linse/sics
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Modified eulerian configuration to allow selection of either the Huber

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

71
site_ansto/instrument/rsd/config/motors/euler_configuration.tcl
View File

@@ -4,81 +4,34 @@
# Home value for Eulerian cradle # 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 eom_Home 23165406
set ephi_Home 6647676 set ephi_Home 6647676
set echi_Home 8919336 set echi_Home 23789956
set eom_stepsPerX [expr -25000.0] set eom_stepsPerX [expr -25000.0]
set eom_cntsPerX [expr 8192.0] set eom_cntsPerX [expr 8192.0]
set ephi_stepsPerX [expr -25000.0/2.0] set ephi_stepsPerX [expr 25000.0/2.0]
set ephi_cntsPerX [expr -8192.0/2.0] set ephi_cntsPerX [expr 8192.0/2.0]
set echi_stepsPerX [expr -25000.0/1.0] set echi_stepsPerX [expr -25000.0/1.0]
set echi_cntsPerX [expr 8192.0/1.0] 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 \ Motor eom $motor_driver_type [params \
asyncqueue mc2\ asyncqueue mc4\
axis E\ axis F\
units degrees\ units degrees\
hardlowerlim -180\ hardlowerlim -3600\
hardupperlim 180\ hardupperlim 3600\
maxSpeed 3\ maxSpeed 3\
maxAccel 5\ maxAccel 5\
maxDecel 5\ maxDecel 5\
stepsPerX [expr -25000.0*(383.0/360.0)]\ stepsPerX [expr -25000.0*(360.0/360.0)]\
absEnc 1\ absEnc 1\
absEncHome 26472736\ absEncHome 20060684\
cntsPerX [expr 8192.0*(383.0/360.0)]] cntsPerX [expr -8192.0*(360.0/360.0)]]
setHomeandRange -motor som -home 0 -lowrange 178 -uprange 178 setHomeandRange -motor som -home 0 -lowrange 178 -uprange 178
eom Backlash_offset -0.5 eom Backlash_offset -0.5
eom speed 2 eom speed 2
@@ -130,7 +83,7 @@ Motor ephi $motor_driver_type [params \
setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400 setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400
ephi softlowerlim -400 ephi softlowerlim -400
ephi softupperlim 400 ephi softupperlim 400
ephi home 0 ephi home 182.5
ephi speed 3 ephi speed 3
ephi movecount $move_count ephi movecount $move_count
ephi precision 0.01 ephi precision 0.01

68
site_ansto/instrument/rsd/config/motors/motor_configuration.tcl
View File

@@ -6,8 +6,11 @@
# START MOTOR CONFIGURATION # START MOTOR CONFIGURATION
########################################## ##########################################
# Set this to 1 to use the eulerian cradle # Set axis_config as follows to use different axis configurations
set use_euler 0 # 0: Secondary slit configuration
# 1: Big Huber cradle
# 2: Tiny black cradle
set axis_config 0
set animal kowari set animal kowari
set sim_mode [SplitReply [motor_simulation]] set sim_mode [SplitReply [motor_simulation]]
@@ -43,50 +46,14 @@ set mchi_Home 7583305
set mx_Home 7431942 set mx_Home 7431942
set my_Home 7891548 set my_Home 7891548
# #
#
set mom_Home 28473827 set mom_Home 28473827
#set mtth_Home 11706130
set mtth_Home 11701800 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 sz_home 2147456531
# #
# set sx_Home 8405693 set sx_Home 9051767
# set sx_Home 8414653 set sy_Home 18813082
# set value from 8376253 to 8385562 after cor 5.12.07
# set value from 8385562 to 8350648
#set sx_Home 8350648
# #
#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 # swapped sx with sy after rotation of vertical stage
set sx_pitch 4.9995324 set sx_pitch 4.9995324
set sy_pitch 5.0 set sy_pitch 5.0
@@ -97,7 +64,10 @@ set sy_pitch 5.0
# changed from 25137535 to 25153657 on 31.03.2009 # changed from 25137535 to 25153657 on 31.03.2009
# set som_Home 25153657 # set som_Home 25153657
#set som_Home 25309227 #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 28686300
#set stth_Home 29446192 #set stth_Home 29446192
@@ -137,10 +107,10 @@ set move_count 10
############################################ ############################################
# SWAP BETWEEN EULER AND SSW CONFIGURATIONS # SWAP BETWEEN EULER AND SSW CONFIGURATIONS
if $use_euler { switch $axis_config {
fileeval $cfPath(motors)/euler_configuration.tcl 0 { fileeval $cfPath(motors)/secondary_slit_configuration.tcl }
} else { 1 { fileeval $cfPath(motors)/euler_configuration.tcl }
fileeval $cfPath(motors)/secondary_slit_configuration.tcl 2 { fileeval $cfPath(motors)/tiny_black_euler_configuration.tcl }
} }
############################ ############################
@@ -332,7 +302,7 @@ Motor sz $motor_driver_type [params \
maxSpeed 2\ maxSpeed 2\
maxAccel 1\ maxAccel 1\
maxDecel 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\ absenc 1\
absenchome $sz_home\ absenchome $sz_home\
cntsPerX -[expr (1<<15)/260.165]] cntsPerX -[expr (1<<15)/260.165]]
@@ -425,7 +395,7 @@ sx movecount $move_count
sx precision 0.01 sx precision 0.01
sx part sample sx part sample
sx long_name sx sx long_name sx
sx backlash_offset -1 sx backlash_offset -0.3
sx creep_offset 0.5 sx creep_offset 0.5
# Sample Trans2, upper, y # Sample Trans2, upper, y
@@ -465,7 +435,7 @@ sy movecount $move_count
sy precision 0.01 sy precision 0.01
sy part sample sy part sample
sy long_name sy sy long_name sy
sy backlash_offset -1 sy backlash_offset -0.3
sy creep_offset 0.5 sy creep_offset 0.5
# Sample Omega, rotate # Sample Omega, rotate

93
site_ansto/instrument/rsd/config/motors/tiny_black_euler_configuration.tcl Normal file
View File

@@ -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