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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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335
site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
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@@ -1,7 +1,7 @@
# $Revision: 1.8 $ # $Revision: 1.9 $
# $Date: 2007-04-01 01:58:57 $ # $Date: 2007-04-02 05:00:03 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au) # Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $ # Last revision by: $Author: dcl $
# START MOTOR CONFIGURATION # START MOTOR CONFIGURATION
@@ -25,16 +25,12 @@ MakeMultiChan mc3 $dmc2280_controller3(host) $dmc2280_controller3(port)
MakeMultiChan mc4 $dmc2280_controller4(host) $dmc2280_controller4(port) MakeMultiChan mc4 $dmc2280_controller4(host) $dmc2280_controller4(port)
#Measured absolute encoder reading at home position #Measured absolute encoder reading at home position
# 7613185, 7504518, 6770094, 7463036, 8901369, 19927837, 22369621, 22369621
# 7613516, 7503905, 6767221, 7464891
set mphi_Home 7613516 set mphi_Home 7613516
set mchi_Home 7503905 set mchi_Home 7503905
set my_Home 6767221 set my_Home 6767221
set mx_Home 7464891 set mx_Home 7464891
set mom_Home 9274794 set mom_Home 9274794
set mtth_Home 19927837 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 sphi_Home 7937974
set schi_Home 7585956 set schi_Home 7585956
set sy_Home 7557524 set sy_Home 7557524
@@ -63,29 +59,39 @@ set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate] set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
#Default upper and lower ranges for vertical slits #Default upper and lower ranges for vertical slits
set vertSlitHome 0 set vSlitHome 0
set vertSlitLowRange 25 set vSlitLoRange 25
set vertSlitUpRange 100 set vSlitHiRange 100
#Default upper and lower ranges for horizontal slits #Default upper and lower ranges for horizontal slits
set horSlitHome 0 set hSlitHome 0
set horSlitLowRange 25 set hSlitLoRange 25
set horSlitUpRange 25 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]
#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 # set movecount high to reduce the frequency of
# hnotify messages to a reasonable level # hnotify messages to a reasonable level
set move_count 100 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
# Motor Controller 1 # Motor Controller 1
@@ -470,14 +476,16 @@ Motor ss1r DMC2280 [params \
port $dmc2280_controller3(port)\ port $dmc2280_controller3(port)\
axis E\ axis E\
units mm\ units mm\
hardlowerlim [expr $horSlitHome - $horSlitLowRange]\ hardlowerlim $ss1r_LoRange\
hardupperlim [expr $horSlitHome + $horSlitUpRange]\ hardupperlim $ss1r_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss1r_Home] 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 movecount $move_count
ss1r part sample ss1r part sample
ss1r long_name right ss1r long_name right
@@ -489,14 +497,16 @@ Motor ss1l DMC2280 [params \
port $dmc2280_controller3(port)\ port $dmc2280_controller3(port)\
axis F\ axis F\
units mm\ units mm\
hardlowerlim [expr $horSlitHome - $horSlitLowRange]\ hardlowerlim $ss1l_LoRange\
hardupperlim [expr $horSlitHome + $horSlitUpRange]\ hardupperlim $ss1l_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX $slitStepRate\
motorHome $ss1l_Home] 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 movecount $move_count
ss1l part sample ss1l part sample
ss1l long_name left ss1l long_name left
@@ -508,14 +518,16 @@ Motor ss1u DMC2280 [params \
port $dmc2280_controller3(port)\ port $dmc2280_controller3(port)\
axis G\ axis G\
units mm\ units mm\
hardlowerlim [expr $horSlitHome - $horSlitLowRange]\ hardlowerlim $ss1u_LoRange\
hardupperlim [expr $horSlitHome + $horSlitUpRange]\ hardupperlim $ss1u_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss1u_Home] 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 movecount $move_count
ss1u part sample ss1u part sample
ss1u long_name top ss1u long_name top
@@ -527,14 +539,16 @@ Motor ss1d DMC2280 [params \
port $dmc2280_controller3(port)\ port $dmc2280_controller3(port)\
axis H\ axis H\
units mm\ units mm\
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\ hardlowerlim $ss1d_LoRange\
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\ hardupperlim $ss1d_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX $slitStepRate\
motorHome $ss1d_Home] 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 movecount $move_count
ss1d part sample ss1d part sample
ss1d long_name bottom ss1d long_name bottom
@@ -553,14 +567,16 @@ Motor ss2r DMC2280 [params \
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis E\ axis E\
units mm\ units mm\
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\ hardlowerlim $ss2r_LoRange\
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\ hardupperlim $ss2r_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss2r_Home] 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 movecount $move_count
ss2r part sample ss2r part sample
ss2r long_name right ss2r long_name right
@@ -572,14 +588,16 @@ Motor ss2l DMC2280 [params \
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis F\ axis F\
units mm\ units mm\
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\ hardlowerlim $ss2l_LoRange\
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\ hardupperlim $ss2l_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX $slitStepRate\
motorHome $ss2l_Home] 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 movecount $move_count
ss2l part sample ss2l part sample
ss2l long_name left ss2l long_name left
@@ -591,14 +609,16 @@ Motor ss2u DMC2280 [params \
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis G\ axis G\
units mm\ units mm\
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\ hardlowerlim $ss2u_LoRange\
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\ hardupperlim $ss2u_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss2u_Home] 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 movecount $move_count
ss2u part sample ss2u part sample
ss2u long_name top ss2u long_name top
@@ -610,14 +630,16 @@ Motor ss2d DMC2280 [params \
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis H\ axis H\
units mm\ units mm\
hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\ hardlowerlim $ss2d_LoRange\
hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\ hardupperlim $ss2d_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX $slitStepRate\
motorHome $ss2d_Home] 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 movecount $move_count
ss2d part sample ss2d part sample
ss2d long_name bottom ss2d long_name bottom
@@ -638,182 +660,59 @@ MakeConfigurableMotor sth
sth readscript sthGet sth readscript sthGet
sth drivescript sthSet sth drivescript sthSet
#-------------------------------------------------------- proc get_gap_width {m1 m2} {
proc ss1widthscript {val} { return [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]] }
proc set_gap_width {m1 m2 val} {
set currentWidth [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
set diff [expr $val - $currentWidth] set diff [expr $val - $currentWidth]
set newD1R [expr [SplitReply [ss1r]] + $diff/2] set newD1R [expr [SplitReply [$m1]] + $diff/2]
set newD1L [expr [SplitReply [ss1l]] + $diff/2] set newD1L [expr [SplitReply [$m2]] - $diff/2]
return "ss1r=$newD1R,ss1l=$newD1L" return "$m1=$newD1R,$m2=$newD1L"
} }
publish ss1widthscript user
#------------------------------------------------------- proc get_gap_offset {m1 m2} {
proc ss1readwidth {} { set S1 [SplitReply [$m1]]
return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]] set S2 [SplitReply [$m2]]
return [ expr ($S1 + $S2)/2.0 ]
} }
publish ss1readwidth user
MakeConfigurableMotor ss1hg
ss1hg drivescript ss1widthscript
ss1hg readscript ss1readwidth
#-------------------------------------------------------- proc set_gap_offset {m1 m2 val} {
proc ss1horoffsetscript {val} { set S1 [SplitReply [$m1]]
set SR [SplitReply [ss1r]] set S2 [SplitReply [$m2]]
set SL [SplitReply [ss1l]] set currentoffset [expr ($S1 + $S2)/2.0 ]
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ] set diff [expr $val - $currentoffset]
set diff [expr $val - $currentOffset] set newD1R [expr $S1 + $diff]
set newD1R [expr $SR + $diff] set newD1L [expr $S2 + $diff]
set newD1L [expr $SL - $diff] return "$m1=$newD1R,$m2=$newD1L"
return "ss1r=$newD1R,ss1l=$newD1L"
} }
publish ss1horoffsetscript user
#------------------------------------------------------- # make_gap_motors virt_width_motor virt_offset_motor real_high_motor real_low_motor
proc ss1readhoroffset {} { proc make_gap_motors {vm1 vm2 m1 m2} {
set SR [SplitReply [ss1r]] eval "proc get_$vm1 {} { get_gap_width $m1 $m2 }"
return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ] 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
#------------------------------------------------------- make_gap_motors ss1vg ss1vo ss1u ss1d
MakeConfigurableMotor ss1ho make_gap_motors ss1hg ss1ho ss1r ss1l
ss1ho drivescript ss1horoffsetscript
ss1ho readscript ss1readhoroffset
#----------------------------------------------------- make_gap_motors ss2vg ss2vo ss2u ss2d
proc ss1heightscript {val} { make_gap_motors ss2hg ss2ho ss2r ss2l
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
# END MOTOR CONFIGURATION # END MOTOR CONFIGURATION

321
site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
View File

@@ -1,7 +1,7 @@
# $Revision: 1.11 $ # $Revision: 1.12 $
# $Date: 2007-04-01 02:24:16 $ # $Date: 2007-04-02 05:00:20 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au) # Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $ # Last revision by: $Author: dcl $
# START MOTOR CONFIGURATION # START MOTOR CONFIGURATION
@@ -60,27 +60,39 @@ set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate] set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
#Default upper and lower ranges for vertical slits #Default upper and lower ranges for vertical slits
set vertSlitLowRange 25 set vSlitHome 0
set vertSlitUpRange 100 set vSlitLoRange 20
set vSlitHiRange 100
#Default upper and lower ranges for horizontal slits #Default upper and lower ranges for horizontal slits
set horSlitLowRange 25 set hSlitHome 0
set horSlitUpRange 25 set hSlitLoRange 15
set hSlitHiRange 35
#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 # set movecount high to reduce the frequency of
# hnotify messages to a reasonable level # hnotify messages to a reasonable level
set move_count 100 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
# Motor Controller 1 # Motor Controller 1
@@ -463,14 +475,16 @@ Motor ss1r DMC2280 [params \
port $dmc2280_controller3(port)\ port $dmc2280_controller3(port)\
axis E\ axis E\
units mm\ units mm\
hardlowerlim -15\ hardlowerlim $ss1r_LoRange\
hardupperlim 35\ hardupperlim $ss1r_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss1r_Home] motorHome $ss1r_Home]
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange ss1r softlowerlim $ss1r_LoRange
ss1r softupperlim $ss1r_HiRange
ss1r home 0
ss1r movecount $move_count ss1r movecount $move_count
ss1r part filter ss1r part filter
ss1r long_name right ss1r long_name right
@@ -482,14 +496,16 @@ Motor ss1l DMC2280 [params \
port $dmc2280_controller3(port)\ port $dmc2280_controller3(port)\
axis F\ axis F\
units mm\ units mm\
hardlowerlim -15\ hardlowerlim $ss1l_LoRange\
hardupperlim 35\ hardupperlim $ss1l_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss1l_Home] motorHome $ss1l_Home]
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange ss1l softlowerlim $ss1l_LoRange
ss1l softupperlim $ss1l_HiRange
ss1l home 0
ss1l movecount $move_count ss1l movecount $move_count
ss1l part filter ss1l part filter
ss1l long_name left ss1l long_name left
@@ -501,14 +517,16 @@ Motor ss1u DMC2280 [params \
port $dmc2280_controller3(port)\ port $dmc2280_controller3(port)\
axis G\ axis G\
units mm\ units mm\
hardlowerlim -20\ hardlowerlim $ss1u_LoRange\
hardupperlim 100\ hardupperlim $ss1u_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss1u_Home] motorHome $ss1u_Home]
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange ss1u softlowerlim $ss1u_LoRange
ss1u softupperlim $ss1u_HiRange
ss1u home 0
ss1u movecount $move_count ss1u movecount $move_count
ss1u part filter ss1u part filter
ss1u long_name top ss1u long_name top
@@ -520,14 +538,16 @@ Motor ss1d DMC2280 [params \
port $dmc2280_controller3(port)\ port $dmc2280_controller3(port)\
axis H\ axis H\
units mm\ units mm\
hardlowerlim -20\ hardlowerlim $ss1d_LoRange\
hardupperlim 100\ hardupperlim $ss1d_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss1d_Home] motorHome $ss1d_Home]
setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange ss1d softlowerlim $ss1d_LoRange
ss1d softupperlim $ss1d_HiRange
ss1d home 0
ss1d movecount $move_count ss1d movecount $move_count
ss1d part filter ss1d part filter
ss1d long_name bottom ss1d long_name bottom
@@ -578,14 +598,16 @@ Motor ss2r DMC2280 [params \
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis E\ axis E\
units mm\ units mm\
hardlowerlim -15\ hardlowerlim $ss2r_LoRange\
hardupperlim 35\ hardupperlim $ss2r_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss2r_Home] motorHome $ss2r_Home]
setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange ss2r softlowerlim $ss2r_LoRange
ss2r softupperlim $ss2r_HiRange
ss2r home 0
ss2r movecount $move_count ss2r movecount $move_count
ss2r part filter ss2r part filter
ss2r long_name right ss2r long_name right
@@ -597,14 +619,16 @@ Motor ss2l DMC2280 [params \
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis F\ axis F\
units mm\ units mm\
hardlowerlim -15\ hardlowerlim $ss2l_LoRange\
hardupperlim 35\ hardupperlim $ss2l_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss2l_Home] motorHome $ss2l_Home]
setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange ss2l softlowerlim $ss2l_LoRange
ss2l softupperlim $ss2l_HiRange
ss2l home 0
ss2l movecount $move_count ss2l movecount $move_count
ss2l part filter ss2l part filter
ss2l long_name left ss2l long_name left
@@ -616,14 +640,16 @@ Motor ss2u DMC2280 [params \
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis G\ axis G\
units mm\ units mm\
hardlowerlim -20\ hardlowerlim $ss2u_LoRange\
hardupperlim 100\ hardupperlim $ss2u_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss2u_Home] motorHome $ss2u_Home]
setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange ss2u softlowerlim $ss2u_LoRange
ss2u softupperlim $ss2u_HiRange
ss2u home 0
ss2u movecount $move_count ss2u movecount $move_count
ss2u part filter ss2u part filter
ss2u long_name top ss2u long_name top
@@ -635,14 +661,16 @@ Motor ss2d DMC2280 [params \
port $dmc2280_controller4(port)\ port $dmc2280_controller4(port)\
axis H\ axis H\
units mm\ units mm\
hardlowerlim -20\ hardlowerlim $ss2d_LoRange\
hardupperlim 100\ hardupperlim $ss2d_HiRange\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -$slitStepRate\ stepsPerX -$slitStepRate\
motorHome $ss2d_Home] motorHome $ss2d_Home]
setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange ss2d softlowerlim $ss2d_LoRange
ss2d softupperlim $ss2d_HiRange
ss2d home 0
ss2d movecount $move_count ss2d movecount $move_count
ss2d part filter ss2d part filter
ss2d long_name bottom ss2d long_name bottom
@@ -663,182 +691,59 @@ MakeConfigurableMotor sth
sth readscript sthGet sth readscript sthGet
sth drivescript sthSet sth drivescript sthSet
#-------------------------------------------------------- proc get_gap_width {m1 m2} {
proc ss1widthscript {val} { return [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]] }
proc set_gap_width {m1 m2 val} {
set currentWidth [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
set diff [expr $val - $currentWidth] set diff [expr $val - $currentWidth]
set newD1R [expr [SplitReply [ss1r]] + $diff/2] set newD1R [expr [SplitReply [$m1]] + $diff/2]
set newD1L [expr [SplitReply [ss1l]] + $diff/2] set newD1L [expr [SplitReply [$m2]] - $diff/2]
return "ss1r=$newD1R,ss1l=$newD1L" return "$m1=$newD1R,$m2=$newD1L"
} }
publish ss1widthscript user
#------------------------------------------------------- proc get_gap_offset {m1 m2} {
proc ss1readwidth {} { set S1 [SplitReply [$m1]]
return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]] set S2 [SplitReply [$m2]]
return [ expr ($S1 + $S2)/2.0 ]
} }
publish ss1readwidth user
MakeConfigurableMotor ss1hg
ss1hg drivescript ss1widthscript
ss1hg readscript ss1readwidth
#-------------------------------------------------------- proc set_gap_offset {m1 m2 val} {
proc ss1horoffsetscript {val} { set S1 [SplitReply [$m1]]
set SR [SplitReply [ss1r]] set S2 [SplitReply [$m2]]
set SL [SplitReply [ss1l]] set currentoffset [expr ($S1 + $S2)/2.0 ]
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ] set diff [expr $val - $currentoffset]
set diff [expr $val - $currentOffset] set newD1R [expr $S1 + $diff]
set newD1R [expr $SR + $diff] set newD1L [expr $S2 + $diff]
set newD1L [expr $SL - $diff] return "$m1=$newD1R,$m2=$newD1L"
return "ss1r=$newD1R,ss1l=$newD1L"
} }
publish ss1horoffsetscript user
#------------------------------------------------------- # make_gap_motors virt_width_motor virt_offset_motor real_high_motor real_low_motor
proc ss1readhoroffset {} { proc make_gap_motors {vm1 vm2 m1 m2} {
set SR [SplitReply [ss1r]] eval "proc get_$vm1 {} { get_gap_width $m1 $m2 }"
return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ] 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
#------------------------------------------------------- make_gap_motors ss1vg ss1vo ss1u ss1d
MakeConfigurableMotor ss1ho make_gap_motors ss1hg ss1ho ss1r ss1l
ss1ho drivescript ss1horoffsetscript
ss1ho readscript ss1readhoroffset
#----------------------------------------------------- make_gap_motors ss2vg ss2vo ss2u ss2d
proc ss1heightscript {val} { make_gap_motors ss2hg ss2ho ss2r ss2l
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
# END MOTOR CONFIGURATION # END MOTOR CONFIGURATION