Update slit motor limits to overlap by 5 and open 25 each (50mm gap).

r1739 | dcl | 2007-03-29 17:30:42 +1000 (Thu, 29 Mar 2007) | 2 lines
2007-03-29 17:30:42 +10:00
parent b43ae4e50a
commit 6261c37519
1 changed files with 111 additions and 72 deletions
--- a/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.3 $
-# $Date: 2007-03-28 22:57:26 $
+# $Revision: 1.4 $
+# $Date: 2007-03-29 07:30:42 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $

@@ -58,6 +58,7 @@ set ss3v_Gap       28.6
 set ss4h_Gap       12.1
 set ss4v_Gap       23.6

+#Calculate the Home (zero) position as being in the middle of the gap
 set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
 set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
 set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
@@ -77,14 +78,52 @@ set ss4u_Home [expr $ss4v_Gap/2*$slitStepRate]
 set ss4d_Home [expr $ss4v_Gap/2*$slitStepRate]

 #Default upper and lower ranges for vertical slits
-set vertSlitHome 0
-set vertSlitLowRange 5
-set vertSlitUpRange 25
+set vSlitHome 0
+set vSlitLoRange 5
+set vSlitHiRange 25

 #Default upper and lower ranges for horizontal slits
-set horSlitHome 0
-set horSlitLowRange 5
-set horSlitUpRange 25
+set hSlitHome 0
+set hSlitLoRange 5
+set hSlitHiRange 25
+
+#calculate individual slit motor low ranges
+set ss1r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss1l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss1u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss1d_LoRange [expr $vSlitHome - $vSlitHiRange]
+set ss2r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss2l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss2u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss2d_LoRange [expr $vSlitHome - $vSlitHiRange]
+
+set ss3r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss3l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss3u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss3d_LoRange [expr $vSlitHome - $vSlitHiRange]
+set ss4r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss4l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss4u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss4d_LoRange [expr $vSlitHome - $vSlitHiRange]
+
+#calculate individual slit motor high ranges
+set ss1r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss1l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss1u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss1d_HiRange [expr $vSlitHome + $vSlitLoRange]
+set ss2r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss2l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss2u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss2d_HiRange [expr $vSlitHome + $vSlitLoRange]
+
+set ss3r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss3l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss3u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss3d_HiRange [expr $vSlitHome + $vSlitLoRange]
+set ss4r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss4l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss4u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss4d_HiRange [expr $vSlitHome + $vSlitLoRange]

 # set movecount high to reduce the frequency of
 # hnotify messages to a reasonable level
@@ -381,15 +420,15 @@ Motor ss1d DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis D\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim [expr $ss1d_LoRange]\
+  hardupperlim [expr $ss1d_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss1d_Home]
-ss1d softlowerlim -25
-ss1d softupperlim 95
+ss1d softlowerlim $ss1d_LoRange
+ss1d softupperlim $ss1d_HiRange
 ss1d home 0

 # Slit 1, upper
@@ -399,15 +438,15 @@ Motor ss1u DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis C\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim [expr $ss1u_LoRange]\
+  hardupperlim [expr $ss1u_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss1u_Home]
-ss1u softlowerlim -25
-ss1u softupperlim 95
+ss1u softlowerlim $ss1u_LoRange
+ss1u softupperlim $ss1u_HiRange
 ss1u home 0

 # Slit 1, left
@@ -417,15 +456,15 @@ Motor ss1l DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis A\
  units mm\
-  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
-  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
+  hardlowerlim [expr $ss1l_LoRange]\
+  hardupperlim [expr $ss1l_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss1l_Home]
-ss1l softlowerlim -25
-ss1l softupperlim 25
+ss1l softlowerlim $ss1l_LoRange
+ss1l softupperlim $ss1l_HiRange
 ss1l home 0

 # Slit 1, right
@@ -435,15 +474,15 @@ Motor ss1r DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis B\
  units mm\
-  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
-  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
+  hardlowerlim [expr $ss1r_LoRange]\
+  hardupperlim [expr $ss1r_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss1r_Home]
-ss1r softlowerlim -25
-ss1r softupperlim 25
+ss1r softlowerlim $ss1r_LoRange
+ss1r softupperlim $ss1r_HiRange
 ss1r home 0

 # Slit 2, lower
@@ -453,15 +492,15 @@ Motor ss2d DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis H\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim [expr $ss2d_LoRange]\
+  hardupperlim [expr $ss2d_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss2d_Home]
-ss2d softlowerlim -25
-ss2d softupperlim 95
+ss2d softlowerlim $ss2d_LoRange
+ss2d softupperlim $ss2d_HiRange
 ss2d home 0

 # Slit 2, upper
@@ -471,15 +510,15 @@ Motor ss2u DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis G\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim [expr $ss2u_LoRange]\
+  hardupperlim [expr $ss2u_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss2u_Home]
-ss2u softlowerlim -25
-ss2u softupperlim 95
+ss2u softlowerlim $ss2u_LoRange
+ss2u softupperlim $ss2u_HiRange
 ss2u home 0

 # Slit 2, left
@@ -489,15 +528,15 @@ Motor ss2l DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis E\
  units mm\
-  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
-  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
+  hardlowerlim [expr $ss2l_LoRange]\
+  hardupperlim [expr $ss2l_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss2l_Home]
-ss2l softlowerlim -25
-ss2l softupperlim 25
+ss2l softlowerlim $ss2l_LoRange
+ss2l softupperlim $ss2l_HiRange
 ss2l home 0

 # Slit 2, right
@@ -507,15 +546,15 @@ Motor ss2r DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis F\
  units mm\
-  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
-  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
+  hardlowerlim [expr $ss2r_LoRange]\
+  hardupperlim [expr $ss2r_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss2r_Home]
-ss2r softlowerlim -25
-ss2r softupperlim 25
+ss2r softlowerlim $ss2r_LoRange
+ss2r softupperlim $ss2r_HiRange
 ss2r home 0

 # Slit 3, lower
@@ -525,15 +564,15 @@ Motor ss3d DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis A\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim [expr $ss3d_LoRange]\
+  hardupperlim [expr $ss3d_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss3d_Home]
-ss3d softlowerlim -25
-ss3d softupperlim 95
+ss3d softlowerlim $ss3d_LoRange
+ss3d softupperlim $ss3d_HiRange
 ss3d home 0

 # Slit 3, upper
@@ -543,15 +582,15 @@ Motor ss3u DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis B\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim [expr $ss3u_LoRange]\
+  hardupperlim [expr $ss3u_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss3u_Home]
-ss3u softlowerlim -25
-ss3u softupperlim 95
+ss3u softlowerlim $ss3u_LoRange
+ss3u softupperlim $ss3u_HiRange
 ss3u home 0

 # Slit 3, Left
@@ -561,15 +600,15 @@ Motor ss3l DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis C\
  units mm\
-  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
-  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
+  hardlowerlim [expr $ss3l_LoRange]\
+  hardupperlim [expr $ss3l_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss3l_Home]
-ss3l softlowerlim -25
-ss3l softupperlim 25
+ss3l softlowerlim $ss3l_LoRange
+ss3l softupperlim $ss3l_HiRange
 ss3l home 0

 # Slit 3, right
@@ -579,15 +618,15 @@ Motor ss3r DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis D\
  units mm\
-  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
-  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
+  hardlowerlim [expr $ss3r_LoRange]\
+  hardupperlim [expr $ss3r_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss3r_Home]
-ss3r softlowerlim -25
-ss3r softupperlim 25
+ss3r softlowerlim $ss3r_LoRange
+ss3r softupperlim $ss3r_HiRange
 ss3r home 0

 # Slit 4, lower
@@ -597,15 +636,15 @@ Motor ss4d DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis E\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim [expr $ss4d_LoRange]\
+  hardupperlim [expr $ss4d_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss4d_Home]
-ss4d softlowerlim -25
-ss4d softupperlim 95
+ss4d softlowerlim $ss4d_LoRange
+ss4d softupperlim $ss4d_HiRange
 ss4d home 0

 # Slit 4, upper
@@ -615,15 +654,15 @@ Motor ss4u DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis F\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim [expr $ss4u_LoRange]\
+  hardupperlim [expr $ss4u_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss4u_Home]
-ss4u softlowerlim -25
-ss4u softupperlim 95
+ss4u softlowerlim $ss4u_LoRange
+ss4u softupperlim $ss4u_HiRange
 ss4u home 0

 # Slit 4, left
@@ -633,15 +672,15 @@ Motor ss4l DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis G\
  units mm\
-  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
-  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
+  hardlowerlim [expr $ss4l_LoRange]\
+  hardupperlim [expr $ss4l_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss4l_Home]
-ss4l softlowerlim -25
-ss4l softupperlim 25
+ss4l softlowerlim $ss4l_LoRange
+ss4l softupperlim $ss4l_HiRange
 ss4l home 0

 # Slit 4, right
@@ -651,15 +690,15 @@ Motor ss4r DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis H\
  units mm\
-  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
-  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
+  hardlowerlim [expr $ss4r_LoRange]\
+  hardupperlim [expr $ss4r_HiRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss4r_Home]
-ss4r softlowerlim -25
-ss4r softupperlim 25
+ss4r softlowerlim $ss4r_LoRange
+ss4r softupperlim $ss4r_HiRange
 ss4r home 0

 ## Polarization Analyzer Vertical Translation, Z