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Make the slits cartesian and do a little cleaning up

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r1781 | dcl | 2007-04-02 15:00:20 +1000 (Mon, 02 Apr 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-04-02 15:00:20 +10:00
parent c944a7383d
commit 636fb54aa7
2 changed files with 253 additions and 449 deletions
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379
site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
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@@ -1,7 +1,7 @@
# $Revision: 1.8 $
# $Date: 2007-04-01 01:58:57 $
# $Revision: 1.9 $
# $Date: 2007-04-02 05:00:03 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $
# Last revision by: $Author: dcl $
# START MOTOR CONFIGURATION
@@ -25,16 +25,12 @@ MakeMultiChan mc3 $dmc2280_controller3(host) $dmc2280_controller3(port)
MakeMultiChan mc4 $dmc2280_controller4(host) $dmc2280_controller4(port)
#Measured absolute encoder reading at home position
# 7613185, 7504518, 6770094, 7463036, 8901369, 19927837, 22369621, 22369621
# 7613516, 7503905, 6767221, 7464891
set mphi_Home 7613516
set mchi_Home 7503905
set my_Home 6767221
set mx_Home 7464891
set mom_Home 9274794
set mtth_Home 19927837
# 7938155, 7585392, 7556982, 7563854, 17214054, 22369621, 22369621, 22369621
# 7937974, 7585956, 7557524, 7557304, 16992893, 1497938, 7788744, 22369621
set sphi_Home 7937974
set schi_Home 7585956
set sy_Home 7557524
@@ -63,29 +59,39 @@ set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
#Default upper and lower ranges for vertical slits
set vertSlitHome 0
set vertSlitLowRange 25
set vertSlitUpRange 100
set vSlitHome 0
set vSlitLoRange 25
set vSlitHiRange 100
#Default upper and lower ranges for horizontal slits
set horSlitHome 0
set horSlitLowRange 25
set horSlitUpRange 25
set hSlitHome 0
set hSlitLoRange 25
set hSlitHiRange 25
# set movecount high to reduce the frequency of
#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]
#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 movecount high to reduce the frequency of
# hnotify messages to a reasonable level
set move_count 100
# Run slit homing routines on controllers 3 and 4
#if [catch {dmc_connect dmc2280_controller3} ] {
# dmc_sendCmd dmc2280_controller3 "XQ#HOME,1"
# dmc_close dmc2280_controller3
#}
#if [catch {dmc_connect dmc2280_controller4} ] {
# dmc_sendCmd dmc2280_controller4 "XQ#HOME,1"
# dmc_close dmc2280_controller4
#}
############################
# Motor Controller 1
# Motor Controller 1
@@ -115,7 +121,7 @@ mphi speed 1
mphi movecount $move_count
mphi precision 0.01
mphi part crystal
mphi long_name phi
mphi long_name phi
# Monochromator chi, Tilt 2, lower
Motor mchi DMC2280 [params \
@@ -138,7 +144,7 @@ mchi speed 1
mchi movecount $move_count
mchi precision 0.01
mchi part crystal
mchi long_name chi
mchi long_name chi
# Monochromator Trans 1, upper
Motor my DMC2280 [params \
@@ -161,7 +167,7 @@ my speed 1
my movecount $move_count
my precision 0.01
my part crystal
my long_name translate_y
my long_name translate_y
# Monochromator Trans 2, lower
Motor mx DMC2280 [params \
@@ -184,7 +190,7 @@ mx speed 1
mx movecount $move_count
mx precision 0.01
mx part crystal
mx long_name translate_x
mx long_name translate_x
# Monochromator omega, rotate
Motor mom DMC2280 [params \
@@ -207,7 +213,7 @@ mom speed 1
mom movecount $move_count
mom precision 0.01
mom part crystal
mom long_name rotate
mom long_name rotate
# Monochromator two-theta, flight-tube rotate
Motor mtth DMC2280 [params \
@@ -269,7 +275,7 @@ sphi speed 1
sphi movecount $move_count
sphi precision 0.01
sphi part sample
sphi long_name phi
sphi long_name phi
# Sample Tilt 2, lower, chi
Motor schi DMC2280 [params \
@@ -292,7 +298,7 @@ schi speed 1
schi movecount $move_count
schi precision 0.01
schi part sample
schi long_name chi
schi long_name chi
# Sample Trans 1, upper, y
Motor sy DMC2280 [params \
@@ -315,7 +321,7 @@ sy speed 1
sy movecount $move_count
sy precision 0.01
sy part sample
sy long_name translate_y
sy long_name translate_y
# Sample Trans2, lower, x
Motor sx DMC2280 [params \
@@ -338,7 +344,7 @@ sx speed 1
sx movecount $move_count
sx precision 0.01
sx part sample
sx long_name translate_x
sx long_name translate_x
# Sample Omega, rotate
Motor som DMC2280 [params \
@@ -360,7 +366,7 @@ setHomeandRange -motor som -home 0 -lowrange 54 -uprange 120
som speed 1
som precision 0.01
som part sample
som long_name rotate
som long_name rotate
# Sample two-theta, detector rotate
Motor stth DMC2280 [params \
@@ -409,7 +415,7 @@ oct home 0
oct speed 0.5
oct precision 0.01
oct part collimator
oct long_name oct
oct long_name oct
############################
# Motor Controller 3
@@ -439,7 +445,7 @@ oct long_name oct
#mfl movecount $move_count
#mf1 precision 0.01
#mf1 part monochromator
#mf1 long_name mf1
#mf1 long_name mf1
# Monochromator Focusing (Ge)
Motor mf2 DMC2280 [params \
@@ -461,7 +467,7 @@ setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 1
mf2 speed 0.1
mf2 precision 0.01
mf2 part monochromator
mf2 long_name mf2
mf2 long_name mf2
# Slit 1, right
Motor ss1r DMC2280 [params \
@@ -470,17 +476,19 @@ Motor ss1r DMC2280 [params \
port $dmc2280_controller3(port)\
axis E\
units mm\
hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
hardupperlim [expr $horSlitHome + $horSlitUpRange]\
hardlowerlim $ss1r_LoRange\
hardupperlim $ss1r_HiRange\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $ss1r_Home]
setHomeandRange -motor ss1r -home $horSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
ss1r softlowerlim $ss1r_LoRange
ss1r softupperlim $ss1r_HiRange
ss1r home 0
ss1r movecount $move_count
ss1r part sample
ss1r long_name right
ss1r long_name right
# Slit 1, left
Motor ss1l DMC2280 [params \
@@ -489,17 +497,19 @@ Motor ss1l DMC2280 [params \
port $dmc2280_controller3(port)\
axis F\
units mm\
hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
hardupperlim [expr $horSlitHome + $horSlitUpRange]\
hardlowerlim $ss1l_LoRange\
hardupperlim $ss1l_HiRange\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
stepsPerX $slitStepRate\
motorHome $ss1l_Home]
setHomeandRange -motor ss1l -home $horSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
ss1l softlowerlim $ss1l_LoRange
ss1l softupperlim $ss1l_HiRange
ss1l home 0
ss1l movecount $move_count
ss1l part sample
ss1l long_name left
ss1l long_name left
# Slit 1, up
Motor ss1u DMC2280 [params \
@@ -508,17 +518,19 @@ Motor ss1u DMC2280 [params \
port $dmc2280_controller3(port)\
axis G\
units mm\
hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
hardupperlim [expr $horSlitHome + $horSlitUpRange]\
hardlowerlim $ss1u_LoRange\
hardupperlim $ss1u_HiRange\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $ss1u_Home]
setHomeandRange -motor ss1u -home $horSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
ss1u softlowerlim $ss1u_LoRange
ss1u softupperlim $ss1u_HiRange
ss1u home 0
ss1u movecount $move_count
ss1u part sample
ss1u long_name top
ss1u long_name top
# Slit 1, down
Motor ss1d DMC2280 [params \
@@ -527,17 +539,19 @@ Motor ss1d DMC2280 [params \
port $dmc2280_controller3(port)\
axis H\
units mm\
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
hardlowerlim $ss1d_LoRange\
hardupperlim $ss1d_HiRange\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
stepsPerX $slitStepRate\
motorHome $ss1d_Home]
setHomeandRange -motor ss1d -home $vertSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
ss1d softlowerlim $ss1d_LoRange
ss1d softupperlim $ss1d_HiRange
ss1d home 0
ss1d movecount $move_count
ss1d part sample
ss1d long_name bottom
ss1d long_name bottom
############################
# Motor Controller 4
@@ -553,17 +567,19 @@ Motor ss2r DMC2280 [params \
port $dmc2280_controller4(port)\
axis E\
units mm\
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
hardlowerlim $ss2r_LoRange\
hardupperlim $ss2r_HiRange\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $ss2r_Home]
setHomeandRange -motor ss2r -home $vertSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
ss2r softlowerlim $ss2r_LoRange
ss2r softupperlim $ss2r_HiRange
ss2r home 0
ss2r movecount $move_count
ss2r part sample
ss2r long_name right
ss2r long_name right
# Slit 2, left
Motor ss2l DMC2280 [params \
@@ -572,17 +588,19 @@ Motor ss2l DMC2280 [params \
port $dmc2280_controller4(port)\
axis F\
units mm\
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
hardlowerlim $ss2l_LoRange\
hardupperlim $ss2l_HiRange\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
stepsPerX $slitStepRate\
motorHome $ss2l_Home]
setHomeandRange -motor ss2l -home $vertSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
ss2l softlowerlim $ss2l_LoRange
ss2l softupperlim $ss2l_HiRange
ss2l home 0
ss2l movecount $move_count
ss2l part sample
ss2l long_name left
ss2l long_name left
# Slit 2, up
Motor ss2u DMC2280 [params \
@@ -591,17 +609,19 @@ Motor ss2u DMC2280 [params \
port $dmc2280_controller4(port)\
axis G\
units mm\
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
hardlowerlim $ss2u_LoRange\
hardupperlim $ss2u_HiRange\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome $ss2u_Home]
setHomeandRange -motor ss2u -home $vertSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
ss2u softlowerlim $ss2u_LoRange
ss2u softupperlim $ss2u_HiRange
ss2u home 0
ss2u movecount $move_count
ss2u part sample
ss2u long_name top
ss2u long_name top
# Slit 2, down
Motor ss2d DMC2280 [params \
@@ -610,17 +630,19 @@ Motor ss2d DMC2280 [params \
port $dmc2280_controller4(port)\
axis H\
units mm\
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
hardlowerlim $ss2d_LoRange\
hardupperlim $ss2d_HiRange\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
stepsPerX $slitStepRate\
motorHome $ss2d_Home]
setHomeandRange -motor ss2d -home $vertSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
ss2d softlowerlim $ss2d_LoRange
ss2d softupperlim $ss2d_HiRange
ss2d home 0
ss2d movecount $move_count
ss2d part sample
ss2d long_name bottom
ss2d long_name bottom
proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
@@ -638,182 +660,59 @@ MakeConfigurableMotor sth
sth readscript sthGet
sth drivescript sthSet
#--------------------------------------------------------
proc ss1widthscript {val} {
set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
proc get_gap_width {m1 m2} {
return [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
}
proc set_gap_width {m1 m2 val} {
set currentWidth [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
set diff [expr $val - $currentWidth]
set newD1R [expr [SplitReply [ss1r]] + $diff/2]
set newD1L [expr [SplitReply [ss1l]] + $diff/2]
return "ss1r=$newD1R,ss1l=$newD1L"
set newD1R [expr [SplitReply [$m1]] + $diff/2]
set newD1L [expr [SplitReply [$m2]] - $diff/2]
return "$m1=$newD1R,$m2=$newD1L"
}
publish ss1widthscript user
#-------------------------------------------------------
proc ss1readwidth {} {
return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
proc get_gap_offset {m1 m2} {
set S1 [SplitReply [$m1]]
set S2 [SplitReply [$m2]]
return [ expr ($S1 + $S2)/2.0 ]
}
publish ss1readwidth user
MakeConfigurableMotor ss1hg
ss1hg drivescript ss1widthscript
ss1hg readscript ss1readwidth
#--------------------------------------------------------
proc ss1horoffsetscript {val} {
set SR [SplitReply [ss1r]]
set SL [SplitReply [ss1l]]
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
set diff [expr $val - $currentOffset]
set newD1R [expr $SR + $diff]
set newD1L [expr $SL - $diff]
return "ss1r=$newD1R,ss1l=$newD1L"
proc set_gap_offset {m1 m2 val} {
set S1 [SplitReply [$m1]]
set S2 [SplitReply [$m2]]
set currentoffset [expr ($S1 + $S2)/2.0 ]
set diff [expr $val - $currentoffset]
set newD1R [expr $S1 + $diff]
set newD1L [expr $S2 + $diff]
return "$m1=$newD1R,$m2=$newD1L"
}
publish ss1horoffsetscript user
#-------------------------------------------------------
proc ss1readhoroffset {} {
set SR [SplitReply [ss1r]]
return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
# make_gap_motors virt_width_motor virt_offset_motor real_high_motor real_low_motor
proc make_gap_motors {vm1 vm2 m1 m2} {
eval "proc get_$vm1 {} { get_gap_width $m1 $m2 }"
set v {$var}
eval "proc set_$vm1 {var} { set_gap_width $m1 $m2 $v }"
MakeConfigurableMotor $vm1
$vm1 readscript get_$vm1
$vm1 drivescript set_$vm1
publish get_$vm1 user
publish set_$vm1 user
eval "proc get_$vm2 {} { get_gap_offset $m1 $m2 }"
set v {$var}
eval "proc set_$vm2 {var} { set_gap_offset $m1 $m2 $v }"
MakeConfigurableMotor $vm2
$vm2 readscript get_$vm2
$vm2 drivescript set_$vm2
publish get_$vm2 user
publish set_$vm2 user
}
publish ss1readhoroffset user
#-------------------------------------------------------
MakeConfigurableMotor ss1ho
ss1ho drivescript ss1horoffsetscript
ss1ho readscript ss1readhoroffset
make_gap_motors ss1vg ss1vo ss1u ss1d
make_gap_motors ss1hg ss1ho ss1r ss1l
#-----------------------------------------------------
proc ss1heightscript {val} {
set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
set diff [expr $val - $currentWidth]
set newD1B [expr [SplitReply [ss1d]] + $diff/2]
set newD1T [expr [SplitReply [ss1u]] + $diff/2]
return "ss1d=$newD1B,ss1u=$newD1T"
}
publish ss1heightscript user
#-------------------------------------------------------
proc ss1readheight {} {
return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
}
publish ss1readheight user
#---------------------------------------------------------
MakeConfigurableMotor ss1vg
ss1vg drivescript ss1heightscript
ss1vg readscript ss1readheight
#--------------------------------------------------------
proc ss1vertoffsetscript {val} {
set SU [SplitReply [ss1u]]
set SD [SplitReply [ss1d]]
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
set diff [expr $val - $currentOffset]
set newD1U [expr $SU + $diff]
set newD1D [expr $SD - $diff]
return "ss1u=$newD1U,ss1d=$newD1D"
}
publish ss1vertoffsetscript user
#-------------------------------------------------------
proc ss1readvertoffset {} {
set SU [SplitReply [ss1u]]
return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
}
publish ss1readvertoffset user
#-------------------------------------------------------
MakeConfigurableMotor ss1vo
ss1vo drivescript ss1vertoffsetscript
ss1vo readscript ss1readvertoffset
###############################################
#--------------------------------------------------------
proc ss2widthscript {val} {
set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
set diff [expr $val - $currentWidth]
set newD1R [expr [SplitReply [ss2r]] + $diff/2]
set newD1L [expr [SplitReply [ss2l]] + $diff/2]
return "ss2r=$newD1R,ss2l=$newD1L"
}
publish ss2widthscript user
#-------------------------------------------------------
proc ss2readwidth {} {
return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
}
publish ss2readwidth user
MakeConfigurableMotor ss2hg
ss2hg drivescript ss2widthscript
ss2hg readscript ss2readwidth
#--------------------------------------------------------
proc ss2horoffsetscript {val} {
set SR [SplitReply [ss2r]]
set SL [SplitReply [ss2l]]
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
set diff [expr $val - $currentOffset]
set newD1R [expr $SR + $diff]
set newD1L [expr $SL - $diff]
return "ss2r=$newD1R,ss2l=$newD1L"
}
publish ss2horoffsetscript user
#-------------------------------------------------------
proc ss2readhoroffset {} {
set SR [SplitReply [ss2r]]
return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
}
publish ss2readhoroffset user
#-------------------------------------------------------
MakeConfigurableMotor ss2ho
ss2ho drivescript ss2horoffsetscript
ss2ho readscript ss2readhoroffset
#-----------------------------------------------------
proc ss2heightscript {val} {
set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
set diff [expr $val - $currentWidth]
set newD1B [expr [SplitReply [ss2d]] + $diff/2]
set newD1T [expr [SplitReply [ss2u]] + $diff/2]
return "ss2d=$newD1B,ss2u=$newD1T"
}
publish ss2heightscript user
#-------------------------------------------------------
proc ss2readheight {} {
return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
}
publish ss2readheight user
#---------------------------------------------------------
MakeConfigurableMotor ss2vg
ss2vg drivescript ss2heightscript
ss2vg readscript ss2readheight
#--------------------------------------------------------
proc ss2vertoffsetscript {val} {
set SU [SplitReply [ss2u]]
set SD [SplitReply [ss2d]]
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
set diff [expr $val - $currentOffset]
set newD1U [expr $SU + $diff]
set newD1D [expr $SD - $diff]
return "ss2u=$newD1U,ss2d=$newD1D"
}
publish ss2vertoffsetscript user
#-------------------------------------------------------
proc ss2readvertoffset {} {
set SU [SplitReply [ss2u]]
return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
}
publish ss2readvertoffset user
#-------------------------------------------------------
MakeConfigurableMotor ss2vo
ss2vo drivescript ss2vertoffsetscript
ss2vo readscript ss2readvertoffset
make_gap_motors ss2vg ss2vo ss2u ss2d
make_gap_motors ss2hg ss2ho ss2r ss2l
# END MOTOR CONFIGURATION