From 52ba801f28a14ad4f5255c1a2f92ed3491321ba5 Mon Sep 17 00:00:00 2001 From: Ferdi Franceschini Date: Wed, 25 Feb 2015 09:44:06 +1100 Subject: [PATCH] Generated new motor configuration after updating the Bilby_motion_control_commissioning_checklist.xls The update includes corrections for samz and sapmot and configures the beam position as the origin for the slit motors. The left and down slit motors "sign" parameter has been changed so all slits drive away from the beam. --- ...motion_control_commissioning_checklist.csv | 20 ++++++++--- .../config/motors/motor_configuration.tcl | 9 +++-- .../bilby/config/motors/sicsmot_attlist.csv | 34 +++++++------------ 3 files changed, 34 insertions(+), 29 deletions(-) diff --git a/site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv b/site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv index 710fb160..99ab35a6 100755 --- a/site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv +++ b/site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv @@ -552,23 +552,25 @@ samy_part,sample samy_rev_enc_lim,82584 samy_steps_per_x,40000 samy_units,mm +samz_absenchome,533127890 samz_axis,B samz_axis_number,34 -samz_cnts_per_x,434.599097936269 +samz_cnts_per_x,-434.599097936269 samz_description,SAMPLE Z samz_dflt_accel_steps,150000 samz_dflt_decel_steps,150000 samz_dflt_speed_steps,200000 -samz_fwd_enc_lim,538234 +samz_fwd_enc_lim,533292924 +samz_home,379.97 samz_maxaccel,1.25 samz_maxdecel,1.25 samz_maxspeed,1.25 samz_mc,mc5 samz_part,sample -samz_rev_enc_lim,755970 -samz_steps_per_x,200000 +samz_rev_enc_lim,533075289 +samz_steps_per_x,-200000 samz_units,mm -sapmot_absenchome,1864051 +sapmot_absenchome,1849191 sapmot_axis,F sapmot_axis_number,38 sapmot_cnts_per_x,4096 @@ -604,6 +606,7 @@ som_part,sample som_rev_enc_lim,33308987 som_steps_per_x,-38888.8888888889 som_units,degrees +ss1d_absenchome,32398070 ss1d_axis,D ss1d_axis_number,20 ss1d_cnts_per_x,-16384 @@ -612,6 +615,7 @@ ss1d_dflt_accel_steps,25000 ss1d_dflt_decel_steps,25000 ss1d_dflt_speed_steps,25000 ss1d_fwd_enc_lim,31525131 +ss1d_home,0 ss1d_maxaccel,1 ss1d_maxdecel,1 ss1d_maxspeed,1 @@ -620,6 +624,7 @@ ss1d_part,collimator ss1d_rev_enc_lim,33398312 ss1d_steps_per_x,50000 ss1d_units,mm +ss1l_absenchome,32051676 ss1l_axis,A ss1l_axis_number,17 ss1l_cnts_per_x,16384 @@ -628,6 +633,7 @@ ss1l_dflt_accel_steps,25000 ss1l_dflt_decel_steps,25000 ss1l_dflt_speed_steps,25000 ss1l_fwd_enc_lim,31524107 +ss1l_home,0 ss1l_maxaccel,1 ss1l_maxdecel,1 ss1l_maxspeed,1 @@ -636,6 +642,7 @@ ss1l_part,collimator ss1l_rev_enc_lim,32637740 ss1l_steps_per_x,-50000 ss1l_units,mm +ss1r_absenchome,32806371 ss1r_axis,C ss1r_axis_number,19 ss1r_cnts_per_x,16384 @@ -644,6 +651,7 @@ ss1r_dflt_accel_steps,25000 ss1r_dflt_decel_steps,25000 ss1r_dflt_speed_steps,25000 ss1r_fwd_enc_lim,32248545 +ss1r_home,0 ss1r_maxaccel,1 ss1r_maxdecel,1 ss1r_maxspeed,1 @@ -652,6 +660,7 @@ ss1r_part,collimator ss1r_rev_enc_lim,33421848 ss1r_steps_per_x,-50000 ss1r_units,mm +ss1u_absenchome,32327340 ss1u_axis,B ss1u_axis_number,18 ss1u_cnts_per_x,-16384 @@ -660,6 +669,7 @@ ss1u_dflt_accel_steps,25000 ss1u_dflt_decel_steps,25000 ss1u_dflt_speed_steps,25000 ss1u_fwd_enc_lim,31434607 +ss1u_home,0 ss1u_maxaccel,1 ss1u_maxdecel,1 ss1u_maxspeed,1 diff --git a/site_ansto/instrument/bilby/config/motors/motor_configuration.tcl b/site_ansto/instrument/bilby/config/motors/motor_configuration.tcl index 8bc951d6..d867dd7e 100644 --- a/site_ansto/instrument/bilby/config/motors/motor_configuration.tcl +++ b/site_ansto/instrument/bilby/config/motors/motor_configuration.tcl @@ -48,9 +48,14 @@ for {set n 1} {$n <= 8} {incr n} { make_coll_motor_1 att_pos att_pos att count sicslist setatt att_pos klass instrument +# Configure left and down slit motors to drive away from the beam. +ss1l sign -1 +ss1d sign -1 # make gap/offset motors for the slits -make_gap_motors ss1hg gap ss1ho offset ss1r ss1l mm first/horizontal -make_gap_motors ss1vg gap ss1vo offset ss1u ss1d mm first/vertical +# ffr 2015-02-17 Changed ss1 config. The +ve dirn is away from the beam for +# all slits now. +#make_gap_motors ss1hg gap ss1ho offset ss1r ss1l mm first/horizontal +#make_gap_motors ss1vg gap ss1vo offset ss1u ss1d mm first/vertical # Sample aperture positions # D40 is at 0mm and D2.5 is at 306mm diff --git a/site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv b/site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv index e02f73ea..920879bd 100644 --- a/site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv +++ b/site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv @@ -179,50 +179,40 @@ samy_decel,1.2500 samy_fwd_lim,2242.2289 samy_rev_lim,741.0778 samy_speed,3.7500 -samz_absenchome,755970.0000 samz_accel,0.7500 samz_decel,0.7500 -samz_fwd_lim,-501.0043 -samz_home,0.0000 -samz_rev_lim,0.0000 +samz_fwd_lim,501.0034 +samz_rev_lim,0.2315 samz_speed,1.0000 sapmot_accel,4.0000 sapmot_decel,4.0000 -sapmot_fwd_lim,319.0015 -sapmot_rev_lim,-79.8955 +sapmot_fwd_lim,322.6294 +sapmot_rev_lim,-76.2676 sapmot_speed,8.0000 som_accel,1.2857 som_decel,1.2857 som_fwd_lim,340.6038 som_rev_lim,-2.0039 som_speed,3.8571 -ss1d_absenchome,33398312.0000 ss1d_accel,0.5000 ss1d_decel,0.5000 -ss1d_fwd_lim,114.3299 -ss1d_home,0.0000 -ss1d_rev_lim,0.0000 +ss1d_fwd_lim,53.2800 +ss1d_rev_lim,-61.0499 ss1d_speed,0.5000 -ss1l_absenchome,31524107.0000 ss1l_accel,0.5000 ss1l_decel,0.5000 -ss1l_fwd_lim,67.9708 -ss1l_home,0.0000 -ss1l_rev_lim,0.0000 +ss1l_fwd_lim,35.7705 +ss1l_rev_lim,-32.2003 ss1l_speed,0.5000 -ss1r_absenchome,32248545.0000 ss1r_accel,0.5000 ss1r_decel,0.5000 -ss1r_fwd_lim,71.6127 -ss1r_home,0.0000 -ss1r_rev_lim,0.0000 +ss1r_fwd_lim,37.5657 +ss1r_rev_lim,-34.0470 ss1r_speed,0.5000 -ss1u_absenchome,33297987.0000 ss1u_accel,0.5000 ss1u_decel,0.5000 -ss1u_fwd_lim,113.7317 -ss1u_home,0.0000 -ss1u_rev_lim,0.0000 +ss1u_fwd_lim,54.4881 +ss1u_rev_lim,-59.2436 ss1u_speed,0.5000 vs_absenchome,3789130.0000 vs_accel,0.4000