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
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
f9245f7532
commit
a06ed5c6e9
@@ -4,81 +4,34 @@
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# Home value for Eulerian cradle
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#
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#
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# this is the Huber Eulerian cradle
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# this is the Big Huber Eulerian C shaped cradle EC2
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#
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set eom_Home 23165406
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set ephi_Home 6647676
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set echi_Home 8919336
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set echi_Home 23789956
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set eom_stepsPerX [expr -25000.0]
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set eom_cntsPerX [expr 8192.0]
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set ephi_stepsPerX [expr -25000.0/2.0]
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set ephi_cntsPerX [expr -8192.0/2.0]
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set ephi_stepsPerX [expr 25000.0/2.0]
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set ephi_cntsPerX [expr 8192.0/2.0]
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set echi_stepsPerX [expr -25000.0/1.0]
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set echi_cntsPerX [expr 8192.0/1.0]
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#
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# this is our own tiny black cradle
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#
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#set eom_Home 23165406
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#set ephi_Home 20947518
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#set echi_Home 24735790
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#
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#set eom_stepsPerX [expr -25000.0]
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#set eom_cntsPerX [expr 8192.0]
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#
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#set ephi_stepsPerX [expr -25000.0]
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#set ephi_cntsPerX [expr 8192.0]
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#
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#set echi_stepsPerX [expr -25000.0]
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#set echi_cntsPerX [expr 8192.0]
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# Sample Tilt 1, euler omega stage -> exchange with ssw further down
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#Motor eom $motor_driver_type [params \
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# asyncqueue mc4\
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# axis F\
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# units degrees\
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# hardlowerlim -390\
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# hardupperlim 390\
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# maxSpeed 1\
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# maxAccel 1\
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# maxDecel 1\
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# stepsPerX $eom_stepsPerX\
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# absEnc 1\
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# absEncHome $eom_Home\
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# cntsPerX $eom_cntsPer]
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#setHomeandRange -motor eom -home 0 -lowrange -390 -uprange 390
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#eom speed 1
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#eom softlowerlim -390
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#eom softupperlim 390
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#eom movecount $move_count
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#eom precision 0.01
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#eom part sample
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#eom long_name eom
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#
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# use sample omega until euler omega gets its own cables
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#
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#
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# Sample Omega, rotate
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Motor eom $motor_driver_type [params \
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asyncqueue mc2\
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axis E\
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asyncqueue mc4\
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axis F\
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units degrees\
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hardlowerlim -180\
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hardupperlim 180\
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hardlowerlim -3600\
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hardupperlim 3600\
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maxSpeed 3\
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maxAccel 5\
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maxDecel 5\
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stepsPerX [expr -25000.0*(383.0/360.0)]\
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stepsPerX [expr -25000.0*(360.0/360.0)]\
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absEnc 1\
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absEncHome 26472736\
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cntsPerX [expr 8192.0*(383.0/360.0)]]
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absEncHome 20060684\
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cntsPerX [expr -8192.0*(360.0/360.0)]]
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setHomeandRange -motor som -home 0 -lowrange 178 -uprange 178
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eom Backlash_offset -0.5
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eom speed 2
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@@ -130,7 +83,7 @@ Motor ephi $motor_driver_type [params \
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setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400
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ephi softlowerlim -400
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ephi softupperlim 400
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ephi home 0
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ephi home 182.5
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ephi speed 3
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ephi movecount $move_count
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ephi precision 0.01
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@@ -6,8 +6,11 @@
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# START MOTOR CONFIGURATION
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##########################################
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# Set this to 1 to use the eulerian cradle
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set use_euler 0
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# Set axis_config as follows to use different axis configurations
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# 0: Secondary slit configuration
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# 1: Big Huber cradle
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# 2: Tiny black cradle
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set axis_config 0
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set animal kowari
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set sim_mode [SplitReply [motor_simulation]]
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@@ -43,50 +46,14 @@ set mchi_Home 7583305
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set mx_Home 7431942
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set my_Home 7891548
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#
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#
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set mom_Home 28473827
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#set mtth_Home 11706130
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set mtth_Home 11701800
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#set sz_home 2147458067
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#set sz_home 2147457556
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#set sz_home 2147457295
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#set sz_home 2147456656
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#
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set sz_home 2147456531
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#
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# set sx_Home 8405693
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# set sx_Home 8414653
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# set value from 8376253 to 8385562 after cor 5.12.07
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# set value from 8385562 to 8350648
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#set sx_Home 8350648
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set sx_Home 9051767
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set sy_Home 18813082
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#
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#set sx_Home 9065892
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#set sx_Home 9067806
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#set sx_Home 9077566
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#
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# set new value after repoistioning of encoders after cable chain installation
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# set sx_Home 9044450
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#set sx_Home 9041997
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# value after dismanteling the table
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# parameter sz=419.01 - mtth=79
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set sx_Home 9052708
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#set sy_Home 7230717
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# set value from 7223739 to 7224686 after cor 5.12.07
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#set sy_Home 7223739
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#set sy_Home 7224686
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#set sy_Home 18597074
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#set sy_Home 18782188
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#set sy_Home 18773863
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# set new value after repoistioning of encoders after cable chain installation
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# set sy_Home 18785483
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#set sy_Home 18784175
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# value after dismanteling the table
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# parameter sz=419.01 - mtth=79
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#set sy_Home 18814870
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set sy_Home 18812249
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# swapped sx with sy after rotation of vertical stage
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set sx_pitch 4.9995324
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set sy_pitch 5.0
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@@ -97,7 +64,10 @@ set sy_pitch 5.0
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# changed from 25137535 to 25153657 on 31.03.2009
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# set som_Home 25153657
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#set som_Home 25309227
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set som_Home 26472736
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#set som_Home 26472736
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#set som_Home 25275865
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#set som_Home 25234969
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set som_Home 25177194
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#set stth_Home 28686300
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#set stth_Home 29446192
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@@ -137,10 +107,10 @@ set move_count 10
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############################################
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# SWAP BETWEEN EULER AND SSW CONFIGURATIONS
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if $use_euler {
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fileeval $cfPath(motors)/euler_configuration.tcl
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} else {
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fileeval $cfPath(motors)/secondary_slit_configuration.tcl
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switch $axis_config {
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0 { fileeval $cfPath(motors)/secondary_slit_configuration.tcl }
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1 { fileeval $cfPath(motors)/euler_configuration.tcl }
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2 { fileeval $cfPath(motors)/tiny_black_euler_configuration.tcl }
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}
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############################
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@@ -332,7 +302,7 @@ Motor sz $motor_driver_type [params \
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX [expr -25000.0*(24.0/25.0)*50/10.840/1.8]\
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stepsPerX [expr -25000.0*(24.0/25.0)*50/10.840/1.8*2.0]\
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absenc 1\
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absenchome $sz_home\
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cntsPerX -[expr (1<<15)/260.165]]
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@@ -425,7 +395,7 @@ sx movecount $move_count
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sx precision 0.01
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sx part sample
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sx long_name sx
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sx backlash_offset -1
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sx backlash_offset -0.3
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sx creep_offset 0.5
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# Sample Trans2, upper, y
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@@ -465,7 +435,7 @@ sy movecount $move_count
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sy precision 0.01
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sy part sample
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sy long_name sy
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sy backlash_offset -1
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sy backlash_offset -0.3
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sy creep_offset 0.5
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# Sample Omega, rotate
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@@ -0,0 +1,93 @@
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# This must be loaded by motor_configuration.tcl
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#
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# Home value for Eulerian cradle
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#
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#
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# this is our own tiny black cradle
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#
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set eom_Home 23165406
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set ephi_Home 6405803
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set echi_Home 24224350
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set eom_stepsPerX [expr -25000.0]
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set eom_cntsPerX [expr 8192.0]
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set ephi_stepsPerX [expr 12500.0]
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set ephi_cntsPerX [expr 4096.0]
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set echi_stepsPerX [expr 25000.0]
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set echi_cntsPerX [expr -8192.0]
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Motor eom $motor_driver_type [params \
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asyncqueue mc4\
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axis F\
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units degrees\
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hardlowerlim -3600\
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hardupperlim 3600\
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maxSpeed 3\
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maxAccel 5\
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maxDecel 5\
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stepsPerX [expr -25000.0*(360.0/360.0)]\
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absEnc 1\
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absEncHome 20060684\
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cntsPerX [expr -8192.0*(360.0/360.0)]]
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setHomeandRange -motor som -home 0 -lowrange 178 -uprange 178
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eom Backlash_offset -0.5
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eom speed 2
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eom accel 0.1
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eom decel 0.1
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eom precision 0.01
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eom part sample
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eom long_name eom
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# Sample Tilt 2, euler chi stage
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Motor echi $motor_driver_type [params \
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asyncqueue mc2\
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axis G\
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units degrees\
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hardlowerlim -390\
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hardupperlim 390\
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maxSpeed 10\
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maxAccel 3\
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maxDecel 3\
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stepsPerX $echi_stepsPerX\
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absEnc 1\
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absEncHome $echi_Home\
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cntsPerX $echi_cntsPerX ]
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setHomeandRange -motor echi -home 0 -lowrange -390 -uprange 390
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echi softlowerlim -10
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echi softupperlim 90
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echi home 0
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echi speed 3
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echi movecount $move_count
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echi precision 0.01
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echi part sample
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echi long_name echi
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# Sample Tilt 2, euler phi stage
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Motor ephi $motor_driver_type [params \
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asyncqueue mc4\
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axis G\
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units degrees\
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hardlowerlim -400\
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hardupperlim 400\
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maxSpeed 10\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $ephi_stepsPerX\
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absEnc 1\
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absEncHome $ephi_Home\
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cntsPerX $ephi_cntsPerX]
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setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400
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ephi softlowerlim -400
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ephi softupperlim 400
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ephi home 182.5
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ephi speed 3
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ephi movecount $move_count
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ephi precision 0.01
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ephi part sample
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ephi long_name ephi
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