Bringing kowari layout and config inline with the current requirements of
the deployment script. r1940 | ffr | 2007-05-07 15:30:02 +1000 (Mon, 07 May 2007) | 3 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
84f883f5d7
commit
6fc1a8feca
581
site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
Normal file
581
site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
Normal file
@@ -0,0 +1,581 @@
|
||||
# $Revision: 1.1 $
|
||||
# $Date: 2007-05-07 05:30:02 $
|
||||
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
|
||||
# Last revision by: $Author: ffr $
|
||||
|
||||
# START MOTOR CONFIGURATION
|
||||
|
||||
set animal kowari
|
||||
# Setup addresses of Galil DMC2280 controllers.
|
||||
set dmc2280_controller1(host) mc1-$animal
|
||||
set dmc2280_controller1(port) pmc1-$animal
|
||||
|
||||
set dmc2280_controller2(host) mc2-$animal
|
||||
set dmc2280_controller2(port) pmc2-$animal
|
||||
|
||||
set dmc2280_controller3(host) mc3-$animal
|
||||
set dmc2280_controller3(port) pmc3-$animal
|
||||
|
||||
set dmc2280_controller4(host) mc4-$animal
|
||||
set dmc2280_controller4(port) pmc4-$animal
|
||||
|
||||
MakeMultiChan mc1 $dmc2280_controller1(host) $dmc2280_controller1(port)
|
||||
MakeMultiChan mc2 $dmc2280_controller2(host) $dmc2280_controller2(port)
|
||||
MakeMultiChan mc3 $dmc2280_controller3(host) $dmc2280_controller3(port)
|
||||
MakeMultiChan mc4 $dmc2280_controller4(host) $dmc2280_controller4(port)
|
||||
|
||||
#Measured absolute encoder reading at home position
|
||||
set mphi_Home 7500000
|
||||
set mchi_Home 7500000
|
||||
set my_Home 7500000
|
||||
set mx_Home 7500000
|
||||
set mom_Home 7500000
|
||||
set mtth_Home 7500000
|
||||
set sy_Home 7500000
|
||||
set sx_Home 7500000
|
||||
set som_Home 7500000
|
||||
set stth_Home 7500000
|
||||
set mf1_Home 7500000
|
||||
set move_count 10
|
||||
|
||||
############################
|
||||
# Motor Controller 1
|
||||
# Motor Controller 1
|
||||
# Motor Controller 1
|
||||
############################
|
||||
#:TP at HOME
|
||||
#
|
||||
|
||||
# Monochromator phi, Tilt 1, upper
|
||||
Motor mphi DMC2280 [params \
|
||||
multichan mc1\
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis A\
|
||||
units degrees\
|
||||
hardlowerlim -5\
|
||||
hardupperlim 5\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -25000\
|
||||
absEnc 1\
|
||||
absEncHome $mphi_Home\
|
||||
cntsPerX -8192]
|
||||
setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
|
||||
mphi speed 1
|
||||
mphi movecount $move_count
|
||||
mphi precision 0.01
|
||||
mphi part crystal
|
||||
mphi long_name phi
|
||||
|
||||
# Monochromator chi, Tilt 2, lower
|
||||
Motor mchi DMC2280 [params \
|
||||
multichan mc1\
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis B\
|
||||
units degrees\
|
||||
hardlowerlim 85\
|
||||
hardupperlim 95\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome $mchi_Home\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
|
||||
mchi speed 1
|
||||
mchi movecount $move_count
|
||||
mchi precision 0.01
|
||||
mchi part crystal
|
||||
mchi long_name chi
|
||||
|
||||
# Monochromator Trans 1, upper
|
||||
Motor my DMC2280 [params \
|
||||
multichan mc1\
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis C\
|
||||
units mm\
|
||||
hardlowerlim -10\
|
||||
hardupperlim 10\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome $my_Home\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
|
||||
my speed 1
|
||||
my movecount $move_count
|
||||
my precision 0.01
|
||||
my part crystal
|
||||
my long_name translate_y
|
||||
|
||||
# Monochromator Trans 2, lower
|
||||
Motor mx DMC2280 [params \
|
||||
multichan mc1\
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis D\
|
||||
units mm\
|
||||
hardlowerlim -10\
|
||||
hardupperlim 10\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -25000\
|
||||
absEnc 1\
|
||||
absEncHome $mx_Home\
|
||||
cntsPerX -8192]
|
||||
setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
|
||||
mx speed 1
|
||||
mx movecount $move_count
|
||||
mx precision 0.01
|
||||
mx part crystal
|
||||
mx long_name translate_x
|
||||
|
||||
# Monochromator omega, rotate
|
||||
Motor mom DMC2280 [params \
|
||||
multichan mc1\
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis E\
|
||||
units degrees\
|
||||
hardlowerlim -5\
|
||||
hardupperlim 95\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -12500\
|
||||
absEnc 1\
|
||||
absEncHome $mom_Home\
|
||||
cntsPerX -4096]
|
||||
setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
|
||||
mom speed 1
|
||||
mom movecount $move_count
|
||||
mom precision 0.01
|
||||
mom part crystal
|
||||
mom long_name rotate
|
||||
|
||||
# Monochromator two-theta, flight-tube rotate
|
||||
Motor mtth DMC2280 [params \
|
||||
multichan mc1\
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis F\
|
||||
units degrees\
|
||||
hardlowerlim 45\
|
||||
hardupperlim 100\
|
||||
maxSpeed 0.2\
|
||||
maxAccel 0.2\
|
||||
maxDecel 0.2\
|
||||
stepsPerX [expr 25000*10]\
|
||||
airpads 1\
|
||||
settle 5\
|
||||
motoffdelay 5000\
|
||||
absEnc 1\
|
||||
absEncHome $mtth_Home\
|
||||
cntsPerX -93207]
|
||||
mtth softlowerlim 45
|
||||
mtth softupperlim 100
|
||||
mtth home 90
|
||||
mtth speed 0.2
|
||||
mtth movecount $move_count
|
||||
mtth accel 0.01
|
||||
mtth decel 0.01
|
||||
mtth precision 0.01
|
||||
mtth maxretry 20
|
||||
mtth failafter 100
|
||||
mtth blockage_check_interval 5
|
||||
mtth part crystal
|
||||
mtth long_name takeoff_angle
|
||||
|
||||
############################
|
||||
# Motor Controller 2
|
||||
# Motor Controller 2
|
||||
# Motor Controller 2
|
||||
############################
|
||||
#:TP at HOME
|
||||
#
|
||||
|
||||
# Sample Trans, vertical, first stage
|
||||
Motor sz1 DMC2280 [params \
|
||||
multichan mc2\
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis A\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 350\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000]
|
||||
setHomeandRange -motor sz1 -home 0 -lowrange 0 -uprange 350
|
||||
sz1 speed 1
|
||||
sz1 precision 0.01
|
||||
sz1 part sample.first
|
||||
sz1 long_name vertical_translation
|
||||
|
||||
# Sample Trans, vertical, second stage
|
||||
Motor sz2 DMC2280 [params \
|
||||
multichan mc2\
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis B\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 350\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000]
|
||||
setHomeandRange -motor sz2 -home 0 -lowrange 0 -uprange 350
|
||||
sz2 speed 1
|
||||
sz2 precision 0.01
|
||||
sz2 part sample.second
|
||||
sz2 long_name vertical_translation
|
||||
|
||||
# Sample Trans 1, upper, y
|
||||
Motor sy DMC2280 [params \
|
||||
multichan mc2\
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis C\
|
||||
units mm\
|
||||
hardlowerlim -20\
|
||||
hardupperlim 20\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 5000\
|
||||
absEnc 1\
|
||||
absEncHome $sy_Home\
|
||||
cntsPerX 1638.4]
|
||||
setHomeandRange -motor sy -home 0 -lowrange 250 -uprange 250
|
||||
sy speed 1
|
||||
sy movecount $move_count
|
||||
sy precision 0.01
|
||||
sy part sample
|
||||
sy long_name translate_y
|
||||
|
||||
# Sample Trans2, lower, x
|
||||
Motor sx DMC2280 [params \
|
||||
multichan mc2\
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis D\
|
||||
units mm\
|
||||
hardlowerlim -20\
|
||||
hardupperlim 20\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 5000\
|
||||
absEnc 1\
|
||||
absEncHome $sx_Home\
|
||||
cntsPerX 1638.4]
|
||||
setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250
|
||||
sx speed 1
|
||||
sx movecount $move_count
|
||||
sx precision 0.01
|
||||
sx part sample
|
||||
sx long_name translate_x
|
||||
|
||||
# Sample Omega, rotate
|
||||
Motor som DMC2280 [params \
|
||||
multichan mc2\
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis E\
|
||||
units degrees\
|
||||
hardlowerlim -54\
|
||||
hardupperlim 120\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 12500\
|
||||
absEnc 1\
|
||||
absEncHome $som_Home\
|
||||
cntsPerX 4096]
|
||||
setHomeandRange -motor som -home 0 -lowrange 100 -uprange 100
|
||||
som speed 1
|
||||
som precision 0.01
|
||||
som part sample
|
||||
som long_name rotate
|
||||
|
||||
# Sample two-theta, detector rotate
|
||||
Motor stth DMC2280 [params \
|
||||
multichan mc2\
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis F\
|
||||
units degrees\
|
||||
hardlowerlim -120\
|
||||
hardupperlim 30\
|
||||
maxSpeed 0.5\
|
||||
maxAccel 0.1\
|
||||
maxDecel 0.1\
|
||||
stepsPerX 125000\
|
||||
absEnc 1\
|
||||
absEncHome $stth_Home\
|
||||
cntsPerX -93207]
|
||||
stth softlowerlim -120
|
||||
stth softupperlim 30
|
||||
stth home 0
|
||||
stth speed 0.5
|
||||
stth movecount $move_count
|
||||
stth precision 0.01
|
||||
stth part sample
|
||||
stth long_name azimuthal_angle
|
||||
|
||||
|
||||
############################
|
||||
# Motor Controller 3
|
||||
# Motor Controller 3
|
||||
# Motor Controller 3
|
||||
############################
|
||||
#
|
||||
|
||||
# Monochromator Focusing (HOPG)
|
||||
#Motor mf1 DMC2280 [params \
|
||||
# multichan mc3\
|
||||
# host $dmc2280_controller3(host)\
|
||||
# port $dmc2280_controller3(port)\
|
||||
# axis A\
|
||||
# units degrees\
|
||||
# hardlowerlim xxxx\
|
||||
# hardupperlim xxxx\
|
||||
# maxSpeed xxxx\
|
||||
# maxAccel xxxx\
|
||||
# maxDecel xxxx\
|
||||
# stepsPerX xxxx\
|
||||
# absEnc 1\
|
||||
# absEncHome $mf1_Home\
|
||||
# cntsPerX xxxx]
|
||||
#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
|
||||
#mf1 speed 1
|
||||
#mfl movecount $move_count
|
||||
#mf1 precision 0.01
|
||||
#mf1 part monochromator
|
||||
#mf1 long_name mf1
|
||||
|
||||
# Monochromator Focusing (Ge)
|
||||
Motor mf2 DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis B\
|
||||
units degrees\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 1\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 1400\
|
||||
cntsPerX 14600]
|
||||
setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 360
|
||||
mf2 speed 0.1
|
||||
mf2 precision 0.01
|
||||
mf2 part monochromator
|
||||
mf2 long_name mf2
|
||||
|
||||
## Eulerian-chi
|
||||
#Motor echi DMC2280 [params \
|
||||
# host $dmc2280_controller3(host)\
|
||||
# port $dmc2280_controller3(port)\
|
||||
# axis G\
|
||||
# units degrees\
|
||||
# maxSpeed 1\
|
||||
# maxAccel 1\
|
||||
# maxDecel 1\
|
||||
# stepsPerX 25000]
|
||||
#setHomeandRange -motor echi -home 0 -lowrange 0 -uprange 360
|
||||
#echi speed 1
|
||||
#echi precision 0.01
|
||||
|
||||
## Eulerian-phi
|
||||
#Motor ephi DMC2280 [params \
|
||||
# host $dmc2280_controller3(host)\
|
||||
# port $dmc2280_controller3(port)\
|
||||
# axis H\
|
||||
# units degrees\
|
||||
# maxSpeed 1\
|
||||
# maxAccel 1\
|
||||
# maxDecel 1\
|
||||
# stepsPerX 25000]
|
||||
#setHomeandRange -motor ephi -home 0 -lowrange 0 -uprange 360
|
||||
#ephi speed 1
|
||||
#ephi precision 0.01
|
||||
|
||||
############################
|
||||
# Motor Controller 4
|
||||
# Motor Controller 4
|
||||
# Motor Controller 4
|
||||
############################
|
||||
#
|
||||
|
||||
# Primary Slit, horizontal offset, 0-30mm
|
||||
Motor psho DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis A\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 30\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 542093]
|
||||
psho part aperture.primary
|
||||
psho long_name horizontal_offset
|
||||
setHomeandRange -motor psho -home 0 -lowrange 0 -uprange 30
|
||||
|
||||
# Primary Slit, position 0-150mm
|
||||
Motor psp DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis B\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 150\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2040518]
|
||||
psp part aperture.primary
|
||||
psp long_name position
|
||||
setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
|
||||
|
||||
# Primary Slit, width, 0-30mm
|
||||
Motor psw DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis C\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 30\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2040518]
|
||||
psw part aperture.primary
|
||||
psw part long_name width
|
||||
setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
|
||||
|
||||
## Primary Slit, height, 0-30mm
|
||||
#Motor psh DMC2280 [params \
|
||||
# host $dmc2280_controller4(host)\
|
||||
# port $dmc2280_controller4(port)\
|
||||
# axis D\
|
||||
# units mm\
|
||||
# hardlowerlim 0\
|
||||
# hardupperlim 30\
|
||||
# maxSpeed 1\
|
||||
# maxAccel 1\
|
||||
# maxDecel 1\
|
||||
# stepsPerX -20125\
|
||||
# motorHome 542093]
|
||||
#psh part aperture.primary
|
||||
#psh part long_name height
|
||||
#setHomeandRange -motor psh -home 0 -lowrange 0 -uprange 30
|
||||
|
||||
#--------------------------------------------------------
|
||||
|
||||
# Secondary Slit, horizontal offset
|
||||
Motor ssho DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis E\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 30\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 500000]
|
||||
ssho part aperture.secondary
|
||||
ssho long_name horizontal_offset
|
||||
setHomeandRange -motor ssho -home 0 -lowrange 0 -uprange 30
|
||||
|
||||
# Secondary Slit, position
|
||||
Motor ssp DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis F\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 150\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2043085]
|
||||
ssp part aperture.secondary
|
||||
ssp long_name position
|
||||
setHomeandRange -motor ssp -home 0 -lowrange 0 -uprange 150
|
||||
|
||||
# Secondary Slit, width
|
||||
Motor ssw DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis G\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 30\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2043085]
|
||||
ssw part aperture.secondary
|
||||
ssw long_name width
|
||||
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 H\
|
||||
# units mm\
|
||||
# hardlowerlim 0\
|
||||
# hardupperlim 30\
|
||||
# maxSpeed 1\
|
||||
# maxAccel 1\
|
||||
# maxDecel 1\
|
||||
# stepsPerX -20125\
|
||||
# motorHome 500000]
|
||||
#ssh part aperture.secondary
|
||||
#ssh long_name height
|
||||
#setHomeandRange -motor ssh -home 0 -lowrange 0 -uprange 30
|
||||
|
||||
#--------------------------------------------------------
|
||||
|
||||
proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
|
||||
proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
|
||||
publish mthSet user
|
||||
publish mthGet user
|
||||
MakeConfigurableMotor mth
|
||||
mth readscript mthGet
|
||||
mth drivescript mthSet
|
||||
|
||||
proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
|
||||
proc sthSet {val} { return "stth=[SplitReply [stth]]"}
|
||||
publish sthGet user
|
||||
publish sthSet user
|
||||
MakeConfigurableMotor sth
|
||||
sth readscript sthGet
|
||||
sth drivescript sthSet
|
||||
|
||||
#--------------------------------------------------------
|
||||
|
||||
# END MOTOR CONFIGURATION
|
||||
Reference in New Issue
Block a user