Merged changes made in-situ

r2768 | ffr | 2009-03-31 17:25:20 +1100 (Tue, 31 Mar 2009) | 2 lines

site_ansto/instrument/config/hmm/hmm_configuration_common_1.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.45 $
+# $Revision: 1.46 $
-# $Date: 2009-03-30 23:16:52 $
+# $Date: 2009-03-31 06:25:18 $
 # Author: Ferdi Franceschini
 # Based on the examples in the hs_test.tcl sample configuration by Mark Lesha.
 # http://gumtree.ansto.gov.au:9080/nbicms/bragg-systems/histogram-server/hs_test.tcl/view
@@ -929,7 +929,8 @@ proc CAT_TABLE {args} {
 #
 proc FAT_TABLE {args} {
   if [ catch {
-    set attributes { FRAME_FREQUENCY SIZE_PERIOD COUNT_METHOD COUNT_SIZE READ_DATA_TYPE VIEW_MAG_X VIEW_MAG_Y}
+    set attributes { FRAME_FREQUENCY SIZE_PERIOD NOS_PERIODS COUNT_METHOD COUNT_SIZE READ_DATA_TYPE VIEW_MAG_X VIEW_MAG_Y HISTO_STREAMING P7888_PLL_FREQ_CARD_X P7888_PLL_FREQ_CARD_Y P7888_CARD_MODE_X P7888_CARD_MODE_Y RAW_HISTO_XMIN RAW_HISTO_XMAX RAW_HISTO_YMIN RAW_HISTO_YMAX TEST_HISTO_1D_SIZES TEST_HISTO_2D_SIZES P7888_PLL_SYNC_METHOD }
+
     set elements {{ }}
 
     set tag FAT 

site_ansto/instrument/hipd/config/anticollider/acscript.txt

@@ -10,7 +10,7 @@
 # forbid {0 10} for sphi whenall {schi in {10 15} sx {10 11} }
 
 
-for stth forbid {20 30} when mtth in {44 45}
+for stth forbid {20 30} when mtth in {40 44.5}
 for stth forbid {-120 -100} when mtth in {99 100}
 for mtth forbid {90 100} when stth in {-120 -119}
-for mtth forbid {45 55} when stth in {29 30}
+for mtth forbid {40 44.5} when stth in {29 30}

site_ansto/instrument/hipd/config/hmm/anstohm_full_standard.xml

@@ -55,7 +55,7 @@
 			    READ_DATA_ORDER_FLIP_Y="ENABLE"
 			    VIEW_TYPE="TOTAL_HISTOGRAM_XY"
 			    VIEW_COLOUR_TABLE="RAIN"
-			    VIEW_SCALING_TYPE="LOG"
+			    VIEW_SCALING_TYPE="LINEAR"
 			    VIEW_LOG_SCALING_RANGE="2"
 			    VIEW_ROOT_SCALING_RANGE="2"
 			    VIEW_ROI_XMIN="-1"

site_ansto/instrument/hipd/config/hmm/hmm_rapid.tcl

@@ -0,0 +1,95 @@
+# Test script for multi period acquisition and saving.
+
+set nos_periods 1
+
+proc histmem_period_single { } {
+# Because bugs may not yet have been corrected in hmm_configuration_common_1.tcl,
+# apply the default settings before attempting del/clear.
+	global nos_periods
+	set nos_periods 1
+        FAT_TABLE -set NOS_PERIODS 1
+	FAT_TABLE -del NOS_PERIODS
+	BAT_TABLE -set PERIOD_INDICES { 0 } NO_BAT_ENTRIES 1 NO_BAT_PERIODS 1 NO_REPEAT_ENTRY 0 NO_REPEAT_TABLE 0 NO_EXECUTE_TABLE 0
+	BAT_TABLE -clear
+}
+Publish histmem_period_single User
+
+proc histmem_period_sequence { Np Nf } {
+# Note - sequence needs to be at least 2 periods.
+	global nos_periods
+	set nos_periods $Np
+        FAT_TABLE -set NOS_PERIODS $Np
+        BAT_TABLE -set PERIOD_INDICES { 0 1 } NO_BAT_ENTRIES $Np NO_BAT_PERIODS $Np NO_REPEAT_ENTRY $Nf NO_REPEAT_TABLE 1 NO_EXECUTE_TABLE 1
+}
+Publish histmem_period_sequence User
+
+proc histmem_save_period_sequence { } {
+	global nos_periods
+	newfile HISTOGRAM_XYT
+	for { set i 0 } { $i < $nos_periods } { incr i } {
+		hmm configure read_data_period_number $i
+		save $i
+	}
+}
+Publish histmem_save_period_sequence User
+
+proc histmem_period_strobo {Freq Bins} {
+	global nos_bins
+	set nos_bins $Bins
+	set bintime [expr int(1000000./($Freq*$Bins))]
+	histmem fsrce EXTERNAL
+	set oatstr "OAT_TABLE -set T {0 $bintime} NTC $Bins"
+#	OAT_TABLE -set T { 0 $bintime } NTC $Bins
+	eval $oatstr
+	histmem loadconf
+}
+Publish histmem_period_strobo User
+
+proc histmem_strobo_off {} {
+	histmem fsrce INTERNAL
+	OAT_TABLE -set T { 0 200000 } NTC 1
+	histmem loadconf
+}
+Publish histmem_strobo_off User
+
+
+
+proc histmem_acquire_period_sequence { Np Nf } {
+
+	newfile HISTOGRAM_XYT
+
+	histmem stop
+	histmem_period_sequence $Np $Nf
+	histmem loadconf
+	histmem start
+
+	set dlytime [ expr int( 1000 * $Nf / 50. ) ]
+#        clientput "Waiting for" $dlytime "ms..."	
+ 	after $dlytime
+
+#	clientput "tc1 reading is: " [tc1 get]
+
+        global nos_periods
+        for { set i 0 } { $i < $nos_periods } { incr i } {
+#		after $dlytime
+#		set current_period -1
+#		while { $current_period < $i } {
+#			update
+#			after 500
+#			# hmm count
+#			# hmm init 2
+#			clientput [hmm configure current_period]
+#			set current_period [lindex [split [hmm configure current_period] " "] 2]
+#			clientput "i = " $i " and the current period is " $current_period
+#		}
+
+                hmm configure read_data_period_number $i
+                save [expr $i]
+        }
+
+	clientput "Acquisition completed."
+
+}
+Publish histmem_acquire_period_sequence User
+
+

site_ansto/instrument/hipd/config/hmm/hmm_temp.tcl

@@ -0,0 +1,74 @@
+# Test script for multi period acquisition and saving.
+
+set nos_periods 1
+
+proc histmem_period_single { } {
+# Because bugs may not yet have been corrected in hmm_configuration_common_1.tcl,
+# apply the default settings before attempting del/clear.
+	global nos_periods
+	set nos_periods 1
+        FAT_TABLE -set NOS_PERIODS 1
+	FAT_TABLE -del NOS_PERIODS
+	BAT_TABLE -set PERIOD_INDICES { 0 } NO_BAT_ENTRIES 1 NO_BAT_PERIODS 1 NO_REPEAT_ENTRY 0 NO_REPEAT_TABLE 0 NO_EXECUTE_TABLE 0
+	BAT_TABLE -clear
+}
+Publish histmem_period_single User
+
+proc histmem_period_sequence { Np Nf } {
+# Note - sequence needs to be at least 2 periods.
+	global nos_periods
+	set nos_periods $Np
+        FAT_TABLE -set NOS_PERIODS $Np
+        BAT_TABLE -set PERIOD_INDICES { 0 1 } NO_BAT_ENTRIES $Np NO_BAT_PERIODS $Np NO_REPEAT_ENTRY $Nf NO_REPEAT_TABLE 1 NO_EXECUTE_TABLE 1
+}
+Publish histmem_period_sequence User
+
+proc histmem_save_period_sequence { } {
+	global nos_periods
+	newfile HISTOGRAM_XYT
+	for { set i 0 } { $i < $nos_periods } { incr i } {
+		hmm configure read_data_period_number $i
+		save $i
+	}
+}
+Publish histmem_save_period_sequence User
+
+proc histmem_acquire_period_sequence { Np Nf } {
+
+	newfile HISTOGRAM_XYT
+
+	histmem stop
+	histmem_period_sequence $Np $Nf
+	histmem loadconf
+	histmem start
+
+	set dlytime [ expr int( 1000 * $Nf / 50. ) ]
+#        clientput "Waiting for" $dlytime "ms..."	
+#	after $dlytime
+
+#	clientput "tc1 reading is: " [tc1 get]
+
+        global nos_periods
+        for { set i 0 } { $i < $nos_periods } { incr i } {
+		after $dlytime
+#		set current_period -1
+#		while { $current_period < $i } {
+#			update
+#			after 500
+#			# hmm count
+#			# hmm init 2
+#			clientput [hmm configure current_period]
+#			set current_period [lindex [split [hmm configure current_period] " "] 2]
+#			clientput "i = " $i " and the current period is " $current_period
+#		}
+
+                hmm configure read_data_period_number $i
+                save [expr $i + 1]
+        }
+
+	clientput "Acquisition completed."
+
+}
+Publish histmem_acquire_period_sequence User
+
+

site_ansto/instrument/hipd/config/motors/motor_configuration.tcl

@@ -99,8 +99,8 @@ set slit2HGroup second/horizontal
 # hnotify messages to a reasonable level
 set move_count 10
 
-#fileeval $cfPath(motors)/tilt_configuration.tcl
+fileeval $cfPath(motors)/tilt_configuration.tcl
-fileeval $cfPath(motors)/euler_configuration.tcl
+#fileeval $cfPath(motors)/euler_configuration.tcl
 ############################
 # Motor Controller 1
 # Motor Controller 1
@@ -221,7 +221,7 @@ Motor mom $motor_driver_type [params \
   axis E\
   units degrees\
   hardlowerlim -5\
-  hardupperlim 95\
+  hardupperlim 99\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -288,7 +288,7 @@ Motor som $motor_driver_type [params \
   absEnc 1\
   absEncHome $som_Home\
   cntsPerX 4096]
-setHomeandRange -motor som -home 0 -lowrange 80 -uprange 60
+setHomeandRange -motor som -home 0 -lowrange 80 -uprange 105
 som speed 1
 som precision 0.01
 som part sample
@@ -324,9 +324,9 @@ Motor oct $motor_driver_type [params \
   units degrees\
   hardlowerlim -2\
   hardupperlim 2\
-  maxSpeed 0.5\
+  maxSpeed 1.0\
-  maxAccel 0.1\
+  maxAccel 1.0\
-  maxDecel 0.1\
+  maxDecel 1.0\
   stepsPerX 56762\
   absEnc 1\
   absEncHome $oct_Home\
@@ -470,6 +470,12 @@ ss1d long_name bottom
 ############################
 #
 
+# Slit 2, right
+
+#set ss2flg true to use second slit
+set ss2flg false
+if {$ss2flg} {
+
 # Slit 2, right
 Motor ss2r $motor_driver_type [params \
   asyncqueue mc4\
@@ -545,6 +551,7 @@ ss2d home 0
 ss2d movecount $move_count
 ss2d part slits.second
 ss2d long_name bottom
+}
 
 proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
 proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
@@ -570,9 +577,10 @@ sicslist setatt sth long_name half_azimuthal_angle
 
 make_gap_motors ss1vg gap ss1vo offset ss1u ss1d mm $slit1VGroup
 make_gap_motors ss1hg gap ss1ho offset ss1r ss1l mm $slit1HGroup
-
+if {$ss2flg} {
 make_gap_motors ss2vg gap ss2vo offset ss2u ss2d mm $slit2VGroup
 make_gap_motors ss2hg gap ss2ho offset ss2r ss2l mm $slit2HGroup
+}
 
 proc motor_set_sobj_attributes {} {
 }

site_ansto/instrument/hipd/wombat_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.29 $
+# $Revision: 1.30 $
-# $Date: 2008-10-27 04:55:43 $
+# $Date: 2009-03-31 06:25:18 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -28,15 +28,17 @@ fileeval $cfPath(plc)/plc.tcl
 fileeval $cfPath(counter)/counter.tcl
 #TODO Provide method for choosing environment controller
 fileeval $cfPath(environment)/temperature/lakeshore340.tcl
+fileeval $cfPath(environment)/temperature/west400.tcl
 fileeval $cfPath(hmm)/hmm_configuration.tcl
 fileeval $cfPath(nexus)/nxscripts.tcl
 fileeval $cfPath(scan)/scan.tcl
 fileeval $cfPath(commands)/commands.tcl
 fileeval $cfPath(anticollider)/anticollider.tcl
+fileeval $cfPath(hmm)/hmm_rapid.tcl
 source gumxml.tcl
 
-#  ::environment::temperature::add_ls340 tc1 1
+::environment::temperature::add_ls340 tc1 1
-#  ::environment::temperature::add_ls340 tc2 2
+::environment::temperature::add_ls340 tc2 2
 #::environment::temperature::add_west400
 server_init
 ###########################################

site_ansto/instrument/hrpd/config/anticollider/acscript.txt

@@ -11,7 +11,8 @@
 
 
 for pcx forbid {80 130}
-for pcr forbid {-inf inf} when mom in {45 50}
+for pcr forbid {3 176} when mom in {45 50}
+#for pcr forbid {-inf inf} when mom in {45 50}
 for stth forbid {160 167} when mtth in {87 88}
 #for stth forbid {0 15} when mtth in {139.5 140.5}
 for mtth forbid {87 100} when stth in {166 167}

site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.34 $
+# $Revision: 1.35 $
-# $Date: 2009-03-30 23:16:53 $
+# $Date: 2009-03-31 06:25:19 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -169,7 +169,9 @@ Motor mchi $motor_driver_type [params \
   absEnc 1\
   absEncHome $mchi_Home\
   cntsPerX 8192]
-setHomeandRange -motor mchi -home 90 -lowrange 2 -uprange 2
+mchi 90.1
+mchi softlowerlim 88
+mchi softupperlim 92
 mchi speed 1
 mchi movecount $move_count
 mchi precision 0.01
@@ -245,7 +247,7 @@ Motor mtth $motor_driver_type [params \
   axis F\
   units degrees\
   hardlowerlim 87\
-  hardupperlim 140.2\
+  hardupperlim 155\
   maxSpeed 0.2\
   maxAccel 0.2\
   maxDecel 0.2\
@@ -257,7 +259,8 @@ Motor mtth $motor_driver_type [params \
   absEncHome $mtth_Home\
   cntsPerX -93207]
 mtth softlowerlim 87
-mtth softupperlim 140.2
+#mtth softupperlim 140.2
+mtth softupperlim 155
 mtth home 90
 mtth speed 0.2
 mtth movecount $move_count
@@ -440,8 +443,8 @@ Motor stth $motor_driver_type [params \
   axis F\
   units degrees\
   hardlowerlim -156.75\
-  hardupperlim 7.25\
+  hardupperlim 5.25\
-  maxSpeed 0.5\
+  maxSpeed 1.0\
   maxAccel 0.1\
   maxDecel 0.1\
   stepsPerX 125000\
@@ -449,7 +452,7 @@ Motor stth $motor_driver_type [params \
   absEncHome $stth_Home\
   cntsPerX -93207]
 stth softlowerlim -156.75 
-stth softupperlim 7.25
+stth softupperlim 5.25
 stth home 0
 stth speed 0.5
 stth movecount $move_count
@@ -699,6 +702,14 @@ Motor msd ASIM [params\
 msd part sample
 msd long_name mono_sample_mm
 
+Motor sc ASIM [params\
+  units mm\
+  hardlowerlim 0\
+  hardupperlim 1\
+  ]
+sc part sample
+sc long_name secondary_collimator
+
 proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
 proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
 publish mthSet user

site_ansto/instrument/hrpd/echidna_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.35 $
+# $Revision: 1.36 $
-# $Date: 2008-10-27 04:55:44 $
+# $Date: 2009-03-31 06:25:19 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -28,16 +28,19 @@ fileeval $cfPath(plc)/plc.tcl
 fileeval $cfPath(counter)/counter.tcl
 #TODO Provide method for choosing environment controller
 fileeval $cfPath(environment)/temperature/lakeshore340.tcl
+fileeval $cfPath(environment)/temperature/west400.tcl
 fileeval $cfPath(hmm)/hmm_configuration.tcl
 fileeval $cfPath(nexus)/nxscripts.tcl
 fileeval $cfPath(scan)/scan.tcl
 fileeval $cfPath(commands)/commands.tcl
 fileeval $cfPath(anticollider)/anticollider.tcl
+fileeval $cfPath(environment)/robby_configuration.tcl
 source gumxml.tcl
 
 # ::environment::temperature::add_ls340 tc1 1
 # ::environment::temperature::add_ls340 tc2 2
-# ::environment::temperature::add_west400
+ ::environment::temperature::add_west400
+# ::robot::add_robby
 server_init
 ###########################################
 # WARNING: Do not add any code below server_init, if you do SICS may fail to initialise properly.

site_ansto/instrument/reflectometer/config/commands/commands.tcl

@@ -9,13 +9,13 @@ namespace eval beam {
   command attenuator {text=in,out,osc pos} {
     switch $pos {
       "in" {
-        bat send POS=0
+        bat send oscd=0
       }
       "out" {
-        bat send POS=-1
+        bat send oscd=-1
       }
       "osc" {
-        bat send POS=1
+        bat send oscd=1
       }
       default {
         return -code error "ERROR: valid values are in, out, osc"
@@ -95,7 +95,7 @@ proc ::exp_mode::set_omega { arg } {
     }
 
   if {$arg<0} {
-    return -code error "omega must be greater than 1"
+    return -code error "omega must be greater than 0"
   }
 
   if {[catch {::exp_mode::set_guide_element $expmode} errMsg]} {
@@ -104,8 +104,8 @@ proc ::exp_mode::set_omega { arg } {
   set argrad [deg2rad $arg]	;#position in radians
 
     switch $expmode {
-      SB {
+      SB {					;#checked ARJN on 081231
-        if {[catch {::exp_mode::checkMotionAndDrive m1ro [expr $arg/2.]} errMsg]} {return -code error $errMsg}
+        if {[catch {::exp_mode::checkMotionAndDrive m1ro [expr -1.*$arg/2.]} errMsg]} {return -code error $errMsg}
 
         set d1 [expr [SplitReply [slit3_distance]] - [SplitReply [guide1_distance]]]
           set d2 [expr [SplitReply [sample_distance]] - [SplitReply [guide1_distance]]]
@@ -113,26 +113,37 @@ proc ::exp_mode::set_omega { arg } {
           set h2 [expr -1. * $d2 * tan($argrad)]
 
           if {[catch {checkMotionAndDrive st3vt $h1} errMsg]} {return -code error $errMsg}
+          if {[catch {isszst4vtsafe sz $h2} errMsg]} {return -code error $errMsg}
           if {[catch {checkMotionAndDrive sz $h2} errMsg]} {return -code error $errMsg}
       }
-      DB {
+      DB {					;#checked ARJN on 081231
-        return -code error "ERROR: set_omega not yet defined for DB"
           set temp [deg2rad 2.4]
-          set offset [expr 600*sin($temp)]
+          ;#offset is the vertical drop from the beam centre onto the middle of the second compound mirror
+          ;# each compound mirror is 600mm long
+          ;# therefore the distance between the place where the beam hits the centre of both mirrors is
+          ;# 2 * 300 * cos(1.2) = 599.868 
+          
+          ;# guide2_distance is therefore the distance from the midpoint of the second compound mirror to chopper disc 1.
+          ;# i.e. sample-> midpoint of compound mirror2 = 1546 + 300*cos3.6 = 1845.4
+          
+          set offset [expr 599.868*sin($temp)]		
           set arg 4.8		;#fixed angle
 		
           set d1 [expr [SplitReply [slit3_distance]] - [SplitReply [guide2_distance]]]
           set d2 [expr [SplitReply [sample_distance]] - [SplitReply [guide2_distance]]]
           set h1 [expr -1. * $d1 * tan($argrad) - $offset] 
-          set h2 [expr -1. * $d1 * tan($argrad) - $offset]
+          set h2 [expr -1. * $d2 * tan($argrad) - $offset]
 
           if { [catch {checkMotionAndDrive st3vt $h1} errMsg]} {return -code error $errMsg}
+          if { [catch {isszst4vtsafe sz $h2} errMsg]} {return -code error $errMsg}
           if { [catch {checkMotionAndDrive sz $h2} errMsg]} {return -code error $errMsg}
       }
       FOC {
         if { [catch {checkMotionAndDrive sth $arg} errMsg]}	{return -code error $errMsg}
+        if {[catch {checkMotionAndDrive st3vt 0} errMsg]} {return -code error $errMsg}
       }
       MT {
+        if {[catch {checkMotionAndDrive st3vt 0} errMsg]} {return -code error $errMsg}
         if { [catch {checkMotionAndDrive sth $arg} errMsg]}	{return -code error $errMsg}
       }
       default {
@@ -159,18 +170,18 @@ proc ::exp_mode::set_two_theta { arg } {
     return -code error "two_theta is less than 0"
   }
 
-  set argrad [deg2rad $arg]	;#position in radians
+  set argrad [deg2rad $arg]	;#2theta position in radians
     set omegarad [deg2rad $expomega]
 
     Clientput $expmode
     switch $expmode {
-      SB {
+      SB {	;#checked ARJN 081231
         set d1 [expr [SplitReply [slit4_distance]] - [SplitReply [sample_distance]]]
           set d2 [expr [SplitReply [slit4_distance]] - [SplitReply [guide1_distance]]]
-          set h1 [expr -1. * $d2 * tan($omegarad)]
+          set h1 [expr -1. * $d2 * tan($omegarad)]	;#distance if 2theta is zero, i.e. the direct beam
           set b  [expr $d1 / cos($omegarad)]
           set c  [expr $d1 / cos($argrad-$omegarad)]
-          set h2 [expr sqrt(pow($b,2) + pow($c,2) - 2*$b*$c*cos($argrad))]
+          set h2 [expr sqrt(pow($b,2) + pow($c,2) - 2*$b*$c*cos($argrad))]	;#cosine rule
 
           set d3 [expr [SplitReply [dy]]]
           set d4 [expr [SplitReply [dy]] + [SplitReply [sample_distance]] - [SplitReply [guide1_distance]]]
@@ -178,13 +189,14 @@ proc ::exp_mode::set_two_theta { arg } {
           set b  [expr $d3 / cos($omegarad)]
           set c  [expr $d3 / cos($argrad-$omegarad)]
           set h4 [expr sqrt(pow($b,2) + pow($c,2) - 2*$b*$c*cos($argrad))] 
-          if { [catch {checkMotionAndDrive dz [expr $h3 + $h4]} errMsg]} {return -code error $errMsg}
+          if { [catch {isszst4vtsafe st4vt [expr $h2 + $h1]} errMsg]} {return -code error $errMsg}
           if { [catch {checkMotionAndDrive st4vt [expr $h2 + $h1]} errMsg]} {return -code error $errMsg}
+          if { [catch {checkMotionAndDrive dz [expr $h3 + $h4]} errMsg]} {return -code error $errMsg}
       }
-      DB {
+      DB { ;#checked ARJN 081231
-        return -code error "ERROR: set_omega not yet defined for DB"
           set temp [deg2rad 2.4]
-          set offset [expr 600*sin($temp)]
+          set offset [expr 599.868*sin($temp)]	
+
           set expomega 4.8
           set omegarad [deg2rad $expomega]
 
@@ -201,25 +213,27 @@ proc ::exp_mode::set_two_theta { arg } {
           set b  [expr $d3 / cos($omegarad)]
           set c  [expr $d3 / cos($argrad-$omegarad)]
           set h4 [expr sqrt(pow($b,2) + pow($c,2) - 2*$b*$c*cos($argrad))] 
-          if { [catch {checkMotionAndDrive dz [expr $h3 + $h4]} errMsg]} {return -code error $errMsg}
+          if { [catch {isszst4vtsafe st4vt [expr $h2 + $h1]} errMsg]} {return -code error $errMsg}
           if { [catch {checkMotionAndDrive st4vt [expr $h2 + $h1]} errMsg]} {return -code error $errMsg}
-
+          if { [catch {checkMotionAndDrive dz [expr $h3 + $h4]} errMsg]} {return -code error $errMsg}
       }
       FOC {
         set d1 [SplitReply [dy]]
         set d2 [expr [SplitReply [slit4_distance]] - [SplitReply [sample_distance]]]
         set h1 [expr $d1 * tan($argrad)]
         set h2 [expr $d2 * tan($argrad)]
-          if { [catch {checkMotionAndDrive dz $h1} errMsg]} {return -code error $errMsg}
+        if { [catch {isszst4vtsafe st4vt $h2} errMsg]} {return -code error $errMsg}
         if { [catch {checkMotionAndDrive st4vt $h2} errMsg]} {return -code error $errMsg}
+        if { [catch {checkMotionAndDrive dz $h1} errMsg]} {return -code error $errMsg}
       }
       MT {
         set d1 [SplitReply [dy]]
         set d2 [expr [SplitReply [slit4_distance]] - [SplitReply [sample_distance]]]
         set h1 [expr $d1 * tan($argrad)]
         set h2 [expr $d2 * tan($argrad)]
-          if { [catch {checkMotionAndDrive dz $h1} errMsg]} {return -code error $errMsg}
+        if { [catch {isszst4vtsafe st4vt $h2} errMsg]} {return -code error $errMsg}
         if { [catch {checkMotionAndDrive st4vt $h2} errMsg]} {return -code error $errMsg}
+        if { [catch {checkMotionAndDrive dz $h1} errMsg]} {return -code error $errMsg}
       }
       default {
         return -code error "two_theta not defined for that mode: $expmode"
@@ -236,9 +250,14 @@ proc ::exp_mode::checkMotion { scan_variable target } {
     if {[lsearch $motor_list $scan_variable]==-1} {
       return -code error "you tried to drive a motor that doesn't exist"   
     }
+   set softzero [SplitReply [$scan_variable softzero]]
+   set absoluteTarget [expr $softzero+$target]
+
+  if { [catch {isszst4vtsafe $scan_variable $target} errMsg]} {return -code error $errMsg}
+
   if {[catch {	
-    ::scan::check_limit $scan_variable hardlowerlim $target
+      ::scan::check_limit $scan_variable hardlowerlim $absoluteTarget
-      ::scan::check_limit $scan_variable hardupperlim $target
+      ::scan::check_limit $scan_variable hardupperlim $absoluteTarget
       ::scan::check_limit $scan_variable softlowerlim $target
       ::scan::check_limit $scan_variable softupperlim $target
   }]} {
@@ -272,6 +291,34 @@ proc ::exp_mode::checkMotionAndDrive { scan_variable target } {
 }
 publish ::exp_mode::checkMotionAndDrive user
 
+proc ::exp_mode::isszst4vtsafe { scan_variable target } {
+    set szsoftzero [SplitReply [sz softzero]]
+    set st4vtsoftzero [SplitReply [st4vt softzero]]
+    set szPosition [expr [SplitReply [sz]] + $szsoftzero]
+    set st4vtPosition [expr [SplitReply [st4vt]] + $st4vtsoftzero]
+
+    set szHardUpperLim [SplitReply [sz hardupperlim]]
+
+    if { [string equal $scan_variable "sz"] || [string equal $scan_variable "st4vt"]} {
+        switch $scan_variable {
+            sz {
+                set szPosition [expr $target + $szsoftzero]
+            }
+            st4vt {
+                set st4vtPosition [expr $target + $st4vtsoftzero]
+            }
+        }        
+        set distance [expr $szHardUpperLim - $szPosition + $st4vtPosition ]
+        if { $distance < 98. } {
+            return -code error "You would have a collision between st4vt and sz if you tried to move $scan_variable to $target"
+        }
+    }
+    return -code ok
+}
+
+publish ::exp_mode::isszst4vtsafe user
+
+
 proc ::exp_mode::deg2rad { arg } {
   set pi 3.1415926535897931
     return [expr $pi * $arg / 180.]

site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl

@@ -37,8 +37,9 @@ set bz_home 8142000
 set c1ht_home 8265000
 set m1ro_home 134658
 set bat_home 8308518
-set st3vt_home 8742250
+set st3vt_home 5250496
-set st4vt_home 8806900
+#set st3vt_home 8742250 - victim of the encoder rearrangement
+set st4vt_home 5806721 
 set sth_home 23541737
 #set sphi_home 7548440 - victim of the NaN
 set sphi_home 7450470
@@ -46,7 +47,7 @@ set sx_home 8574000
 set sy_home 7500000
 set sz_home 8927484
 set dy_home 8838649
-set dz_home 7805000
+set dz_home 7788617 
 
 #Measured or computed step rate for sz (Sample Raise)
 # Motor:25000/turn, gear:1/25, screw:5mm/turn
@@ -331,7 +332,7 @@ Motor st3vt $motor_driver_type [params \
   stepsPerX 25000\
   absEnc 1\
   absEncHome $st3vt_home\
-  cntsPerX -8192]
+  cntsPerX 8192]
 st3vt part slits.$slit3VGroup
 st3vt long_name st3vt
 st3vt softlowerlim 0
@@ -355,7 +356,7 @@ Motor st4vt $motor_driver_type [params \
   stepsPerX 25000\
   absEnc 1\
   absEncHome $st4vt_home\
-  cntsPerX -8192]
+  cntsPerX 8192]
 st4vt part slits.$slit4VGroup
 st4vt long_name st4vt
 st4vt softlowerlim 0
@@ -527,7 +528,7 @@ Motor dz $motor_driver_type [params \
   cntsPerX [expr -8192.0/5.0]]
 dz part detector
 dz long_name vertical_translation
-dz softlowerlim 0
+dz softlowerlim 1
 dz softupperlim 1351
 dz home 0
 dz speed 2

site_ansto/instrument/reflectometer/config/parameters/parameters.tcl

@@ -53,9 +53,9 @@ sample_distance 5129
 sample_base 50
 slit3_distance 4808
 slit3_base 20
-guide1_distance 2979
+guide1_distance 2900.4 ;# distance measured to axis of rotation
 guide1_base 
-guide2_distance 3279
+guide2_distance 3200   ;# distance measured to midpoint of the 2nd compound mirror (i.e. closest to the sample)
 guide2_base
 slit2_distance 1895
 slit2_base 20

site_ansto/instrument/rsd/config/hmm/hmm_configuration.tcl

@@ -58,8 +58,8 @@ proc ::histogram_memory::isc_initialize {} {
     OAT_TABLE -init
     FAT_TABLE -init
 
-    detector_active_height_mm  280
+    detector_active_height_mm  300
-    detector_active_width_mm 280
+    detector_active_width_mm 300
 
     ::histogram_memory::ic_initialize
 

site_ansto/instrument/rsd/config/motors/euler_configuration.tcl

@@ -0,0 +1,79 @@
+# This must be loaded by motor_configuration.tcl
+
+#
+# Home value for Eulerian cradle
+#
+#
+set eom_Home 23329261
+set ephi_Home 6647676
+set echi_Home 8919319
+
+# Sample Tilt 1, euler omega stage -> exchange with ssw further down
+Motor eom $motor_driver_type [params \
+  asyncqueue mc4\
+  axis F\
+  units degrees\
+  hardlowerlim -390\
+  hardupperlim 390\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -25000\
+  absEnc 1\
+  absEncHome $eom_Home\
+  cntsPerX 8192]
+setHomeandRange -motor eom -home 0 -lowrange -390 -uprange 390
+eom speed 1
+eom movecount $move_count
+eom precision 0.01
+eom part sample
+eom long_name eom
+
+# Sample Tilt 2, euler chi stage -> EC1
+Motor echi $motor_driver_type [params \
+  asyncqueue mc2\
+  axis G\
+  units degrees\
+  hardlowerlim -10\
+  hardupperlim 95\
+  maxSpeed 3\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -25000\
+  absEnc 1\
+  absEncHome $echi_Home\
+  cntsPerX 8192]
+setHomeandRange -motor echi -home 0 -lowrange 10 -uprange 95
+echi softlowerlim -10
+echi softupperlim 90
+echi home 0
+echi speed 3
+echi movecount $move_count
+echi precision 0.01
+echi part sample
+echi long_name echi
+
+# Sample Tilt 2, euler phi stage -> EC2
+Motor ephi $motor_driver_type [params \
+  asyncqueue mc4\
+  axis G\
+  units degrees\
+  hardlowerlim -400\
+  hardupperlim 400\
+  maxSpeed 3\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX [expr -25000.0/2.0]\
+  absEnc 1\
+  absEncHome $ephi_Home\
+  cntsPerX [expr -8192.0/2.0]]
+setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400
+ephi softlowerlim -400
+ephi softupperlim 400
+ephi home 0
+ephi speed 3
+ephi movecount $move_count
+ephi precision 0.01
+ephi part sample
+ephi long_name ephi
+

site_ansto/instrument/rsd/config/motors/motor_configuration.tcl

@@ -5,6 +5,10 @@
 
 # START MOTOR CONFIGURATION
 
+##########################################
+# Set this to 1 to use the eulerian cradle
+set use_euler 0
+
 set animal kowari
 set sim_mode [SplitReply [motor_simulation]]
 
@@ -45,7 +49,8 @@ set mom_Home 28473827
 set mtth_Home 11701800
 #set sz_home 2147458067
 #set sz_home 2147457556
-set sz_home 2147457295
+#set sz_home 2147457295
+set sz_home 2147456656
 
 #
 # set sx_Home 8405693
@@ -56,7 +61,13 @@ set sz_home 2147457295
 #
 #set sx_Home 9065892
 #set sx_Home 9067806
-set sx_Home 9077566
+#set sx_Home 9077566
+#
+# set new value after repoistioning of encoders after cable chain installation
+# set sx_Home 9044450
+set sx_Home 9041997
+
+
 
 #set sy_Home 7230717
 # set value from 7223739 to 7224686 after cor 5.12.07
@@ -64,10 +75,20 @@ set sx_Home 9077566
 #set sy_Home 7224686
 #set sy_Home 18597074
 #set sy_Home 18782188
-set sy_Home 18773863
+#set sy_Home 18773863
+# set new value after repoistioning of encoders after cable chain installation
+# set sy_Home 18785483
+set sy_Home 18784175
+
+# swapped sx with sy after rotation of vertical stage
+set sx_pitch 4.9995324
+set sy_pitch 5.0
 
 #set som_Home 23164850
-set som_Home 25063452
+#set som_Home 25063452
+# changed from 25063452 to 25137535 on 20.11.2008
+# changed from 25137535 to 25153657 on 31.03.2009
+set som_Home 25153657
 
 #set stth_Home 28686300
 #set stth_Home 29446192
@@ -82,12 +103,11 @@ set psho_home 7576691
 #set psp_home 2040518
 #set psp_home 3479157
 #set psp_home 3783500
-#
 #set psp_home 3679100
-#
 # set home value to be equal to front limit switch 03.06.2008
-#
 set psp_home 3977689
+# set home value to be equal to front limit switch 28.01.2009, corr. to 50 mm distance to the stits front edge
+set psp_home 4084134
 
 #set psw_home 2040518
 set psw_home 7784698
@@ -98,19 +118,16 @@ set ssho_home 6877100
 #set ssp_home 2043085
 #set ssp_home 8701689
 set ssp_home 8701400
-#set ssw_home 2043085
-set ssw_home 8215625
 
 set move_count 10
 
-
+############################################
-#
+# SWAP BETWEEN EULER AND SSW CONFIGURATIONS
-# Home value for Eulerian cradle
+if $use_euler {
-#
+  fileeval $cfPath(motors)/euler_configuration.tcl
-#
+} else {
-set ephi_Home 6647676
+  fileeval $cfPath(motors)/secondary_slit_configuration.tcl
-set echi_Home 8919319
+}
-
 
 ############################
 # Motor Controller 1
@@ -301,12 +318,13 @@ Motor sz $motor_driver_type [params \
   maxSpeed 2\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX [expr -25000.0*(24.0/25.0)*50/10.840/1.0]\
+  stepsPerX [expr -25000.0*(24.0/25.0)*50/10.840/1.8]\
   absenc 1\
   absenchome $sz_home\
   cntsPerX -[expr (1<<15)/260.165]]
 setHomeandRange -motor sz -home 0 -lowrange 0 -uprange 350
-sz speed 2
+sz speed 1
+sz softupperlim 600
 sz part sample
 sz backlash_offset -1
 sz blockage_ratio 5
@@ -362,7 +380,7 @@ sz creep_offset 0.1
 sz long_name sz
 }
 
-# Sample Trans 1, upper, x
+# Sample Trans 1, lower, x
 #
 # values for pitch of screw changed from 5
 # to 4.994810 (vll 16.11.2007)
@@ -371,7 +389,6 @@ sz long_name sz
 # to 4.997291 (v14 05.12.2007) after realignement of x and y table
 # to 4.99841687 (oki 06.12.2007) after bearing adjustment on x table
 # to 5.0 09.01.2008
-set sx_pitch 5.0
 Motor sx $motor_driver_type [params \
   asyncqueue mc2\
   axis C\
@@ -381,10 +398,10 @@ Motor sx $motor_driver_type [params \
   maxSpeed 10\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX [expr -2.0*25000.0/$sx_pitch]\
+  stepsPerX [expr 2.0*25000.0/$sx_pitch]\
   absEnc 1\
   absEncHome $sx_Home\
-  cntsPerX [expr 8192.0/$sx_pitch]]
+  cntsPerX [expr -8192.0/$sx_pitch]]
 setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250 
 sx speed 5
 sx accel 1.0
@@ -393,10 +410,10 @@ sx movecount $move_count
 sx precision 0.01
 sx part sample
 sx long_name sx
-sx backlash_offset -5
+sx backlash_offset -1
 sx creep_offset 0.5
 
-# Sample Trans2, lower, y
+# Sample Trans2, upper, y
 #
 # values for pitch of screw changed from 5
 # to 4.9976934 (oki 19.11.2007)
@@ -411,7 +428,7 @@ sx creep_offset 0.5
 #
 # change hw limits temporarily from -250...250 to -215...285, 4.1.2007
 #
-set sy_pitch 4.9995324
+
 Motor sy $motor_driver_type [params \
   asyncqueue mc2\
   axis D\
@@ -433,7 +450,7 @@ sy movecount $move_count
 sy precision 0.01
 sy part sample
 sy long_name sy
-sy backlash_offset -5
+sy backlash_offset -1
 sy creep_offset 0.5
 
 # Sample Omega, rotate
@@ -443,7 +460,7 @@ Motor som $motor_driver_type [params \
   units degrees\
   hardlowerlim -180\
   hardupperlim 180\
-  maxSpeed 2\
+  maxSpeed 3\
   maxAccel 5\
   maxDecel 5\
   stepsPerX [expr 25000.0*(383.0/360.0)]\
@@ -451,8 +468,8 @@ Motor som $motor_driver_type [params \
   absEncHome $som_Home\
   cntsPerX [expr -8192.0*(383.0/360.0)]]
 setHomeandRange -motor som -home 0 -lowrange 180 -uprange 180
-som backlash_offset 0.5
+som Backlash_offset -0.5
-som speed 1
+som speed 2
 som accel 0.1
 som decel 0.1
 som precision 0.01
@@ -473,9 +490,9 @@ Motor stth $motor_driver_type [params \
   absEnc 1\
   absEncHome $stth_Home\
   cntsPerX [expr -8192.0/$stth_pitch]]
-stth softlowerlim 0
+stth softlowerlim 40
-stth softupperlim 120
+stth softupperlim 119.6
-stth home 40
+stth home 0
 stth speed 0.2
 stth motOffDelay 15000
 stth movecount $move_count
@@ -545,32 +562,6 @@ mf2 part monochromator.focus
 mf2 long_name mf2
 mf2 creep_offset 1
 
-## Eulerian-chi
-#Motor echi $motor_driver_type [params \
-#        asyncqueue mc3\
-#        axis G\
-#        units degrees\
-#        maxSpeed 1\
-#        maxAccel 1\
-#        maxDecel 1\
-#        stepsPerX 25000]
-#setHomeandRange -motor echi -home 0 -lowrange 0 -uprange 360
-#echi speed 1
-#echi precision 0.01
-
-## Eulerian-phi
-#Motor ephi $motor_driver_type [params \
-#        asyncqueue mc3\
-#        axis H\
-#        units degrees\
-#        maxSpeed 1\
-#        maxAccel 1\
-#        maxDecel 1\
-#        stepsPerX 25000]
-#setHomeandRange -motor ephi -home 0 -lowrange 0 -uprange 360
-#ephi speed 1
-#ephi precision 0.01
-
 ############################
 # Motor Controller 4
 # Motor Controller 4
@@ -641,79 +632,6 @@ setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
 #--------------------------------------------------------
 
 
-
-
-# Sample Tilt 1, euler omega stage
-#Motor eom $motor_driver_type [params \
-#  asyncqueue mc2\
-#  axis A\
-#  units degrees\
-#  hardlowerlim -35\
-#  hardupperlim 55\
-#  maxSpeed 1\
-#  maxAccel 1\
-#  maxDecel 1\
-#  stepsPerX 25000\
-#  absEnc 1\
-#  absEncHome $eom_Home\
-#  cntsPerX -8192]
-#setHomeandRange -motor eom -home 0 -lowrange 35 -uprange 55
-#eom speed 1
-#eom movecount $move_count
-#eom precision 0.01
-#eom part sample
-#eom long_name eom
-
-# Sample Tilt 2, euler chi stage
-#Motor echi $motor_driver_type [params \
-#  asyncqueue mc4\
-#  axis D\
-#  units degrees\
-#  hardlowerlim -10\
-#  hardupperlim 95\
-#  maxSpeed 3\
-#  maxAccel 1\
-#  maxDecel 1\
-#  stepsPerX -25000\
-#  absEnc 1\
-#  absEncHome $echi_Home\
-#  cntsPerX 8192]
-#setHomeandRange -motor echi -home 0 -lowrange 10 -uprange 95
-#echi softlowerlim -10
-#echi softupperlim 90
-#echi home 0
-#echi speed 3
-#echi movecount $move_count
-#echi precision 0.01
-#echi part sample
-#echi long_name echi
-
-# Sample Tilt 2, euler phi stage
-#Motor ephi $motor_driver_type [params \
-#  asyncqueue mc4\
-#  axis E\
-#  units degrees\
-#  hardlowerlim -400\
-#  hardupperlim 400\
-#  maxSpeed 3\
-#  maxAccel 1\
-#  maxDecel 1\
-#  stepsPerX [expr -25000.0/2.0]\
-#  absEnc 1\
-#  absEncHome $ephi_Home\
-#  cntsPerX [expr -8192.0/2.0]]
-#setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400
-#ephi softlowerlim -400
-#ephi softupperlim 400
-#ephi home 0
-#ehpi speed 3
-#ephi movecount $move_count
-#ephi precision 0.01
-#ephi part sample
-#ephi long_name ephi
-
-
-
 # Secondary Slit, horizontal offset
 Motor ssho $motor_driver_type [params \
   asyncqueue mc4\
@@ -754,27 +672,7 @@ ssp part slits.secondary
 ssp long_name ssp
 setHomeandRange -motor ssp  -home 0 -lowrange 0 -uprange 150
 
-# Secondary Slit, width
+# Primary Slit, height, 0-30mm
-Motor ssw $motor_driver_type [params \
-  asyncqueue mc4\
-  axis F\
-  units mm\
-  hardlowerlim 0\
-  hardupperlim 30\
-  maxSpeed 4\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX 25000\
-  absenc 1\
-  absenchome $ssw_home\
-  cntsPerX -8192]
-ssw speed 4  
-ssw Backlash_offset 0.3  
-ssw part slits.secondary
-ssw long_name ssw
-setHomeandRange -motor ssw  -home 0 -lowrange 0 -uprange 30
-
-## Primary Slit, height, 0-30mm
 #Motor psh $motor_driver_type [params \
 #  asyncqueue mc4\
 #  axis D\

site_ansto/instrument/rsd/config/motors/secondary_slit_configuration.tcl

@@ -0,0 +1,22 @@
+#set ssw_home 2043085
+set ssw_home 8215625
+
+# Secondary Slit, width
+Motor ssw $motor_driver_type [params \
+  asyncqueue mc4\
+  axis F\
+  units mm\
+  hardlowerlim 0\
+  hardupperlim 30\
+  maxSpeed 4\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000\
+  absenc 1\
+  absenchome $ssw_home\
+  cntsPerX -8192]
+ssw speed 4  
+ssw Backlash_offset 0.3  
+ssw part slits.secondary
+ssw long_name ssw
+setHomeandRange -motor ssw  -home 0 -lowrange 0 -uprange 30