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refine home encoder positions and add primary collimator motors

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r1360 | dcl | 2006-12-11 08:56:25 +1100 (Mon, 11 Dec 2006) | 2 lines
This commit is contained in:
Douglas Clowes
2006-12-11 08:56:25 +11:00
parent f815347e72
commit a3da8a72a0
1 changed files with 88 additions and 60 deletions
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148
site_ansto/instrument/hrpd/motor_configuration.tcl
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@@ -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