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Modified eulerian configuration to allow selection of either the Huber

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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
2012-01-16 12:04:45 +11:00
committed by Douglas Clowes
parent f9245f7532
commit a06ed5c6e9
3 changed files with 124 additions and 108 deletions
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71
site_ansto/instrument/rsd/config/motors/euler_configuration.tcl
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@@ -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