From 730a66a13d21ba3946ecfe9d4abaae4a789ff216 Mon Sep 17 00:00:00 2001 From: Douglas Clowes Date: Wed, 13 Dec 2006 08:15:29 +1100 Subject: [PATCH] Progressive refinement and alignment with HRPD r1371 | dcl | 2006-12-13 08:15:29 +1100 (Wed, 13 Dec 2006) | 2 lines --- .../reflectometer/motor_configuration.tcl | 1120 +++++++++-------- 1 file changed, 567 insertions(+), 553 deletions(-) diff --git a/site_ansto/instrument/reflectometer/motor_configuration.tcl b/site_ansto/instrument/reflectometer/motor_configuration.tcl index 83f982ce..136e4b16 100644 --- a/site_ansto/instrument/reflectometer/motor_configuration.tcl +++ b/site_ansto/instrument/reflectometer/motor_configuration.tcl @@ -11,195 +11,529 @@ set dmc2280_controller3(port) pmc3-platypus set dmc2280_controller4(host) mc4-platypus set dmc2280_controller4(port) pmc4-platypus +############################ # MOTORS -#Motor dszvt DMC2280 [params \ -# host $dmc2280_controller1(host)\ -# port $dmc2280_controller1(port)\ -# axis A\ -# units mm\ -# maxSpeed 1\ -# maxAccel 1\ -# maxDecel 1\ -# stepsPerX 25000\ -# absEnc 1\ -# absEncHome 7500000\ -# cntsPerX 8192] -#dszvt hardlowerlim xxxx -#dszvt hardupperlim xxxx -#dszvt softlowerlim xxxx -#dszvt softupperlim xxxx -#dszvt home 0 +# Motor Controller 1 +# Motor Controller 1 +# Motor Controller 1 +############################ +#:TP at HOME +# -#Motor c1ht DMC2280 [params \ -# host $dmc2280_controller1(host)\ -# port $dmc2280_controller1(port)\ -# axis B\ -# units mm\ -# maxSpeed 1\ -# maxAccel 1\ -# maxDecel 1\ -# stepsPerX 25000\ -# absEnc 1\ -# absEncHome 7500000\ -# cntsPerX 8192] -#c1ht hardlowerlim xxxx -#c1ht hardupperlim xxxx -#c1ht softlowerlim xxxx -#c1ht softupperlim xxxx -#c1ht home 0 - -Motor m1ro DMC2280 [params \ - host $dmc2280_controller1(host)\ - port $dmc2280_controller1(port)\ - axis C\ +# Beam Shade Vertical Translation +Motor dszvt DMC2280 [params \ + host $dmc2280_controller1(host)\ + port $dmc2280_controller1(port)\ + axis A\ units mm\ maxSpeed 1\ maxAccel 1\ maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] + stepsPerX 25000\ + absEnc 1\ + absEncHome 7500000\ + cntsPerX 8192] +dszvt hardlowerlim 0 +dszvt hardupperlim 0 +dszvt softlowerlim 0 +dszvt softupperlim 0 +dszvt home 0 + +# Collimator Table Translation +Motor c1ht DMC2280 [params \ + host $dmc2280_controller1(host)\ + port $dmc2280_controller1(port)\ + axis B\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000\ + absEnc 1\ + absEncHome 7500000\ + cntsPerX 8192] +c1ht hardlowerlim 0 +c1ht hardupperlim 0 +c1ht softlowerlim 0 +c1ht softupperlim 0 +c1ht home 0 + +# Collimator Tilt, Z axis, Coarse +Motor m1ro DMC2280 [params \ + host $dmc2280_controller1(host)\ + port $dmc2280_controller1(port)\ + axis C\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000\ + absEnc 1\ + absEncHome 7500000\ + cntsPerX 8192] m1ro hardlowerlim -5 m1ro hardupperlim 5 m1ro softlowerlim -5 m1ro softupperlim 5 m1ro home 0 -Motor st3vt DMC2280 [params \ - host $dmc2280_controller1(host)\ - port $dmc2280_controller1(port)\ - axis E\ +# Beam Attenuator (5mm/turn, 200mm travel) +Motor bat DMC2280 [params \ + host $dmc2280_controller1(host)\ + port $dmc2280_controller1(port)\ + axis D\ units mm\ maxSpeed 1\ maxAccel 1\ maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -st3vt hardlowerlim -179 -st3vt hardupperlim 21 -st3vt softlowerlim -179 -st3vt softupperlim 21 + stepsPerX 5000\ + absEnc 1\ + absEncHome 7500000\ + cntsPerX 1638.4] +bat hardlowerlim 0 +bat hardupperlim 200 +bat softlowerlim 0 +bat softupperlim 200 +bat home 0 + +# Slit 3 Tower Translation (1mm/T, +/- 100mm) +Motor st3vt DMC2280 [params \ + host $dmc2280_controller1(host)\ + port $dmc2280_controller1(port)\ + axis E\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000\ + absEnc 1\ + absEncHome 7500000\ + cntsPerX 8192] +st3vt hardlowerlim -100 +st3vt hardupperlim 100 +st3vt softlowerlim -100 +st3vt softupperlim 100 st3vt home 0 +# Slit 4 Tower Translation (1mm/T, +/- 100mm) Motor st4vt DMC2280 [params \ - host $dmc2280_controller1(host)\ - port $dmc2280_controller1(port)\ - axis F\ + host $dmc2280_controller1(host)\ + port $dmc2280_controller1(port)\ + axis F\ units mm\ maxSpeed 1\ maxAccel 1\ maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -st4vt hardlowerlim -179 -st4vt hardupperlim 21 -st4vt softlowerlim -179 -st4vt softupperlim 21 + stepsPerX 25000\ + absEnc 1\ + absEncHome 7500000\ + cntsPerX 8192] +st4vt hardlowerlim -100 +st4vt hardupperlim 100 +st4vt softlowerlim -100 +st4vt softupperlim 100 st4vt home 0 +############################ +# Motor Controller 2 +# Motor Controller 2 +# Motor Controller 2 +############################ +#:TP at HOME # -#Motor Controller 2 -# -# A: Sample Tilt Upper -Motor sath DMC2280 [params \ - host $dmc2280_controller2(host)\ - port $dmc2280_controller2(port)\ - axis A\ + +# Sample Tilt 1, upper, phi +Motor sphi DMC2280 [params \ + host $dmc2280_controller2(host)\ + port $dmc2280_controller2(port)\ + axis A\ units degrees\ maxSpeed 1\ maxAccel 1\ maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -sath hardlowerlim -10 -sath hardupperlim 10 -sath softlowerlim -10 -sath softupperlim 10 -sath home 0 + stepsPerX -25000\ + absEnc 1\ + absEncHome 7500000\ + cntsPerX -8192] +setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20 +sphi speed 1 +sphi precision 0.01 -# B: Sample Tilt Lower -Motor saphi DMC2280 [params \ - host $dmc2280_controller2(host)\ - port $dmc2280_controller2(port)\ - axis B\ +# Sample Tilt 2, lower, chi +Motor schi DMC2280 [params \ + host $dmc2280_controller2(host)\ + port $dmc2280_controller2(port)\ + axis B\ units degrees\ maxSpeed 1\ maxAccel 1\ maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -saphi hardlowerlim -20 -saphi hardupperlim 20 -saphi softlowerlim -20 -saphi softupperlim 20 -saphi home 0 + stepsPerX 25000\ + absEnc 1\ + absEncHome 7500000\ + cntsPerX 8192] +setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20 +schi speed 1 +schi precision 0.01 -# C: Sample Translation, Linear X -#Motor sax DMC2280 [params \ -# host $dmc2280_controller2(host)\ -# port $dmc2280_controller2(port)\ -# axis C\ +# Sample Translation, Linear X +Motor sax DMC2280 [params \ + host $dmc2280_controller2(host)\ + port $dmc2280_controller2(port)\ + axis C\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000\ + absEnc 1\ + absEncHome 7500000\ + cntsPerX 8192] +sax hardlowerlim 0 +sax hardupperlim 750 +sax softlowerlim 0 +sax softupperlim 750 +sax home 0 + +# Sample Translation, Linear Y +#Motor say DMC2280 [params \ +# host $dmc2280_controller2(host)\ +# port $dmc2280_controller2(port)\ +# axis D\ # units mm\ # maxSpeed 1\ # maxAccel 1\ # maxDecel 1\ -# stepsPerX 25000\ -# absEnc 1\ -# absEncHome 7500000\ -# cntsPerX 8192] -#sax hardlowerlim xxxx -#sax hardupperlim 750 -#sax softlowerlim xxxx -#sax softupperlim 750 -#sax home 0 +# stepsPerX 25000\ +# absEnc 1\ +# absEncHome 7500000\ +# cntsPerX 8192] +#say hardlowerlim -600 +#say hardupperlim -300 +#say softlowerlim -600 +#say softupperlim -300 +#say home -450 -# D: Sample Translation, Linear Y -Motor say DMC2280 [params \ - host $dmc2280_controller2(host)\ - port $dmc2280_controller2(port)\ - axis D\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -say hardlowerlim -600 -say hardupperlim -300 -say softlowerlim -600 -say softupperlim -300 -say home -450 - -# E: Sample Translation, Linear Z +# Sample Translation, Linear Z Motor saz DMC2280 [params \ - host $dmc2280_controller2(host)\ - port $dmc2280_controller2(port)\ - axis E\ + host $dmc2280_controller2(host)\ + port $dmc2280_controller2(port)\ + axis E\ units mm\ maxSpeed 1\ maxAccel 1\ maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] + stepsPerX 25000\ + absEnc 1\ + absEncHome 7500000\ + cntsPerX 8192] saz hardlowerlim -600 saz hardupperlim -300 saz softlowerlim -600 saz softupperlim -300 saz home -450 +# 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 Z +Motor dezvt DMC2280 [params \ + host $dmc2280_controller2(host)\ + port $dmc2280_controller2(port)\ + axis G\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000\ + absEnc 1\ + absEncHome 7500000\ + cntsPerX 8192] +dezvt hardlowerlim -595 +dezvt hardupperlim 800 +dezvt softlowerlim -595 +dezvt softupperlim 800 +dezvt home 0 + +############################ +# Motor Controller 3 +# Motor Controller 3 +# Motor Controller 3 +############################ +# + +# Slit 1, upper +Motor s1up DMC2280 [params \ + host $dmc2280_controller3(host)\ + port $dmc2280_controller3(port)\ + axis A\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s1up hardlowerlim -25 +s1up hardupperlim 95 +s1up softlowerlim -25 +s1up softupperlim 95 +s1up home 0 + +# Slit 1, lower +Motor s1lo DMC2280 [params \ + host $dmc2280_controller3(host)\ + port $dmc2280_controller3(port)\ + axis B\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s1lo hardlowerlim -25 +s1lo hardupperlim 95 +s1lo softlowerlim -25 +s1lo softupperlim 95 +s1lo home 0 + +# Slit 1, right +Motor s1ri DMC2280 [params \ + host $dmc2280_controller3(host)\ + port $dmc2280_controller3(port)\ + axis C\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s1ri hardlowerlim -25 +s1ri hardupperlim 25 +s1ri softlowerlim -25 +s1ri softupperlim 25 +s1ri home 0 + +# Slit 1, left +Motor s1le DMC2280 [params \ + host $dmc2280_controller3(host)\ + port $dmc2280_controller3(port)\ + axis D\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s1le hardlowerlim -25 +s1le hardupperlim 25 +s1le softlowerlim -25 +s1le softupperlim 25 +s1le home 0 + +# Slit 2, upper +Motor s2up DMC2280 [params \ + host $dmc2280_controller3(host)\ + port $dmc2280_controller3(port)\ + axis E\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s2up hardlowerlim -25 +s2up hardupperlim 95 +s2up softlowerlim -25 +s2up softupperlim 95 +s2up home 0 + +# Slit 2, lower +Motor s2lo DMC2280 [params \ + host $dmc2280_controller3(host)\ + port $dmc2280_controller3(port)\ + axis F\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s2lo hardlowerlim -25 +s2lo hardupperlim 95 +s2lo softlowerlim -25 +s2lo softupperlim 95 +s2lo home 0 + +# Slit 2, right +Motor s2ri DMC2280 [params \ + host $dmc2280_controller3(host)\ + port $dmc2280_controller3(port)\ + axis G\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s2ri hardlowerlim -25 +s2ri hardupperlim 25 +s2ri softlowerlim -25 +s2ri softupperlim 25 +s2ri home 0 + +# Slit 2, left +Motor s2le DMC2280 [params \ + host $dmc2280_controller3(host)\ + port $dmc2280_controller3(port)\ + axis H\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s2le hardlowerlim -25 +s2le hardupperlim 25 +s2le softlowerlim -25 +s2le softupperlim 25 +s2le home 0 + +# Slit 3, upper +Motor s3up DMC2280 [params \ + host $dmc2280_controller4(host)\ + port $dmc2280_controller4(port)\ + axis A\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s3up hardlowerlim -25 +s3up hardupperlim 95 +s3up softlowerlim -25 +s3up softupperlim 95 +s3up home 0 + +# Slit 3, lower +Motor s3lo DMC2280 [params \ + host $dmc2280_controller4(host)\ + port $dmc2280_controller4(port)\ + axis B\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s3lo hardlowerlim -25 +s3lo hardupperlim 95 +s3lo softlowerlim -25 +s3lo softupperlim 95 +s3lo home 0 + +# Slit 3, right +Motor s3ri DMC2280 [params \ + host $dmc2280_controller4(host)\ + port $dmc2280_controller4(port)\ + axis C\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s3ri hardlowerlim -25 +s3ri hardupperlim 25 +s3ri softlowerlim -25 +s3ri softupperlim 25 +s3ri home 0 + +# Slit 3, Left +Motor s3le DMC2280 [params \ + host $dmc2280_controller4(host)\ + port $dmc2280_controller4(port)\ + axis D\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s3le hardlowerlim -25 +s3le hardupperlim 25 +s3le softlowerlim -25 +s3le softupperlim 25 +s3le home 0 + +# Slit 4, upper +Motor s4up DMC2280 [params \ + host $dmc2280_controller4(host)\ + port $dmc2280_controller4(port)\ + axis E\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s4up hardlowerlim -25 +s4up hardupperlim 95 +s4up softlowerlim -25 +s4up softupperlim 95 +s4up home 0 + +# Slit 4, lower +Motor s4lo DMC2280 [params \ + host $dmc2280_controller4(host)\ + port $dmc2280_controller4(port)\ + axis F\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s4lo hardlowerlim -25 +s4lo hardupperlim 95 +s4lo softlowerlim -25 +s4lo softupperlim 95 +s4lo home 0 + +# Slit 4, right +Motor s4ri DMC2280 [params \ + host $dmc2280_controller4(host)\ + port $dmc2280_controller4(port)\ + axis G\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s4ri hardlowerlim -25 +s4ri hardupperlim 25 +s4ri softlowerlim -25 +s4ri softupperlim 25 +s4ri home 0 + +# Slit 4, left +Motor s4le DMC2280 [params \ + host $dmc2280_controller4(host)\ + port $dmc2280_controller4(port)\ + axis H\ + units mm\ + maxSpeed 1\ + maxAccel 1\ + maxDecel 1\ + stepsPerX 25000] +s4le hardlowerlim -25 +s4le hardupperlim 25 +s4le softlowerlim -25 +s4le softupperlim 25 +s4le home 0 + #Motor anzvt DMC2280 [params \ # host $dmc2280_controller2(host)\ # port $dmc2280_controller2(port)\ @@ -236,326 +570,6 @@ saz home -450 #anro softupperlim 10 #anro home 0 -# F: 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 - -# G: Detector Translation, Linear Z -Motor dezvt DMC2280 [params \ - host $dmc2280_controller2(host)\ - port $dmc2280_controller2(port)\ - axis G\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -dezvt hardlowerlim -595 -dezvt hardupperlim 800 -dezvt softlowerlim -595 -dezvt softupperlim 800 -dezvt home 0 - -Motor s1up DMC2280 [params \ - host $dmc2280_controller3(host)\ - port $dmc2280_controller3(port)\ - axis A\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s1up hardlowerlim -15 -s1up hardupperlim 15 -s1up softlowerlim -15 -s1up softupperlim 15 -s1up home 0 - -Motor s1lo DMC2280 [params \ - host $dmc2280_controller3(host)\ - port $dmc2280_controller3(port)\ - axis B\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s1lo hardlowerlim -15 -s1lo hardupperlim 15 -s1lo softlowerlim -15 -s1lo softupperlim 15 -s1lo home 0 - -Motor s1ri DMC2280 [params \ - host $dmc2280_controller3(host)\ - port $dmc2280_controller3(port)\ - axis C\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s1ri hardlowerlim -13 -s1ri hardupperlim 27 -s1ri softlowerlim -13 -s1ri softupperlim 27 -s1ri home 0 - -Motor s1le DMC2280 [params \ - host $dmc2280_controller3(host)\ - port $dmc2280_controller3(port)\ - axis D\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s1le hardlowerlim -27 -s1le hardupperlim 13 -s1le softlowerlim -27 -s1le softupperlim 13 -s1le home 0 - -Motor s2up DMC2280 [params \ - host $dmc2280_controller3(host)\ - port $dmc2280_controller3(port)\ - axis E\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s2up hardlowerlim -15 -s2up hardupperlim 15 -s2up softlowerlim -15 -s2up softupperlim 15 -s2up home 0 - -Motor s2lo DMC2280 [params \ - host $dmc2280_controller3(host)\ - port $dmc2280_controller3(port)\ - axis F\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s2lo hardlowerlim -15 -s2lo hardupperlim 15 -s2lo softlowerlim -15 -s2lo softupperlim 15 -s2lo home 0 - -Motor s2ri DMC2280 [params \ - host $dmc2280_controller3(host)\ - port $dmc2280_controller3(port)\ - axis G\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000] -s2ri hardlowerlim -13 -s2ri hardupperlim 27 -s2ri softlowerlim -13 -s2ri softupperlim 27 -s2ri home 0 - -Motor s2le DMC2280 [params \ - host $dmc2280_controller3(host)\ - port $dmc2280_controller3(port)\ - axis H\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000] -s2le hardlowerlim -27 -s2le hardupperlim 13 -s2le softlowerlim -27 -s2le softupperlim 13 -s2le home 0 - -Motor s3up DMC2280 [params \ - host $dmc2280_controller4(host)\ - port $dmc2280_controller4(port)\ - axis A\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s3up hardlowerlim -15 -s3up hardupperlim 15 -s3up softlowerlim -15 -s3up softupperlim 15 -s3up home 0 - -Motor s3lo DMC2280 [params \ - host $dmc2280_controller4(host)\ - port $dmc2280_controller4(port)\ - axis B\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s3lo hardlowerlim -15 -s3lo hardupperlim 15 -s3lo softlowerlim -15 -s3lo softupperlim 15 -s3lo home 0 - -Motor s3ri DMC2280 [params \ - host $dmc2280_controller4(host)\ - port $dmc2280_controller4(port)\ - axis C\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s3ri hardlowerlim -13 -s3ri hardupperlim 27 -s3ri softlowerlim -13 -s3ri softupperlim 27 -s3ri home 0 - -Motor s3le DMC2280 [params \ - host $dmc2280_controller4(host)\ - port $dmc2280_controller4(port)\ - axis D\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s3le hardlowerlim -27 -s3le hardupperlim 13 -s3le softlowerlim -27 -s3le softupperlim 13 -s3le home 0 - -Motor s4up DMC2280 [params \ - host $dmc2280_controller4(host)\ - port $dmc2280_controller4(port)\ - axis E\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s4up hardlowerlim -15 -s4up hardupperlim 15 -s4up softlowerlim -15 -s4up softupperlim 15 -s4up home 0 - -Motor s4lo DMC2280 [params \ - host $dmc2280_controller4(host)\ - port $dmc2280_controller4(port)\ - axis F\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s4lo hardlowerlim -15 -s4lo hardupperlim 15 -s4lo softlowerlim -15 -s4lo softupperlim 15 -s4lo home 0 - -Motor s4ri DMC2280 [params \ - host $dmc2280_controller4(host)\ - port $dmc2280_controller4(port)\ - axis G\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s4ri hardlowerlim -13 -s4ri hardupperlim 27 -s4ri softlowerlim -13 -s4ri softupperlim 27 -s4ri home 0 - -Motor s4le DMC2280 [params \ - host $dmc2280_controller4(host)\ - port $dmc2280_controller4(port)\ - axis H\ - units mm\ - maxSpeed 1\ - maxAccel 1\ - maxDecel 1\ - stepsPerX 25000\ - absEnc 1\ - absEncHome 7500000\ - cntsPerX 8192] -s4le hardlowerlim -27 -s4le hardupperlim 13 -s4le softlowerlim -27 -s4le softupperlim 13 -s4le home 0 - #Motor dezht DMC2280 [params \ # host $dmc2280_controllerxxxx(host)\ # port $dmc2280_controllerxxxx(port)\ @@ -581,17 +595,17 @@ s4le home 0 #-------------------------------------------------------- proc s1widthscript {val} { - set currentWidth [expr [SplitReply [s1ri]] + [SplitReply [s1le]]] - set diff [expr $val - $currentWidth] - set newD1R [expr [SplitReply [s1ri]] + $diff/2] - set newD1L [expr [SplitReply [s1le]] + $diff/2] - return "s1ri=$newD1R,s1le=$newD1L" + set currentWidth [expr [SplitReply [s1ri]] + [SplitReply [s1le]]] + set diff [expr $val - $currentWidth] + set newD1R [expr [SplitReply [s1ri]] + $diff/2] + set newD1L [expr [SplitReply [s1le]] + $diff/2] + return "s1ri=$newD1R,s1le=$newD1L" } publish s1widthscript user #------------------------------------------------------- proc s1readwidth {} { - return [expr [SplitReply [s1ri]] + [SplitReply [s1le]]] + return [expr [SplitReply [s1ri]] + [SplitReply [s1le]]] } publish s1readwidth user MakeConfigurableMotor s1hg @@ -600,17 +614,17 @@ s1hg readscript s1readwidth #-------------------------------------------------------- proc s1heightscript {val} { - set currentWidth [expr [SplitReply [s1up]] + [SplitReply [s1lo]]] - set diff [expr $val - $currentWidth] - set newD1B [expr [SplitReply [s1lo]] + $diff/2] - set newD1T [expr [SplitReply [s1up]] + $diff/2] - return "s1lo=$newD1B,s1up=$newD1T" + set currentWidth [expr [SplitReply [s1up]] + [SplitReply [s1lo]]] + set diff [expr $val - $currentWidth] + set newD1B [expr [SplitReply [s1lo]] + $diff/2] + set newD1T [expr [SplitReply [s1up]] + $diff/2] + return "s1lo=$newD1B,s1up=$newD1T" } publish s1heightscript user #------------------------------------------------------- proc s1readheight {} { - return [expr [SplitReply [s1up]] + [SplitReply [s1lo]]] + return [expr [SplitReply [s1up]] + [SplitReply [s1lo]]] } publish s1readheight user @@ -623,18 +637,18 @@ s1vg readscript s1readheight proc s1horoffsetscript {val} { set sr [splitreply [s1ri]] set sl [splitreply [s1le]] - set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] - set diff [expr $val - $currentoffset] - set newd1r [expr $sr + $diff] - set newd1l [expr $sl - $diff] - return "s1ri=$newd1r,s1le=$newd1l" + set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] + set diff [expr $val - $currentoffset] + set newd1r [expr $sr + $diff] + set newd1l [expr $sl - $diff] + return "s1ri=$newd1r,s1le=$newd1l" } publish s1horoffsetscript user #------------------------------------------------------- proc s1readhoroffset {} { set sr [splitreply [s1ri]] - return [ expr $sr - ($sr + [splitreply [s1le]])/2.0 ] + return [ expr $sr - ($sr + [splitreply [s1le]])/2.0 ] } publish s1readhoroffset user @@ -647,18 +661,18 @@ s1ho readscript s1readhoroffset proc s1vertoffsetscript {val} { set SU [SplitReply [s1up]] set SD [SplitReply [s1lo]] - set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] - set diff [expr $val - $currentOffset] - set newD1U [expr $SU + $diff] - set newD1D [expr $SD - $diff] - return "s1up=$newD1U,s1lo=$newD1D" + set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] + set diff [expr $val - $currentOffset] + set newD1U [expr $SU + $diff] + set newD1D [expr $SD - $diff] + return "s1up=$newD1U,s1lo=$newD1D" } publish s1vertoffsetscript user #------------------------------------------------------- proc s1readvertoffset {} { set SU [SplitReply [s1up]] - return [ expr $SU - ($SU + [SplitReply [s1lo]])/2.0 ] + return [ expr $SU - ($SU + [SplitReply [s1lo]])/2.0 ] } publish s1readvertoffset user @@ -671,17 +685,17 @@ s1vo readscript s1readvertoffset #-------------------------------------------------------- proc s2widthscript {val} { - set currentWidth [expr [SplitReply [s2ri]] + [SplitReply [s2le]]] - set diff [expr $val - $currentWidth] - set newD1R [expr [SplitReply [s2ri]] + $diff/2] - set newD1L [expr [SplitReply [s2le]] + $diff/2] - return "s2ri=$newD1R,s2le=$newD1L" + set currentWidth [expr [SplitReply [s2ri]] + [SplitReply [s2le]]] + set diff [expr $val - $currentWidth] + set newD1R [expr [SplitReply [s2ri]] + $diff/2] + set newD1L [expr [SplitReply [s2le]] + $diff/2] + return "s2ri=$newD1R,s2le=$newD1L" } publish s2widthscript user #------------------------------------------------------- proc s2readwidth {} { - return [expr [SplitReply [s2ri]] + [SplitReply [s2le]]] + return [expr [SplitReply [s2ri]] + [SplitReply [s2le]]] } publish s2readwidth user MakeConfigurableMotor s2hg @@ -690,17 +704,17 @@ s2hg readscript s2readwidth #----------------------------------------------------- proc s2heightscript {val} { - set currentWidth [expr [SplitReply [s2up]] + [SplitReply [s2lo]]] - set diff [expr $val - $currentWidth] - set newD1B [expr [SplitReply [s2lo]] + $diff/2] - set newD1T [expr [SplitReply [s2up]] + $diff/2] - return "s2lo=$newD1B,s2up=$newD1T" + set currentWidth [expr [SplitReply [s2up]] + [SplitReply [s2lo]]] + set diff [expr $val - $currentWidth] + set newD1B [expr [SplitReply [s2lo]] + $diff/2] + set newD1T [expr [SplitReply [s2up]] + $diff/2] + return "s2lo=$newD1B,s2up=$newD1T" } publish s2heightscript user #------------------------------------------------------- proc s2readheight {} { - return [expr [SplitReply [s2up]] + [SplitReply [s2lo]]] + return [expr [SplitReply [s2up]] + [SplitReply [s2lo]]] } publish s2readheight user @@ -713,18 +727,18 @@ s2vg readscript s2readheight proc s2horoffsetscript {val} { set sr [splitreply [s2ri]] set sl [splitreply [s2le]] - set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] - set diff [expr $val - $currentoffset] - set newd1r [expr $sr + $diff] - set newd1l [expr $sl - $diff] - return "s2ri=$newd1r,s2le=$newd1l" + set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] + set diff [expr $val - $currentoffset] + set newd1r [expr $sr + $diff] + set newd1l [expr $sl - $diff] + return "s2ri=$newd1r,s2le=$newd1l" } publish s2horoffsetscript user #------------------------------------------------------- proc s2readhoroffset {} { set sr [splitreply [s2ri]] - return [ expr $sr - ($sr + [splitreply [s2le]])/2.0 ] + return [ expr $sr - ($sr + [splitreply [s2le]])/2.0 ] } publish s2readhoroffset user @@ -737,18 +751,18 @@ s2ho readscript s2readhoroffset proc s2vertoffsetscript {val} { set SU [SplitReply [s2up]] set SD [SplitReply [s2lo]] - set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] - set diff [expr $val - $currentOffset] - set newD1U [expr $SU + $diff] - set newD1D [expr $SD - $diff] - return "s2up=$newD1U,s2lo=$newD1D" + set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] + set diff [expr $val - $currentOffset] + set newD1U [expr $SU + $diff] + set newD1D [expr $SD - $diff] + return "s2up=$newD1U,s2lo=$newD1D" } publish s2vertoffsetscript user #------------------------------------------------------- proc s2readvertoffset {} { set SU [SplitReply [s2up]] - return [ expr $SU - ($SU + [SplitReply [s2lo]])/2.0 ] + return [ expr $SU - ($SU + [SplitReply [s2lo]])/2.0 ] } publish s2readvertoffset user @@ -761,17 +775,17 @@ s2vo readscript s2readvertoffset #-------------------------------------------------------- proc s3widthscript {val} { - set currentWidth [expr [SplitReply [s3ri]] + [SplitReply [s3le]]] - set diff [expr $val - $currentWidth] - set newD1R [expr [SplitReply [s3ri]] + $diff/2] - set newD1L [expr [SplitReply [s3le]] + $diff/2] - return "s3ri=$newD1R,s3le=$newD1L" + set currentWidth [expr [SplitReply [s3ri]] + [SplitReply [s3le]]] + set diff [expr $val - $currentWidth] + set newD1R [expr [SplitReply [s3ri]] + $diff/2] + set newD1L [expr [SplitReply [s3le]] + $diff/2] + return "s3ri=$newD1R,s3le=$newD1L" } publish s3widthscript user #------------------------------------------------------- proc s3readwidth {} { - return [expr [SplitReply [s3ri]] + [SplitReply [s3le]]] + return [expr [SplitReply [s3ri]] + [SplitReply [s3le]]] } publish s3readwidth user MakeConfigurableMotor s3hg @@ -780,17 +794,17 @@ s3hg readscript s3readwidth #----------------------------------------------------- proc s3heightscript {val} { - set currentWidth [expr [SplitReply [s3up]] + [SplitReply [s3lo]]] - set diff [expr $val - $currentWidth] - set newD1B [expr [SplitReply [s3lo]] + $diff/2] - set newD1T [expr [SplitReply [s3up]] + $diff/2] - return "s3lo=$newD1B,s3up=$newD1T" + set currentWidth [expr [SplitReply [s3up]] + [SplitReply [s3lo]]] + set diff [expr $val - $currentWidth] + set newD1B [expr [SplitReply [s3lo]] + $diff/2] + set newD1T [expr [SplitReply [s3up]] + $diff/2] + return "s3lo=$newD1B,s3up=$newD1T" } publish s3heightscript user #------------------------------------------------------- proc s3readheight {} { - return [expr [SplitReply [s3up]] + [SplitReply [s3lo]]] + return [expr [SplitReply [s3up]] + [SplitReply [s3lo]]] } publish s3readheight user @@ -803,18 +817,18 @@ s3vg readscript s3readheight proc s3horoffsetscript {val} { set sr [splitreply [s3ri]] set sl [splitreply [s3le]] - set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] - set diff [expr $val - $currentoffset] - set newd1r [expr $sr + $diff] - set newd1l [expr $sl - $diff] - return "s3ri=$newd1r,s3le=$newd1l" + set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] + set diff [expr $val - $currentoffset] + set newd1r [expr $sr + $diff] + set newd1l [expr $sl - $diff] + return "s3ri=$newd1r,s3le=$newd1l" } publish s3horoffsetscript user #------------------------------------------------------- proc s3readhoroffset {} { set sr [splitreply [s3ri]] - return [ expr $sr - ($sr + [splitreply [s3le]])/2.0 ] + return [ expr $sr - ($sr + [splitreply [s3le]])/2.0 ] } publish s3readhoroffset user @@ -827,18 +841,18 @@ s3ho readscript s3readhoroffset proc s3vertoffsetscript {val} { set SU [SplitReply [s3up]] set SD [SplitReply [s3lo]] - set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] - set diff [expr $val - $currentOffset] - set newD1U [expr $SU + $diff] - set newD1D [expr $SD - $diff] - return "s3up=$newD1U,s3lo=$newD1D" + set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] + set diff [expr $val - $currentOffset] + set newD1U [expr $SU + $diff] + set newD1D [expr $SD - $diff] + return "s3up=$newD1U,s3lo=$newD1D" } publish s3vertoffsetscript user #------------------------------------------------------- proc s3readvertoffset {} { set SU [SplitReply [s3up]] - return [ expr $SU - ($SU + [SplitReply [s3lo]])/2.0 ] + return [ expr $SU - ($SU + [SplitReply [s3lo]])/2.0 ] } publish s3readvertoffset user @@ -851,17 +865,17 @@ s3vo readscript s3readvertoffset #-------------------------------------------------------- proc s4widthscript {val} { - set currentWidth [expr [SplitReply [s4ri]] + [SplitReply [s4le]]] - set diff [expr $val - $currentWidth] - set newD1R [expr [SplitReply [s4ri]] + $diff/2] - set newD1L [expr [SplitReply [s4le]] + $diff/2] - return "s4ri=$newD1R,s4le=$newD1L" + set currentWidth [expr [SplitReply [s4ri]] + [SplitReply [s4le]]] + set diff [expr $val - $currentWidth] + set newD1R [expr [SplitReply [s4ri]] + $diff/2] + set newD1L [expr [SplitReply [s4le]] + $diff/2] + return "s4ri=$newD1R,s4le=$newD1L" } publish s4widthscript user #------------------------------------------------------- proc s4readwidth {} { - return [expr [SplitReply [s4ri]] + [SplitReply [s4le]]] + return [expr [SplitReply [s4ri]] + [SplitReply [s4le]]] } publish s4readwidth user MakeConfigurableMotor s4hg @@ -870,17 +884,17 @@ s4hg readscript s4readwidth #----------------------------------------------------- proc s4heightscript {val} { - set currentWidth [expr [SplitReply [s4up]] + [SplitReply [s4lo]]] - set diff [expr $val - $currentWidth] - set newD1B [expr [SplitReply [s4lo]] + $diff/2] - set newD1T [expr [SplitReply [s4up]] + $diff/2] - return "s4lo=$newD1B,s4up=$newD1T" + set currentWidth [expr [SplitReply [s4up]] + [SplitReply [s4lo]]] + set diff [expr $val - $currentWidth] + set newD1B [expr [SplitReply [s4lo]] + $diff/2] + set newD1T [expr [SplitReply [s4up]] + $diff/2] + return "s4lo=$newD1B,s4up=$newD1T" } publish s4heightscript user #------------------------------------------------------- proc s4readheight {} { - return [expr [SplitReply [s4up]] + [SplitReply [s4lo]]] + return [expr [SplitReply [s4up]] + [SplitReply [s4lo]]] } publish s4readheight user @@ -893,18 +907,18 @@ s4vg readscript s4readheight proc s4horoffsetscript {val} { set sr [splitreply [s4ri]] set sl [splitreply [s4le]] - set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] - set diff [expr $val - $currentoffset] - set newd1r [expr $sr + $diff] - set newd1l [expr $sl - $diff] - return "s4ri=$newd1r,s4le=$newd1l" + set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] + set diff [expr $val - $currentoffset] + set newd1r [expr $sr + $diff] + set newd1l [expr $sl - $diff] + return "s4ri=$newd1r,s4le=$newd1l" } publish s4horoffsetscript user #------------------------------------------------------- proc s4readhoroffset {} { set sr [splitreply [s4ri]] - return [ expr $sr - ($sr + [splitreply [s4le]])/2.0 ] + return [ expr $sr - ($sr + [splitreply [s4le]])/2.0 ] } publish s4readhoroffset user @@ -917,18 +931,18 @@ s4ho readscript s4readhoroffset proc s4vertoffsetscript {val} { set SU [SplitReply [s4up]] set SD [SplitReply [s4lo]] - set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] - set diff [expr $val - $currentOffset] - set newD1U [expr $SU + $diff] - set newD1D [expr $SD - $diff] - return "s4up=$newD1U,s4lo=$newD1D" + set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] + set diff [expr $val - $currentOffset] + set newD1U [expr $SU + $diff] + set newD1D [expr $SD - $diff] + return "s4up=$newD1U,s4lo=$newD1D" } publish s4vertoffsetscript user #------------------------------------------------------- proc s4readvertoffset {} { set SU [SplitReply [s4up]] - return [ expr $SU - ($SU + [SplitReply [s4lo]])/2.0 ] + return [ expr $SU - ($SU + [SplitReply [s4lo]])/2.0 ] } publish s4readvertoffset user