From 7959d78fd13beb30aa8cee0a72f25a9098d1c1aa Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Fri, 27 Apr 2012 14:40:00 +1000
Subject: [PATCH] WIP: another pass at the Pelican motor configuration r3539 |
 dcl | 2012-04-27 14:40:00 +1000 (Fri, 27 Apr 2012) | 1 line

---
 .../config/motors/motor_configuration.tcl     | 347 +++++++++---------
 1 file changed, 180 insertions(+), 167 deletions(-)

diff --git a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
index 667cae72..89bec06f 100644
--- a/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/pelican/config/motors/motor_configuration.tcl
@@ -1,9 +1,6 @@
 # Author: Jing Chen (jgn@ansto.gov.au)
 # All Motors are 25000 steps per motor revolution
 
-# SET TO 1 TO USE THE TILT STAGE ie sample phi and chi
-set use_tiltstage 0
-
 set animal pelican
 set sim_mode [SplitReply [motor_simulation]]
 
@@ -30,29 +27,29 @@ if {$sim_mode == "true"} {
   set motor_driver_type asim
 } else {
   set motor_driver_type DMC2280
-#  MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
-#  MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
+  MakeAsyncQueue mc1 DMC2280 $dmc2280_controller1(host) $dmc2280_controller1(port)
+  MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
   MakeAsyncQueue mc3 DMC2280 $dmc2280_controller3(host) $dmc2280_controller3(port)
   MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
-#  MakeAsyncQueue mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port)
+  MakeAsyncQueue mc6 DMC2280 $dmc2280_controller6(host) $dmc2280_controller6(port)
 }
 
 
 #Measured absolute encoder reading at home position
 set dummy_Home    0
 
-set ftz_Home      32096132
-set ptz_Home      1242083
+set ptz_Home      32096132
+set ftz_Home      1242083
 set pom_Home      34677
 set stth_Home     152965
 set mtth_Home     24409175
 
-set sv1_Home      0 
-set sh1_Home      0
-set sv2_Home      0
-set sh2_Home      0
-set gom_Home      0
-set scor_Home     0
+set sv1_Home      33431185
+set sh1_Home      33414
+set sv2_Home      33357369
+set sh2_Home      33505668
+set gom_Home      373521
+set scor_Home     20193638
 
 # AND abs Encoder Reading with FFF to get the lowest 12 bits only
 #set mra_Home      4286
@@ -74,9 +71,10 @@ set mx_Home       8390604
 set my_Home       8391084 
 set mom_Home      8389414
 
-set rco_Home      0
-set rcz_Home      0
-set bsr_Home      0
+set rco_Home      33531098
+# TODO get real values from Dan
+set rcz_Home      33141607
+set bsr_Home      1192516
 set gv1_Home      0
 set gv2_Home      0
 
@@ -125,29 +123,26 @@ Motor ptz $motor_driver_type [params \
   port pmc1-pelican\
   axis B\
   units mm\
-  hardlowerlim 0\
-  hardupperlim 500\
+  hardlowerlim -264\
+  hardupperlim 187\
   maxSpeed [expr { 300000.0 / $ptzStepRate }]\
   maxAccel [expr { 150000.0 / $ptzStepRate }]\
   maxDecel [expr { 150000.0 / $ptzStepRate }]\
-  stepsPerX $ptzStepRate\
+  stepsPerX -$ptzStepRate\
   absEnc 1\
   absEncHome $ptz_Home\
-  cntsPerX 4096\
-  posit_count 5]
+  cntsPerX -[expr { 8192.0 / 2.0 }]\
+  posit_count 3]
 ptz part crystal
 ptz long_name ptz
-ptz softlowerlim 0
-ptz softupperlim 500
+ptz softlowerlim -264
+ptz softupperlim 187
 ptz home 0
 # 1:RevLimit, 2:Coll, 3:Open, 4:Polarizer, 5:FwdLim
-ptz posit_1 31327313
-ptz posit_2 31408274
-ptz_posit_3 32096132
-ptz posit_4 33171650
-ptz posit_5 33179305
+ptz posit_1 31408274
+ptz posit_2 32096132
+ptz posit_3 33171650
 
-#if $use_tiltstage {
 # mc1: Beryllium / Graphite filter  shared - Z translation slide
 # Moto: 100:1 gear, 2mm pitch
 set ftzStepRate [expr { 25000 * 100 / 2.0 }]
@@ -158,27 +153,25 @@ Motor ftz $motor_driver_type [params \
   port pmc1-pelican\
   axis C\
   units mm\
-  hardlowerlim 0\
-  hardupperlim 500\
+  hardlowerlim -280\
+  hardupperlim 160\
   maxSpeed [expr { 300000.0 / $ftzStepRate }]\
   maxAccel [expr { 150000.0 / $ftzStepRate }]\
   maxDecel [expr { 150000.0 / $ftzStepRate }]\
-  stepsPerX $ftzStepRate\
+  stepsPerX -$ftzStepRate\
   absEnc 1\
   absEncHome $ftz_Home\
-  cntsPerX 4096\
-  posit_count 5]
+  cntsPerX -[expr { 8192.0 / 2.0 }]\
+  posit_count 3]
 ftz part crystal
 ftz long_name ftz
-ftz softlowerlim 0
-ftz softupperlim 500
+ftz softlowerlim -280
+ftz softupperlim 160
 ftz home 0
 # 1:RevLimit, 2:PG, 3:Open, 4:Be, 5:FwdLim
-ptz posit_1 590458
-ptz posit_2 590157
-ptz_posit_3 1242083
-ptz posit_4 2348104
-ptz posit_5 2426769
+ftz posit_1 590157
+ftz posit_2 1242083
+ftz posit_3 2348104
 
 # mc1: Polariser (& Spin Flipper) - Rotation + - 2 deg about polariser (i.e, The Elbow)
 set pomStepRate [expr { 1176 * 25000 }]
@@ -206,7 +199,7 @@ pom home 0
 
 # mc1: Sample/Detector Chamber Rotation (Detector)
 #set stthStepRate 66807.314
-set stthStepRate [expr { 25000 * 100.0 * (3800.0 / 395.0) / 360.0) }]
+set stthStepRate [expr { 25000 * 100.0 * (3800.0 / 395.0) / 360.0 }]
 
 Motor stth $motor_driver_type [params \
   asyncqueue mc1\
@@ -222,7 +215,7 @@ Motor stth $motor_driver_type [params \
   stepsPerX $stthStepRate\
   absEnc 1\
   absEncHome $stth_Home\
-  cntsPerX [expr { -8192.0 / 360.0 }]]
+  cntsPerX -[expr { 8192.0 / 360.0 }]]
 stth part detector
 stth long_name stth
 stth softlowerlim -60
@@ -263,129 +256,129 @@ mtth home 90
 # 
 
 # mc2: Slits Set AB1- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
-set sv1StepRate 25000
+set sv1StepRate [expr { 25000 / 0.635 / 2.0 }]
 
-#Motor sv1 $motor_driver_type [params \
+Motor sv1 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
   axis A\
   units mm\
-  hardlowerlim -2\
-  hardupperlim 60\
+  hardlowerlim -0.2\
+  hardupperlim 116\
   maxSpeed [expr 25000.0/$sv1StepRate]\
   maxAccel [expr 25000.0/$sv1StepRate]\
   maxDecel [expr 25000.0/$sv1StepRate]\
-  stepsPerX $sv1StepRate\
+  stepsPerX -$sv1StepRate\
   absEnc 1\
   absEncHome $sv1_Home\
-  cntsPerX 4096]
-#sv1 part aperture
-#sv1 long_name sv1
-#sv1 softlowerlim -2
-#sv1 softupperlim 60
-#sv1 home 0
+  cntsPerX [expr { 1024.0 / 0.635 / 2.0 }]]
+sv1 part aperture
+sv1 long_name sv1
+sv1 softlowerlim -0.2
+sv1 softupperlim 116
+sv1 home 0
 
 # mc2: Slits Set AB2- (After Beryllium Filter) (2 blades and 1 Motor & Encoder set)
-set sh1StepRate 25000
+set sh1StepRate [expr { 25000 / 0.635 / 2.0 }]
 
-#Motor sh1 $motor_driver_type [params \
+Motor sh1 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
   axis B\
   units mm\
-  hardlowerlim -2\
-  hardupperlim 50\
+  hardlowerlim -3\
+  hardupperlim 90\
   maxSpeed [expr 25000.0/$sh1StepRate]\
   maxAccel [expr 25000.0/$sh1StepRate]\
   maxDecel [expr 25000.0/$sh1StepRate]\
-  stepsPerX $sh1StepRate\
+  stepsPerX -$sh1StepRate\
   absEnc 1\
   absEncHome $sh1_Home\
-  cntsPerX 4096]
-#sh1 part aperture
-#sh1 long_name sh1
-#sh1 softlowerlim -2
-#sh1 softupperlim 50
-#sh1 home 0
+  cntsPerX [expr { 1024.0 / 0.635 / 2.0 }]]
+sh1 part aperture
+sh1 long_name sh1
+sh1 softlowerlim -3
+sh1 softupperlim 90
+sh1 home 0
 
 # mc2: Slits Set AF1- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
-set sv2StepRate 25000
+set sv2StepRate [expr { 25000 / 0.635 / 2.0 }]
 
-#Motor sv2 $motor_driver_type [params \
+Motor sv2 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
   axis C\
   units mm\
   hardlowerlim -2\
-  hardupperlim 40\
+  hardupperlim 80\
   maxSpeed [expr 25000.0/$sv2StepRate]\
   maxAccel [expr 25000.0/$sv2StepRate]\
   maxDecel [expr 25000.0/$sv2StepRate]\
   stepsPerX $sv2StepRate\
   absEnc 1\
   absEncHome $sv2_Home\
-  cntsPerX 4096]
-#sv2 part aperture
-#sv2 long_name sv2
-#sv2 softlowerlim -2
-#sv2 softupperlim 40
-#sv2 home 0
+  cntsPerX [expr { 1024.0 / 0.635 / 2.0 }]]
+sv2 part aperture
+sv2 long_name sv2
+sv2 softlowerlim -2
+sv2 softupperlim 80
+sv2 home 0
 
 # mc2: Slits Set AF2- (After Fermi Chopper) (2 blades and 1 Motor & Encoder set)
-set sh2StepRate 25000
+set sh2StepRate [expr { 25000 / 0.635 / 2.0 }]
 
-#Motor sh2 $motor_driver_type [params \
+Motor sh2 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
   axis D\
   units mm\
-  hardlowerlim -2\
-  hardupperlim 30\
+  hardlowerlim -0.5\
+  hardupperlim 50\
   maxSpeed [expr 25000.0/$sh2StepRate]\
   maxAccel [expr 25000.0/$sh2StepRate]\
   maxDecel [expr 25000.0/$sh2StepRate]\
-  stepsPerX $sh2StepRate\
+  stepsPerX -$sh2StepRate\
   absEnc 1\
   absEncHome $sh2_Home\
-  cntsPerX 4096]
-#sh2 part aperture
-#sh2 long_name sh2
-#sh2 softlowerlim -2
-#sh2 softupperlim 30
-#sh2 home 0
+  cntsPerX [expr { 1024.0 / 0.635 / 2.0 }]]
+sh2 part aperture
+sh2 long_name sh2
+sh2 softlowerlim -0.5
+sh2 softupperlim 50
+sh2 home 0
 
 # mc2: Graphite filter rotation stage (post 1st slit and post 1st Fermi chopper)
-set gomStepRate 25000
+set gomStepRate [expr { 25000.0 / 2.0 }]
 
-#Motor gom $motor_driver_type [params \
+Motor gom $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
   axis E\
   units degrees\
-  hardlowerlim 0\
+  hardlowerlim -15\
   hardupperlim 15\
-  maxSpeed [expr 50000.0/$gomStepRate]\
+  maxSpeed [expr 25000.0/$gomStepRate]\
   maxAccel [expr 25000.0/$gomStepRate]\
   maxDecel [expr 25000.0/$gomStepRate]\
   stepsPerX $gomStepRate\
   absEnc 1\
   absEncHome $gom_Home\
-  cntsPerX 4096]
-#gom part sample
-#gom long_name gom
-#gom softlowerlim 0
-#gom softupperlim 15
-#gom home 0
+  cntsPerX [expr { 8192.0 / 2.0 }]]
+gom part sample
+gom long_name gom
+gom softlowerlim -15
+gom softupperlim 15
+gom home 0
 
 # mc2: Sample rotation correction - 10 deg rotation
-set scorStepRate 25000
+set scorStepRate [expr { 25000.0 * 100.0 / 360.0 }]
 
-#Motor scor $motor_driver_type [params \
+Motor scor $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-pelican\
   port pmc2-pelican\
@@ -393,18 +386,18 @@ set scorStepRate 25000
   units degrees\
   hardlowerlim 0\
   hardupperlim 360\
-  maxSpeed [expr 50000.0/$scorStepRate]\
+  maxSpeed [expr 25000.0/$scorStepRate]\
   maxAccel [expr 25000.0/$scorStepRate]\
   maxDecel [expr 25000.0/$scorStepRate]\
   stepsPerX $scorStepRate\
   absEnc 1\
   absEncHome $scor_Home\
-  cntsPerX 4096]
-#scor part sample
-#scor long_name scor
-#scor softlowerlim 0
-#scor softupperlim 360
-#scor home 0
+  cntsPerX -[expr { 8192.0 * 100.0 / 360.0 }]]
+scor part sample
+scor long_name scor
+scor softlowerlim 0
+scor softupperlim 360
+scor home 0
 
 ############################
 # Motor Controller 3
@@ -742,118 +735,138 @@ mom home 0
 # 
 
 # mc6: Radial Collimator -- Oscillator
-#Motor rco $motor_driver_type [params \
+set rcoStepRate [expr { (1200.26 / 60.0) * (25000.0 / 360.0) * 49.0 }]
+
+Motor rco $motor_driver_type [params \
   asyncqueue mc6\
   host mc6-pelican\
   port pmc6-pelican\
   axis A\
   units mm\
   hardlowerlim 0\
-  hardupperlim 180\
-  maxSpeed 50000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
+  hardupperlim 0\
+  maxSpeed [expr { 5000.0 / $rcoStepRate }]\
+  maxAccel [expr { 5000.0 / $rcoStepRate }]\
+  maxDecel [expr { 5000.0 / $rcoStepRate }]\
+  stepsPerX $rcoStepRate\
   absEnc 1\
   absEncHome $rco_Home\
-  cntsPerX 4096]
-#rco part collimator
-#rco long_name rco
-#rco softlowerlim 0
-#rco softupperlim 180
-#rco home 0
+  cntsPerX [expr { (1200.26 / 60.0) * (8192.0 / 360.0) }]]
+rco part collimator
+rco long_name rco
+rco softlowerlim 0
+rco softupperlim 0
+rco home 0
+# fix this motor
+rco fixed 1
 
 # mc6: Radial Collimator -- Z Translation
-#Motor rcz $motor_driver_type [params \
+set rczStepRate [expr { 25000.0 * 100.0 / 10.0 }]
+
+Motor rcz $motor_driver_type [params \
   asyncqueue mc6\
   host mc6-pelican\
   port pmc6-pelican\
   axis B\
   units mm\
   hardlowerlim 0\
-  hardupperlim 180\
-  maxSpeed 50000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
+  hardupperlim 450\
+  maxSpeed [expr { 250000 / $rczStepRate }]\
+  maxAccel [expr { 100000 / $rczStepRate }]\
+  maxDecel [expr { 100000 / $rczStepRate }]\
+  stepsPerX $rczStepRate\
   absEnc 1\
   absEncHome $rcz_Home\
-  cntsPerX 4096]
-#rcz part collimator
-#rcz long_name rcz
-#rcz softlowerlim 0
-#rcz softupperlim 180
-#rcz home 0
+  cntsPerX [expr { 8192.0 / 10.0 }]]
+rcz part collimator
+rcz long_name rcz
+rcz softlowerlim 0
+rcz softupperlim 450
+rcz home 0
+# fix this motor
+rcz fixed 1
 
 # mc6: Beam Stop Stage - Rotation
-#Motor bsr $motor_driver_type [params \
+set bsrStepRate [expr { 25000.0 / 2.0 }]
+
+Motor bsr $motor_driver_type [params \
   asyncqueue mc6\
   host mc6-pelican\
   port pmc6-pelican\
   axis C\
   units degrees\
-  hardlowerlim 0\
+  hardlowerlim -150\
   hardupperlim 180\
-  maxSpeed 50000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
+  maxSpeed [expr { 25000.0 / $bsrStepRate }]\
+  maxAccel [expr { 25000.0 / $bsrStepRate }]\
+  maxDecel [expr { 25000.0 / $bsrStepRate }]\
+  stepsPerX $bsrStepRate\
   absEnc 1\
   absEncHome $bsr_Home\
-  cntsPerX 4096]
-#bsr part sample
-#bsr long_name bsr
-#bsr softlowerlim 0
-#bsr softupperlim 180
-#bsr home 0
+  cntsPerX [expr { 8192.0 / 2.0 }]]
+bsr part sample
+bsr long_name bsr
+bsr softlowerlim -150
+bsr softupperlim 180
+bsr home 0
+# fix this motor
+bsr fixed 1
 
 # mc6: Isolation Vaue -- Axis 1,  currently this Axis is set to read ONLY to read the encoder
-#Motor gv1 $motor_driver_type [params \
+Motor gv1 $motor_driver_type [params \
   asyncqueue mc6\
   host mc6-pelican\
   port pmc6-pelican\
   axis E\
   units degrees\
   hardlowerlim 0\
-  hardupperlim 180\
-  maxSpeed 50000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
+  hardupperlim 0\
+  maxSpeed 0\
+  maxAccel 0\
+  maxDecel 0\
+  stepsPerX 1\
   absEnc 1\
   absEncHome $gv1_Home\
-  cntsPerX 4096]
-#gv1 part sample
-#gv1 long_name gv1
-#gv1 softlowerlim 0
-#gv1 softupperlim 180
-#gv1 home 0
+  cntsPerX 1\
+  posit_count 2]
+gv1 part sample
+gv1 long_name gv1
+gv1 softlowerlim 0
+gv1 softupperlim 180
+gv1 home 0
+# 1:open, 2:closed
+gv1 posit_1 33468000
+gv1 posit_2 33221600
 # fix the motor
-#gv1 fixed -1
+gv1 fixed 1
 
 # mc6: Isolation Vaue -- Axis 2,  currently this Axis is set to read ONLY to read the encoder
-#Motor gv2 $motor_driver_type [params \
+Motor gv2 $motor_driver_type [params \
   asyncqueue mc6\
   host mc6-pelican\
   port pmc6-pelican\
   axis F\
   units degrees\
   hardlowerlim 0\
-  hardupperlim 180\
-  maxSpeed 30000\
-  maxAccel 60000\
-  maxDecel 60000\
-  stepsPerX 4096\
+  hardupperlim 0\
+  maxSpeed 0\
+  maxAccel 0\
+  maxDecel 0\
+  stepsPerX 1\
   absEnc 1\
   absEncHome $gv2_Home\
-  cntsPerX 4096]
-#gv2 part sample
-#gv2 long_name gv2
-#gv2 softlowerlim 0
-#gv2 softupperlim 180
-#gv2 home 0
+  cntsPerX 1\
+  posit_count 2]
+gv2 part sample
+gv2 long_name gv2
+gv2 softlowerlim 0
+gv2 softupperlim 0
+gv2 home 0
+# 1:open, 2:closed
+gv2 posit_1 33549541
+gv2 posit_2 33549541
 # fix the motor
-#gv2 fixed -1
+gv2 fixed 1
 
 proc motor_set_sobj_attributes {} {
 }