Make like an echidna

r2595 | dcl | 2008-05-29 14:54:42 +1000 (Thu, 29 May 2008) | 2 lines

site_ansto/instrument/qld/motor_configuration.tcl

@@ -1,26 +1,26 @@
-set slit2active 0
+set slit2active 1
+
+# START MOTOR CONFIGURATION
+
 set animal koala
+#set sim_mode [SplitReply [motor_simulation]]
+set sim_mode false
 
 # Setup addresses of Galil DMC2280 controllers.
 set dmc2280_controller2(host) mc2-$animal
-set dmc2280_controller2(port) pmc2-$animal
+set dmc2280_controller2(port) 1044
 
-# Run slit homing routines
-#if [catch {dmc_connect dmc2280_controller2} ] {
-#  dmc_sendCmd dmc2280_controller2 "XQ#HOME,1"
-#  dmc_close dmc2280_controller2
-#}
-#if [catch {dmc_connect dmc2280_controller2} ] {
-#  dmc_sendCmd dmc2280_controller2 "XQ#HOME,1"
-#  dmc_close dmc2280_controller2
-#}
 
-#
-#TD at upper switches
-# 1048508, 1062259, 2651595, 2644121, 1017903, 1041617, 2715943, 2683888
-#
 
-#Measured or computed slit motor steps per unit (mm)
+if {$sim_mode == "true"} {
+  set motor_driver_type asim
+} else {
+  set motor_driver_type DMC2280
+  MakeAsyncQueue mc2 DMC2280 $dmc2280_controller2(host) $dmc2280_controller2(port)
+}
+
+#Measured or computed slit motor steps per millimetre
+# 125 steps * 161:1 gears = 20125
 set slitStepRate  20125
 
 #Measured slit gap, in units, after homing on limit switches
@@ -46,104 +46,203 @@ set vertSlitUpRange 64
 set horSlitLowRange 25
 set horSlitUpRange 25
 
-Motor ss1r DMC2280 [params \
+#Default upper and lower ranges for vertical slits
-  host $dmc2280_controller2(host)\
+set vSlitHome 0
-  port $dmc2280_controller2(port)\
+set vSlitLoRange 20
+set vSlitHiRange 100
+
+#Default upper and lower ranges for horizontal slits
+set hSlitHome 0
+set hSlitLoRange 15
+set hSlitHiRange 35
+
+#calculate individual slit motor low ranges
+set ss1r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss1l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss1u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss1d_LoRange [expr $vSlitHome - $vSlitHiRange]
+set ss2r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss2l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss2u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss2d_LoRange [expr $vSlitHome - $vSlitHiRange]
+
+#calculate individual slit motor high ranges
+set ss1r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss1l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss1u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss1d_HiRange [expr $vSlitHome + $vSlitLoRange]
+set ss2r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss2l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss2u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss2d_HiRange [expr $vSlitHome + $vSlitLoRange]
+
+set slit1VGroup first/vertical
+set slit1HGroup first/horizontal
+set slit2VGroup second/vertical
+set slit2HGroup second/horizontal
+# set movecount high to reduce the frequency of
+# hnotify messages to a reasonable level
+set move_count 10
+
+# Slit 1, right
+Motor ss1r $motor_driver_type [params \
+  asyncqueue mc2\
   axis A\
   units mm\
+  hardlowerlim $ss1r_LoRange\
+  hardupperlim $ss1r_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss1r_Home]
-setHomeandRange -motor ss1r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+ss1r softlowerlim $ss1r_LoRange
+ss1r softupperlim $ss1r_HiRange
+ss1r home 0
+ss1r movecount $move_count
+ss1r part aperture.first
+ss1r long_name right
 
-Motor ss1l DMC2280 [params \
+Motor ss1l $motor_driver_type [params \
-  host $dmc2280_controller2(host)\
+  asyncqueue mc2\
-  port $dmc2280_controller2(port)\
   axis B\
   units mm\
+  hardlowerlim $ss1l_LoRange\
+  hardupperlim $ss1l_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -$slitStepRate\
+  stepsPerX $slitStepRate\
   motorHome $ss1l_Home]
-setHomeandRange -motor ss1l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+ss1l softlowerlim $ss1l_LoRange
+ss1l softupperlim $ss1l_HiRange
+ss1l home 0
+ss1l movecount $move_count
+ss1l part aperture.first
+ss1l long_name left
 
-Motor ss1u DMC2280 [params \
+Motor ss1u $motor_driver_type [params \
-      host $dmc2280_controller2(host)\
+  asyncqueue mc2\
-      port $dmc2280_controller2(port)\
   axis C\
   units mm\
+  hardlowerlim $ss1u_LoRange\
+  hardupperlim $ss1u_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss1u_Home]
-setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+ss1u softlowerlim $ss1u_LoRange
+ss1u softupperlim $ss1u_HiRange
+ss1u home 0
+ss1u movecount $move_count
+ss1u part aperture.first
+ss1u long_name top
 
-Motor ss1d DMC2280 [params \
+Motor ss1d $motor_driver_type [params \
-  host $dmc2280_controller2(host)\
+  asyncqueue mc2\
-  port $dmc2280_controller2(port)\
   axis D\
   units mm\
+  hardlowerlim $ss1d_LoRange\
+  hardupperlim $ss1d_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -$slitStepRate\
+  stepsPerX $slitStepRate\
   motorHome $ss1d_Home]
-setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
+ss1d softlowerlim $ss1d_LoRange
+ss1d softupperlim $ss1d_HiRange
+ss1d home 0
+ss1d movecount $move_count
+ss1d part aperture.first
+ss1d long_name bottom
 
 if {$slit2active} {
-Motor ss2r DMC2280 [params \
+# Slit 2, right
-  host $dmc2280_controller2(host)\
+Motor ss2r $motor_driver_type [params \
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis E\
   units mm\
+  hardlowerlim $ss2r_LoRange\
+  hardupperlim $ss2r_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss2r_Home]
-setHomeandRange -motor ss2r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+ss2r softlowerlim $ss2r_LoRange
+ss2r softupperlim $ss2r_HiRange
+ss2r home 0
+ss2r movecount $move_count
+ss2r part aperture.second
+ss2r long_name right
 
-Motor ss2l DMC2280 [params \
+Motor ss2l $motor_driver_type [params \
-  host $dmc2280_controller2(host)\
+  asyncqueue mc2\
-  port $dmc2280_controller2(port)\
+  axis F\
-  axis B\
   units mm\
+  hardlowerlim $ss2l_LoRange\
+  hardupperlim $ss2l_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -$slitStepRate\
+  stepsPerX $slitStepRate\
   motorHome $ss2l_Home]
-setHomeandRange -motor ss2l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+ss2l softlowerlim $ss2l_LoRange
+ss2l softupperlim $ss2l_HiRange
+ss2l home 0
+ss2l movecount $move_count
+ss2l part aperture.second
+ss2l long_name left
 
-Motor ss2u DMC2280 [params \
+# Slit 2, up
-      host $dmc2280_controller2(host)\
+Motor ss2u $motor_driver_type [params \
-      port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis G\
   units mm\
+  hardlowerlim $ss2u_LoRange\
+  hardupperlim $ss2u_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome $ss2u_Home]
-setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+ss2u softlowerlim $ss2u_LoRange
+ss2u softupperlim $ss2u_HiRange
+ss2u home 0
+ss2u movecount $move_count
+ss2u part aperture.second
+ss2u long_name top
 
-Motor ss2d DMC2280 [params \
+Motor ss2d $motor_driver_type [params \
-  host $dmc2280_controller2(host)\
+  asyncqueue mc2\
-  port $dmc2280_controller2(port)\
   axis H\
   units mm\
+  hardlowerlim $ss2d_LoRange\
+  hardupperlim $ss2d_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX -$slitStepRate\
+  stepsPerX $slitStepRate\
   motorHome $ss2d_Home]
-setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
+ss2d softlowerlim $ss2d_LoRange
+ss2d softupperlim $ss2d_HiRange
+ss2d home 0
+ss2d movecount $move_count
+ss2d part aperture.second
+ss2d long_name bottom
+
 }
 
+make_gap_motors ss1vg gap ss1vo offset ss1u ss1d mm $slit1VGroup
+make_gap_motors ss1hg gap ss1ho offset ss1r ss1l mm $slit1HGroup
+
+if {$slit2active} {
+make_gap_motors ss2vg gap ss2vo offset ss2u ss2d mm $slit2VGroup
+make_gap_motors ss2hg gap ss2ho offset ss2r ss2l mm $slit2HGroup
+}
+
+if {0} {
 #--------------------------------------------------------
 proc ss1widthscript {val} {
     set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
@@ -320,6 +419,7 @@ publish ss2readvertoffset user
 MakeConfigurableMotor ss2vo
 ss2vo drivescript ss2vertoffsetscript
 ss2vo readscript ss2readvertoffset
+}
 ###############################################
 }
 # END MOTOR CONFIGURATION