Incorporate changes from deployed motor configurations.

r2663 | ffr | 2008-07-18 12:39:35 +1000 (Fri, 18 Jul 2008) | 2 lines

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

@@ -1,5 +1,5 @@
-# $Revision: 1.19 $
-# $Date: 2008-07-01 07:02:26 $
+# $Revision: 1.20 $
+# $Date: 2008-07-18 02:39:35 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -31,8 +31,25 @@ if {$sim_mode == "true"} {
   MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port)
 }
 
-#Measured absolute encoder reading at home position
+# Beam stop gearing and signs (BS1=largest)
+#  4,5 160:1
+# 1,2,3 110:1
+# MOTS need 400 steps per rev = 50000 steps per rev
+set bs_steps_per_rev 50000.0
+set bs1gear 160
+set bs2gear 160
+set bs3gear 110
+set bs4gear 110
+set bs5gear 110
 
+set bs45_gear 110.0
+set bs123_gear 160.0
+#set bs45_gear 160.0
+#set bs123_gear 110.0
+set bs124sign -1
+set bs35sign 1
+
+#Measured absolute encoder reading at home position
 set samchi_Home 7808328
 set samphi_Home 7675008
 set samx_Home 7414223
@@ -678,7 +695,7 @@ Motor srce $motor_driver_type [params \
   units degrees\
   hardlowerlim -10\
   hardupperlim 340\
-  maxSpeed 10\
+  maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX [expr 25000.0/6.0]\
@@ -689,7 +706,7 @@ Motor srce $motor_driver_type [params \
 srce part collimator
 srce long_name srce
 setHomeandRange -motor srce -home 0 -lowrange 10 -uprange 340
-srce speed 5
+srce speed 1
 srce posit_1 $srce_Home
 srce posit_2 [expr $srce_Home - (1 * 5 * 8192)]
 srce posit_3 [expr $srce_Home - (2 * 5 * 8192)]
@@ -823,19 +840,19 @@ Motor bs5 $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-quokka\
   port pmc4-quokka\
-  axis C\
+  axis G\
   units mm\
   hardlowerlim 0\
-  hardupperlim 1\
+  hardupperlim 90\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 5\
-  stepsPerX -25000\
+  stepsPerX [expr $bs35sign*$bs_steps_per_rev*$bs5gear/360.0]\
   motorHome $bs5_Home]
 bs5 part detector
 bs5 long_name bs5
 bs5 softlowerlim 0
-bs5 softupperlim 1
+bs5 softupperlim 90
 bs5 home 0
 
 # beam stop disk 4
@@ -843,19 +860,19 @@ Motor bs4 $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-quokka\
   port pmc4-quokka\
-  axis D\
+  axis F\
   units mm\
   hardlowerlim 0\
-  hardupperlim 1\
+  hardupperlim 90\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 5\
-  stepsPerX -25000\
+  stepsPerX [expr $bs124sign*$bs_steps_per_rev*$bs4gear/360.0]\
   motorHome $bs4_Home]
 bs4 part detector
 bs4 long_name bs4
 bs4 softlowerlim 0
-bs4 softupperlim 1
+bs4 softupperlim 90
 bs4 home 0
 
 # beam stop disk 3
@@ -866,16 +883,16 @@ Motor bs3 $motor_driver_type [params \
   axis E\
   units mm\
   hardlowerlim 0\
-  hardupperlim 1\
+  hardupperlim 90\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 5\
-  stepsPerX 25000\
+  stepsPerX [expr $bs35sign*$bs_steps_per_rev*$bs3gear/360.0]\
   motorHome $bs3_Home]
 bs3 part detector
 bs3 long_name bs3
 bs3 softlowerlim 0
-bs3 softupperlim 1
+bs3 softupperlim 90
 bs3 home 0
 
 # beam stop disk 2
@@ -883,19 +900,19 @@ Motor bs2 $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-quokka\
   port pmc4-quokka\
-  axis F\
+  axis D\
   units mm\
   hardlowerlim 0\
-  hardupperlim 1\
+  hardupperlim 90\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 5\
-  stepsPerX -25000\
+  stepsPerX [expr $bs124sign*$bs_steps_per_rev*$bs2gear/360.0]\
   motorHome $bs2_Home]
 bs2 part detector
 bs2 long_name bs2
 bs2 softlowerlim 0
-bs2 softupperlim 1
+bs2 softupperlim 90
 bs2 home 0
 
 # beam stop disk 1 (smallest)
@@ -903,19 +920,19 @@ Motor bs1 $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-quokka\
   port pmc4-quokka\
-  axis G\
+  axis C\
   units mm\
   hardlowerlim 0\
-  hardupperlim 1\
+  hardupperlim 90\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 5\
-  stepsPerX 25000\
+  stepsPerX [expr $bs124sign*$bs_steps_per_rev*$bs1gear/360.0]\
   motorHome $bs1_Home]
 bs1 part detector
 bs1 long_name bs1
 bs1 softlowerlim 0
-bs1 softupperlim 1
+bs1 softupperlim 90
 bs1 home 0
 
 # Polarizer Rotation