Modify to reflect motion stage information in Kowari Instruction Manual

r1303 | dcl | 2006-11-21 09:20:16 +1100 (Tue, 21 Nov 2006) | 2 lines

site_ansto/instrument/rsd/motor_configuration.tcl

@@ -24,17 +24,14 @@ set dmc2280_controller4(port) pmc4-kowari
 # Monochromator omega, rotate
 Motor mom DMC2280 [params \
 	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
+        port $dmc2280_controller1(port)\
-	axis E\
+        axis E\
- units degrees\
+        units degrees\
- maxSpeed 1\
+        maxSpeed 1\
- maxAccel 1\
+        maxAccel 1\
- maxDecel 1\
+        maxDecel 1\
-	stepsPerX -12500\
+        stepsPerX -12500]
-	absEnc 1\
+setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
-	absEncHome 17694127\
-	cntsPerX -8192]
-setHomeandRange -motor mom -home 0 -lowrange 5 -uprange 5
 mom speed 1
 mom precision 0.01
 
@@ -43,19 +40,12 @@ Motor mtth DMC2280 [params \
 	host $dmc2280_controller1(host)\
 	port $dmc2280_controller1(port)\
 	axis F\
- units degrees\
+        units degrees\
- maxSpeed 0.5\
+        maxSpeed 0.5\
- maxAccel 0.2\
+        maxAccel 0.2\
- maxDecel 0.2\
+        maxDecel 0.2\
-	stepsPerX 25000\
+	stepsPerX 25000]
-	absEnc 1\
+setHomeandRange -motor mtth -home 120 -lowrange 35 -uprange 35
-	absEncHome 10299428\
-	cntsPerX 93207]
-mtth hardlowerlim 85
-mtth hardupperlim 155
-mtth softlowerlim 85
-mtth softupperlim 155
-mtth home 120
 mtth speed 0.5
 mtth precision 0.01
 
@@ -72,15 +62,12 @@ Motor mchi DMC2280 [params \
 	host $dmc2280_controller1(host)\
 	port $dmc2280_controller1(port)\
 	axis B\
- units degrees\
+        units degrees\
- maxSpeed 1\
+        maxSpeed 1\
- maxAccel 1\
+        maxAccel 1\
- maxDecel 1\
+        maxDecel 1\
-	stepsPerX 25000\
+	stepsPerX 25000]
-	absEnc 1\
+setHomeandRange -motor mchi -home 90 -lowrange 20 -uprange 20 
-	absEncHome 7818915\
-	cntsPerX 8192]
-setHomeandRange -motor mchi -home 90 -lowrange 5 -uprange 5 
 mchi speed 1
 mchi precision 0.01
 
@@ -89,48 +76,39 @@ Motor mphi DMC2280 [params \
 	host $dmc2280_controller1(host)\
 	port $dmc2280_controller1(port)\
 	axis A\
- units degrees\
+        units degrees\
- maxSpeed 1\
+        maxSpeed 1\
- maxAccel 1\
+        maxAccel 1\
- maxDecel 1\
+        maxDecel 1\
-	stepsPerX -25000\
+	stepsPerX -25000]
-	absEnc 1\
+setHomeandRange -motor mphi -home 0 -lowrange 20 -uprange 20
-	absEncHome 7414753\
-	cntsPerX -8192]
-setHomeandRange -motor mphi -home 0 -lowrange 5 -uprange 5
 mphi speed 1
 mphi precision 0.01
 
 # Monochromator Trans 1, upper
-Motor mz DMC2280 [params \
+Motor my DMC2280 [params \
 	host $dmc2280_controller1(host)\
 	port $dmc2280_controller1(port)\
 	axis C\
- units mm\
+        units mm\
- maxSpeed 1\
+        maxSpeed 1\
- maxAccel 1\
+        maxAccel 1\
- maxDecel 1\
+        maxDecel 1\
-	stepsPerX 25000\
+	stepsPerX 25000]
-	absEnc 1\
+setHomeandRange -motor my -home 0 -lowrange 5 -uprange 5
-	absEncHome 7781680\
+my speed 1
-	cntsPerX 8192]
+my precision 0.01
-setHomeandRange -motor mz -home 0 -lowrange 5 -uprange 5
-mz speed 1
-mz precision 0.01
 
 # Monochromator Trans 2, lower
 Motor mx DMC2280 [params \
 	host $dmc2280_controller1(host)\
 	port $dmc2280_controller1(port)\
 	axis D\
- units mm\
+        units mm\
- maxSpeed 1\
+        maxSpeed 1\
- maxAccel 1\
+        maxAccel 1\
- maxDecel 1\
+        maxDecel 1\
-	stepsPerX 25000\
+	stepsPerX 25000]
-	absEnc 1\
-	absEncHome 7562793\
-	cntsPerX 8192]
 setHomeandRange -motor mx -home 0 -lowrange 5 -uprange 5
 mx speed 1
 mx precision 0.01
@@ -140,15 +118,12 @@ Motor som DMC2280 [params \
 	host $dmc2280_controller2(host)\
 	port $dmc2280_controller2(port)\
 	axis E\
-  units degrees\
+        units degrees\
-  maxSpeed 1\
+        maxSpeed 1\
-  maxAccel 1\
+        maxAccel 1\
-  maxDecel 1\
+        maxDecel 1\
-	stepsPerX -12500\
+	stepsPerX -12500]
-	absEnc 1\
+setHomeandRange -motor som -home 0 -lowrange 0 -uprange 360
-	absEncHome 17694127\
-	cntsPerX -8192]
-setHomeandRange -motor som -home 0 -lowrange 45 -uprange 45
 som speed 1
 som precision 0.01
 
@@ -157,15 +132,12 @@ Motor stth DMC2280 [params \
 	host $dmc2280_controller2(host)\
 	port $dmc2280_controller2(port)\
 	axis F\
-  units degrees\
+        units degrees\
-  maxSpeed 0.2\
+        maxSpeed 0.2\
-  maxAccel 0.2\
+        maxAccel 0.2\
-  maxDecel 0.2\
+        maxDecel 0.2\
-	stepsPerX 125000\
+	stepsPerX 125000]
-	absEnc 1\
+setHomeandRange -motor stth -home 90 -lowrange 15 -uprange 15
-	absEncHome 6559259\
-	cntsPerX 93207]
-setHomeandRange -motor stth -home 120 -lowrange 15 -uprange 15
 stth speed 0.5
 stth precision 0.01
 
@@ -177,172 +149,134 @@ MakeConfigurableMotor sth
 sth readscript sthGet
 sth drivescript sthSet
 
-# Sample Tilt 2, lower
+# Eulerian-chi
-Motor schi DMC2280 [params \
+Motor echi DMC2280 [params \
 	host $dmc2280_controller2(host)\
 	port $dmc2280_controller2(port)\
 	axis B\
-  units degrees\
+        units degrees\
-  maxSpeed 1\
+        maxSpeed 1\
-  maxAccel 1\
+        maxAccel 1\
-  maxDecel 1\
+        maxDecel 1\
-	stepsPerX 25000\
+        stepsPerX 25000]
-	absEnc 1\
+setHomeandRange -motor echi -home 0 -lowrange 0 -uprange 360
-	absEncHome 7581355\
+echi speed 1
-	cntsPerX 8192]
+echi precision 0.01
-setHomeandRange -motor schi -home 90 -lowrange 5 -uprange 5
-schi speed 1
-schi precision 0.01
 
-# Sample Tilt 1, upper
+# Eulerian-phi
-Motor sphi DMC2280 [params \
+Motor ephi DMC2280 [params \
 	host $dmc2280_controller2(host)\
 	port $dmc2280_controller2(port)\
 	axis A\
-  units degrees\
+        units degrees\
-  maxSpeed 1\
+        maxSpeed 1\
-  maxAccel 1\
+        maxAccel 1\
-  maxDecel 1\
+        maxDecel 1\
-	stepsPerX 25000\
+	stepsPerX 25000]
-	absEnc 1\
+setHomeandRange -motor ephi -home 0 -lowrange 0 -uprange 360
-	absEncHome 7934290\
+ephi speed 1
-	cntsPerX 8192]
+ephi precision 0.01
-setHomeandRange -motor sphi -home 0 -lowrange 5 -uprange 5
-sphi speed 1
-sphi precision 0.01
 
 # Sample Trans 1 (upper)
-Motor sz DMC2280 [params \
+Motor sy DMC2280 [params \
 	host $dmc2280_controller2(host)\
 	port $dmc2280_controller2(port)\
 	axis C\
-  units mm\
+        units mm\
-  maxSpeed 1\
+        maxSpeed 1\
-  maxAccel 1\
+        maxAccel 1\
-  maxDecel 1\
+        maxDecel 1\
-	stepsPerX 25000\
+        stepsPerX 25000]
-	absEnc 1\
+setHomeandRange -motor sy -home 0 -lowrange 250 -uprange 250 
-	absEncHome 7562793\
+sy speed 1
-	cntsPerX 8192]
+sy precision 0.01
-setHomeandRange -motor sz -home 0 -lowrange 5 -uprange 5 
-sz speed 1
-sz precision 0.01
 
 # Sample Trans2 (lower)
 Motor sx DMC2280 [params \
 	host $dmc2280_controller2(host)\
 	port $dmc2280_controller2(port)\
 	axis D\
-  units mm\
+        units mm\
-  maxSpeed 1\
+        maxSpeed 1\
-  maxAccel 1\
+        maxAccel 1\
-  maxDecel 1\
+        maxDecel 1\
-	stepsPerX 25000\
+	stepsPerX 25000]
-	absEnc 1\
+setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250 
-	absEncHome 7562793\
-	cntsPerX 8192]
-setHomeandRange -motor sx -home 0 -lowrange 5 -uprange 5 
 sx speed 1
 sx precision 0.01
 
 # Sample Trans3 (vertical)
-Motor sy DMC2280 [params \
+Motor sz DMC2280 [params \
 	host $dmc2280_controller2(host)\
 	port $dmc2280_controller2(port)\
-	axis D\
+	axis G\
-  units mm\
+        units mm\
-  maxSpeed 1\
+        maxSpeed 1\
-  maxAccel 1\
+        maxAccel 1\
-  maxDecel 1\
+        maxDecel 1\
-	stepsPerX 25000\
+	stepsPerX 25000]
-	absEnc 1\
+setHomeandRange -motor sz -home 0 -lowrange 0 -uprange 700 
-	absEncHome 7562793\
+sz speed 1
-	cntsPerX 8192]
+sz precision 0.01
-setHomeandRange -motor sy -home 0 -lowrange 500 -uprange 500 
-sy speed 1
-sy precision 0.01
 
-#Default upper and lower ranges for vertical slits
+#--------------------------------------------------------
-set vertSlitLowRange 25
-set vertSlitUpRange 95
 
-#Default upper and lower ranges for horizontal slits
+# Primary Slit, position 0-150mm
-set horSlitLowRange 20
+Motor psp DMC2280 [params \
-set horSlitUpRange 25
-
-Motor ss1u DMC2280 [params \
 	host $dmc2280_controller3(host)\
 	port $dmc2280_controller3(port)\
-	axis G\
+        axis E\
-  units mm\
+        units mm\
-  maxSpeed 1\
+        maxSpeed 1\
-  maxAccel 1\
+        maxAccel 1\
-  maxDecel 1\
+        maxDecel 1\
 	stepsPerX -20125\
-  motorHome 2040518]
+        motorHome 2040518]
-setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
 
-Motor ss1d DMC2280 [params \
+# Primary Slit, width, 0-30mm
+Motor psw DMC2280 [params \
+	host $dmc2280_controller3(host)\
+	port $dmc2280_controller3(port)\
+        axis F\
+        units mm\
+        maxSpeed 1\
+        maxAccel 1\
+        maxDecel 1\
+	stepsPerX -20125\
+        motorHome 2040518]
+setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30 
+
+# Primary Slit, height, 0-30mm
+Motor psh DMC2280 [params \
+	host $dmc2280_controller3(host)\
+	port $dmc2280_controller3(port)\
+        axis G\
+        units mm\
+        maxSpeed 1\
+        maxAccel 1\
+        maxDecel 1\
+	stepsPerX -20125\
+        motorHome 542093]
+setHomeandRange -motor psh  -home 0 -lowrange 0 -uprange 30 
+
+# Primary Slit, horizontal offset, 0-30mm
+Motor psho DMC2280 [params \
 	host $dmc2280_controller3(host)\
 	port $dmc2280_controller3(port)\
 	axis H\
-  units mm\
+        units mm\
-  maxSpeed 1\
+        maxSpeed 1\
-  maxAccel 1\
+        maxAccel 1\
-  maxDecel 1\
+        maxDecel 1\
 	stepsPerX -20125\
-  motorHome 2040518]
+        motorHome 542093]
-setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
+setHomeandRange -motor psho  -home 0 -lowrange 0 -uprange 30 
 
-Motor ss1l DMC2280 [params \
+#--------------------------------------------------------
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis E\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX -20125\
-  motorHome 542093]
-setHomeandRange -motor ss1l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
 
-Motor ss1r DMC2280 [params \
+# Secondary Slit, position
-	host $dmc2280_controller3(host)\
+Motor ssp DMC2280 [params \
-	port $dmc2280_controller3(port)\
-	axis F\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX -20125\
-  motorHome 542093]
-setHomeandRange -motor ss1r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
-
-Motor ss2u DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis G\
-	units mm\
-	maxSpeed 1\
-	maxAccel 1\
-	maxDecel 1\
-	stepsPerX -20125\
-  motorHome 2043085]
-setHomeandRange -motor ss2u  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
-
-Motor ss2d DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis H\
-	units mm\
-	maxSpeed 1\
-	maxAccel 1\
-	maxDecel 1\
-	stepsPerX -20125\
-  motorHome 2043085]
-setHomeandRange -motor ss2d  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
-
-Motor ss2l DMC2280 [params \
 	host $dmc2280_controller4(host)\
 	port $dmc2280_controller4(port)\
 	axis E\
@@ -351,10 +285,11 @@ Motor ss2l DMC2280 [params \
 	maxAccel 1\
 	maxDecel 1\
 	stepsPerX -20125\
-  motorHome 500000]
+        motorHome 2043085]
-setHomeandRange -motor ss2l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+setHomeandRange -motor ssp  -home 0 -lowrange 0 -uprange 150
 
-Motor ss2r DMC2280 [params \
+# Secondary Slit, width
+Motor ssw DMC2280 [params \
 	host $dmc2280_controller4(host)\
 	port $dmc2280_controller4(port)\
 	axis F\
@@ -363,185 +298,35 @@ Motor ss2r DMC2280 [params \
 	maxAccel 1\
 	maxDecel 1\
 	stepsPerX -20125\
-  motorHome 500000]
+        motorHome 2043085]
-setHomeandRange -motor ss2r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+setHomeandRange -motor ssw  -home 0 -lowrange 0 -uprange 30
+
+# Secondary Slit, height
+Motor ssh DMC2280 [params \
+	host $dmc2280_controller4(host)\
+	port $dmc2280_controller4(port)\
+	axis G\
+	units mm\
+	maxSpeed 1\
+	maxAccel 1\
+	maxDecel 1\
+	stepsPerX -20125\
+        motorHome 500000]
+setHomeandRange -motor ssh  -home 0 -lowrange 0 -uprange 30 
+
+# Secondary Slit, horizontal offset
+Motor ssho DMC2280 [params \
+	host $dmc2280_controller4(host)\
+	port $dmc2280_controller4(port)\
+	axis H\
+	units mm\
+	maxSpeed 1\
+	maxAccel 1\
+	maxDecel 1\
+	stepsPerX -20125\
+        motorHome 500000]
+setHomeandRange -motor ssho  -home 0 -lowrange 0 -uprange 30 
 
 #--------------------------------------------------------
-proc ss1widthscript {val} {
-	set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
-	set diff [expr $val - $currentWidth]
-	set newD1R [expr [SplitReply [ss1r]] + $diff/2]
-	set newD1L [expr [SplitReply [ss1l]] + $diff/2]
-	return "ss1r=$newD1R,ss1l=$newD1L"
-}
-publish ss1widthscript user
-
-#-------------------------------------------------------
-proc ss1readwidth {} {
-	return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]] 
-}
-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"
-}
-publish ss1horoffsetscript user
-
-#-------------------------------------------------------
-proc ss1readhoroffset {} {
-  set SR [SplitReply [ss1r]]
-	return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ] 
-}
-publish ss1readhoroffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss1ho
-ss1ho drivescript ss1horoffsetscript
-ss1ho readscript ss1readhoroffset
-
-#-----------------------------------------------------
-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
 
 # END MOTOR CONFIGURATION