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Further refinement and alignment with HRPD

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r1370 | dcl | 2006-12-13 08:03:10 +1100 (Wed, 13 Dec 2006) | 2 lines
This commit is contained in:
Douglas Clowes
2006-12-13 08:03:10 +11:00
parent e1abaad64d
commit 73ce5c4d58
1 changed files with 166 additions and 98 deletions
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264
site_ansto/instrument/hipd/motor_configuration.tcl
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@@ -1,3 +1,10 @@
# $Revision: 1.4 $
# $Date: 2006-12-12 21:03:10 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: dcl $
# START MOTOR CONFIGURATION
# Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller1(host) mc1-wombat
set dmc2280_controller1(port) pmc1-wombat
@@ -21,6 +28,14 @@ set dmc2280_controller4(port) pmc4-wombat
# dmc_close dmc2280_controller4
#}
############################
# Motor Controller 1
# Motor Controller 1
# Motor Controller 1
############################
#:TP at HOME
#
# Monochromator phi, Tilt 1, upper
Motor mphi DMC2280 [params \
host $dmc2280_controller1(host)\
@@ -36,7 +51,7 @@ Motor mphi DMC2280 [params \
cntsPerX -8192]
setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
mphi speed 1
mphi precision 0.001
mphi precision 0.01
# Monochromator chi, Tilt 2, lower
Motor mchi DMC2280 [params \
@@ -51,9 +66,9 @@ Motor mchi DMC2280 [params \
absEnc 1\
absEncHome 7818915\
cntsPerX 8192]
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
mchi speed 1
mchi precision 0.001
mchi precision 0.01
# Monochromator Trans 1, upper
Motor my DMC2280 [params \
@@ -81,10 +96,10 @@ Motor mx DMC2280 [params \
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
stepsPerX -25000\
absEnc 1\
absEncHome 7562793\
cntsPerX 8192]
cntsPerX -8192]
setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
mx speed 1
mx precision 0.01
@@ -101,7 +116,7 @@ Motor mom DMC2280 [params \
stepsPerX -12500\
absEnc 1\
absEncHome 17694127\
cntsPerX -8192]
cntsPerX -4096]
setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
mom speed 1
mom precision 0.01
@@ -115,20 +130,31 @@ Motor mtth DMC2280 [params \
maxSpeed 0.5\
maxAccel 0.2\
maxDecel 0.2\
stepsPerX 25000\
stepsPerX [expr 25000*18]\
absEnc 1\
absEncHome 10299428\
cntsPerX 93207]
mtth hardlowerlim 85
mtth hardupperlim 155
mtth softlowerlim 85
mtth softupperlim 155
mtth home 120
mtth hardlowerlim 86
mtth hardupperlim 137
mtth softlowerlim 86
mtth softupperlim 137
mtth home 90
mtth speed 0.5
mtth precision 0.01
mtth accel 0.01
mtth decel 0.01
mtth precision 0.02
mtth maxretry 10
mtth failafter 10
############################
# Motor Controller 2
# Motor Controller 2
# Motor Controller 2
############################
#:TP at HOME
#
# Sample Tilt 1, upper
# Sample Tilt 1, upper, phi
Motor sphi DMC2280 [params \
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
@@ -137,15 +163,15 @@ Motor sphi DMC2280 [params \
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
stepsPerX -25000\
absEnc 1\
absEncHome 7934290\
cntsPerX 8192]
cntsPerX -8192]
setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
sphi speed 1
sphi precision 0.01
# Sample Tilt 2, lower
# Sample Tilt 2, lower, chi
Motor schi DMC2280 [params \
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
@@ -162,7 +188,7 @@ setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
schi speed 1
schi precision 0.01
# Sample Trans 1 (upper)
# Sample Trans 1, upper, y
Motor sy DMC2280 [params \
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
@@ -175,11 +201,11 @@ Motor sy DMC2280 [params \
absEnc 1\
absEncHome 7562793\
cntsPerX 8192]
setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
sy speed 1
sy precision 0.01
# Sample Trans2 (lower)
# Sample Trans2, lower, x
Motor sx DMC2280 [params \
host $dmc2280_controller2(host)\
port $dmc2280_controller2(port)\
@@ -188,11 +214,11 @@ Motor sx DMC2280 [params \
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX 25000\
stepsPerX -25000\
absEnc 1\
absEncHome 7562793\
cntsPerX 8192]
setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
cntsPerX -8192]
setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
sx speed 1
sx precision 0.01
@@ -205,10 +231,10 @@ Motor som DMC2280 [params \
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -12500\
stepsPerX 12500\
absEnc 1\
absEncHome 17694127\
cntsPerX -8192]
cntsPerX 4096]
setHomeandRange -motor som -home 0 -lowrange 180 -uprange 180
som speed 1
som precision 0.01
@@ -219,31 +245,41 @@ Motor stth DMC2280 [params \
port $dmc2280_controller2(port)\
axis F\
units degrees\
maxSpeed 0.2\
maxSpeed 0.5\
maxAccel 0.2\
maxDecel 0.2\
stepsPerX 125000\
absEnc 1\
absEncHome 6559259\
cntsPerX 93207]
stth hardlowerlim 85
stth hardupperlim 155
stth softlowerlim 85
stth softupperlim 155
stth home 87.635
stth hardlowerlim -60
stth hardupperlim 60
stth softlowerlim -60
stth softupperlim 60
stth home 0
stth speed 0.5
stth precision 0.01
#Default upper and lower ranges for vertical slits
set vertSlitLowRange 25
set vertSlitUpRange 95
set vertSlitLowRange 20
set vertSlitUpRange 100
#Default upper and lower ranges for horizontal slits
set horSlitLowRange 20
set horSlitUpRange 25
set horSlitLowRange 15
set horSlitUpRange 35
# Monochromator radius, focus
#Motor mr DMC2280 [params \
#Measured or computed slit motor steps per millimetre
set slitStepRate 20180
############################
# Motor Controller 3
# Motor Controller 3
# Motor Controller 3
############################
#
# Monochromator Focusing (HOPG)
#Motor mf1 DMC2280 [params \
# host $dmc2280_controller3(host)\
# port $dmc2280_controller3(port)\
# axis A\
@@ -255,35 +291,55 @@ set horSlitUpRange 25
# absEnc 1\
# absEncHome xxxx\
# cntsPerX xxxx]
#setHomeandRange -motor mr -home 0 -lowrange 0 -uprange 360
#mr speed 1
#mr precision 0.01
#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
#mf1 speed 1
#mf1 precision 0.01
Motor ss1u DMC2280 [params \
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis E\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -20125\
motorHome 2040518]
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
Motor ss1d 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 ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
# Monochromator Focusing (Ge)
#Motor mf2 DMC2280 [params \
# host $dmc2280_controller3(host)\
# port $dmc2280_controller3(port)\
# axis B\
# units degrees\
# maxSpeed xxxx\
# maxAccel xxxx\
# maxDecel xxxx\
# stepsPerX xxxx\
# absEnc 1\
# absEncHome xxxx\
# cntsPerX xxxx]
#setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 360
#mf2 speed 1
#mf2 precision 0.01
# Slit 1, right
Motor ss1r DMC2280 [params \
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis E\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 54.5/2*$slitStepRate]]
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
# Slit 1, left
Motor ss1l DMC2280 [params \
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis F\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -$slitStepRate\
motorHome [expr 54.5/2*$slitStepRate]]
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
# Slit 1, up
Motor ss1u DMC2280 [params \
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis G\
@@ -291,11 +347,12 @@ Motor ss1r DMC2280 [params \
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -20125\
motorHome 542093]
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
stepsPerX -$slitStepRate\
motorHome [expr 207.5/2*$slitStepRate]]
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
Motor ss1l DMC2280 [params \
# Slit 1, down
Motor ss1d DMC2280 [params \
host $dmc2280_controller3(host)\
port $dmc2280_controller3(port)\
axis H\
@@ -303,11 +360,19 @@ Motor ss1l DMC2280 [params \
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -20125\
motorHome 542093]
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
stepsPerX -$slitStepRate\
motorHome [expr 207.5/2*$slitStepRate]]
setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
Motor ss2u DMC2280 [params \
############################
# Motor Controller 4
# Motor Controller 4
# Motor Controller 4
############################
#
# Slit 2, right
Motor ss2r DMC2280 [params \
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis E\
@@ -315,11 +380,12 @@ Motor ss2u DMC2280 [params \
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -20125\
motorHome 2043085]
setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
stepsPerX -$slitStepRate\
motorHome [expr 52.25/2*$slitStepRate]]
setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
Motor ss2d DMC2280 [params \
# Slit 2, left
Motor ss2l DMC2280 [params \
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis F\
@@ -327,11 +393,12 @@ Motor ss2d DMC2280 [params \
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -20125\
motorHome 2043085]
setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
stepsPerX -$slitStepRate\
motorHome [expr 52.25/2*$slitStepRate]]
setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
Motor ss2r DMC2280 [params \
# Slit 2, up
Motor ss2u DMC2280 [params \
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis G\
@@ -339,11 +406,12 @@ Motor ss2r DMC2280 [params \
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -20125\
motorHome 500000]
setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
stepsPerX -$slitStepRate\
motorHome [expr 204.1/2*$slitStepRate]]
setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
Motor ss2l DMC2280 [params \
# Slit 2, down
Motor ss2d DMC2280 [params \
host $dmc2280_controller4(host)\
port $dmc2280_controller4(port)\
axis H\
@@ -351,9 +419,9 @@ Motor ss2l DMC2280 [params \
maxSpeed 1\
maxAccel 1\
maxDecel 1\
stepsPerX -20125\
motorHome 500000]
setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
stepsPerX -$slitStepRate\
motorHome [expr 204.1/2*$slitStepRate]]
setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
@@ -383,7 +451,7 @@ publish ss1widthscript user
#-------------------------------------------------------
proc ss1readwidth {} {
return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
}
publish ss1readwidth user
MakeConfigurableMotor ss1hg
@@ -394,7 +462,7 @@ ss1hg readscript ss1readwidth
proc ss1horoffsetscript {val} {
set SR [SplitReply [ss1r]]
set SL [SplitReply [ss1l]]
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
set diff [expr $val - $currentOffset]
set newD1R [expr $SR + $diff]
set newD1L [expr $SL - $diff]
@@ -405,7 +473,7 @@ publish ss1horoffsetscript user
#-------------------------------------------------------
proc ss1readhoroffset {} {
set SR [SplitReply [ss1r]]
return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
}
publish ss1readhoroffset user
@@ -426,7 +494,7 @@ publish ss1heightscript user
#-------------------------------------------------------
proc ss1readheight {} {
return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
}
publish ss1readheight user
@@ -439,7 +507,7 @@ ss1vg readscript ss1readheight
proc ss1vertoffsetscript {val} {
set SU [SplitReply [ss1u]]
set SD [SplitReply [ss1d]]
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
set diff [expr $val - $currentOffset]
set newD1U [expr $SU + $diff]
set newD1D [expr $SD - $diff]
@@ -450,7 +518,7 @@ publish ss1vertoffsetscript user
#-------------------------------------------------------
proc ss1readvertoffset {} {
set SU [SplitReply [ss1u]]
return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
}
publish ss1readvertoffset user
@@ -473,7 +541,7 @@ publish ss2widthscript user
#-------------------------------------------------------
proc ss2readwidth {} {
return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
}
publish ss2readwidth user
MakeConfigurableMotor ss2hg
@@ -484,7 +552,7 @@ ss2hg readscript ss2readwidth
proc ss2horoffsetscript {val} {
set SR [SplitReply [ss2r]]
set SL [SplitReply [ss2l]]
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
set diff [expr $val - $currentOffset]
set newD1R [expr $SR + $diff]
set newD1L [expr $SL - $diff]
@@ -495,7 +563,7 @@ publish ss2horoffsetscript user
#-------------------------------------------------------
proc ss2readhoroffset {} {
set SR [SplitReply [ss2r]]
return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
}
publish ss2readhoroffset user
@@ -516,7 +584,7 @@ publish ss2heightscript user
#-------------------------------------------------------
proc ss2readheight {} {
return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
}
publish ss2readheight user
@@ -529,7 +597,7 @@ ss2vg readscript ss2readheight
proc ss2vertoffsetscript {val} {
set SU [SplitReply [ss2u]]
set SD [SplitReply [ss2d]]
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
set diff [expr $val - $currentOffset]
set newD1U [expr $SU + $diff]
set newD1D [expr $SD - $diff]
@@ -540,7 +608,7 @@ publish ss2vertoffsetscript user
#-------------------------------------------------------
proc ss2readvertoffset {} {
set SU [SplitReply [ss2u]]
return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
}
publish ss2readvertoffset user