Progressive refinement

r1375 | dcl | 2006-12-15 16:52:14 +1100 (Fri, 15 Dec 2006) | 2 lines
2006-12-15 16:52:14 +11:00
parent 8030a268e2
commit 72fde197d1
1 changed files with 97 additions and 110 deletions
--- a/site_ansto/instrument/reflectometer/motor_configuration.tcl
+++ b/site_ansto/instrument/reflectometer/motor_configuration.tcl
@@ -20,7 +20,7 @@ set dmc2280_controller4(port) pmc4-platypus
 #:TP at HOME
 #

-# Beam Shade Vertical Translation
+# Beam Shade Vertical Translation (6mm/T double helix, 500mm)
 Motor dszvt DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
@@ -29,17 +29,17 @@ Motor dszvt DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX [expr -25000/6]\
  absEnc 1\
-  absEncHome 7500000\
-  cntsPerX 8192]
+  absEncHome 8172500\
+  cntsPerX [expr -8192/6]]
 dszvt hardlowerlim 0
-dszvt hardupperlim 0
+dszvt hardupperlim 275
 dszvt softlowerlim 0
-dszvt softupperlim 0
+dszvt softupperlim 275
 dszvt home 0

-# Collimator Table Translation
+# Collimator Table Horizontal Translation, X
 Motor c1ht DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
@@ -58,12 +58,12 @@ c1ht softlowerlim 0
 c1ht softupperlim 0
 c1ht home 0

-# Collimator Tilt, Z axis, Coarse
+# Collimator Tilt, Z axis, positive is down 
 Motor m1ro DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis C\
-  units mm\
+  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
@@ -77,7 +77,7 @@ m1ro softlowerlim -5
 m1ro softupperlim 5
 m1ro home 0

-# Beam Attenuator (5mm/turn, 200mm travel)
+# Beam Attenuator (16mm/turn, 200mm travel)
 Motor bat DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
@@ -86,10 +86,10 @@ Motor bat DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 5000\
+  stepsPerX [expr 25000/16]\
  absEnc 1\
  absEncHome 7500000\
-  cntsPerX 1638.4]
+  cntsPerX [expr 8192/16]]
 bat hardlowerlim 0
 bat hardupperlim 200
 bat softlowerlim 0
@@ -107,11 +107,11 @@ Motor st3vt DMC2280 [params \
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
-  absEncHome 7500000\
-  cntsPerX 8192]
-st3vt hardlowerlim -100
-st3vt hardupperlim 100
-st3vt softlowerlim -100
+  absEncHome 8742250\
+  cntsPerX -8192]
+st3vt hardlowerlim 0
+st3vt hardupperlim 250
+st3vt softlowerlim 0
 st3vt softupperlim 100
 st3vt home 0

@@ -127,11 +127,11 @@ Motor st4vt DMC2280 [params \
  stepsPerX 25000\
  absEnc 1\
  absEncHome 7500000\
-  cntsPerX 8192]
-st4vt hardlowerlim -100
-st4vt hardupperlim 100
-st4vt softlowerlim -100
-st4vt softupperlim 100
+  cntsPerX -8192]
+st4vt hardlowerlim 0
+st4vt hardupperlim 248
+st4vt softlowerlim 0
+st4vt softupperlim 248
 st4vt home 0

 ############################
@@ -142,7 +142,7 @@ st4vt home 0
 #:TP at HOME
 #

-# Sample Tilt 1, upper
+# Sample Tilt 1, upper (1 degree/turn)
 Motor sath DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
@@ -151,15 +151,15 @@ Motor sath DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX -25000\
+  stepsPerX 25000\
  absEnc 1\
  absEncHome 7500000\
-  cntsPerX -8192]
+  cntsPerX 8192]
 setHomeandRange -motor sath -home 0 -lowrange 20 -uprange 20
 sath speed 1
 sath precision 0.01

-# Sample Tilt 2, lower
+# Sample Tilt 2, lower (1 degree/turn)
 Motor saphi DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
@@ -168,15 +168,15 @@ Motor saphi DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX -25000\
  absEnc 1\
  absEncHome 7500000\
-  cntsPerX 8192]
+  cntsPerX -8192]
 setHomeandRange -motor saphi -home 90 -lowrange 20 -uprange 20
 saphi speed 1
 saphi precision 0.01

-# Sample Translation, Linear X
+# Sample Translation, Linear X (5mm/T, 0-750mm)
 Motor sax DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
@@ -185,10 +185,10 @@ Motor sax DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX [expr 25000/5]\
  absEnc 1\
  absEncHome 7500000\
-  cntsPerX 8192]
+  cntsPerX [expr 8192/5]]
 sax hardlowerlim 0
 sax hardupperlim 750
 sax softlowerlim 0
@@ -214,7 +214,7 @@ sax home 0
 #say softupperlim -300
 #say home -450

-# Sample Translation, Linear Z
+# Sample Translation, Linear Z (??/T, 300mm)
 Motor saz DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
@@ -223,36 +223,36 @@ Motor saz DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX [expr 25000*5]\
  absEnc 1\
  absEncHome 7500000\
-  cntsPerX 8192]
-saz hardlowerlim -600
+  cntsPerX [expr 8192/5]
+saz hardlowerlim 0
 saz hardupperlim -300
-saz softlowerlim -600
+saz softlowerlim 0
 saz softupperlim -300
-saz home -450
+saz home 0

-# Detector Translation, Linear Y
-Motor deyht DMC2280 [params \
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
-  axis F\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX 25000\
-  absEnc 1\
-  absEncHome 7500000\
-  cntsPerX 8192]
-deyht hardlowerlim -595
-deyht hardupperlim 800
-deyht softlowerlim -595
-deyht softupperlim 800
-deyht home 0
+# Detector Translation, Linear Y (Not Motorized)
+#Motor deyht DMC2280 [params \
+#  host $dmc2280_controller2(host)\
+#  port $dmc2280_controller2(port)\
+#  axis F\
+#  units mm\
+#  maxSpeed 1\
+#  maxAccel 1\
+#  maxDecel 1\
+#  stepsPerX 25000\
+#  absEnc 1\
+#  absEncHome 7500000\
+#  cntsPerX 8192]
+#deyht hardlowerlim -595
+#deyht hardupperlim 800
+#deyht softlowerlim -595
+#deyht softupperlim 800
+#deyht home 0

-# Detector Translation, Linear Z
+# Detector Translation, Linear Z (5mm/T gearing unknown)
 Motor dezvt DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
@@ -261,16 +261,19 @@ Motor dezvt DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000\
+  stepsPerX -25000\
  absEnc 1\
  absEncHome 7500000\
-  cntsPerX 8192]
-dezvt hardlowerlim -595
-dezvt hardupperlim 800
-dezvt softlowerlim -595
-dezvt softupperlim 800
+  cntsPerX [expr -8192/5]]
+dezvt hardlowerlim 0
+dezvt hardupperlim 1348
+dezvt softlowerlim 0
+dezvt softupperlim 1348
 dezvt home 0

+#Measured or computed slit motor steps per millimetre
+set slitStepRate 20180
+
 ############################
 # Motor Controller 3
 # Motor Controller 3
@@ -287,7 +290,7 @@ Motor s1up DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s1up hardlowerlim -25
 s1up hardupperlim 95
 s1up softlowerlim -25
@@ -303,7 +306,7 @@ Motor s1lo DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s1lo hardlowerlim -25
 s1lo hardupperlim 95
 s1lo softlowerlim -25
@@ -319,7 +322,7 @@ Motor s1ri DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s1ri hardlowerlim -25
 s1ri hardupperlim 25
 s1ri softlowerlim -25
@@ -335,7 +338,7 @@ Motor s1le DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s1le hardlowerlim -25
 s1le hardupperlim 25
 s1le softlowerlim -25
@@ -351,7 +354,7 @@ Motor s2up DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s2up hardlowerlim -25
 s2up hardupperlim 95
 s2up softlowerlim -25
@@ -367,7 +370,7 @@ Motor s2lo DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s2lo hardlowerlim -25
 s2lo hardupperlim 95
 s2lo softlowerlim -25
@@ -383,7 +386,7 @@ Motor s2ri DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s2ri hardlowerlim -25
 s2ri hardupperlim 25
 s2ri softlowerlim -25
@@ -399,7 +402,7 @@ Motor s2le DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s2le hardlowerlim -25
 s2le hardupperlim 25
 s2le softlowerlim -25
@@ -415,7 +418,7 @@ Motor s3up DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s3up hardlowerlim -25
 s3up hardupperlim 95
 s3up softlowerlim -25
@@ -431,7 +434,7 @@ Motor s3lo DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s3lo hardlowerlim -25
 s3lo hardupperlim 95
 s3lo softlowerlim -25
@@ -447,7 +450,7 @@ Motor s3ri DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s3ri hardlowerlim -25
 s3ri hardupperlim 25
 s3ri softlowerlim -25
@@ -463,7 +466,7 @@ Motor s3le DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s3le hardlowerlim -25
 s3le hardupperlim 25
 s3le softlowerlim -25
@@ -479,7 +482,7 @@ Motor s4up DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s4up hardlowerlim -25
 s4up hardupperlim 95
 s4up softlowerlim -25
@@ -495,7 +498,7 @@ Motor s4lo DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s4lo hardlowerlim -25
 s4lo hardupperlim 95
 s4lo softlowerlim -25
@@ -511,7 +514,7 @@ Motor s4ri DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s4ri hardlowerlim -25
 s4ri hardupperlim 25
 s4ri softlowerlim -25
@@ -527,67 +530,51 @@ Motor s4le DMC2280 [params \
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX 25000]
+  stepsPerX $slitStepRate]
 s4le hardlowerlim -25
 s4le hardupperlim 25
 s4le softlowerlim -25
 s4le softupperlim 25
 s4le home 0

+## Polarization Analyzer Vertical Translation, Z
 #Motor anzvt DMC2280 [params \
-#	host $dmc2280_controller2(host)\
-#	port $dmc2280_controller2(port)\
-#	axis xxxx\
+#  host $dmc2280_controller2(host)\
+#  port $dmc2280_controller2(port)\
+#  axis xxxx\
 #  units mm\
 #  maxSpeed 1\
 #  maxAccel 1\
 #  maxDecel 1\
-#	stepsPerX 25000\
-#	absEnc 1\
-#	absEncHome 7500000\
-#	cntsPerX 8192]
+#  stepsPerX 25000\
+#  absEnc 1\
+#  absEncHome 7500000\
+#  cntsPerX 8192]
 #anzvt hardlowerlim xxxx
 #anzvt hardupperlim xxxx
 #anzvt softlowerlim xxxx
 #anzvt softupperlim xxxx
 #anzvt home 0

+## Polarization Analyzer Rotation 
 #Motor anro DMC2280 [params \
-#	host $dmc2280_controller2(host)\
-#	port $dmc2280_controller2(port)\
-#	axis xxxx\
+#  host $dmc2280_controller2(host)\
+#  port $dmc2280_controller2(port)\
+#  axis xxxx\
 #  units mm\
 #  maxSpeed 1\
 #  maxAccel 1\
 #  maxDecel 1\
-#	stepsPerX 25000\
-#	absEnc 1\
-#	absEncHome 7500000\
-#	cntsPerX 8192]
+#  stepsPerX 25000\
+#  absEnc 1\
+#  absEncHome 7500000\
+#  cntsPerX 8192]
 #anro hardlowerlim -10
 #anro hardupperlim 10
 #anro softlowerlim -10
 #anro softupperlim 10
 #anro home 0

-#Motor dezht DMC2280 [params \
-#	host $dmc2280_controllerxxxx(host)\
-#	port $dmc2280_controllerxxxx(port)\
-#	axis xxxx\
-#  units mm\
-#  maxSpeed 1\
-#  maxAccel 1\
-#  maxDecel 1\
-#	stepsPerX 25000\
-#	absEnc 1\
-#	absEncHome 7500000\
-#	cntsPerX 8192]
-#dezht hardlowerlim -595
-#dezht hardupperlim 800
-#dezht softlowerlim -595
-#dezht softupperlim 800
-#dezht home 0
-
 #proc SplitReply { text } {
 #     set l [split $text =]
 #     return [lindex $l 1]