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M2 for wedge control, analyzers unbiased

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Use Dan's computed values for M2 and make steps=counts for the wedge control
Make analyzer motors use unbiased absolute encoder values
r3506 | dcl | 2012-03-29 12:35:12 +1100 (Thu, 29 Mar 2012) | 4 lines
This commit is contained in:
Douglas Clowes
2012-03-29 12:35:12 +11:00
parent 810788577b
commit 872e852215
1 changed files with 16 additions and 14 deletions
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30
site_ansto/instrument/tas/config/motors/motor_configuration.tcl
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@@ -181,6 +181,12 @@ mtrans softupperlim 195
mtrans home 0.0
# mc1: Fight Tube Rotate
# stepsPerX was 120000 for motor, -150 for encoder
# these values come from dan's calculated values in the Galil controller
set m2_cntsPerX [expr -1.0 / 0.006696]
set m2_stepsPerX [expr 25000 * $m2_cntsPerX / -30.92]
# now set stepsPerX same as cntsPerX for Dan's
set m2_stepsPerX $m2_cntsPerX
Motor m2 $motor_driver_type [params \
asyncqueue mc1\
host mc1-taipan\
@@ -192,10 +198,10 @@ Motor m2 $motor_driver_type [params \
maxSpeed 1\
maxAccel 0.1\
maxDecel 0.1\
stepsPerX 120000\
stepsPerX $m2_stepsPerX\
absEnc 1\
absEncHome 188182\
cntsPerX -150]
cntsPerX $m2_cntsPerX]
m2 part crystal
m2 long_name m2
m2 softlowerlim 17
@@ -385,9 +391,7 @@ Motor ahfocus $motor_driver_type [params \
maxDecel 10\
stepsPerX [expr 25000.0 / 360.0]\
absEnc 1\
absEncHome 100\
bias_bits 13\
bias_bias 2570\
absEncHome 8475494\
cntsPerX [expr 8192.0/360.0]]
ahfocus part crystal
ahfocus long_name ahfocus
@@ -411,12 +415,10 @@ Motor avfocus $motor_driver_type [params \
maxSpeed 10\
maxAccel 10\
maxDecel 10\
stepsPerX [expr 25000.0 / 360.0]\
stepsPerX [expr -25000.0 / 360.0]\
absEnc 1\
absEncHome 100\
bias_bits 13\
bias_bias 5693\
cntsPerX [expr 8192.0 / 360.0]]
absEncHome 15936344\
cntsPerX [expr -8192.0 / 360.0]]
avfocus part crystal
avfocus long_name avfocus
avfocus softlowerlim 0
@@ -825,10 +827,10 @@ proc motor_set_sobj_attributes {} {
}
# Make virtual gap and offset motors for slits
make_gap_motors ss1vg gap ss1vo offset pa_top pa_bottom mm slits
make_gap_motors ss1hg gap ss1ho offset pa_left pa_right mm slits
make_gap_motors ss2vg gap ss2vo offset ps_top ps_bottom mm slits
make_gap_motors ss2hg gap ss2ho offset ps_left ps_right mm slits
make_gap_motors ss1vg gap ss1vo offset pa_top pa_bottom mm analyzer/vertical
make_gap_motors ss1hg gap ss1ho offset pa_left pa_right mm analyzer/horizontal
make_gap_motors ss2vg gap ss2vo offset ps_top ps_bottom mm sample/vertical
make_gap_motors ss2hg gap ss2ho offset ps_left ps_right mm sample/horizontal
# END MOTOR CONFIGURATION