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Incorporate changes from deployed motor configurations.

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r2663 | ffr | 2008-07-18 12:39:35 +1000 (Fri, 18 Jul 2008) | 2 lines
This commit is contained in:
Ferdi Franceschini
2008-07-18 12:39:35 +10:00
committed by Douglas Clowes
parent dd927d18af
commit 8fb864ee37
4 changed files with 70 additions and 46 deletions
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23
site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
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@@ -1,7 +1,8 @@
# $Revision: 1.22 $ # 1.17.2.5
# $Date: 2008-07-01 07:02:26 $ # 2008/05/16 05:25:24
# Author: Ferdi Franceschini (ffr@ansto.gov.au) # Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $ # Last revision by: ffr
source $cfPath(anticollider)/anticollider.tcl
# START MOTOR CONFIGURATION # START MOTOR CONFIGURATION
@@ -44,7 +45,7 @@ set sy_Home 7557524
set sx_Home 7557304 set sx_Home 7557304
set som_Home 17214054 set som_Home 17214054
set stth_Home 2896180 set stth_Home 2896180
set oct_Home 7788750 set oct_Home 7743768
#Measured or computed slit motor steps per millimetre #Measured or computed slit motor steps per millimetre
# 125 steps * 161:1 gears = 20125 # 125 steps * 161:1 gears = 20125
@@ -222,7 +223,7 @@ Motor mtth $motor_driver_type [params \
axis F\ axis F\
units degrees\ units degrees\
hardlowerlim 45\ hardlowerlim 45\
hardupperlim 100\ hardupperlim 120.5\
maxSpeed 0.2\ maxSpeed 0.2\
maxAccel 0.2\ maxAccel 0.2\
maxDecel 0.2\ maxDecel 0.2\
@@ -234,7 +235,7 @@ Motor mtth $motor_driver_type [params \
absEncHome $mtth_Home\ absEncHome $mtth_Home\
cntsPerX -93207] cntsPerX -93207]
mtth softlowerlim 45 mtth softlowerlim 45
mtth softupperlim 100 mtth softupperlim 120
mtth home 90 mtth home 90
mtth speed 0.2 mtth speed 0.2
mtth movecount $move_count mtth movecount $move_count
@@ -388,7 +389,7 @@ Motor oct $motor_driver_type [params \
axis G\ axis G\
units degrees\ units degrees\
hardlowerlim -2\ hardlowerlim -2\
hardupperlim 2\ hardupperlim 6\
maxSpeed 0.5\ maxSpeed 0.5\
maxAccel 0.1\ maxAccel 0.1\
maxDecel 0.1\ maxDecel 0.1\
@@ -397,7 +398,7 @@ Motor oct $motor_driver_type [params \
absEncHome $oct_Home\ absEncHome $oct_Home\
cntsPerX -465] cntsPerX -465]
oct softlowerlim -2 oct softlowerlim -2
oct softupperlim 2 oct softupperlim 6
oct home 0 oct home 0
oct speed 0.5 oct speed 0.5
oct precision 0.01 oct precision 0.01
@@ -442,10 +443,10 @@ Motor mf2 $motor_driver_type [params \
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX -22000\ stepsPerX 22000\
absEnc 1\ absEnc 1\
absEncHome 1400\ absEncHome 350\
cntsPerX 14600] cntsPerX 14000]
setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 1 setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 1
mf2 speed 0.1 mf2 speed 0.1
mf2 precision 0.01 mf2 precision 0.01

8
site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
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@@ -1,7 +1,7 @@
# $Revision: 1.29 $ # 1.24.2.3
# $Date: 2008-06-11 23:05:36 $ # 2008/04/24 00:22:01
# Author: Ferdi Franceschini (ffr@ansto.gov.au) # Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $ # Last revision by: dcl
# START MOTOR CONFIGURATION # START MOTOR CONFIGURATION
@@ -39,7 +39,7 @@ set m1ro_home 134658
set bat_home 8308518 set bat_home 8308518
set st3vt_home 8742250 set st3vt_home 8742250
set st4vt_home 8806900 set st4vt_home 8806900
set sth_home 23511400 set sth_home 23541737
#set sphi_home 7548440 - victim of the NaN #set sphi_home 7548440 - victim of the NaN
set sphi_home 7450470 set sphi_home 7450470
set sx_home 8574000 set sx_home 8574000

20
site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
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@@ -1,7 +1,7 @@
# $Revision: 1.27 $ # 1.19.2.4.2.1
# $Date: 2008-06-04 07:00:46 $ # 2008/06/09 23:04:14
# Author: Ferdi Franceschini (ffr@ansto.gov.au) # Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: dcl $ # Last revision by: ffr
# START MOTOR CONFIGURATION # START MOTOR CONFIGURATION
@@ -213,8 +213,8 @@ Motor mtth $motor_driver_type [params \
asyncqueue mc1\ asyncqueue mc1\
axis F\ axis F\
units degrees\ units degrees\
hardlowerlim 45\ hardlowerlim 40\
hardupperlim 100\ hardupperlim 121\
maxSpeed 0.2\ maxSpeed 0.2\
maxAccel 0.2\ maxAccel 0.2\
maxDecel 0.2\ maxDecel 0.2\
@@ -225,8 +225,8 @@ Motor mtth $motor_driver_type [params \
absEnc 1\ absEnc 1\
absEncHome $mtth_Home\ absEncHome $mtth_Home\
cntsPerX [expr (1<<25)/360.0]] cntsPerX [expr (1<<25)/360.0]]
mtth softlowerlim 45 mtth softlowerlim 40
mtth softupperlim 100 mtth softupperlim 121
mtth home 90 mtth home 90
mtth speed 0.2 mtth speed 0.2
mtth movecount $move_count mtth movecount $move_count
@@ -543,6 +543,7 @@ Motor psho $motor_driver_type [params \
absenc 1\ absenc 1\
absenchome $psho_home\ absenchome $psho_home\
cntsPerX 8192] cntsPerX 8192]
psho Backlash_offset -0.3
psho part aperture.primary psho part aperture.primary
psho long_name horizontal_offset psho long_name horizontal_offset
setHomeandRange -motor psho -home 0 -lowrange 0 -uprange 30 setHomeandRange -motor psho -home 0 -lowrange 0 -uprange 30
@@ -561,6 +562,7 @@ Motor psp $motor_driver_type [params \
absenc 1\ absenc 1\
absenchome $psp_home\ absenchome $psp_home\
cntsPerX -8192] cntsPerX -8192]
psp Backlash_offset -0.3
psp part aperture.primary psp part aperture.primary
psp long_name position psp long_name position
setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150 setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
@@ -579,6 +581,7 @@ Motor psw $motor_driver_type [params \
absenc 1\ absenc 1\
absenchome $psw_home\ absenchome $psw_home\
cntsPerX -8192] cntsPerX -8192]
psw Backlash_offset 0.3
psw part aperture.primary psw part aperture.primary
psw long_name width psw long_name width
setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30 setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
@@ -599,6 +602,7 @@ Motor ssho $motor_driver_type [params \
absenc 1\ absenc 1\
absenchome $ssho_home\ absenchome $ssho_home\
cntsPerX 8192] cntsPerX 8192]
ssho Backlash_offset -0.3
ssho part aperture.secondary ssho part aperture.secondary
ssho long_name horizontal_offset ssho long_name horizontal_offset
setHomeandRange -motor ssho -home 0 -lowrange 0 -uprange 30 setHomeandRange -motor ssho -home 0 -lowrange 0 -uprange 30
@@ -617,6 +621,7 @@ Motor ssp $motor_driver_type [params \
absenc 1\ absenc 1\
absenchome $ssp_home\ absenchome $ssp_home\
cntsPerX -8192] cntsPerX -8192]
ssp Backlash_offset -0.3
ssp part aperture.secondary ssp part aperture.secondary
ssp long_name position ssp long_name position
setHomeandRange -motor ssp -home 0 -lowrange 0 -uprange 150 setHomeandRange -motor ssp -home 0 -lowrange 0 -uprange 150
@@ -635,6 +640,7 @@ Motor ssw $motor_driver_type [params \
absenc 1\ absenc 1\
absenchome $ssw_home\ absenchome $ssw_home\
cntsPerX -8192] cntsPerX -8192]
ssw Backlash_offset 0.3
ssw part aperture.secondary ssw part aperture.secondary
ssw long_name width ssw long_name width
setHomeandRange -motor ssw -home 0 -lowrange 0 -uprange 30 setHomeandRange -motor ssw -home 0 -lowrange 0 -uprange 30

65
site_ansto/instrument/sans/config/motors/motor_configuration.tcl
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@@ -1,5 +1,5 @@
# $Revision: 1.19 $ # $Revision: 1.20 $
# $Date: 2008-07-01 07:02:26 $ # $Date: 2008-07-18 02:39:35 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au) # Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $ # Last revision by: $Author: ffr $
@@ -31,8 +31,25 @@ if {$sim_mode == "true"} {
MakeAsyncQueue mc4 DMC2280 $dmc2280_controller4(host) $dmc2280_controller4(port) 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 samchi_Home 7808328
set samphi_Home 7675008 set samphi_Home 7675008
set samx_Home 7414223 set samx_Home 7414223
@@ -678,7 +695,7 @@ Motor srce $motor_driver_type [params \
units degrees\ units degrees\
hardlowerlim -10\ hardlowerlim -10\
hardupperlim 340\ hardupperlim 340\
maxSpeed 10\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 1\ maxDecel 1\
stepsPerX [expr 25000.0/6.0]\ stepsPerX [expr 25000.0/6.0]\
@@ -689,7 +706,7 @@ Motor srce $motor_driver_type [params \
srce part collimator srce part collimator
srce long_name srce srce long_name srce
setHomeandRange -motor srce -home 0 -lowrange 10 -uprange 340 setHomeandRange -motor srce -home 0 -lowrange 10 -uprange 340
srce speed 5 srce speed 1
srce posit_1 $srce_Home srce posit_1 $srce_Home
srce posit_2 [expr $srce_Home - (1 * 5 * 8192)] srce posit_2 [expr $srce_Home - (1 * 5 * 8192)]
srce posit_3 [expr $srce_Home - (2 * 5 * 8192)] srce posit_3 [expr $srce_Home - (2 * 5 * 8192)]
@@ -823,19 +840,19 @@ Motor bs5 $motor_driver_type [params \
asyncqueue mc4\ asyncqueue mc4\
host mc4-quokka\ host mc4-quokka\
port pmc4-quokka\ port pmc4-quokka\
axis C\ axis G\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 1\ hardupperlim 90\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 5\ maxDecel 5\
stepsPerX -25000\ stepsPerX [expr $bs35sign*$bs_steps_per_rev*$bs5gear/360.0]\
motorHome $bs5_Home] motorHome $bs5_Home]
bs5 part detector bs5 part detector
bs5 long_name bs5 bs5 long_name bs5
bs5 softlowerlim 0 bs5 softlowerlim 0
bs5 softupperlim 1 bs5 softupperlim 90
bs5 home 0 bs5 home 0
# beam stop disk 4 # beam stop disk 4
@@ -843,19 +860,19 @@ Motor bs4 $motor_driver_type [params \
asyncqueue mc4\ asyncqueue mc4\
host mc4-quokka\ host mc4-quokka\
port pmc4-quokka\ port pmc4-quokka\
axis D\ axis F\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 1\ hardupperlim 90\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 5\ maxDecel 5\
stepsPerX -25000\ stepsPerX [expr $bs124sign*$bs_steps_per_rev*$bs4gear/360.0]\
motorHome $bs4_Home] motorHome $bs4_Home]
bs4 part detector bs4 part detector
bs4 long_name bs4 bs4 long_name bs4
bs4 softlowerlim 0 bs4 softlowerlim 0
bs4 softupperlim 1 bs4 softupperlim 90
bs4 home 0 bs4 home 0
# beam stop disk 3 # beam stop disk 3
@@ -866,16 +883,16 @@ Motor bs3 $motor_driver_type [params \
axis E\ axis E\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 1\ hardupperlim 90\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 5\ maxDecel 5\
stepsPerX 25000\ stepsPerX [expr $bs35sign*$bs_steps_per_rev*$bs3gear/360.0]\
motorHome $bs3_Home] motorHome $bs3_Home]
bs3 part detector bs3 part detector
bs3 long_name bs3 bs3 long_name bs3
bs3 softlowerlim 0 bs3 softlowerlim 0
bs3 softupperlim 1 bs3 softupperlim 90
bs3 home 0 bs3 home 0
# beam stop disk 2 # beam stop disk 2
@@ -883,19 +900,19 @@ Motor bs2 $motor_driver_type [params \
asyncqueue mc4\ asyncqueue mc4\
host mc4-quokka\ host mc4-quokka\
port pmc4-quokka\ port pmc4-quokka\
axis F\ axis D\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 1\ hardupperlim 90\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 5\ maxDecel 5\
stepsPerX -25000\ stepsPerX [expr $bs124sign*$bs_steps_per_rev*$bs2gear/360.0]\
motorHome $bs2_Home] motorHome $bs2_Home]
bs2 part detector bs2 part detector
bs2 long_name bs2 bs2 long_name bs2
bs2 softlowerlim 0 bs2 softlowerlim 0
bs2 softupperlim 1 bs2 softupperlim 90
bs2 home 0 bs2 home 0
# beam stop disk 1 (smallest) # beam stop disk 1 (smallest)
@@ -903,19 +920,19 @@ Motor bs1 $motor_driver_type [params \
asyncqueue mc4\ asyncqueue mc4\
host mc4-quokka\ host mc4-quokka\
port pmc4-quokka\ port pmc4-quokka\
axis G\ axis C\
units mm\ units mm\
hardlowerlim 0\ hardlowerlim 0\
hardupperlim 1\ hardupperlim 90\
maxSpeed 1\ maxSpeed 1\
maxAccel 1\ maxAccel 1\
maxDecel 5\ maxDecel 5\
stepsPerX 25000\ stepsPerX [expr $bs124sign*$bs_steps_per_rev*$bs1gear/360.0]\
motorHome $bs1_Home] motorHome $bs1_Home]
bs1 part detector bs1 part detector
bs1 long_name bs1 bs1 long_name bs1
bs1 softlowerlim 0 bs1 softlowerlim 0
bs1 softupperlim 1 bs1 softupperlim 90
bs1 home 0 bs1 home 0
# Polarizer Rotation # Polarizer Rotation