.0000
col2_speed,0.6667 col2_speed,0.6667
col3_absenchome,29466.0000 col3_absenchome,29466.0000
col3_accel,0.3333 col3_accel,0.3333
col3_decel,0.3333 col3_decel,0.3333
col3_fwd_lim,268.0000 col3_fwd_lim,268.1104
col3_home,0.0000 col3_home,0.0000
col3_rev_lim,0.0000 col3_rev_lim,0.0000
col3_speed,0.6667 col3_speed,0.6667
col4_absenchome,12861.0000 col4_absenchome,12861.0000
col4_accel,0.3333 col4_accel,0.3333
col4_decel,0.3333 col4_decel,0.3333
col4_fwd_lim,269.0000 col4_fwd_lim,269.4302
col4_home,0.0000 col4_home,0.0000
col4_rev_lim,0.0000 col4_rev_lim,0.0000
col4_speed,0.6667 col4_speed,0.6667
col5_absenchome,377801.0000 col5_absenchome,377801.0000
col5_accel,0.3333 col5_accel,0.3333
col5_decel,0.3333 col5_decel,0.3333
col5_fwd_lim,268.0000 col5_fwd_lim,268.7666
col5_home,0.0000 col5_home,0.0000
col5_rev_lim,0.0000 col5_rev_lim,0.0000
col5_speed,0.6667 col5_speed,0.6667
col6_absenchome,191508.0000 col6_absenchome,191508.0000
col6_accel,0.3333 col6_accel,0.3333
col6_decel,0.3333 col6_decel,0.3333
col6_fwd_lim,271.0000 col6_fwd_lim,271.2998
col6_home,0.0000 col6_home,0.0000
col6_rev_lim,0.0000 col6_rev_lim,0.0000
col6_speed,0.6667 col6_speed,0.6667
col7_absenchome,24810.0000 col7_absenchome,24810.0000
col7_accel,0.3333 col7_accel,0.3333
col7_decel,0.3333 col7_decel,0.3333
col7_fwd_lim,269.0000 col7_fwd_lim,269.9331
col7_home,0.0000 col7_home,0.0000
col7_rev_lim,0.0000 col7_rev_lim,0.0000
col7_speed,0.6667 col7_speed,0.6667
col8_absenchome,12893.0000 col8_absenchome,12893.0000
col8_accel,0.3333 col8_accel,0.3333
col8_decel,0.3333 col8_decel,0.3333
col8_fwd_lim,267.0000 col8_fwd_lim,267.6748
col8_home,0.0000 col8_home,0.0000
col8_rev_lim,0.0000 col8_rev_lim,0.0000
col8_speed,0.6667 col8_speed,0.6667
@ -157,46 +153,44 @@ det_home,0.0000
det_rev_lim,0.0000 det_rev_lim,0.0000
det_speed,25.6410 det_speed,25.6410
sdh_absenchome,4166803.0000 sdh_absenchome,4166803.0000
sdh_fwd_lim,-243.0000 sdh_fwd_lim,242.2931
sdh_home,0.0000 sdh_home,0.0000
sdh_maxaccel,1.0000 sdh_maxaccel,1.0000
sdh_maxdecel,1.0000 sdh_maxdecel,1.0000
sdh_maxspeed,1.0000 sdh_maxspeed,1.0000
sdh_part,instrument
sdh_rev_lim,0.0000 sdh_rev_lim,0.0000
sdh_units,xxx
ss1d_absenchome,33398312.0000 ss1d_absenchome,33398312.0000
ss1d_accel,0.5000 ss1d_accel,0.5000
ss1d_decel,0.5000 ss1d_decel,0.5000
ss1d_fwd_lim,114.0000 ss1d_fwd_lim,114.3299
ss1d_home,0.0000 ss1d_home,0.0000
ss1d_rev_lim,0.0000 ss1d_rev_lim,0.0000
ss1d_speed,0.5000 ss1d_speed,0.5000
ss1l_absenchome,32637740.0000 ss1l_absenchome,32637740.0000
ss1l_accel,0.5000 ss1l_accel,0.5000
ss1l_decel,0.5000 ss1l_decel,0.5000
ss1l_fwd_lim,-68.0000 ss1l_fwd_lim,67.9708
ss1l_home,0.0000 ss1l_home,0.0000
ss1l_rev_lim,0.0000 ss1l_rev_lim,0.0000
ss1l_speed,0.5000 ss1l_speed,0.5000
ss1r_absenchome,33421848.0000 ss1r_absenchome,33421848.0000
ss1r_accel,0.5000 ss1r_accel,0.5000
ss1r_decel,0.5000 ss1r_decel,0.5000
ss1r_fwd_lim,-72.0000 ss1r_fwd_lim,71.6127
ss1r_home,0.0000 ss1r_home,0.0000
ss1r_rev_lim,0.0000 ss1r_rev_lim,0.0000
ss1r_speed,0.5000 ss1r_speed,0.5000
ss1u_absenchome,33297987.0000 ss1u_absenchome,33297987.0000
ss1u_accel,0.5000 ss1u_accel,0.5000
ss1u_decel,0.5000 ss1u_decel,0.5000
ss1u_fwd_lim,113.0000 ss1u_fwd_lim,113.7317
ss1u_home,0.0000 ss1u_home,0.0000
ss1u_rev_lim,0.0000 ss1u_rev_lim,0.0000
ss1u_speed,0.5000 ss1u_speed,0.5000
vs_absenchome,3789130.0000 vs_absenchome,3789130.0000
vs_accel,0.4000 vs_accel,0.4000
vs_decel,1.3333 vs_decel,1.3333
vs_fwd_lim,-276.0000 vs_fwd_lim,275.2637
vs_home,0.0000 vs_home,0.0000
vs_rev_lim,0.0000 vs_rev_lim,0.0000
vs_speed,1.3333 vs_speed,1.3333

1 ap1_absenchome 73952.0000
57 att_absenchome 33021197.0000
58 att_accel 3.6000
59 att_decel 3.6000
60 att_fwd_lim -273.7734 273.7734
61 att_home 0.0000
62 att_rev_lim 0.0000
63 att_speed 3.6000
64 cdd_absenchome 4159255.0000
65 cdd_accel 0.2500
66 cdd_decel 0.2500
67 cdd_fwd_lim 349.0000 349.7198
68 cdd_home 0.0000
cdd_part instrument
69 cdd_rev_lim 0.0000
70 cdd_speed 1.5000
71 cdl_absenchome 5769621.0000
72 cdl_accel 0.2500
73 cdl_decel 0.2500
74 cdl_fwd_lim 356.0000 356.9644
75 cdl_home 0.0000
76 cdl_rev_lim 0.0000
77 cdl_speed 1.5000
cdl_units xxx
78 cdr_absenchome 4371043.0000
79 cdr_accel 0.2500
80 cdr_decel 0.2500
81 cdr_fwd_lim 358.0000 358.0801
82 cdr_home 0.0000
cdr_part instrument
83 cdr_rev_lim 0.0000
84 cdr_speed 1.5000
85 cdu_absenchome 21804679.0000
86 cdu_accel 0.2500
87 cdu_decel 0.2500
88 cdu_fwd_lim 356.0000 356.9028
89 cdu_home 0.0000
90 cdu_rev_lim 0.0000
91 cdu_speed 1.5000
cdu_units xxx
92 col1_absenchome 3902.0000
93 col1_accel 0.3333
94 col1_decel 0.3333
95 col1_fwd_lim 270.0000 270.2969
96 col1_home 0.0000
97 col1_rev_lim 0.0000
98 col1_speed 0.6667
99 col2_absenchome 9598.0000
100 col2_accel 0.3333
101 col2_decel 0.3333
102 col2_fwd_lim 270.0000 270.9961
103 col2_home 0.0000
104 col2_rev_lim 0.0000
105 col2_speed 0.6667
106 col3_absenchome 29466.0000
107 col3_accel 0.3333
108 col3_decel 0.3333
109 col3_fwd_lim 268.0000 268.1104
110 col3_home 0.0000
111 col3_rev_lim 0.0000
112 col3_speed 0.6667
113 col4_absenchome 12861.0000
114 col4_accel 0.3333
115 col4_decel 0.3333
116 col4_fwd_lim 269.0000 269.4302
117 col4_home 0.0000
118 col4_rev_lim 0.0000
119 col4_speed 0.6667
120 col5_absenchome 377801.0000
121 col5_accel 0.3333
122 col5_decel 0.3333
123 col5_fwd_lim 268.0000 268.7666
124 col5_home 0.0000
125 col5_rev_lim 0.0000
126 col5_speed 0.6667
127 col6_absenchome 191508.0000
128 col6_accel 0.3333
129 col6_decel 0.3333
130 col6_fwd_lim 271.0000 271.2998
131 col6_home 0.0000
132 col6_rev_lim 0.0000
133 col6_speed 0.6667
134 col7_absenchome 24810.0000
135 col7_accel 0.3333
136 col7_decel 0.3333
137 col7_fwd_lim 269.0000 269.9331
138 col7_home 0.0000
139 col7_rev_lim 0.0000
140 col7_speed 0.6667
141 col8_absenchome 12893.0000
142 col8_accel 0.3333
143 col8_decel 0.3333
144 col8_fwd_lim 267.0000 267.6748
145 col8_home 0.0000
146 col8_rev_lim 0.0000
147 col8_speed 0.6667
153 det_rev_lim 0.0000
154 det_speed 25.6410
155 sdh_absenchome 4166803.0000
156 sdh_fwd_lim -243.0000 242.2931
157 sdh_home 0.0000
158 sdh_maxaccel 1.0000
159 sdh_maxdecel 1.0000
160 sdh_maxspeed 1.0000
sdh_part instrument
161 sdh_rev_lim 0.0000
sdh_units xxx
162 ss1d_absenchome 33398312.0000
163 ss1d_accel 0.5000
164 ss1d_decel 0.5000
165 ss1d_fwd_lim 114.0000 114.3299
166 ss1d_home 0.0000
167 ss1d_rev_lim 0.0000
168 ss1d_speed 0.5000
169 ss1l_absenchome 32637740.0000
170 ss1l_accel 0.5000
171 ss1l_decel 0.5000
172 ss1l_fwd_lim -68.0000 67.9708
173 ss1l_home 0.0000
174 ss1l_rev_lim 0.0000
175 ss1l_speed 0.5000
176 ss1r_absenchome 33421848.0000
177 ss1r_accel 0.5000
178 ss1r_decel 0.5000
179 ss1r_fwd_lim -72.0000 71.6127
180 ss1r_home 0.0000
181 ss1r_rev_lim 0.0000
182 ss1r_speed 0.5000
183 ss1u_absenchome 33297987.0000
184 ss1u_accel 0.5000
185 ss1u_decel 0.5000
186 ss1u_fwd_lim 113.0000 113.7317
187 ss1u_home 0.0000
188 ss1u_rev_lim 0.0000
189 ss1u_speed 0.5000
190 vs_absenchome 3789130.0000
191 vs_accel 0.4000
192 vs_decel 1.3333
193 vs_fwd_lim -276.0000 275.2637
194 vs_home 0.0000
195 vs_rev_lim 0.0000
196 vs_speed 1.3333