From a3da8a72a0f3727cda7b93f716d2f62faca35d2f Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Mon, 11 Dec 2006 08:56:25 +1100
Subject: [PATCH] refine home encoder positions and add primary collimator
 motors

r1360 | dcl | 2006-12-11 08:56:25 +1100 (Mon, 11 Dec 2006) | 2 lines
---
 .../instrument/hrpd/motor_configuration.tcl   | 148 +++++++++++-------
 1 file changed, 88 insertions(+), 60 deletions(-)

diff --git a/site_ansto/instrument/hrpd/motor_configuration.tcl b/site_ansto/instrument/hrpd/motor_configuration.tcl
index 125f6594..93bc33be 100644
--- a/site_ansto/instrument/hrpd/motor_configuration.tcl
+++ b/site_ansto/instrument/hrpd/motor_configuration.tcl
@@ -1,3 +1,8 @@
+# $Revision: 1.7 $
+# $Date: 2006-12-10 21:56:25 $
+# Author: Ferdi Franceschini (ffr@ansto.gov.au)
+# Last revision by: $Author: dcl $
+
 # START MOTOR CONFIGURATION
 
 # Setup addresses of Galil DMC2280 controllers.
@@ -25,6 +30,8 @@ set dmc2280_controller4(port) pmc4-echidna
 
 ############################
 # Motor Controller 1
+# Motor Controller 1
+# Motor Controller 1
 ############################
 #:TP at HOME
 #
@@ -40,7 +47,7 @@ Motor mphi DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 7414753\
+  absEncHome 7415177\
   cntsPerX -8192]
 setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
 mphi speed 1
@@ -57,9 +64,9 @@ Motor mchi DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7818915\
+  absEncHome 7818798\
   cntsPerX 8192]
-setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15 
+setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
 mchi speed 1
 mchi precision 0.01
 
@@ -74,7 +81,7 @@ Motor my DMC2280 [params \
   maxDecel 1\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 7781680\
+  absEncHome 7779997\
   cntsPerX 8192]
 setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
 my speed 1
@@ -91,7 +98,7 @@ Motor mx DMC2280 [params \
   maxDecel 1\
   stepsPerX -25000\
   absEnc 1\
-  absEncHome 7562793\
+  absEncHome 7580365\
   cntsPerX -8192]
 setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
 mx speed 1
@@ -108,7 +115,7 @@ Motor mom DMC2280 [params \
   maxDecel 1\
   stepsPerX -12500\
   absEnc 1\
-  absEncHome 17694127\
+  absEncHome 13442932\
   cntsPerX -4096]
 setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
 mom speed 1
@@ -125,7 +132,7 @@ Motor mtth DMC2280 [params \
   maxDecel 0.2\
   stepsPerX 25000\
   absEnc 1\
-  absEncHome 10299428\
+  absEncHome 10604013\
   cntsPerX 93207]
 mtth hardlowerlim 85
 mtth hardupperlim 155
@@ -135,36 +142,44 @@ mtth home 120
 mtth speed 0.5
 mtth precision 0.01
 
-# Primary Collimator 1
-#Motor pc1 DMC2280 [params \
-#  host $dmc2280_controller1(host)\
-#  port $dmc2280_controller1(port)\
-#  axis G\
-#  units xxxx\
-#  maxSpeed xxxx\
-#  maxAccel xxxx\
-#  maxDecel xxxx\
-#  stepsPerX xxxx]
-#setHomeandRange -motor pc1 -home 0 -lowrange 0 -uprange 0
-#pc1 speed 1
-#pc1 precision 0.01
+# Primary Collimator Translation X
+Motor pcx DMC2280 [params \
+  host $dmc2280_controller1(host)\
+  port $dmc2280_controller1(port)\
+  axis G\
+  units mm\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX [expr -25000/6]\
+  absEnc 1\
+  absEncHome 8345644\
+  cntsPerX [expr 8192/6]]
+setHomeandRange -motor pcx -home 0 -lowrange 0 -uprange 100
+pcx speed 0.1
+pcx precision 0.01
 
-# Primary Collimator 2
-#Motor pc2 DMC2280 [params \
-#  host $dmc2280_controller1(host)\
-#  port $dmc2280_controller1(port)\
-#  axis H\
-#  units xxxx\
-#  maxSpeed xxxx\
-#  maxAccel xxxx\
-#  maxDecel xxxx\
-#  stepsPerX xxxx]
-#setHomeandRange -motor pc2 -home 0 -lowrange 0 -uprange 0
-#pc2 speed 1
-#pc2 precision 0.01
+# Primary Collimator Rotation
+Motor pcr DMC2280 [params \
+  host $dmc2280_controller1(host)\
+  port $dmc2280_controller1(port)\
+  axis H\
+  units degrees\
+  maxSpeed 0.1\
+  maxAccel 0.1\
+  maxDecel 0.1\
+  stepsPerX [expr 25000*100]\
+  absEnc 1\
+  absEncHome 6189745\
+  cntsPerX [expr -8192*100]]
+setHomeandRange -motor pcr -home 0 -lowrange 10 -uprange 10
+pcr speed 0.01
+pcr precision 0.01
 
 ############################
 # Motor Controller 2
+# Motor Controller 2
+# Motor Controller 2
 ############################
 #:TP at HOME
 # 7924507, 7542917, 7626584, 24029910, 24984596, 14530407, 22369621, 22369621
@@ -216,11 +231,11 @@ Motor sy DMC2280 [params \
   absEnc 1\
   absEncHome 7626584\
   cntsPerX 8192]
-setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20 
+setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
 sy speed 1
 sy precision 0.01
 
-# Sample Trans2. lower, x
+# Sample Trans2, lower, x
 Motor sx DMC2280 [params \
   host $dmc2280_controller2(host)\
   port $dmc2280_controller2(port)\
@@ -233,7 +248,7 @@ Motor sx DMC2280 [params \
   absEnc 1\
   absEncHome 24029910\
   cntsPerX -8192]
-setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20 
+setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
 sx speed 1
 sx precision 0.01
 
@@ -288,11 +303,13 @@ set slitStepRate 20180
 
 ############################
 # Motor Controller 3
+# Motor Controller 3
+# Motor Controller 3
 ############################
 #
 
-# Monochromator radius, focus
-#Motor mr DMC2280 [params \
+# Monochromator Focusing (Ge)
+#Motor mf1 DMC2280 [params \
 #  host $dmc2280_controller3(host)\
 #  port $dmc2280_controller3(port)\
 #  axis A\
@@ -304,10 +321,11 @@ set slitStepRate 20180
 #  absEnc 1\
 #  absEncHome xxxx\
 #  cntsPerX xxxx]
-#setHomeandRange -motor mr -home 0 -lowrange 0 -uprange 360
-#mr speed 1
-#mr precision 0.01
+#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
+#mf1 speed 1
+#mf1 precision 0.01
 
+# Slit 1, right
 Motor ss1r DMC2280 [params \
   host $dmc2280_controller3(host)\
   port $dmc2280_controller3(port)\
@@ -320,6 +338,7 @@ Motor ss1r DMC2280 [params \
   motorHome [expr 54.5/2*$slitStepRate]]
 setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
+# Slit 1, left
 Motor ss1l DMC2280 [params \
   host $dmc2280_controller3(host)\
   port $dmc2280_controller3(port)\
@@ -330,8 +349,9 @@ Motor ss1l DMC2280 [params \
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome [expr 54.5/2*$slitStepRate]]
-setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
+# Slit 1, up
 Motor ss1u DMC2280 [params \
   host $dmc2280_controller3(host)\
   port $dmc2280_controller3(port)\
@@ -342,8 +362,9 @@ Motor ss1u DMC2280 [params \
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome [expr 207.5/2*$slitStepRate]]
-setHomeandRange -motor ss1u  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
+setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
+# Slit 1, down
 Motor ss1d DMC2280 [params \
   host $dmc2280_controller3(host)\
   port $dmc2280_controller3(port)\
@@ -354,14 +375,17 @@ Motor ss1d DMC2280 [params \
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome [expr 207.5/2*$slitStepRate]]
-setHomeandRange -motor ss1d  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
+setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 ############################
 # Motor Controller 4
+# Motor Controller 4
+# Motor Controller 4
 ############################
 #
 
 # Little is known about the Eularian Cradle
+## Eularian-phi
 #Motor ephi DMC2280 [params \
 #  host $dmc2280_controller4(host)\
 #  port $dmc2280_controller4(port)\
@@ -390,6 +414,7 @@ setHomeandRange -motor ss1d  -home 0 -lowrange $vertSlitLowRange -uprange $vertS
 #  cntsPerX xxxx]
 #setHomeandRange -motor echi -home 0 -lowrange 180 -uprange 180
 
+# Slit 2, right
 Motor ss2r DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\
@@ -400,8 +425,9 @@ Motor ss2r DMC2280 [params \
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome [expr 52.25/2*$slitStepRate]]
-setHomeandRange -motor ss2r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
+# Slit 2, left
 Motor ss2l DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\
@@ -412,8 +438,9 @@ Motor ss2l DMC2280 [params \
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome [expr 52.25/2*$slitStepRate]]
-setHomeandRange -motor ss2l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 
+setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
 
+# Slit 2, up
 Motor ss2u DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\
@@ -424,8 +451,9 @@ Motor ss2u DMC2280 [params \
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome [expr 204.1/2*$slitStepRate]]
-setHomeandRange -motor ss2u  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
+setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
+# Slit 2, down
 Motor ss2d DMC2280 [params \
   host $dmc2280_controller4(host)\
   port $dmc2280_controller4(port)\
@@ -436,7 +464,7 @@ Motor ss2d DMC2280 [params \
   maxDecel 1\
   stepsPerX -$slitStepRate\
   motorHome [expr 204.1/2*$slitStepRate]]
-setHomeandRange -motor ss2d  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 
+setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
 
 proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
 proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
@@ -466,7 +494,7 @@ publish ss1widthscript user
 
 #-------------------------------------------------------
 proc ss1readwidth {} {
-  return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]] 
+  return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
 }
 publish ss1readwidth user
 MakeConfigurableMotor ss1hg
@@ -477,7 +505,7 @@ ss1hg readscript ss1readwidth
 proc ss1horoffsetscript {val} {
   set SR [SplitReply [ss1r]]
   set SL [SplitReply [ss1l]]
-  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ] 
+  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
   set diff [expr $val - $currentOffset]
   set newD1R [expr $SR + $diff]
   set newD1L [expr $SL - $diff]
@@ -488,7 +516,7 @@ publish ss1horoffsetscript user
 #-------------------------------------------------------
 proc ss1readhoroffset {} {
   set SR [SplitReply [ss1r]]
-  return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ] 
+  return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
 }
 publish ss1readhoroffset user
 
@@ -509,7 +537,7 @@ publish ss1heightscript user
 
 #-------------------------------------------------------
 proc ss1readheight {} {
-  return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]] 
+  return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
 }
 publish ss1readheight user
 
@@ -522,7 +550,7 @@ ss1vg readscript ss1readheight
 proc ss1vertoffsetscript {val} {
   set SU [SplitReply [ss1u]]
   set SD [SplitReply [ss1d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] 
+  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
   set diff [expr $val - $currentOffset]
   set newD1U [expr $SU + $diff]
   set newD1D [expr $SD - $diff]
@@ -533,7 +561,7 @@ publish ss1vertoffsetscript user
 #-------------------------------------------------------
 proc ss1readvertoffset {} {
   set SU [SplitReply [ss1u]]
-  return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ] 
+  return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
 }
 publish ss1readvertoffset user
 
@@ -556,7 +584,7 @@ publish ss2widthscript user
 
 #-------------------------------------------------------
 proc ss2readwidth {} {
-  return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]] 
+  return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
 }
 publish ss2readwidth user
 MakeConfigurableMotor ss2hg
@@ -567,7 +595,7 @@ ss2hg readscript ss2readwidth
 proc ss2horoffsetscript {val} {
   set SR [SplitReply [ss2r]]
   set SL [SplitReply [ss2l]]
-  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ] 
+  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
   set diff [expr $val - $currentOffset]
   set newD1R [expr $SR + $diff]
   set newD1L [expr $SL - $diff]
@@ -578,7 +606,7 @@ publish ss2horoffsetscript user
 #-------------------------------------------------------
 proc ss2readhoroffset {} {
   set SR [SplitReply [ss2r]]
-  return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ] 
+  return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
 }
 publish ss2readhoroffset user
 
@@ -599,7 +627,7 @@ publish ss2heightscript user
 
 #-------------------------------------------------------
 proc ss2readheight {} {
-  return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]] 
+  return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
 }
 publish ss2readheight user
 
@@ -612,7 +640,7 @@ ss2vg readscript ss2readheight
 proc ss2vertoffsetscript {val} {
   set SU [SplitReply [ss2u]]
   set SD [SplitReply [ss2d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] 
+  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
   set diff [expr $val - $currentOffset]
   set newD1U [expr $SU + $diff]
   set newD1D [expr $SD - $diff]
@@ -623,7 +651,7 @@ publish ss2vertoffsetscript user
 #-------------------------------------------------------
 proc ss2readvertoffset {} {
   set SU [SplitReply [ss2u]]
-  return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ] 
+  return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
 }
 publish ss2readvertoffset user