From a06ed5c6e947715874c9c3cc88974c63410066a5 Mon Sep 17 00:00:00 2001 From: Ferdi Franceschini Date: Mon, 16 Jan 2012 12:04:45 +1100 Subject: [PATCH] Modified eulerian configuration to allow selection of either the Huber or tiny black cradle. r3342 | ffr | 2012-01-16 12:04:45 +1100 (Mon, 16 Jan 2012) | 3 lines --- .../rsd/config/motors/euler_configuration.tcl | 71 +++----------- .../rsd/config/motors/motor_configuration.tcl | 68 ++++---------- .../motors/tiny_black_euler_configuration.tcl | 93 +++++++++++++++++++ 3 files changed, 124 insertions(+), 108 deletions(-) create mode 100644 site_ansto/instrument/rsd/config/motors/tiny_black_euler_configuration.tcl diff --git a/site_ansto/instrument/rsd/config/motors/euler_configuration.tcl b/site_ansto/instrument/rsd/config/motors/euler_configuration.tcl index 9016cf45..38f4df0b 100644 --- a/site_ansto/instrument/rsd/config/motors/euler_configuration.tcl +++ b/site_ansto/instrument/rsd/config/motors/euler_configuration.tcl @@ -4,81 +4,34 @@ # Home value for Eulerian cradle # # -# this is the Huber Eulerian cradle +# this is the Big Huber Eulerian C shaped cradle EC2 # set eom_Home 23165406 set ephi_Home 6647676 -set echi_Home 8919336 +set echi_Home 23789956 set eom_stepsPerX [expr -25000.0] set eom_cntsPerX [expr 8192.0] -set ephi_stepsPerX [expr -25000.0/2.0] -set ephi_cntsPerX [expr -8192.0/2.0] +set ephi_stepsPerX [expr 25000.0/2.0] +set ephi_cntsPerX [expr 8192.0/2.0] set echi_stepsPerX [expr -25000.0/1.0] set echi_cntsPerX [expr 8192.0/1.0] - -# -# this is our own tiny black cradle -# -#set eom_Home 23165406 -#set ephi_Home 20947518 -#set echi_Home 24735790 -# -#set eom_stepsPerX [expr -25000.0] -#set eom_cntsPerX [expr 8192.0] -# -#set ephi_stepsPerX [expr -25000.0] -#set ephi_cntsPerX [expr 8192.0] -# -#set echi_stepsPerX [expr -25000.0] -#set echi_cntsPerX [expr 8192.0] - - -# 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 $eom_stepsPerX\ -# absEnc 1\ -# absEncHome $eom_Home\ -# cntsPerX $eom_cntsPer] -#setHomeandRange -motor eom -home 0 -lowrange -390 -uprange 390 -#eom speed 1 -#eom softlowerlim -390 -#eom softupperlim 390 -#eom movecount $move_count -#eom precision 0.01 -#eom part sample -#eom long_name eom - - -# -# use sample omega until euler omega gets its own cables -# -# -# Sample Omega, rotate Motor eom $motor_driver_type [params \ - asyncqueue mc2\ - axis E\ + asyncqueue mc4\ + axis F\ units degrees\ - hardlowerlim -180\ - hardupperlim 180\ + hardlowerlim -3600\ + hardupperlim 3600\ maxSpeed 3\ maxAccel 5\ maxDecel 5\ - stepsPerX [expr -25000.0*(383.0/360.0)]\ + stepsPerX [expr -25000.0*(360.0/360.0)]\ absEnc 1\ - absEncHome 26472736\ - cntsPerX [expr 8192.0*(383.0/360.0)]] + absEncHome 20060684\ + cntsPerX [expr -8192.0*(360.0/360.0)]] setHomeandRange -motor som -home 0 -lowrange 178 -uprange 178 eom Backlash_offset -0.5 eom speed 2 @@ -130,7 +83,7 @@ Motor ephi $motor_driver_type [params \ setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400 ephi softlowerlim -400 ephi softupperlim 400 -ephi home 0 +ephi home 182.5 ephi speed 3 ephi movecount $move_count ephi precision 0.01 diff --git a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl index 21b30584..0200fef9 100644 --- a/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl +++ b/site_ansto/instrument/rsd/config/motors/motor_configuration.tcl @@ -6,8 +6,11 @@ # START MOTOR CONFIGURATION ########################################## -# Set this to 1 to use the eulerian cradle -set use_euler 0 +# Set axis_config as follows to use different axis configurations +# 0: Secondary slit configuration +# 1: Big Huber cradle +# 2: Tiny black cradle +set axis_config 0 set animal kowari set sim_mode [SplitReply [motor_simulation]] @@ -43,50 +46,14 @@ set mchi_Home 7583305 set mx_Home 7431942 set my_Home 7891548 # -# set mom_Home 28473827 -#set mtth_Home 11706130 set mtth_Home 11701800 -#set sz_home 2147458067 -#set sz_home 2147457556 -#set sz_home 2147457295 -#set sz_home 2147456656 +# set sz_home 2147456531 - # -# set sx_Home 8405693 -# set sx_Home 8414653 -# set value from 8376253 to 8385562 after cor 5.12.07 -# set value from 8385562 to 8350648 -#set sx_Home 8350648 +set sx_Home 9051767 +set sy_Home 18813082 # -#set sx_Home 9065892 -#set sx_Home 9067806 -#set sx_Home 9077566 -# -# set new value after repoistioning of encoders after cable chain installation -# set sx_Home 9044450 -#set sx_Home 9041997 -# value after dismanteling the table -# parameter sz=419.01 - mtth=79 -set sx_Home 9052708 - - -#set sy_Home 7230717 -# set value from 7223739 to 7224686 after cor 5.12.07 -#set sy_Home 7223739 -#set sy_Home 7224686 -#set sy_Home 18597074 -#set sy_Home 18782188 -#set sy_Home 18773863 -# set new value after repoistioning of encoders after cable chain installation -# set sy_Home 18785483 -#set sy_Home 18784175 -# value after dismanteling the table -# parameter sz=419.01 - mtth=79 -#set sy_Home 18814870 -set sy_Home 18812249 - # swapped sx with sy after rotation of vertical stage set sx_pitch 4.9995324 set sy_pitch 5.0 @@ -97,7 +64,10 @@ set sy_pitch 5.0 # changed from 25137535 to 25153657 on 31.03.2009 # set som_Home 25153657 #set som_Home 25309227 -set som_Home 26472736 +#set som_Home 26472736 +#set som_Home 25275865 +#set som_Home 25234969 +set som_Home 25177194 #set stth_Home 28686300 #set stth_Home 29446192 @@ -137,10 +107,10 @@ set move_count 10 ############################################ # SWAP BETWEEN EULER AND SSW CONFIGURATIONS -if $use_euler { - fileeval $cfPath(motors)/euler_configuration.tcl -} else { - fileeval $cfPath(motors)/secondary_slit_configuration.tcl +switch $axis_config { + 0 { fileeval $cfPath(motors)/secondary_slit_configuration.tcl } + 1 { fileeval $cfPath(motors)/euler_configuration.tcl } + 2 { fileeval $cfPath(motors)/tiny_black_euler_configuration.tcl } } ############################ @@ -332,7 +302,7 @@ Motor sz $motor_driver_type [params \ maxSpeed 2\ maxAccel 1\ maxDecel 1\ - stepsPerX [expr -25000.0*(24.0/25.0)*50/10.840/1.8]\ + stepsPerX [expr -25000.0*(24.0/25.0)*50/10.840/1.8*2.0]\ absenc 1\ absenchome $sz_home\ cntsPerX -[expr (1<<15)/260.165]] @@ -425,7 +395,7 @@ sx movecount $move_count sx precision 0.01 sx part sample sx long_name sx -sx backlash_offset -1 +sx backlash_offset -0.3 sx creep_offset 0.5 # Sample Trans2, upper, y @@ -465,7 +435,7 @@ sy movecount $move_count sy precision 0.01 sy part sample sy long_name sy -sy backlash_offset -1 +sy backlash_offset -0.3 sy creep_offset 0.5 # Sample Omega, rotate diff --git a/site_ansto/instrument/rsd/config/motors/tiny_black_euler_configuration.tcl b/site_ansto/instrument/rsd/config/motors/tiny_black_euler_configuration.tcl new file mode 100644 index 00000000..9e388305 --- /dev/null +++ b/site_ansto/instrument/rsd/config/motors/tiny_black_euler_configuration.tcl @@ -0,0 +1,93 @@ +# This must be loaded by motor_configuration.tcl + +# +# Home value for Eulerian cradle +# +# +# this is our own tiny black cradle +# +set eom_Home 23165406 +set ephi_Home 6405803 +set echi_Home 24224350 + +set eom_stepsPerX [expr -25000.0] +set eom_cntsPerX [expr 8192.0] + +set ephi_stepsPerX [expr 12500.0] +set ephi_cntsPerX [expr 4096.0] + +set echi_stepsPerX [expr 25000.0] +set echi_cntsPerX [expr -8192.0] + + +Motor eom $motor_driver_type [params \ + asyncqueue mc4\ + axis F\ + units degrees\ + hardlowerlim -3600\ + hardupperlim 3600\ + maxSpeed 3\ + maxAccel 5\ + maxDecel 5\ + stepsPerX [expr -25000.0*(360.0/360.0)]\ + absEnc 1\ + absEncHome 20060684\ + cntsPerX [expr -8192.0*(360.0/360.0)]] +setHomeandRange -motor som -home 0 -lowrange 178 -uprange 178 +eom Backlash_offset -0.5 +eom speed 2 +eom accel 0.1 +eom decel 0.1 +eom precision 0.01 +eom part sample +eom long_name eom + + +# Sample Tilt 2, euler chi stage +Motor echi $motor_driver_type [params \ + asyncqueue mc2\ + axis G\ + units degrees\ + hardlowerlim -390\ + hardupperlim 390\ + maxSpeed 10\ + maxAccel 3\ + maxDecel 3\ + stepsPerX $echi_stepsPerX\ + absEnc 1\ + absEncHome $echi_Home\ + cntsPerX $echi_cntsPerX ] +setHomeandRange -motor echi -home 0 -lowrange -390 -uprange 390 +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 G\ + units degrees\ + hardlowerlim -400\ + hardupperlim 400\ + maxSpeed 10\ + maxAccel 1\ + maxDecel 1\ + stepsPerX $ephi_stepsPerX\ + absEnc 1\ + absEncHome $ephi_Home\ + cntsPerX $ephi_cntsPerX] +setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400 +ephi softlowerlim -400 +ephi softupperlim 400 +ephi home 182.5 +ephi speed 3 +ephi movecount $move_count +ephi precision 0.01 +ephi part sample +ephi long_name ephi +