Modified during MK's visit.

r1461 | ffr | 2007-02-12 12:01:02 +1100 (Mon, 12 Feb 2007) | 2 lines

site_ansto/instrument/hrpd/motor_configuration.tcl

@@ -1,7 +1,7 @@
-# $Revision: 1.14 $
-# $Date: 2007-02-07 00:46:42 $
+# $Revision: 1.15 $
+# $Date: 2007-02-12 00:56:59 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: dcl $
+# Last revision by: $Author: ffr $
 
 # START MOTOR CONFIGURATION
 
@@ -62,6 +62,10 @@ set vertSlitUpRange 100
 set horSlitLowRange 25
 set horSlitUpRange 25
 
+# set movecount high to reduce the frequency of 
+# hnotify messages to a reasonable level
+set move_count 100
+
 # Run slit homing routines on controllers 3 and 4
 #if [catch {dmc_connect dmc2280_controller3} ] {
 #  dmc_sendCmd dmc2280_controller3 "XQ#HOME,1"
@@ -86,6 +90,8 @@ Motor mphi DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis A\
   units degrees\
+  hardlowerlim -15\
+  hardupperlim 15\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -95,8 +101,8 @@ Motor mphi DMC2280 [params \
   cntsPerX -8192]
 setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
 mphi speed 1
-mphi movecount 100
-mphi precision 0.01
+mphi movecount $move_count
+mphi precision 0.05
 
 # Monochromator chi, Tilt 2, lower
 Motor mchi DMC2280 [params \
@@ -104,6 +110,8 @@ Motor mchi DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis B\
   units degrees\
+  hardlowerlim 75\
+  hardupperlim 105\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -113,7 +121,7 @@ Motor mchi DMC2280 [params \
   cntsPerX 8192]
 setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
 mchi speed 1
-mchi movecount 100
+mchi movecount $move_count
 mchi precision 0.01
 
 # Monochromator Trans 1, upper
@@ -122,6 +130,8 @@ Motor my DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis C\
   units mm\
+  hardlowerlim -20\
+  hardupperlim 20\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -131,7 +141,7 @@ Motor my DMC2280 [params \
   cntsPerX 8192]
 setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
 my speed 1
-my movecount 100
+my movecount $move_count
 my precision 0.01
 
 # Monochromator Trans 2, lower
@@ -140,6 +150,8 @@ Motor mx DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis D\
   units mm\
+  hardlowerlim -20\
+  hardupperlim 20\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -149,7 +161,7 @@ Motor mx DMC2280 [params \
   cntsPerX -8192]
 setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
 mx speed 1
-mx movecount 100
+mx movecount $move_count
 mx precision 0.01
 
 # Monochromator omega, rotate
@@ -158,6 +170,8 @@ Motor mom DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis E\
   units degrees\
+  hardlowerlim -180\
+  hardupperlim 180\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -167,7 +181,7 @@ Motor mom DMC2280 [params \
   cntsPerX -4096]
 setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
 mom speed 1
-mom movecount 100
+mom movecount $move_count
 mom precision 0.01
 
 # Monochromator two-theta, flight-tube rotate
@@ -176,6 +190,8 @@ Motor mtth DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis F\
   units degrees\
+  hardlowerlim 90\
+  hardupperlim 137\
   maxSpeed 0.2\
   maxAccel 0.2\
   maxDecel 0.2\
@@ -183,25 +199,25 @@ Motor mtth DMC2280 [params \
   absEnc 1\
   absEncHome $mtth_Home\
   cntsPerX -93207]
-mtth hardlowerlim 90
-mtth hardupperlim 137
 mtth softlowerlim 90
 mtth softupperlim 137
 mtth home 90
 mtth speed 0.2
-mtth movecount 100
+mtth movecount $move_count
 mtth accel 0.01
 mtth decel 0.01
 mtth precision 0.02
 mtth maxretry 10
 mtth failafter 10
-
+mtth blockage_check_interval 5
 # Primary Collimator Translation X
 Motor pcx DMC2280 [params \
   host $dmc2280_controller1(host)\
   port $dmc2280_controller1(port)\
   axis G\
   units mm\
+  hardlowerlim 0\
+  hardupperlim 140\
   maxSpeed 10\
   maxAccel 1\
   maxDecel 1\
@@ -211,7 +227,7 @@ Motor pcx DMC2280 [params \
   cntsPerX [expr 8192/6]]
 setHomeandRange -motor pcx -home 0 -lowrange 0 -uprange 140
 pcx speed 1
-pcx movecount 100
+pcx movecount $move_count
 pcx precision 0.01
 
 # Primary Collimator Rotation
@@ -220,6 +236,8 @@ Motor pcr DMC2280 [params \
   port $dmc2280_controller1(port)\
   axis H\
   units degrees\
+  hardlowerlim -10\
+  hardupperlim 10\
   maxSpeed 0.1\
   maxAccel 0.1\
   maxDecel 0.1\
@@ -229,7 +247,7 @@ Motor pcr DMC2280 [params \
   cntsPerX [expr 8192/(360/100)]]
 setHomeandRange -motor pcr -home 0 -lowrange 10 -uprange 10
 pcr speed 0.1
-pcr movecount 100
+pcr movecount $move_count
 pcr precision 0.01
 
 ############################
@@ -244,6 +262,8 @@ Motor sphi DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis A\
   units degrees\
+  hardlowerlim -20\
+  hardupperlim 20\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -253,7 +273,7 @@ Motor sphi DMC2280 [params \
   cntsPerX -8192]
 setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
 sphi speed 1
-sphi movecount 100
+sphi movecount $move_count
 sphi precision 0.01
 
 # Sample Tilt 2, lower, chi
@@ -262,6 +282,8 @@ Motor schi DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis B\
   units degrees\
+  hardlowerlim 70\
+  hardupperlim 110\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -271,7 +293,7 @@ Motor schi DMC2280 [params \
   cntsPerX 8192]
 setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
 schi speed 1
-schi movecount 100
+schi movecount $move_count
 schi precision 0.01
 
 # Sample Trans 1, upper, y
@@ -280,6 +302,8 @@ Motor sy DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis C\
   units mm\
+  hardlowerlim -20\
+  hardupperlim 20\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -289,7 +313,7 @@ Motor sy DMC2280 [params \
   cntsPerX 8192]
 setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
 sy speed 1
-sy movecount 100
+sy movecount $move_count
 sy precision 0.01
 
 # Sample Trans2, lower, x
@@ -298,6 +322,8 @@ Motor sx DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis D\
   units mm\
+  hardlowerlim -20\
+  hardupperlim 20\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -307,7 +333,7 @@ Motor sx DMC2280 [params \
   cntsPerX -8192]
 setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
 sx speed 1
-sx movecount 100
+sx movecount $move_count
 sx precision 0.01
 
 # Sample Omega, rotate
@@ -316,6 +342,8 @@ Motor som DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis E\
   units degrees\
+  hardlowerlim -142\
+  hardupperlim 218\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -325,7 +353,7 @@ Motor som DMC2280 [params \
   cntsPerX 4096]
 setHomeandRange -motor som -home 0 -lowrange 142 -uprange 218
 som speed 1
-som movecount 100
+som movecount $move_count
 som precision 0.01
 
 # Sample two-theta, detector rotate
@@ -334,6 +362,8 @@ Motor stth DMC2280 [params \
   port $dmc2280_controller2(port)\
   axis F\
   units degrees\
+  hardlowerlim -79\
+  hardupperlim 77\
   maxSpeed 0.5\
   maxAccel 0.1\
   maxDecel 0.1\
@@ -341,14 +371,13 @@ Motor stth DMC2280 [params \
   absEnc 1\
   absEncHome $stth_Home\
   cntsPerX -93207]
-stth hardlowerlim -79
-stth hardupperlim 77
 stth softlowerlim -77
 stth softupperlim 74
 stth home 0
 stth speed 0.5
-stth movecount 100
+stth movecount $move_count
 stth precision 0.01
+stth blockage_check_interval 2
 
 ############################
 # Motor Controller 3
@@ -372,7 +401,7 @@ stth precision 0.01
 #  cntsPerX xxxx]
 #setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
 #mf1 speed 1
-#mfl movecount 100
+#mfl movecount $move_count
 #mf1 precision 0.01
 
 # Slit 1, right
@@ -381,13 +410,15 @@ Motor ss1r DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis E\
   units mm\
+  hardlowerlim -15\
+  hardupperlim 35\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss1r_Home]
 setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
-ss1r movecount 100
+ss1r movecount $move_count
 
 # Slit 1, left
 Motor ss1l DMC2280 [params \
@@ -395,13 +426,15 @@ Motor ss1l DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis F\
   units mm\
+  hardlowerlim -15\
+  hardupperlim 35\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss1l_Home]
 setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
-ss1l movecount 100
+ss1l movecount $move_count
 
 # Slit 1, up
 Motor ss1u DMC2280 [params \
@@ -409,13 +442,15 @@ Motor ss1u DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis G\
   units mm\
+  hardlowerlim -20\
+  hardupperlim 100\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss1u_Home]
 setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
-ss1u movecount 100
+ss1u movecount $move_count
 
 # Slit 1, down
 Motor ss1d DMC2280 [params \
@@ -423,13 +458,15 @@ Motor ss1d DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis H\
   units mm\
+  hardlowerlim -20\
+  hardupperlim 100\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss1d_Home]
 setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
-ss1d movecount 100
+ss1d movecount $move_count
 
 ############################
 # Motor Controller 4
@@ -474,13 +511,15 @@ Motor ss2r DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis E\
   units mm\
+  hardlowerlim -15\
+  hardupperlim 35\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss2r_Home]
 setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
-ss2r movecount 100
+ss2r movecount $move_count
 
 # Slit 2, left
 Motor ss2l DMC2280 [params \
@@ -488,13 +527,15 @@ Motor ss2l DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis F\
   units mm\
+  hardlowerlim -15\
+  hardupperlim 35\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss2l_Home]
 setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
-ss2l movecount 100
+ss2l movecount $move_count
 
 # Slit 2, up
 Motor ss2u DMC2280 [params \
@@ -502,13 +543,15 @@ Motor ss2u DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis G\
   units mm\
+  hardlowerlim -20\
+  hardupperlim 100\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss2u_Home]
 setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
-ss2u movecount 100
+ss2u movecount $move_count
 
 # Slit 2, down
 Motor ss2d DMC2280 [params \
@@ -516,13 +559,15 @@ Motor ss2d DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis H\
   units mm\
+  hardlowerlim -20\
+  hardupperlim 100\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss2d_Home]
 setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
-ss2d movecount 100
+ss2d movecount $move_count
 
 proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
 proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}